stephenseo/jumpartifact.com_demo_0
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Impl. walker thing
All checks were successful
Build and Publish WASM version of demo / Build-And-Deploy (push) Successful in 17s
Details

Browse source 
Probably requires some more tweaking to get it working properly. Also
need to create a model/texture for the walker.
This commit is contained in:
Stephen Seo 2023-08-10 13:28:45 +09:00
parent f9c83ec4e9
commit 0c23c593c0
6 changed files with 319 additions and 4 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

6
Makefile
View file

@ -17,7 +17,8 @@ SOURCES = \
src/screen_trunner.cc \
src/3d_helpers.cc \
src/raymath.cc \
src/ems.cc
src/ems.cc \
src/walker.cc
HEADERS = \
src/game.h \
@ -25,7 +26,8 @@ HEADERS = \
src/screen_test.h \
src/screen_trunner.h \
src/3d_helpers.h \
src/ems.h
src/ems.h \
src/walker.h
OBJECTS = $(addprefix ${OBJDIR}/,$(subst .cc,.cc.o,${SOURCES}))

7
src/screen_trunner.cc
View file

@ -20,6 +20,7 @@ TRunnerScreen::TRunnerScreen(std::weak_ptr<ScreenStack> stack)
: Screen(stack),
surface(),
surface_bbs(),
walker(),
camera{Vector3{0.0F, 1.0F, 0.5F}, Vector3{0.0F, 0.0F, 0.0F},
Vector3{0.0F, 1.0F, 0.0F}, 80.0F, CAMERA_PERSPECTIVE},
flags(),
@ -240,6 +241,7 @@ bool TRunnerScreen::update(float dt) {
this->camera_target.y =
(current.nw + current.ne + current.sw + current.se) / 4.0F;
this->camera_target.z = zf;
this->walker.set_body_pos(this->camera_target);
if (idx != SURFACE_UNIT_WIDTH / 2 +
(SURFACE_UNIT_HEIGHT / 2) * SURFACE_UNIT_WIDTH) {
this->camera_pos = Vector3Add(
@ -251,6 +253,7 @@ bool TRunnerScreen::update(float dt) {
this->camera_pos.y = this->camera_target.y + 4.0F;
this->camera_pos.z = 0.0F;
}
this->camera_target.y += 1.0F;
};
if (auto bb_collision = GetRayCollisionBox(ray, surface_bbs[idx]);
@ -270,6 +273,8 @@ bool TRunnerScreen::update(float dt) {
camera_to_targets(dt);
walker.update(dt, surface_bbs, SURFACE_UNIT_WIDTH, SURFACE_UNIT_HEIGHT);
return false;
}
@ -310,6 +315,8 @@ bool TRunnerScreen::draw() {
// .bindPose = TEMP_cube_model.bindPose},
// Vector3{0.0F, 0.0F, -4.0F}, 1.0F, WHITE);
walker.draw(TEMP_cube_model);
// TODO DEBUG
DrawLine3D(Vector3{0.0F, 3.0F, 0.0F}, mouse_hit, BLACK);

6
src/screen_trunner.h
View file

@ -11,6 +11,9 @@
// third party includes
#include <raylib.h>
// local includes
#include "walker.h"
constexpr float POS_VALUE_INC_RATE = 0.2F;
constexpr float CAMERA_UPDATE_RATE = 1.0F;
@ -57,6 +60,9 @@ class TRunnerScreen : public Screen {
SURFACE_UNIT_WIDTH * SURFACE_UNIT_HEIGHT>
surface;
std::array<BoundingBox, SURFACE_UNIT_WIDTH * SURFACE_UNIT_HEIGHT> surface_bbs;
Walker walker;
Camera3D camera;
std::bitset<64> flags;
Model TEMP_cube_model;

