2 * Copyright (C) 2003 Robert Kooima
4 * NEVERBALL is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published
6 * by the Free Software Foundation; either version 2 of the License,
7 * or (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
16 #include <SDL_rwops.h>
17 #include <SDL_image.h>
26 #include "geom.h" /* Only for height constants! */
27 #include "base_image.h"
29 #include "base_config.h"
32 #define MAGIC 0x4c4f53af
37 /*---------------------------------------------------------------------------*/
39 static float erp(float t)
41 return 3.0f * t * t - 2.0f * t * t * t;
44 static float derp(float t)
46 return 6.0f * t - 6.0f * t * t;
49 static void sol_body_v(float v[3],
50 const struct s_file *fp,
51 const struct s_body *bp)
53 if (bp->pi >= 0 && fp->pv[bp->pi].f)
55 const struct s_path *pp = fp->pv + bp->pi;
56 const struct s_path *pq = fp->pv + pp->pi;
58 v_sub(v, pq->p, pp->p);
59 v_scl(v, v, 1.0f / pp->t);
61 v_scl(v, v, derp(bp->t / pp->t));
71 void sol_body_p(float p[3],
72 const struct s_file *fp,
73 const struct s_body *bp)
79 const struct s_path *pp = fp->pv + bp->pi;
80 const struct s_path *pq = fp->pv + pp->pi;
82 v_sub(v, pq->p, pp->p);
83 v_mad(p, pp->p, v, erp(bp->t / pp->t));
93 /*---------------------------------------------------------------------------*/
95 static void sol_load_mtrl(FILE *fin, struct s_mtrl *mp)
97 get_array(fin, mp->a, 4);
98 get_array(fin, mp->d, 4);
99 get_array(fin, mp->s, 4);
100 get_array(fin, mp->e, 4);
101 get_array(fin, mp->h, 1);
102 get_index(fin, &mp->fl);
104 fread(mp->f, 1, PATHMAX, fin);
107 static void sol_load_vert(FILE *fin, struct s_vert *vp)
109 get_array(fin, vp->p, 3);
112 static void sol_load_edge(FILE *fin, struct s_edge *ep)
114 get_index(fin, &ep->vi);
115 get_index(fin, &ep->vj);
118 static void sol_load_side(FILE *fin, struct s_side *sp)
120 get_array(fin, sp->n, 3);
121 get_float(fin, &sp->d);
124 static void sol_load_texc(FILE *fin, struct s_texc *tp)
126 get_array(fin, tp->u, 2);
129 static void sol_load_geom(FILE *fin, struct s_geom *gp)
131 get_index(fin, &gp->mi);
132 get_index(fin, &gp->ti);
133 get_index(fin, &gp->si);
134 get_index(fin, &gp->vi);
135 get_index(fin, &gp->tj);
136 get_index(fin, &gp->sj);
137 get_index(fin, &gp->vj);
138 get_index(fin, &gp->tk);
139 get_index(fin, &gp->sk);
140 get_index(fin, &gp->vk);
143 static void sol_load_lump(FILE *fin, struct s_lump *lp)
145 get_index(fin, &lp->fl);
146 get_index(fin, &lp->v0);
147 get_index(fin, &lp->vc);
148 get_index(fin, &lp->e0);
149 get_index(fin, &lp->ec);
150 get_index(fin, &lp->g0);
151 get_index(fin, &lp->gc);
152 get_index(fin, &lp->s0);
153 get_index(fin, &lp->sc);
156 static void sol_load_node(FILE *fin, struct s_node *np)
158 get_index(fin, &np->si);
159 get_index(fin, &np->ni);
160 get_index(fin, &np->nj);
161 get_index(fin, &np->l0);
162 get_index(fin, &np->lc);
165 static void sol_load_path(FILE *fin, struct s_path *pp)
167 get_array(fin, pp->p, 3);
168 get_float(fin, &pp->t);
169 get_index(fin, &pp->pi);
170 get_index(fin, &pp->f);
173 static void sol_load_body(FILE *fin, struct s_body *bp)
175 get_index(fin, &bp->pi);
176 get_index(fin, &bp->ni);
177 get_index(fin, &bp->l0);
178 get_index(fin, &bp->lc);
179 get_index(fin, &bp->g0);
180 get_index(fin, &bp->gc);
183 static void sol_load_coin(FILE *fin, struct s_coin *cp)
185 get_array(fin, cp->p, 3);
186 get_index(fin, &cp->n);
189 static void sol_load_goal(FILE *fin, struct s_goal *zp)
191 get_array(fin, zp->p, 3);
192 get_float(fin, &zp->r);
