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specify control torque in turns / second

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jacob 2024-10-28 15:58:00 -05:00
parent 5dde85a04a
commit 161e615aa7
5 changed files with 27 additions and 30 deletions
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2
src/config.h
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@ -45,7 +45,7 @@
#define GAME_PLAYER_AIM 1 #define GAME_PLAYER_AIM 1
#define GAME_MAX_LINEAR_VELOCITY 100 #define GAME_MAX_LINEAR_VELOCITY 100
#define GAME_MAX_ANGULAR_VELOCITY ((2 * PI) * 20) #define GAME_MAX_ANGULAR_VELOCITY (TAU * 20)
/* How many ticks back in time should the user blend between? /* How many ticks back in time should the user blend between?
* <Delay ms> = <USER_INTERP_OFFSET_TICK_RATIO> * <Game tick rate> * <Delay ms> = <USER_INTERP_OFFSET_TICK_RATIO> * <Game tick rate>

2
src/entity.c
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@ -305,7 +305,7 @@ void entity_set_local_xform(struct entity *ent, struct xform xf)
} }
/* ========================== * /* ========================== *
* Impulse * Movement
* ========================== */ * ========================== */
void entity_apply_linear_impulse(struct entity *ent, struct v2 impulse, struct v2 point) void entity_apply_linear_impulse(struct entity *ent, struct v2 impulse, struct v2 point)

4
src/entity.h
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@ -222,7 +222,7 @@ struct entity {
/* Control */ /* Control */
f32 control_force; /* How much force is applied to achieve desired control movement */ f32 control_force; /* How much force is applied to achieve desired control movement */
f32 control_torque; /* How much torque is applied to achieve desired control focus */ f32 control_turn_speed; /* Turn speed in turns / second */
struct { struct {
struct v2 move; struct v2 move;
struct v2 focus; struct v2 focus;
@ -404,7 +404,7 @@ struct xform entity_get_local_xform(struct entity *ent);
void entity_set_xform(struct entity *ent, struct xform xf); void entity_set_xform(struct entity *ent, struct xform xf);
void entity_set_local_xform(struct entity *ent, struct xform xf); void entity_set_local_xform(struct entity *ent, struct xform xf);
/* Impulse */ /* Movement */
void entity_apply_linear_impulse(struct entity *ent, struct v2 impulse, struct v2 world_point); void entity_apply_linear_impulse(struct entity *ent, struct v2 impulse, struct v2 world_point);
void entity_apply_force(struct entity *ent, struct v2 impulse, struct v2 world_point); void entity_apply_force(struct entity *ent, struct v2 impulse, struct v2 world_point);
void entity_apply_linear_impulse_to_center(struct entity *ent, struct v2 impulse); void entity_apply_linear_impulse_to_center(struct entity *ent, struct v2 impulse);