71
src/walker.cc Normal file
View file

@ -0,0 +1,71 @@
#include "walker.h"
// third party includes
#include <raymath.h>
// local includes
#include "ems.h"
Walker::Walker(float body_height, float body_feet_radius, float feet_radius)
: body_pos{0.0F, body_height, 0.0F},
target_body_pos{0.0F, body_height, 0.0F},
leg_nw(),
leg_ne(),
leg_sw(),
leg_se(),
target_leg_nw(),
target_leg_ne(),
target_leg_sw(),
target_leg_se(),
nw_flags(0x0),
ne_flags(0x08),
sw_flags(0x10),
se_flags(0x18),
flags(0),
body_height(body_height),
body_feet_radius(body_feet_radius),
feet_radius(feet_radius),
lift_start_y(0.0F) {
const Vector3 nw = Vector3Normalize(Vector3{-1.0F, 0.0F, -1.0F});
const Vector3 ne = Vector3Normalize(Vector3{1.0F, 0.0F, -1.0F});
const Vector3 sw = Vector3Normalize(Vector3{-1.0F, 0.0F, 1.0F});
const Vector3 se = Vector3Normalize(Vector3{1.0F, 0.0F, 1.0F});
leg_nw = Vector3Add(
Vector3{(call_js_get_random() - 0.5F) / FEET_INIT_POS_VARIANCE_DIV, 0.0F,
(call_js_get_random() - 0.5F) / FEET_INIT_POS_VARIANCE_DIV},
Vector3Scale(nw, body_feet_radius));
target_leg_nw = leg_nw;
leg_ne = Vector3Add(
Vector3{(call_js_get_random() - 0.5F) / FEET_INIT_POS_VARIANCE_DIV, 0.0F,
(call_js_get_random() - 0.5F) / FEET_INIT_POS_VARIANCE_DIV},
Vector3Scale(ne, body_feet_radius));
target_leg_ne = leg_ne;
leg_sw = Vector3Add(
Vector3{(call_js_get_random() - 0.5F) / FEET_INIT_POS_VARIANCE_DIV, 0.0F,
(call_js_get_random() - 0.5F) / FEET_INIT_POS_VARIANCE_DIV},
Vector3Scale(sw, body_feet_radius));
target_leg_sw = leg_sw;
leg_se = Vector3Add(
Vector3{(call_js_get_random() - 0.5F) / FEET_INIT_POS_VARIANCE_DIV, 0.0F,
(call_js_get_random() - 0.5F) / FEET_INIT_POS_VARIANCE_DIV},
Vector3Scale(se, body_feet_radius));
target_leg_se = leg_se;
}
void Walker::draw(const Model &model) {
// draw body
DrawModel(model, body_pos, 1.0F, WHITE);
// draw legs
DrawModel(model, leg_nw, 1.0F, WHITE);
DrawModel(model, leg_ne, 1.0F, WHITE);
DrawModel(model, leg_sw, 1.0F, WHITE);
DrawModel(model, leg_se, 1.0F, WHITE);
}
void Walker::set_body_pos(Vector3 pos) {
target_body_pos = pos;
target_body_pos.y += body_height;
flags &= ~1;
}