193 get_index(fin, &zp->s);
194 get_index(fin, &zp->c);
197 static void sol_load_swch(FILE *fin, struct s_swch *xp)
199 get_array(fin, xp->p, 3);
200 get_float(fin, &xp->r);
201 get_index(fin, &xp->pi);
202 get_float(fin, &xp->t0);
203 get_float(fin, &xp->t);
204 get_index(fin, &xp->f0);
205 get_index(fin, &xp->f);
206 get_index(fin, &xp->i);
209 static void sol_load_bill(FILE *fin, struct s_bill *rp)
211 get_index(fin, &rp->fl);
212 get_index(fin, &rp->mi);
213 get_float(fin, &rp->t);
214 get_float(fin, &rp->d);
215 get_array(fin, rp->w, 3);
216 get_array(fin, rp->h, 3);
217 get_array(fin, rp->rx, 3);
218 get_array(fin, rp->ry, 3);
219 get_array(fin, rp->rz, 3);
222 static void sol_load_jump(FILE *fin, struct s_jump *jp)
224 get_array(fin, jp->p, 3);
225 get_array(fin, jp->q, 3);
226 get_float(fin, &jp->r);
229 static void sol_load_ball(FILE *fin, struct s_ball *bp)
231 get_array(fin, bp->e[0], 3);
232 get_array(fin, bp->e[1], 3);
233 get_array(fin, bp->e[2], 3);
234 get_array(fin, bp->p, 3);
235 get_float(fin, &bp->r);
238 static void sol_load_view(FILE *fin, struct s_view *wp)
240 get_array(fin, wp->p, 3);
241 get_array(fin, wp->q, 3);
244 static int sol_load_file(FILE *fin, struct s_file *fp)
250 get_index(fin, &magic);
251 get_index(fin, &version);
253 if (magic != MAGIC || version != SOL_VERSION)
256 get_index(fin, &fp->mc);
257 get_index(fin, &fp->vc);
258 get_index(fin, &fp->ec);
259 get_index(fin, &fp->sc);
260 get_index(fin, &fp->tc);
261 get_index(fin, &fp->gc);
262 get_index(fin, &fp->lc);
263 get_index(fin, &fp->nc);
264 get_index(fin, &fp->pc);
265 get_index(fin, &fp->bc);
266 get_index(fin, &fp->cc);
267 get_index(fin, &fp->zc);
268 get_index(fin, &fp->jc);
269 get_index(fin, &fp->xc);
270 get_index(fin, &fp->rc);
271 get_index(fin, &fp->uc);
272 get_index(fin, &fp->wc);
273 get_index(fin, &fp->ic);
274 get_index(fin, &fp->ac);
277 fp->mv = (struct s_mtrl *) calloc(fp->mc, sizeof (struct s_mtrl));
279 fp->vv = (struct s_vert *) calloc(fp->vc, sizeof (struct s_vert));
281 fp->ev = (struct s_edge *) calloc(fp->ec, sizeof (struct s_edge));
283 fp->sv = (struct s_side *) calloc(fp->sc, sizeof (struct s_side));
285 fp->tv = (struct s_texc *) calloc(fp->tc, sizeof (struct s_texc));
287 fp->gv = (struct s_geom *) calloc(fp->gc, sizeof (struct s_geom));
289 fp->lv = (struct s_lump *) calloc(fp->lc, sizeof (struct s_lump));
291 fp->nv = (struct s_node *) calloc(fp->nc, sizeof (struct s_node));
293 fp->pv = (struct s_path *) calloc(fp->pc, sizeof (struct s_path));
295 fp->bv = (struct s_body *) calloc(fp->bc, sizeof (struct s_body));
297 fp->cv = (struct s_coin *) calloc(fp->cc, sizeof (struct s_coin));
299 fp->zv = (struct s_goal *) calloc(fp->zc, sizeof (struct s_goal));
301 fp->jv = (struct s_jump *) calloc(fp->jc, sizeof (struct s_jump));
303 fp->xv = (struct s_swch *) calloc(fp->xc, sizeof (struct s_swch));
305 fp->rv = (struct s_bill *) calloc(fp->rc, sizeof (struct s_bill));
307 fp->uv = (struct s_ball *) calloc(fp->uc, sizeof (struct s_ball));
309 fp->wv = (struct s_view *) calloc(fp->wc, sizeof (struct s_view));
311 fp->iv = (int *) calloc(fp->ic, sizeof (int));
313 fp->av = (char *) calloc(fp->ac, sizeof (char));
315 for (i = 0; i < fp->mc; i++) sol_load_mtrl(fin, fp->mv + i);
316 for (i = 0; i < fp->vc; i++) sol_load_vert(fin, fp->vv + i);
317 for (i = 0; i < fp->ec; i++) sol_load_edge(fin, fp->ev + i);
318 for (i = 0; i < fp->sc; i++) sol_load_side(fin, fp->sv + i);
319 for (i = 0; i < fp->tc; i++) sol_load_texc(fin, fp->tv + i);
