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Impl. rotation for Walker
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Stephen Seo 2023-08-10 15:54:45 +09:00
parent e64f69695c
commit 532654dee0
2 changed files with 132 additions and 38 deletions
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83
src/walker.cc
View file

@ -1,9 +1,13 @@
#include "walker.h"
// standard library includes
#include <cmath>
// third party includes
#include <raymath.h>
// local includes
#include "3d_helpers.h"
#include "ems.h"
Walker::Walker(float body_height, float body_feet_radius, float feet_radius)
@ -25,7 +29,9 @@ Walker::Walker(float body_height, float body_feet_radius, float feet_radius)
body_height(body_height),
body_feet_radius(body_feet_radius),
feet_radius(feet_radius),
lift_start_y(0.0F) {
lift_start_y(0.0F),
rotation(0.0F),
target_rotation(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});
@ -54,18 +60,77 @@ Walker::Walker(float body_height, float body_feet_radius, float feet_radius)
}
void Walker::draw(const Model &model) {
const Matrix rotationMatrix = get_rotation_matrix_about_y(rotation);
// draw body
DrawModel(model, body_pos, 1.0F, WHITE);
DrawModel(Model{.transform = model.transform * rotationMatrix,
.meshCount = model.meshCount,
.materialCount = model.materialCount,
.meshes = model.meshes,
.materials = model.materials,
.meshMaterial = model.meshMaterial,
.boneCount = model.boneCount,
.bones = model.bones,
.bindPose = model.bindPose},
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);
DrawModel(Model{.transform = model.transform * rotationMatrix,
.meshCount = model.meshCount,
.materialCount = model.materialCount,
.meshes = model.meshes,
.materials = model.materials,
.meshMaterial = model.meshMaterial,
.boneCount = model.boneCount,
.bones = model.bones,
.bindPose = model.bindPose},
leg_nw, 1.0F, WHITE);
DrawModel(Model{.transform = model.transform * rotationMatrix,
.meshCount = model.meshCount,
.materialCount = model.materialCount,
.meshes = model.meshes,
.materials = model.materials,
.meshMaterial = model.meshMaterial,
.boneCount = model.boneCount,
.bones = model.bones,
.bindPose = model.bindPose},
leg_ne, 1.0F, WHITE);
DrawModel(Model{.transform = model.transform * rotationMatrix,
.meshCount = model.meshCount,
.materialCount = model.materialCount,
.meshes = model.meshes,
.materials = model.materials,
.meshMaterial = model.meshMaterial,
.boneCount = model.boneCount,
.bones = model.bones,
.bindPose = model.bindPose},
leg_sw, 1.0F, WHITE);
DrawModel(Model{.transform = model.transform * rotationMatrix,
.meshCount = model.meshCount,
.materialCount = model.materialCount,
.meshes = model.meshes,
.materials = model.materials,
.meshMaterial = model.meshMaterial,
.boneCount = model.boneCount,
.bones = model.bones,
.bindPose = model.bindPose},
leg_se, 1.0F, WHITE);
}
void Walker::set_body_pos(Vector3 pos) {
target_body_pos = pos;
target_body_pos.y += body_height;
flags &= ~1;
if (!Vector3Equals(target_body_pos, pos)) {
target_body_pos = pos;
target_body_pos.y += body_height;
Vector3 direction = Vector3Subtract(pos, body_pos);
target_rotation = std::atan2(-direction.z, direction.x);
while (target_rotation < 0.0F) {
target_rotation += PI * 2.0F;
}
while (target_rotation > PI * 2.0F) {
target_rotation -= PI * 2.0F;
}
flags &= ~3;
flags |= 1;
}
}

