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 0x4F425251 /* SOL file magic number (should not change). */
33 #define SOL_VERSION 5 /* SOL file format version (can change). */
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);
236 get_float(fin, &bp->a);
239 static void sol_load_view(FILE *fin, struct s_view *wp)
241 get_array(fin, wp->p, 3);
242 get_array(fin, wp->q, 3);
245 static int sol_load_file(FILE *fin, struct s_file *fp)
251 get_index(fin, &magic);
252 get_index(fin, &version);
254 if (magic != MAGIC || version != SOL_VERSION)
257 get_index(fin, &fp->mc);
258 get_index(fin, &fp->vc);
259 get_index(fin, &fp->ec);
260 get_index(fin, &fp->sc);
261 get_index(fin, &fp->tc);
262 get_index(fin, &fp->gc);
263 get_index(fin, &fp->lc);
264 get_index(fin, &fp->nc);
265 get_index(fin, &fp->pc);
266 get_index(fin, &fp->bc);
267 get_index(fin, &fp->cc);
268 get_index(fin, &fp->zc);
269 get_index(fin, &fp->jc);
270 get_index(fin, &fp->xc);
271 get_index(fin, &fp->rc);
272 get_index(fin, &fp->uc);
273 get_index(fin, &fp->wc);
274 get_index(fin, &fp->ic);
275 get_index(fin, &fp->ac);
278 fp->mv = (struct s_mtrl *) calloc(fp->mc, sizeof (struct s_mtrl));
280 fp->vv = (struct s_vert *) calloc(fp->vc, sizeof (struct s_vert));
282 fp->ev = (struct s_edge *) calloc(fp->ec, sizeof (struct s_edge));
284 fp->sv = (struct s_side *) calloc(fp->sc, sizeof (struct s_side));
286 fp->tv = (struct s_texc *) calloc(fp->tc, sizeof (struct s_texc));
288 fp->gv = (struct s_geom *) calloc(fp->gc, sizeof (struct s_geom));
290 fp->lv = (struct s_lump *) calloc(fp->lc, sizeof (struct s_lump));
292 fp->nv = (struct s_node *) calloc(fp->nc, sizeof (struct s_node));
294 fp->pv = (struct s_path *) calloc(fp->pc, sizeof (struct s_path));
296 fp->bv = (struct s_body *) calloc(fp->bc, sizeof (struct s_body));
298 fp->cv = (struct s_coin *) calloc(fp->cc, sizeof (struct s_coin));
300 fp->zv = (struct s_goal *) calloc(fp->zc, sizeof (struct s_goal));
302 fp->jv = (struct s_jump *) calloc(fp->jc, sizeof (struct s_jump));
304 fp->xv = (struct s_swch *) calloc(fp->xc, sizeof (struct s_swch));
306 fp->rv = (struct s_bill *) calloc(fp->rc, sizeof (struct s_bill));
308 fp->uv = (struct s_ball *) calloc(fp->uc, sizeof (struct s_ball));
310 fp->wv = (struct s_view *) calloc(fp->wc, sizeof (struct s_view));
312 fp->iv = (int *) calloc(fp->ic, sizeof (int));
314 fp->av = (char *) calloc(fp->ac, sizeof (char));
316 for (i = 0; i < fp->mc; i++) sol_load_mtrl(fin, fp->mv + i);
317 for (i = 0; i < fp->vc; i++) sol_load_vert(fin, fp->vv + i);
318 for (i = 0; i < fp->ec; i++) sol_load_edge(fin, fp->ev + i);
319 for (i = 0; i < fp->sc; i++) sol_load_side(fin, fp->sv + i);
320 for (i = 0; i < fp->tc; i++) sol_load_texc(fin, fp->tv + i);
321 for (i = 0; i < fp->gc; i++) sol_load_geom(fin, fp->gv + i);
322 for (i = 0; i < fp->lc; i++) sol_load_lump(fin, fp->lv + i);
323 for (i = 0; i < fp->nc; i++) sol_load_node(fin, fp->nv + i);
324 for (i = 0; i < fp->pc; i++) sol_load_path(fin, fp->pv + i);