47
src/game.c
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@ -150,10 +150,10 @@ INTERNAL void spawn_test_entities(f32 offset)
pos = v2_add(pos, V2(0, offset_all)); pos = v2_add(pos, V2(0, offset_all));
//struct v2 size = V2(1, 1); //struct v2 size = V2(1, 1);
struct v2 size = V2(0.25, 0.25); //struct v2 size = V2(0.25, 0.25);
//struct v2 size = V2(0.5, 0.5); //struct v2 size = V2(0.5, 0.5);
//struct v2 size = V2(0.5, 0.25); //struct v2 size = V2(0.5, 0.25);
//struct v2 size = V2(1.0, 1.0); struct v2 size = V2(1.0, 1.0);
//struct v2 size = V2(1.5, 1.5); //struct v2 size = V2(1.5, 1.5);
//f32 r = PI; //f32 r = PI;
f32 r = PI / 4; f32 r = PI / 4;
@ -168,8 +168,8 @@ INTERNAL void spawn_test_entities(f32 offset)
entity_set_xform(e, xf); entity_set_xform(e, xf);
//e->sprite = sprite_tag_from_path(STR("res/graphics/tim.ase")); e->sprite = sprite_tag_from_path(STR("res/graphics/tim.ase"));
e->sprite = sprite_tag_from_path(STR("res/graphics/box.ase")); //e->sprite = sprite_tag_from_path(STR("res/graphics/box.ase"));
//e->sprite = sprite_tag_from_path(STR("res/graphics/box_rounded.ase")); //e->sprite = sprite_tag_from_path(STR("res/graphics/box_rounded.ase"));
//e->sprite_span_name = STR("idle.unarmed"); //e->sprite_span_name = STR("idle.unarmed");
//e->sprite_span_name = STR("idle.one_handed"); //e->sprite_span_name = STR("idle.one_handed");
@ -184,13 +184,13 @@ INTERNAL void spawn_test_entities(f32 offset)
//e->control_force = 5000; //e->control_force = 5000;
e->control_force = 250; e->control_force = 250;
#endif #endif
e->control_torque = 500; e->control_turn_speed = 10;
e->control.focus = V2(0, -1); e->control.focus = V2(0, -1);
entity_enable_prop(e, ENTITY_PROP_PHYSICAL); entity_enable_prop(e, ENTITY_PROP_PHYSICAL);
e->mass_unscaled = 50; e->mass_unscaled = 50;
//e->inertia_unscaled = F32_INFINITY; //e->inertia_unscaled = F32_INFINITY;
e->inertia_unscaled = 25; e->inertia_unscaled = 100;
e->linear_ground_friction = 200; e->linear_ground_friction = 200;
e->angular_ground_friction = 100; e->angular_ground_friction = 100;
@ -1487,20 +1487,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
* Create forces from control move * Create forces from control move
* ========================== */ * ========================== */
#if 0
for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
struct entity *ent = &store->entities[entity_index];
if (!entity_is_valid_and_active(ent)) continue;
struct v2 move = ent->control.move;
if (entity_has_prop(ent, ENTITY_PROP_PLAYER_CONTROLLED)) {
struct entity *f = entity_alloc(ent);
entity_enable_prop(f, ENTITY_PROP_FORCE);
f->force = v2_mul(move, ent->control_force);
activate_now(f);
}
}
#else
for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) { for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
struct entity *ent = &store->entities[entity_index]; struct entity *ent = &store->entities[entity_index];
if (!entity_is_valid_and_active(ent)) continue; if (!entity_is_valid_and_active(ent)) continue;
@ -1511,7 +1497,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
entity_apply_force_to_center(ent, force); entity_apply_force_to_center(ent, force);
} }
} }
#endif
/* ========================== * /* ========================== *
* Create forces from control focus (aim) * Create forces from control focus (aim)
@ -1537,11 +1522,22 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
struct motor_joint_def def = ZI; struct motor_joint_def def = ZI;
def.e0 = joint_ent->handle; /* Re-using joint entity as e0 */ def.e0 = joint_ent->handle; /* Re-using joint entity as e0 */
def.e1 = ent->handle; def.e1 = ent->handle;
def.correction_rate = 1.0; def.correction_rate = 0.2;
def.max_force = 0; def.max_force = 0;
def.max_torque = ent->control_torque;
//def.max_torque = ent->control_torque;
joint_ent->motor_joint_data = motor_joint_from_def(def); joint_ent->motor_joint_data = motor_joint_from_def(def);
ent->aim_joint = joint_ent->handle; ent->aim_joint = joint_ent->handle;
joint_ent->mass_unscaled = F32_INFINITY;
joint_ent->inertia_unscaled = F32_INFINITY;
}
{
/* TODO: Why is 25 working here? */
f32 inertia_scaled = ent->inertia_unscaled * math_fabs(xform_get_determinant(xf));
joint_ent->motor_joint_data.max_torque = (25 * PI * inertia_scaled) * ent->control_turn_speed;
} }
/* Solve for final angle using law of sines */ /* Solve for final angle using law of sines */
@ -1587,15 +1583,16 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
new_angle = math_unwind_angle(v2_angle_from_dirs(V2(0, -1), v2_sub(focus_pos, ent_pos)) + final_ent_angle_btw_focus_and_hold - forward_hold_angle_offset); new_angle = math_unwind_angle(v2_angle_from_dirs(V2(0, -1), v2_sub(focus_pos, ent_pos)) + final_ent_angle_btw_focus_and_hold - forward_hold_angle_offset);
} }
joint_ent->angular_velocity = 0; f32 new_vel = 0;
if (!F32_IS_NAN(new_angle)) { if (!F32_IS_NAN(new_angle)) {
const f32 angle_error_allowed = 0.001; const f32 angle_error_allowed = 0.001;
struct xform joint_xf = entity_get_xform(joint_ent); struct xform joint_xf = entity_get_xform(joint_ent);
f32 diff = math_unwind_angle(new_angle - xform_get_rotation(joint_xf)); f32 diff = math_unwind_angle(new_angle - xform_get_rotation(joint_xf));
if (math_fabs(diff) > angle_error_allowed) { if (math_fabs(diff) > angle_error_allowed) {
joint_ent->angular_velocity = diff / dt; new_vel = diff / dt;
} }
} }
joint_ent->angular_velocity = new_vel;
} }
} }
#endif #endif

2
src/user.c
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@ -496,7 +496,7 @@ INTERNAL void user_update(void)
} }
e->control_force = math_lerp(e0->control_force, e1->control_force, tick_blend); e->control_force = math_lerp(e0->control_force, e1->control_force, tick_blend);
e->control_torque = math_lerp(e0->control_torque, e1->control_torque, tick_blend); e->control_turn_speed = math_lerp(e0->control_turn_speed, e1->control_turn_speed, tick_blend);
e->linear_velocity = v2_lerp(e0->linear_velocity, e1->linear_velocity, tick_blend); e->linear_velocity = v2_lerp(e0->linear_velocity, e1->linear_velocity, tick_blend);
e->angular_velocity = math_lerp(e0->angular_velocity, e1->angular_velocity, tick_blend); e->angular_velocity = math_lerp(e0->angular_velocity, e1->angular_velocity, tick_blend);