320 for (i = 0; i < fp->gc; i++) sol_load_geom(fin, fp->gv + i);
321 for (i = 0; i < fp->lc; i++) sol_load_lump(fin, fp->lv + i);
322 for (i = 0; i < fp->nc; i++) sol_load_node(fin, fp->nv + i);
323 for (i = 0; i < fp->pc; i++) sol_load_path(fin, fp->pv + i);
324 for (i = 0; i < fp->bc; i++) sol_load_body(fin, fp->bv + i);
325 for (i = 0; i < fp->cc; i++) sol_load_coin(fin, fp->cv + i);
326 for (i = 0; i < fp->zc; i++) sol_load_goal(fin, fp->zv + i);
327 for (i = 0; i < fp->jc; i++) sol_load_jump(fin, fp->jv + i);
328 for (i = 0; i < fp->xc; i++) sol_load_swch(fin, fp->xv + i);
329 for (i = 0; i < fp->rc; i++) sol_load_bill(fin, fp->rv + i);
330 for (i = 0; i < fp->uc; i++) sol_load_ball(fin, fp->uv + i);
331 for (i = 0; i < fp->wc; i++) sol_load_view(fin, fp->wv + i);
332 for (i = 0; i < fp->ic; i++) get_index(fin, fp->iv + i);
334 if (fp->ac) fread(fp->av, 1, fp->ac, fin);
339 int sol_load_only_file(struct s_file *fp, const char *filename)
344 if ((fin = fopen(filename, FMODE_RB)))
346 res = sol_load_file(fin, fp);
352 /*---------------------------------------------------------------------------*/
354 static void sol_stor_mtrl(FILE *fout, struct s_mtrl *mp)
356 put_array(fout, mp->a, 4);
357 put_array(fout, mp->d, 4);
358 put_array(fout, mp->s, 4);
359 put_array(fout, mp->e, 4);
360 put_array(fout, mp->h, 1);
361 put_index(fout, &mp->fl);
363 fwrite(mp->f, 1, PATHMAX, fout);
366 static void sol_stor_vert(FILE *fout, struct s_vert *vp)
368 put_array(fout, vp->p, 3);
371 static void sol_stor_edge(FILE *fout, struct s_edge *ep)
373 put_index(fout, &ep->vi);
374 put_index(fout, &ep->vj);
377 static void sol_stor_side(FILE *fout, struct s_side *sp)
379 put_array(fout, sp->n, 3);
380 put_float(fout, &sp->d);
383 static void sol_stor_texc(FILE *fout, struct s_texc *tp)
385 put_array(fout, tp->u, 2);
388 static void sol_stor_geom(FILE *fout, struct s_geom *gp)
390 put_index(fout, &gp->mi);
391 put_index(fout, &gp->ti);
392 put_index(fout, &gp->si);
393 put_index(fout, &gp->vi);
394 put_index(fout, &gp->tj);
395 put_index(fout, &gp->sj);
396 put_index(fout, &gp->vj);
397 put_index(fout, &gp->tk);
398 put_index(fout, &gp->sk);
399 put_index(fout, &gp->vk);
402 static void sol_stor_lump(FILE *fout, struct s_lump *lp)
404 put_index(fout, &lp->fl);
405 put_index(fout, &lp->v0);
406 put_index(fout, &lp->vc);
407 put_index(fout, &lp->e0);
408 put_index(fout, &lp->ec);
409 put_index(fout, &lp->g0);
410 put_index(fout, &lp->gc);
411 put_index(fout, &lp->s0);
412 put_index(fout, &lp->sc);
415 static void sol_stor_node(FILE *fout, struct s_node *np)
417 put_index(fout, &np->si);
418 put_index(fout, &np->ni);
419 put_index(fout, &np->nj);
420 put_index(fout, &np->l0);
421 put_index(fout, &np->lc);
424 static void sol_stor_path(FILE *fout, struct s_path *pp)
426 put_array(fout, pp->p, 3);
427 put_float(fout, &pp->t);
428 put_index(fout, &pp->pi);
429 put_index(fout, &pp->f);
432 static void sol_stor_body(FILE *fout, struct s_body *bp)
434 put_index(fout, &bp->pi);
435 put_index(fout, &bp->ni);
436 put_index(fout, &bp->l0);
437 put_index(fout, &bp->lc);
438 put_index(fout, &bp->g0);
439 put_index(fout, &bp->gc);
442 static void sol_stor_coin(FILE *fout, struct s_coin *cp)
444 put_array(fout, cp->p, 3);
445 put_index(fout, &cp->n);
448 static void sol_stor_goal(FILE *fout, struct s_goal *zp)
450 put_array(fout, zp->p, 3);
451 put_float(fout, &zp->r);
452 put_index(fout, &zp->s);
453 put_index(fout, &zp->c);
456 static void sol_stor_swch(FILE *fout, struct s_swch *xp)
458 put_array(fout, xp->p, 3);