325 for (i = 0; i < fp->bc; i++) sol_load_body(fin, fp->bv + i);
326 for (i = 0; i < fp->cc; i++) sol_load_coin(fin, fp->cv + i);
327 for (i = 0; i < fp->zc; i++) sol_load_goal(fin, fp->zv + i);
328 for (i = 0; i < fp->jc; i++) sol_load_jump(fin, fp->jv + i);
329 for (i = 0; i < fp->xc; i++) sol_load_swch(fin, fp->xv + i);
330 for (i = 0; i < fp->rc; i++) sol_load_bill(fin, fp->rv + i);
331 for (i = 0; i < fp->uc; i++) sol_load_ball(fin, fp->uv + i);
332 for (i = 0; i < fp->wc; i++) sol_load_view(fin, fp->wv + i);
333 for (i = 0; i < fp->ic; i++) get_index(fin, fp->iv + i);
335 if (fp->ac) fread(fp->av, 1, fp->ac, fin);
340 int sol_load_only_file(struct s_file *fp, const char *filename)
345 if ((fin = fopen(filename, FMODE_RB)))
347 res = sol_load_file(fin, fp);
353 /*---------------------------------------------------------------------------*/
355 static void sol_stor_mtrl(FILE *fout, struct s_mtrl *mp)
357 put_array(fout, mp->a, 4);
358 put_array(fout, mp->d, 4);
359 put_array(fout, mp->s, 4);
360 put_array(fout, mp->e, 4);
361 put_array(fout, mp->h, 1);
362 put_index(fout, &mp->fl);
364 fwrite(mp->f, 1, PATHMAX, fout);
367 static void sol_stor_vert(FILE *fout, struct s_vert *vp)
369 put_array(fout, vp->p, 3);
372 static void sol_stor_edge(FILE *fout, struct s_edge *ep)
374 put_index(fout, &ep->vi);
375 put_index(fout, &ep->vj);
378 static void sol_stor_side(FILE *fout, struct s_side *sp)
380 put_array(fout, sp->n, 3);
381 put_float(fout, &sp->d);
384 static void sol_stor_texc(FILE *fout, struct s_texc *tp)
386 put_array(fout, tp->u, 2);
389 static void sol_stor_geom(FILE *fout, struct s_geom *gp)
391 put_index(fout, &gp->mi);
392 put_index(fout, &gp->ti);
393 put_index(fout, &gp->si);
394 put_index(fout, &gp->vi);
395 put_index(fout, &gp->tj);
396 put_index(fout, &gp->sj);
397 put_index(fout, &gp->vj);
398 put_index(fout, &gp->tk);
399 put_index(fout, &gp->sk);
400 put_index(fout, &gp->vk);
403 static void sol_stor_lump(FILE *fout, struct s_lump *lp)
405 put_index(fout, &lp->fl);
406 put_index(fout, &lp->v0);
407 put_index(fout, &lp->vc);
408 put_index(fout, &lp->e0);
409 put_index(fout, &lp->ec);
410 put_index(fout, &lp->g0);
411 put_index(fout, &lp->gc);
412 put_index(fout, &lp->s0);
413 put_index(fout, &lp->sc);
416 static void sol_stor_node(FILE *fout, struct s_node *np)
418 put_index(fout, &np->si);
419 put_index(fout, &np->ni);
420 put_index(fout, &np->nj);
421 put_index(fout, &np->l0);
422 put_index(fout, &np->lc);
425 static void sol_stor_path(FILE *fout, struct s_path *pp)
427 put_array(fout, pp->p, 3);
428 put_float(fout, &pp->t);
429 put_index(fout, &pp->pi);
430 put_index(fout, &pp->f);
433 static void sol_stor_body(FILE *fout, struct s_body *bp)
435 put_index(fout, &bp->pi);
436 put_index(fout, &bp->ni);
437 put_index(fout, &bp->l0);
438 put_index(fout, &bp->lc);
439 put_index(fout, &bp->g0);
440 put_index(fout, &bp->gc);
443 static void sol_stor_coin(FILE *fout, struct s_coin *cp)
445 put_array(fout, cp->p, 3);
446 put_index(fout, &cp->n);