227
src/walker.h Normal file
View file

@ -0,0 +1,227 @@
#ifndef JUMPARTIFACT_DOT_COM_DEMO_0_WALKER_H_
#define JUMPARTIFACT_DOT_COM_DEMO_0_WALKER_H_
// standard library includes
#include <array>
// third party includes
#include <raylib.h>
#include <raymath.h>
constexpr float FEET_RADIUS_PLACEMENT_CHECK_SCALE = 1.0F;
constexpr float FEET_RADIUS_PLACEMENT_SCALE = 0.9F;
constexpr float FEET_TARGET_RATE = 1.0F;
constexpr float BODY_TARGET_SPEED = 1.5F;
constexpr float FEET_LIFT_HEIGHT = 1.0F;
constexpr float FEET_LIFT_SPEED = 5.0F;
constexpr float FEET_HORIZ_MOVE_SPEED = 7.0F;
constexpr float FEET_INIT_POS_VARIANCE_DIV = 4.0F;
class Walker {
public:
Walker(float body_height = 2.0F, float body_feet_radius = 1.7F,
float feet_radius = 1.5F);
template <typename TBBS>
void update(float dt, const TBBS &bbs, unsigned int width,
unsigned int height);
void draw(const Model &model);
void set_body_pos(Vector3 pos);
private:
Vector3 body_pos;
Vector3 target_body_pos;
Vector3 leg_nw, leg_ne, leg_sw, leg_se;
Vector3 target_leg_nw, target_leg_ne, target_leg_sw, target_leg_se;
// ???? ?000 - initialized
// ???? ?001 - grounded
// ???? ?010 - lifting
// ???? ?011 - lifted, horizontally moving to next pos
// ???? ?100 - lowering to next pos
// ???0 0??? - is nw
// ???0 1??? - is ne
// ???1 0??? - is sw
// ???1 1??? - is se
unsigned int nw_flags, ne_flags, sw_flags, se_flags;
// ???? ???1 - body stopped
unsigned int flags;
const float body_height;
const float body_feet_radius;
const float feet_radius;
float lift_start_y;
};
template <typename TBBS>
void Walker::update(float dt, const TBBS &bbs, unsigned int width,
unsigned int height) {
const auto initialized_setup_fn = [&bbs](Vector3 &leg, Vector3 &leg_target) {
Ray downwards{.position = leg, .direction = Vector3{0.0F, -1.0F, 0.0F}};
for (const auto &bb : bbs) {
if (GetRayCollisionBox(downwards, bb).hit) {
leg_target.y = (bb.min.y + bb.max.y) / 2.0F;
break;
}
}
};
if ((nw_flags & 7) == 0) {
initialized_setup_fn(leg_nw, target_leg_nw);
nw_flags |= 1;
}
if ((ne_flags & 7) == 0) {
initialized_setup_fn(leg_ne, target_leg_ne);
ne_flags |= 1;
}
if ((sw_flags & 7) == 0) {
initialized_setup_fn(leg_sw, target_leg_sw);
sw_flags |= 1;
}
if ((se_flags & 7) == 0) {
initialized_setup_fn(leg_se, target_leg_se);
se_flags |= 1;
}
// body to target pos
if ((flags & 1) == 0) {
float diff = Vector3Distance(target_body_pos, body_pos);
body_pos =
Vector3Add(body_pos, Vector3Scale(Vector3Normalize(Vector3Subtract(
target_body_pos, body_pos)),
dt * BODY_TARGET_SPEED));
if (Vector3Distance(target_body_pos, body_pos) > diff) {
flags |= 1;
body_pos = target_body_pos;
}
}
// moving legs
const auto update_leg_fn = [this, &bbs, dt](Vector3 &leg_target,
Vector3 &leg_pos,
unsigned int &flags,
unsigned int grounded_count) {
if ((flags & 7) == 1 && grounded_count > 1) {
// Grounded.
bool should_lift = false;
Vector3 body_pos_same_y = this->body_pos;
body_pos_same_y.y = leg_target.y;
Vector3 ideal_foot_pos;
if ((flags & 0x18) == 0) {
// Is nw.
ideal_foot_pos = Vector3Normalize(Vector3{-1.0F, 0.0F, -1.0F});
} else if ((flags & 0x18) == 0x8) {
// Is ne.
ideal_foot_pos = Vector3Normalize(Vector3{1.0F, 0.0F, -1.0F});
} else if ((flags & 0x18) == 0x10) {
// Is sw.
ideal_foot_pos = Vector3Normalize(Vector3{-1.0F, 0.0F, 1.0F});
} else if ((flags & 0x18) == 0x18) {
// Is se.
ideal_foot_pos = Vector3Normalize(Vector3{1.0F, 0.0F, 1.0F});
}
ideal_foot_pos =
Vector3Add(body_pos_same_y,