459 put_float(fout, &xp->r);
460 put_index(fout, &xp->pi);
461 put_float(fout, &xp->t0);
462 put_float(fout, &xp->t);
463 put_index(fout, &xp->f0);
464 put_index(fout, &xp->f);
465 put_index(fout, &xp->i);
468 static void sol_stor_bill(FILE *fout, struct s_bill *rp)
470 put_index(fout, &rp->fl);
471 put_index(fout, &rp->mi);
472 put_float(fout, &rp->t);
473 put_float(fout, &rp->d);
474 put_array(fout, rp->w, 3);
475 put_array(fout, rp->h, 3);
476 put_array(fout, rp->rx, 3);
477 put_array(fout, rp->ry, 3);
478 put_array(fout, rp->rz, 3);
481 static void sol_stor_jump(FILE *fout, struct s_jump *jp)
483 put_array(fout, jp->p, 3);
484 put_array(fout, jp->q, 3);
485 put_float(fout, &jp->r);
488 static void sol_stor_ball(FILE *fout, struct s_ball *bp)
490 put_array(fout, bp->e[0], 3);
491 put_array(fout, bp->e[1], 3);
492 put_array(fout, bp->e[2], 3);
493 put_array(fout, bp->p, 3);
494 put_float(fout, &bp->r);
497 static void sol_stor_view(FILE *fout, struct s_view *wp)
499 put_array(fout, wp->p, 3);
500 put_array(fout, wp->q, 3);
503 static void sol_stor_file(FILE *fin, struct s_file *fp)
507 int version = SOL_VERSION;
509 put_index(fin, &magic);
510 put_index(fin, &version);
512 put_index(fin, &fp->mc);
513 put_index(fin, &fp->vc);
514 put_index(fin, &fp->ec);
515 put_index(fin, &fp->sc);
516 put_index(fin, &fp->tc);
517 put_index(fin, &fp->gc);
518 put_index(fin, &fp->lc);
519 put_index(fin, &fp->nc);
520 put_index(fin, &fp->pc);
521 put_index(fin, &fp->bc);
522 put_index(fin, &fp->cc);
523 put_index(fin, &fp->zc);
524 put_index(fin, &fp->jc);
525 put_index(fin, &fp->xc);
526 put_index(fin, &fp->rc);
527 put_index(fin, &fp->uc);
528 put_index(fin, &fp->wc);
529 put_index(fin, &fp->ic);
530 put_index(fin, &fp->ac);
532 for (i = 0; i < fp->mc; i++) sol_stor_mtrl(fin, fp->mv + i);
533 for (i = 0; i < fp->vc; i++) sol_stor_vert(fin, fp->vv + i);
534 for (i = 0; i < fp->ec; i++) sol_stor_edge(fin, fp->ev + i);
535 for (i = 0; i < fp->sc; i++) sol_stor_side(fin, fp->sv + i);
536 for (i = 0; i < fp->tc; i++) sol_stor_texc(fin, fp->tv + i);
537 for (i = 0; i < fp->gc; i++) sol_stor_geom(fin, fp->gv + i);
538 for (i = 0; i < fp->lc; i++) sol_stor_lump(fin, fp->lv + i);
539 for (i = 0; i < fp->nc; i++) sol_stor_node(fin, fp->nv + i);
540 for (i = 0; i < fp->pc; i++) sol_stor_path(fin, fp->pv + i);
541 for (i = 0; i < fp->bc; i++) sol_stor_body(fin, fp->bv + i);
542 for (i = 0; i < fp->cc; i++) sol_stor_coin(fin, fp->cv + i);
543 for (i = 0; i < fp->zc; i++) sol_stor_goal(fin, fp->zv + i);
544 for (i = 0; i < fp->jc; i++) sol_stor_jump(fin, fp->jv + i);
545 for (i = 0; i < fp->xc; i++) sol_stor_swch(fin, fp->xv + i);
546 for (i = 0; i < fp->rc; i++) sol_stor_bill(fin, fp->rv + i);
547 for (i = 0; i < fp->uc; i++) sol_stor_ball(fin, fp->uv + i);
548 for (i = 0; i < fp->wc; i++) sol_stor_view(fin, fp->wv + i);
549 for (i = 0; i < fp->ic; i++) put_index(fin, fp->iv + i);
551 fwrite(fp->av, 1, fp->ac, fin);
554 /*---------------------------------------------------------------------------*/
556 int sol_stor(struct s_file *fp, const char *filename)
560 if ((fout = fopen(filename, FMODE_WB)))
562 sol_stor_file(fout, fp);
570 void sol_free(struct s_file *fp)
572 if (fp->mv) free(fp->mv);
573 if (fp->vv) free(fp->vv);
574 if (fp->ev) free(fp->ev);
575 if (fp->sv) free(fp->sv);
576 if (fp->tv) free(fp->tv);
577 if (fp->gv) free(fp->gv);
578 if (fp->lv) free(fp->lv);
579 if (fp->nv) free(fp->nv);
580 if (fp->pv) free(fp->pv);
581 if (fp->bv) free(fp->bv);
582 if (fp->cv) free(fp->cv);
583 if (fp->zv) free(fp->zv);