87
src/walker.h
View file

@ -3,11 +3,17 @@
// standard library includes
#include <array>
#ifndef NDEBUG
#include <iostream>
#endif
// third party includes
#include <raylib.h>
#include <raymath.h>
// local includes
#include "3d_helpers.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;
@ -16,6 +22,7 @@ constexpr float FEET_LIFT_HEIGHT = 1.0F;
constexpr float FEET_LIFT_SPEED = 5.5F;
constexpr float FEET_HORIZ_MOVE_SPEED = 8.0F;
constexpr float FEET_INIT_POS_VARIANCE_DIV = 3.0F;
constexpr float BODY_ROTATION_SPEED = 1.0F;
class Walker {
public:
@ -46,13 +53,17 @@ class Walker {
// ???1 0??? - is sw
// ???1 1??? - is se
unsigned int nw_flags, ne_flags, sw_flags, se_flags;
// ???? ???1 - body stopped
// ???? ??00 - body stopped
// ???? ??01 - rotating to move
// ???? ??10 - moving
unsigned int flags;
const float body_height;
const float body_feet_radius;
const float feet_radius;
float lift_start_y;
float rotation;
float target_rotation;
};
template <typename TBBS>
@ -85,24 +96,56 @@ void Walker::update(float dt, const TBBS &bbs, unsigned int width,
se_flags |= 1;
}
// body rotation
if ((flags & 3) == 1) {
float diff = target_rotation - rotation;
if (diff > PI) {
rotation -= dt * BODY_ROTATION_SPEED;
if (rotation < 0.0F) {
rotation += PI * 2.0F;
}
} else if (diff < -PI) {
rotation += dt * BODY_ROTATION_SPEED;
if (rotation > PI * 2.0F) {
rotation -= PI * 2.0F;
}
} else if (diff > 0.0F) {
rotation += dt * BODY_ROTATION_SPEED;
if (rotation > PI * 2.0F) {
rotation -= PI * 2.0F;
}
} else {
rotation -= dt * BODY_ROTATION_SPEED;
if (rotation < 0.0F) {
rotation += PI * 2.0F;
}
}
if (std::abs(target_rotation - rotation) < dt * BODY_ROTATION_SPEED) {
rotation = target_rotation;
flags &= ~3;
flags |= 2;
}
}
// body to target pos
if ((flags & 1) == 0) {
if ((flags & 3) == 2) {
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;
flags &= ~3;
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) {
const Matrix rotationMatrix = get_rotation_matrix_about_y(rotation);
const auto update_leg_fn = [this, &bbs, dt, &rotationMatrix](
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;
@ -111,16 +154,20 @@ void Walker::update(float dt, const TBBS &bbs, unsigned int width,
Vector3 ideal_foot_pos;
if ((flags & 0x18) == 0) {
// Is nw.
ideal_foot_pos = Vector3Normalize(Vector3{-1.0F, 0.0F, -1.0F});
ideal_foot_pos = Vector3Transform(
Vector3Normalize(Vector3{-1.0F, 0.0F, -1.0F}), rotationMatrix);
} else if ((flags & 0x18) == 0x8) {
// Is ne.
ideal_foot_pos = Vector3Normalize(Vector3{1.0F, 0.0F, -1.0F});
ideal_foot_pos = Vector3Transform(
Vector3Normalize(Vector3{1.0F, 0.0F, -1.0F}), rotationMatrix);
} else if ((flags & 0x18) == 0x10) {
// Is sw.
ideal_foot_pos = Vector3Normalize(Vector3{-1.0F, 0.0F, 1.0F});
ideal_foot_pos = Vector3Transform(
Vector3Normalize(Vector3{-1.0F, 0.0F, 1.0F}), rotationMatrix);
} else if ((flags & 0x18) == 0x18) {
// Is se.
ideal_foot_pos = Vector3Normalize(Vector3{1.0F, 0.0F, 1.0F});
ideal_foot_pos = Vector3Transform(
Vector3Normalize(Vector3{1.0F, 0.0F, 1.0F}), rotationMatrix);
}
ideal_foot_pos =
Vector3Add(body_pos_same_y,
@ -204,24 +251,6 @@ void Walker::update(float dt, const TBBS &bbs, unsigned int width,
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));
// 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