Vector3Scale(ideal_foot_pos, this->body_feet_radius));
// Check if body is past threshold.
if (Vector3Distance(ideal_foot_pos, leg_target) >
FEET_RADIUS_PLACEMENT_CHECK_SCALE * this->feet_radius) {
should_lift = true;
Vector3 diff = Vector3Subtract(this->target_body_pos, this->body_pos);
if (Vector3Length(diff) > 0.1F) {
Vector3 dir = Vector3Normalize(diff);
leg_target =
Vector3Add(ideal_foot_pos,
Vector3Scale(dir, this->feet_radius *
FEET_RADIUS_PLACEMENT_SCALE));
} else {
Vector3 dir =
Vector3Normalize(Vector3Subtract(ideal_foot_pos, leg_target));
leg_target =
Vector3Add(ideal_foot_pos,
Vector3Scale(dir, this->feet_radius *
FEET_RADIUS_PLACEMENT_SCALE));
}
// Get average .y of ground at target position.
Ray downwards{.position = Vector3{leg_target.x, leg_target.y + 5.0F,
leg_target.z},
.direction = Vector3{0.0F, -1.0F, 0.0F}};
for (const auto &bb : bbs) {
if (GetRayCollisionBox(downwards, bb).hit) {
leg_target.y = (bb.min.y + bb.max.y) / 2.0F;
}
}
}
if (should_lift) {
this->lift_start_y = leg_pos.y;
flags = (flags & ~7) | 2;
}
}
if ((flags & 7) == 2) {
// Lifting.
leg_pos.y += dt * FEET_LIFT_SPEED;
if (leg_pos.y > this->lift_start_y + FEET_LIFT_HEIGHT) {
leg_pos.y = this->lift_start_y + FEET_LIFT_HEIGHT;
flags = (flags & ~7) | 3;
}
}
if ((flags & 7) == 3) {
// Moving horizontally.
float prev_dist = Vector3Distance(
leg_pos, Vector3{leg_target.x, leg_pos.y, leg_target.z});
Vector3 dir = Vector3Normalize(Vector3Subtract(
Vector3{leg_target.x, leg_pos.y, leg_target.z}, leg_pos));
leg_pos =
Vector3Add(leg_pos, Vector3Scale(dir, dt * FEET_HORIZ_MOVE_SPEED));
if (Vector3Distance(leg_pos, Vector3{leg_target.x, leg_pos.y,
leg_target.z}) >= prev_dist) {
leg_pos.x = leg_target.x;
leg_pos.z = leg_target.z;
flags = (flags & ~7) | 4;
}
}
if ((flags & 7) == 4) {
// Lowering leg.
leg_pos.y -= dt * FEET_LIFT_SPEED;
if (leg_pos.y < leg_target.y) {
leg_pos.y = leg_target.y;
flags = (flags & ~7) | 1;
}
}
};
update_leg_fn(target_leg_nw, leg_nw, nw_flags,
((ne_flags & 7) == 1 ? 1 : 0) + ((sw_flags & 7) == 1 ? 1 : 0) +
((se_flags & 7) == 1 ? 1 : 0));
update_leg_fn(target_leg_sw, leg_sw, sw_flags,
((nw_flags & 7) == 1 ? 1 : 0) + ((ne_flags & 7) == 1 ? 1 : 0) +
((se_flags & 7) == 1 ? 1 : 0));
update_leg_fn(target_leg_ne, leg_ne, ne_flags,
((nw_flags & 7) == 1 ? 1 : 0) + ((sw_flags & 7) == 1 ? 1 : 0) +
((se_flags & 7) == 1 ? 1 : 0));
update_leg_fn(target_leg_se, leg_se, se_flags,
((nw_flags & 7) == 1 ? 1 : 0) + ((ne_flags & 7) == 1 ? 1 : 0) +
((sw_flags & 7) == 1 ? 1 : 0));
// legs to target pos
// leg_nw =
// Vector3Add(leg_nw, Vector3Scale(Vector3Subtract(target_leg_nw,
// leg_nw),
// dt * FEET_TARGET_RATE));
// leg_ne =
// Vector3Add(leg_ne, Vector3Scale(Vector3Subtract(target_leg_ne,
// leg_ne),
// dt * FEET_TARGET_RATE));
// leg_sw =
// Vector3Add(leg_sw, Vector3Scale(Vector3Subtract(target_leg_sw,
// leg_sw),
// dt * FEET_TARGET_RATE));
// leg_se =
// Vector3Add(leg_se, Vector3Scale(Vector3Subtract(target_leg_se,
// leg_se),
// dt * FEET_TARGET_RATE));
}
#endif

6
wasm_build/Makefile
View file

@ -12,7 +12,8 @@ SOURCES = \
../src/screen_test.cc \
../src/screen_trunner.cc \
../src/3d_helpers.cc \
../src/raymath.cc
../src/raymath.cc \
../src/walker.cc
HEADERS = \
../src/ems.h \
@ -20,7 +21,8 @@ HEADERS = \
../src/screen.h \
../src/screen_test.h \
../src/screen_trunner.h \
../src/3d_helpers.h
../src/3d_helpers.h \
../src/walker.h
CXX = source ${HOME}/git/emsdk/emsdk_env.sh && em++