584 if (fp->jv) free(fp->jv);
585 if (fp->xv) free(fp->xv);
586 if (fp->rv) free(fp->rv);
587 if (fp->uv) free(fp->uv);
588 if (fp->wv) free(fp->wv);
589 if (fp->av) free(fp->av);
590 if (fp->iv) free(fp->iv);
592 memset(fp, 0, sizeof (struct s_file));
595 /*---------------------------------------------------------------------------*/
596 /* Solves (p + v * t) . (p + v * t) == r * r for smallest t. */
598 static float v_sol(const float p[3], const float v[3], float r)
600 float a = v_dot(v, v);
601 float b = v_dot(v, p) * 2.0f;
602 float c = v_dot(p, p) - r * r;
603 float d = b * b - 4.0f * a * c;
605 if (a == 0.0f) return LARGE;
606 if (d < 0.0f) return LARGE;
609 return -b * 0.5f / a;
612 float t0 = 0.5f * (-b - fsqrtf(d)) / a;
613 float t1 = 0.5f * (-b + fsqrtf(d)) / a;
614 float t = (t0 < t1) ? t0 : t1;
616 return (t < 0.0f) ? LARGE : t;
620 /*---------------------------------------------------------------------------*/
623 * Compute the earliest time and position of the intersection of a
624 * sphere and a vertex.
626 * The sphere has radius R and moves along vector V from point P. The
627 * vertex moves along vector W from point Q in a coordinate system
630 static float v_vert(float Q[3],
635 const float v[3], float r)
637 float O[3], P[3], V[3];
644 if (v_dot(P, V) < 0.0f)
655 * Compute the earliest time and position of the intersection of a
656 * sphere and an edge.
658 * The sphere has radius R and moves along vector V from point P. The
659 * edge moves along vector W from point Q in a coordinate system based
660 * at O. The edge extends along the length of vector U.
662 static float v_edge(float Q[3],
668 const float v[3], float r)
672 float du, eu, uu, s, t;
682 v_mad(P, d, u, -du / uu);
683 v_mad(V, e, u, -eu / uu);
686 s = (du + eu * t) / uu;
688 if (0.0f < t && t < LARGE && 0.0f < s && s < 1.0f)
701 * Compute the earlist time and position of the intersection of a
702 * sphere and a plane.
704 * The sphere has radius R and moves along vector V from point P. The
705 * plane oves along vector W. The plane has normal N and is
706 * positioned at distance D from the origin O along that normal.
708 static float v_side(float Q[3],
711 const float n[3], float d,
713 const float v[3], float r)
715 float vn = v_dot(v, n);
716 float wn = v_dot(w, n);
721 float on = v_dot(o, n);
722 float pn = v_dot(p, n);
724 float u = (r + d + on - pn) / (vn - wn);
725 float a = ( d + on - pn) / (vn - wn);
745 /*---------------------------------------------------------------------------*/
748 * Compute the new linear and angular velocities of a bouncing ball.
749 * Q gives the position of the point of impact and W gives the
750 * velocity of the object being impacted.
752 static float sol_bounce(struct s_ball *up,
754 const float w[3], float dt)
756 const float kb = 1.10f;
757 const float ke = 0.70f;
758 const float km = 0.20f;
760 float n[3], r[3], d[3], u[3], vn, wn, xn, yn;
764 /* Find the normal of the impact. */
770 /* Find the new angular velocity. */
773 v_scl(up->w, up->w, -1.0f / (up->r * up->r));
775 /* Find the new linear velocity. */
779 xn = (vn < 0.0f) ? -vn * ke : vn;
780 yn = (wn > 0.0f) ? wn * kb : wn;
784 v_mad(v, v, u, +km * dt);
785 v_mad(v, v, n, xn + yn);
787 v_mad(p, q, n, up->r);
789 /* Return the "energy" of the impact, to determine the sound amplitude. */
791 return fabsf(v_dot(n, d));
794 /*---------------------------------------------------------------------------*/
797 * Compute the states of all switches after DT seconds have passed.