449 static void sol_stor_goal(FILE *fout, struct s_goal *zp)
451 put_array(fout, zp->p, 3);
452 put_float(fout, &zp->r);
453 put_index(fout, &zp->s);
454 put_index(fout, &zp->c);
457 static void sol_stor_swch(FILE *fout, struct s_swch *xp)
459 put_array(fout, xp->p, 3);
460 put_float(fout, &xp->r);
461 put_index(fout, &xp->pi);
462 put_float(fout, &xp->t0);
463 put_float(fout, &xp->t);
464 put_index(fout, &xp->f0);
465 put_index(fout, &xp->f);
466 put_index(fout, &xp->i);
469 static void sol_stor_bill(FILE *fout, struct s_bill *rp)
471 put_index(fout, &rp->fl);
472 put_index(fout, &rp->mi);
473 put_float(fout, &rp->t);
474 put_float(fout, &rp->d);
475 put_array(fout, rp->w, 3);
476 put_array(fout, rp->h, 3);
477 put_array(fout, rp->rx, 3);
478 put_array(fout, rp->ry, 3);
479 put_array(fout, rp->rz, 3);
482 static void sol_stor_jump(FILE *fout, struct s_jump *jp)
484 put_array(fout, jp->p, 3);
485 put_array(fout, jp->q, 3);
486 put_float(fout, &jp->r);
489 static void sol_stor_ball(FILE *fout, struct s_ball *bp)
491 put_array(fout, bp->e[0], 3);
492 put_array(fout, bp->e[1], 3);
493 put_array(fout, bp->e[2], 3);
494 put_array(fout, bp->p, 3);
495 put_float(fout, &bp->r);
496 put_float(fout, &bp->a);
499 static void sol_stor_view(FILE *fout, struct s_view *wp)
501 put_array(fout, wp->p, 3);
502 put_array(fout, wp->q, 3);
505 static void sol_stor_file(FILE *fin, struct s_file *fp)
509 int version = SOL_VERSION;
511 put_index(fin, &magic);
512 put_index(fin, &version);
514 put_index(fin, &fp->mc);
515 put_index(fin, &fp->vc);
516 put_index(fin, &fp->ec);
517 put_index(fin, &fp->sc);
518 put_index(fin, &fp->tc);
519 put_index(fin, &fp->gc);
520 put_index(fin, &fp->lc);
521 put_index(fin, &fp->nc);
522 put_index(fin, &fp->pc);
523 put_index(fin, &fp->bc);
524 put_index(fin, &fp->cc);
525 put_index(fin, &fp->zc);
526 put_index(fin, &fp->jc);
527 put_index(fin, &fp->xc);
528 put_index(fin, &fp->rc);
529 put_index(fin, &fp->uc);
530 put_index(fin, &fp->wc);
531 put_index(fin, &fp->ic);
532 put_index(fin, &fp->ac);
534 for (i = 0; i < fp->mc; i++) sol_stor_mtrl(fin, fp->mv + i);
535 for (i = 0; i < fp->vc; i++) sol_stor_vert(fin, fp->vv + i);
536 for (i = 0; i < fp->ec; i++) sol_stor_edge(fin, fp->ev + i);
537 for (i = 0; i < fp->sc; i++) sol_stor_side(fin, fp->sv + i);
538 for (i = 0; i < fp->tc; i++) sol_stor_texc(fin, fp->tv + i);
539 for (i = 0; i < fp->gc; i++) sol_stor_geom(fin, fp->gv + i);
540 for (i = 0; i < fp->lc; i++) sol_stor_lump(fin, fp->lv + i);
541 for (i = 0; i < fp->nc; i++) sol_stor_node(fin, fp->nv + i);
542 for (i = 0; i < fp->pc; i++) sol_stor_path(fin, fp->pv + i);
543 for (i = 0; i < fp->bc; i++) sol_stor_body(fin, fp->bv + i);
544 for (i = 0; i < fp->cc; i++) sol_stor_coin(fin, fp->cv + i);
545 for (i = 0; i < fp->zc; i++) sol_stor_goal(fin, fp->zv + i);
546 for (i = 0; i < fp->jc; i++) sol_stor_jump(fin, fp->jv + i);
547 for (i = 0; i < fp->xc; i++) sol_stor_swch(fin, fp->xv + i);
548 for (i = 0; i < fp->rc; i++) sol_stor_bill(fin, fp->rv + i);