799 static void sol_swch_step(struct s_file *fp, float dt)
803 for (xi = 0; xi < fp->xc; xi++)
805 struct s_swch *xp = fp->xv + xi;
816 do /* Tortoise and hare cycle traverser. */
818 fp->pv[pi].f = xp->f0;
819 fp->pv[pj].f = xp->f0;
834 * Compute the positions of all bodies after DT seconds have passed.
836 static void sol_body_step(struct s_file *fp, float dt)
840 for (i = 0; i < fp->bc; i++)
842 struct s_body *bp = fp->bv + i;
843 struct s_path *pp = fp->pv + bp->pi;
845 if (bp->pi >= 0 && pp->f)
859 * Compute the positions of all balls after DT seconds have passed.
861 static void sol_ball_step(struct s_file *fp, float dt)
865 for (i = 0; i < fp->uc; i++)
867 struct s_ball *up = fp->uv + i;
869 v_mad(up->p, up->p, up->v, dt);
871 if (v_len(up->w) > 0.0f)
878 m_rot(M, w, v_len(up->w) * dt);
880 m_vxfm(e[0], M, up->e[0]);
881 m_vxfm(e[1], M, up->e[1]);
882 m_vxfm(e[2], M, up->e[2]);
884 v_crs(up->e[2], e[0], e[1]);
885 v_crs(up->e[1], e[2], e[0]);
886 v_crs(up->e[0], e[1], e[2]);
888 v_nrm(up->e[0], up->e[0]);
889 v_nrm(up->e[1], up->e[1]);
890 v_nrm(up->e[2], up->e[2]);
895 /*---------------------------------------------------------------------------*/
897 static float sol_test_vert(float dt,
899 const struct s_ball *up,
900 const struct s_vert *vp,
904 return v_vert(T, o, vp->p, w, up->p, up->v, up->r);
907 static float sol_test_edge(float dt,
909 const struct s_ball *up,
910 const struct s_file *fp,
911 const struct s_edge *ep,
918 v_cpy(q, fp->vv[ep->vi].p);
919 v_sub(u, fp->vv[ep->vj].p,
922 return v_edge(T, o, q, u, w, up->p, up->v, up->r);
925 static float sol_test_side(float dt,
927 const struct s_ball *up,
928 const struct s_file *fp,
929 const struct s_lump *lp,
930 const struct s_side *sp,
934 float t = v_side(T, o, w, sp->n, sp->d, up->p, up->v, up->r);
938 for (i = 0; i < lp->sc; i++)
940 const struct s_side *sq = fp->sv + fp->iv[lp->s0 + i];
945 v_dot(w, sq->n) * t > sq->d)
951 /*---------------------------------------------------------------------------*/
953 static float sol_test_fore(float dt,
954 const struct s_ball *up,
955 const struct s_side *sp,
961 /* If the ball is not behind the plane, the test passes. */
965 if (v_dot(q, sp->n) - sp->d + up->r >= 0)
968 /* if the ball is behind the plane but will hit before dt, test passes. */
970 if (v_side(q, o, w, sp->n, sp->d, up->p, up->v, up->r) < dt)
973 /* If the ball is behind but moving toward the plane, test passes. */
975 if (v_dot(up->v, sp->n) > 0)
979 /* Else, test fails. */
984 static float sol_test_back(float dt,
985 const struct s_ball *up,
986 const struct s_side *sp,
992 /* If the ball is not in front of the plane, the test passes. */
996 if (v_dot(q, sp->n) - sp->d - up->r <= 0)
999 /* if the ball is behind the plane but will hit before dt, test passes. */
1001 if (v_side(q, o, w, sp->n, sp->d, up->p, up->v, up->r) < dt)
1004 /* If the ball is in front but moving toward the plane, test passes. */
1006 if (v_dot(up->v, sp->n) < 0)
1010 /* Else, test fails. */
1015 /*---------------------------------------------------------------------------*/
1017 static float sol_test_lump(float dt,
1019 const struct s_ball *up,
1020 const struct s_file *fp,
1021 const struct s_lump *lp,
1025 float U[3] = {0.0f, 0.0f, 0.0f}; /* init value only to avoid gcc warnings */
1029 /* Short circuit a non-solid lump. */
1031 if (lp->fl & L_DETAIL) return t;
1033 /* Test all verts */
1036 for (i = 0; i < lp->vc; i++)
1038 const struct s_vert *vp = fp->vv + fp->iv[lp->v0 + i];
1040 if ((u = sol_test_vert(t, U, up, vp, o, w)) < t)
1047 /* Test all edges */
1050 for (i = 0; i < lp->ec; i++)
1052 const struct s_edge *ep = fp->ev + fp->iv[lp->e0 + i];
1054 if ((u = sol_test_edge(t, U, up, fp, ep, o, w)) < t)
1061 /* Test all sides */
1063 for (i = 0; i < lp->sc; i++)
1065 const struct s_side *sp = fp->sv + fp->iv[lp->s0 + i];
1067 if ((u = sol_test_side(t, U, up, fp, lp, sp, o, w)) < t)
1076 static float sol_test_node(float dt,
1078 const struct s_ball *up,
1079 const struct s_file *fp,
1080 const struct s_node *np,
1084 float U[3], u, t = dt;
1087 /* Test all lumps */
1089 for (i = 0; i < np->lc; i++)
1091 const struct s_lump *lp = fp->lv + np->l0 + i;
1093 if ((u = sol_test_lump(t, U, up, fp, lp, o, w)) < t)
1100 /* Test in front of this node */
1102 if (np->ni >= 0 && sol_test_fore(t, up, fp->sv + np->si, o, w))
1104 const struct s_node *nq = fp->nv + np->ni;
1106 if ((u = sol_test_node(t, U, up, fp, nq, o, w)) < t)
1113 /* Test behind this node */
1115 if (np->nj >= 0 && sol_test_back(t, up, fp->sv + np->si, o, w))
1117 const struct s_node *nq = fp->nv + np->nj;
1119 if ((u = sol_test_node(t, U, up, fp, nq, o, w)) < t)
1129 static float sol_test_body(float dt,
1130 float T[3], float V[3],
1131 const struct s_ball *up,
1132 const struct s_file *fp,
1133 const struct s_body *bp)
1135 float U[3], O[3], W[3], u, t = dt;
1137 const struct s_node *np = fp->nv + bp->ni;
1139 sol_body_p(O, fp, bp);
1140 sol_body_v(W, fp, bp);
1142 if ((u = sol_test_node(t, U, up, fp, np, O, W)) < t)
1151 static float sol_test_file(float dt,
1152 float T[3], float V[3],
1153 const struct s_ball *up,
1154 const struct s_file *fp)
1156 float U[3], W[3], u, t = dt;
1159 for (i = 0; i < fp->bc; i++)
1161 const struct s_body *bp = fp->bv + i;
1163 if ((u = sol_test_body(t, U, W, up, fp, bp)) < t)
1173 /*---------------------------------------------------------------------------*/
1176 * Step the physics forward DT seconds under the influence of gravity
1177 * vector G. If the ball gets pinched between two moving solids, this
1178 * loop might not terminate. It is better to do something physically
1179 * impossible than to lock up the game. So, if we make more than C
1180 * iterations, punt it.
1183 float sol_step(struct s_file *fp, const float *g, float dt, int ui, int *m)
1185 float P[3], V[3], v[3], r[3], d, e, nt, b = 0.0f, tt = dt;
1190 struct s_ball *up = fp->uv + ui;
1192 /* If the ball is in contact with a surface, apply friction. */
1197 if (m && sol_test_file(tt, P, V, up, fp) < 0.0005f)
1202 if ((d = v_dot(r, g) / (v_len(r) * v_len(g))) > 0.999f)
1204 if ((e = (v_len(up->v) - dt)) > 0.0f)
1206 /* Scale the linear velocity. */
1208 v_nrm(up->v, up->v);
1209 v_scl(up->v, up->v, e);
1211 /* Scale the angular velocity. */
1215 v_scl(up->w, up->w, -1.0f / (up->r * up->r));
1219 /* Friction has brought the ball to a stop. */
1228 else v_mad(up->v, v, g, tt);
1230 else v_mad(up->v, v, g, tt);
1232 /* Test for collision. */
1234 while (c > 0 && tt > 0 && tt > (nt = sol_test_file(tt, P, V, up, fp)))
1236 sol_body_step(fp, nt);
1237 sol_swch_step(fp, nt);
1238 sol_ball_step(fp, nt);
1242 if (b < (d = sol_bounce(up, P, V, nt)))
1248 sol_body_step(fp, tt);
1249 sol_swch_step(fp, tt);
1250 sol_ball_step(fp, tt);
1255 /*---------------------------------------------------------------------------*/
1257 int sol_coin_test(struct s_file *fp, float *p, float coin_r)