549 for (i = 0; i < fp->uc; i++) sol_stor_ball(fin, fp->uv + i);
550 for (i = 0; i < fp->wc; i++) sol_stor_view(fin, fp->wv + i);
551 for (i = 0; i < fp->ic; i++) put_index(fin, fp->iv + i);
553 fwrite(fp->av, 1, fp->ac, fin);
556 /*---------------------------------------------------------------------------*/
558 int sol_stor(struct s_file *fp, const char *filename)
562 if ((fout = fopen(filename, FMODE_WB)))
564 sol_stor_file(fout, fp);
572 void sol_free(struct s_file *fp)
574 if (fp->mv) free(fp->mv);
575 if (fp->vv) free(fp->vv);
576 if (fp->ev) free(fp->ev);
577 if (fp->sv) free(fp->sv);
578 if (fp->tv) free(fp->tv);
579 if (fp->gv) free(fp->gv);
580 if (fp->lv) free(fp->lv);
581 if (fp->nv) free(fp->nv);
582 if (fp->pv) free(fp->pv);
583 if (fp->bv) free(fp->bv);
584 if (fp->cv) free(fp->cv);
585 if (fp->zv) free(fp->zv);
586 if (fp->jv) free(fp->jv);
587 if (fp->xv) free(fp->xv);
588 if (fp->rv) free(fp->rv);
589 if (fp->uv) free(fp->uv);
590 if (fp->wv) free(fp->wv);
591 if (fp->av) free(fp->av);
592 if (fp->iv) free(fp->iv);
594 memset(fp, 0, sizeof (struct s_file));
597 /*---------------------------------------------------------------------------*/
598 /* Solves (p + v * t) . (p + v * t) == r * r for smallest t. */
600 static float v_sol(const float p[3], const float v[3], float r)
602 float a = v_dot(v, v);
603 float b = v_dot(v, p) * 2.0f;
604 float c = v_dot(p, p) - r * r;
605 float d = b * b - 4.0f * a * c;
607 if (a == 0.0f) return LARGE;
608 if (d < 0.0f) return LARGE;
611 return -b * 0.5f / a;
614 float t0 = 0.5f * (-b - fsqrtf(d)) / a;
615 float t1 = 0.5f * (-b + fsqrtf(d)) / a;
616 float t = (t0 < t1) ? t0 : t1;
618 return (t < 0.0f) ? LARGE : t;
622 /*---------------------------------------------------------------------------*/
625 * Compute the earliest time and position of the intersection of a
626 * sphere and a vertex.
628 * The sphere has radius R and moves along vector V from point P. The
629 * vertex moves along vector W from point Q in a coordinate system
632 static float v_vert(float Q[3],
637 const float v[3], float r)
639 float O[3], P[3], V[3];
646 if (v_dot(P, V) < 0.0f)
657 * Compute the earliest time and position of the intersection of a
658 * sphere and an edge.
660 * The sphere has radius R and moves along vector V from point P. The
661 * edge moves along vector W from point Q in a coordinate system based
662 * at O. The edge extends along the length of vector U.
664 static float v_edge(float Q[3],
670 const float v[3], float r)
674 float du, eu, uu, s, t;
684 v_mad(P, d, u, -du / uu);
685 v_mad(V, e, u, -eu / uu);
688 s = (du + eu * t) / uu;
690 if (0.0f < t && t < LARGE && 0.0f < s && s < 1.0f)
703 * Compute the earlist time and position of the intersection of a
704 * sphere and a plane.
706 * The sphere has radius R and moves along vector V from point P. The
707 * plane oves along vector W. The plane has normal N and is
708 * positioned at distance D from the origin O along that normal.