1259 const float *ball_p = fp->uv->p;
1260 const float ball_r = fp->uv->r;
1263 for (ci = 0; ci < fp->cc; ci++)
1267 r[0] = ball_p[0] - fp->cv[ci].p[0];
1268 r[1] = ball_p[1] - fp->cv[ci].p[1];
1269 r[2] = ball_p[2] - fp->cv[ci].p[2];
1271 if (fp->cv[ci].n > 0 && v_len(r) < ball_r + coin_r)
1273 p[0] = fp->cv[ci].p[0];
1274 p[1] = fp->cv[ci].p[1];
1275 p[2] = fp->cv[ci].p[2];
1286 struct s_goal *sol_goal_test(struct s_file *fp, float *p, int ui)
1288 const float *ball_p = fp->uv[ui].p;
1289 const float ball_r = fp->uv[ui].r;
1292 for (zi = 0; zi < fp->zc; zi++)
1296 r[0] = ball_p[0] - fp->zv[zi].p[0];
1297 r[1] = ball_p[2] - fp->zv[zi].p[2];
1300 if (v_len(r) < fp->zv[zi].r * 1.1 - ball_r &&
1301 ball_p[1] > fp->zv[zi].p[1] &&
1302 ball_p[1] < fp->zv[zi].p[1] + GOAL_HEIGHT / 2)
1304 p[0] = fp->zv[zi].p[0];
1305 p[1] = fp->zv[zi].p[1];
1306 p[2] = fp->zv[zi].p[2];
1314 int sol_jump_test(struct s_file *fp, float *p, int ui)
1315 /* Test if the ball ui is inside a jump. */
1316 /* Return 1 if yes and fill p with the destination position. */
1317 /* Return 0 if no. */
1318 /* Return 2 if the ball is on the border of a jump. */
1320 const float *ball_p = fp->uv[ui].p;
1321 const float ball_r = fp->uv[ui].r;
1326 for (ji = 0; ji < fp->jc; ji++)
1330 r[0] = ball_p[0] - fp->jv[ji].p[0];
1331 r[1] = ball_p[2] - fp->jv[ji].p[2];
1334 l = v_len(r) - fp->jv[ji].r;
1336 ball_p[1] > fp->jv[ji].p[1] &&
1337 ball_p[1] < fp->jv[ji].p[1] + JUMP_HEIGHT / 2)
1341 p[0] = fp->jv[ji].q[0] + (ball_p[0] - fp->jv[ji].p[0]);
1342 p[1] = fp->jv[ji].q[1] + (ball_p[1] - fp->jv[ji].p[1]);
1343 p[2] = fp->jv[ji].q[2] + (ball_p[2] - fp->jv[ji].p[2]);
1354 int sol_swch_test(struct s_file *fp, int ui)
1355 /* In the SOL fp, test and process the event the ball ui enters a switch.
1356 * Return 1 if a visible switch is activated, return 0 otherwise (no switch is
1357 * activated or only invisible switchs) */
1359 const float *ball_p = fp->uv[ui].p;
1360 const float ball_r = fp->uv[ui].r;
1363 int res = 0; /* result */
1365 for (xi = 0; xi < fp->xc; xi++)
1367 struct s_swch *xp = fp->xv + xi;
1369 if (xp->t0 == 0 || xp->f == xp->f0)
1373 r[0] = ball_p[0] - xp->p[0];
1374 r[1] = ball_p[2] - xp->p[2];
1377 l = v_len(r) - xp->r;
1379 ball_p[1] > xp->p[1] &&
1380 ball_p[1] < xp->p[1] + SWCH_HEIGHT / 2)
1382 if (!xp->e && l < - ball_r)
1387 /* The ball enter */
1391 /* Toggle the state, update the path. */
1393 xp->f = xp->f ? 0 : 1;
1395 do /* Tortoise and hare cycle traverser. */
1397 fp->pv[pi].f = xp->f;
1398 fp->pv[pj].f = xp->f;
1406 /* It toggled to non-default state, start the timer. */
1408 if (xp->f != xp->f0)
1411 /* If visible, set the result */
1424 /*---------------------------------------------------------------------------*/
1426 void put_file_state(FILE *fout, struct s_file *fp)
1428 /* Write the position and orientation of the ball. */
1430 put_array(fout, fp->uv[0].p, 3);
1431 put_array(fout, fp->uv[0].e[0], 3);
1432 put_array(fout, fp->uv[0].e[1], 3);
1435 void get_file_state(FILE *fin, struct s_file *fp)
1437 /* Read the position and orientation of the ball. */
1439 get_array(fin, fp->uv[0].p, 3);
1440 get_array(fin, fp->uv[0].e[0], 3);
1441 get_array(fin, fp->uv[0].e[1], 3);
1443 /* Compute the 3rd vector of the ball orientatian basis. */
1445 v_crs(fp->uv[0].e[2], fp->uv[0].e[0], fp->uv[0].e[1]);
1448 /*---------------------------------------------------------------------------*/