710 static float v_side(float Q[3],
713 const float n[3], float d,
715 const float v[3], float r)
717 float vn = v_dot(v, n);
718 float wn = v_dot(w, n);
723 float on = v_dot(o, n);
724 float pn = v_dot(p, n);
726 float u = (r + d + on - pn) / (vn - wn);
727 float a = ( d + on - pn) / (vn - wn);
747 /*---------------------------------------------------------------------------*/
750 * Compute the new linear and angular velocities of a bouncing ball.
751 * Q gives the position of the point of impact and W gives the
752 * velocity of the object being impacted.
754 static float sol_bounce(struct s_ball *up,
756 const float w[3], float dt)
758 const float kb = 1.10f;
759 const float ke = 0.70f;
760 const float km = 0.20f;
762 float n[3], r[3], d[3], u[3], vn, wn, xn, yn;
766 /* Find the normal of the impact. */
772 /* Find the new angular velocity. */
775 v_scl(up->w, up->w, -1.0f / (up->r * up->r));
777 /* Find the new linear velocity. */
781 xn = (vn < 0.0f) ? -vn * ke : vn;
782 yn = (wn > 0.0f) ? wn * kb : wn;
786 v_mad(v, v, u, +km * dt);
787 v_mad(v, v, n, xn + yn);
789 v_mad(p, q, n, up->r);
791 /* Return the "energy" of the impact, to determine the sound amplitude. */
793 return fabsf(v_dot(n, d));
796 /*---------------------------------------------------------------------------*/
799 * Compute the states of all switches after DT seconds have passed.
801 static void sol_swch_step(struct s_file *fp, float dt)
805 for (xi = 0; xi < fp->xc; xi++)
807 struct s_swch *xp = fp->xv + xi;
818 do /* Tortoise and hare cycle traverser. */
820 fp->pv[pi].f = xp->f0;
821 fp->pv[pj].f = xp->f0;
836 * Compute the positions of all bodies after DT seconds have passed.
838 static void sol_body_step(struct s_file *fp, float dt)
842 for (i = 0; i < fp->bc; i++)
844 struct s_body *bp = fp->bv + i;
845 struct s_path *pp = fp->pv + bp->pi;
847 if (bp->pi >= 0 && pp->f)
861 * Compute the positions of all balls after DT seconds have passed.
863 static void sol_ball_step(struct s_file *fp, float dt)
867 for (i = 0; i < fp->uc; i++)
869 struct s_ball *up = fp->uv + i;
871 v_mad(up->p, up->p, up->v, dt);
873 if (v_len(up->w) > 0.0f)
880 m_rot(M, w, v_len(up->w) * dt);
882 m_vxfm(e[0], M, up->e[0]);
883 m_vxfm(e[1], M, up->e[1]);
884 m_vxfm(e[2], M, up->e[2]);
886 v_crs(up->e[2], e[0], e[1]);
887 v_crs(up->e[1], e[2], e[0]);
888 v_crs(up->e[0], e[1], e[2]);
890 v_nrm(up->e[0], up->e[0]);
891 v_nrm(up->e[1], up->e[1]);
892 v_nrm(up->e[2], up->e[2]);
897 /*---------------------------------------------------------------------------*/
899 static float sol_test_vert(float dt,
901 const struct s_ball *up,
902 const struct s_vert *vp,
906 return v_vert(T, o, vp->p, w, up->p, up->v, up->r);
909 static float sol_test_edge(float dt,
911 const struct s_ball *up,
912 const struct s_file *fp,
913 const struct s_edge *ep,
920 v_cpy(q, fp->vv[ep->vi].p);
921 v_sub(u, fp->vv[ep->vj].p,
924 return v_edge(T, o, q, u, w, up->p, up->v, up->r);
927 static float sol_test_side(float dt,
929 const struct s_ball *up,
930 const struct s_file *fp,
931 const struct s_lump *lp,
932 const struct s_side *sp,
936 float t = v_side(T, o, w, sp->n, sp->d, up->p, up->v, up->r);
940 for (i = 0; i < lp->sc; i++)
942 const struct s_side *sq = fp->sv + fp->iv[lp->s0 + i];
947 v_dot(w, sq->n) * t > sq->d)
953 /*---------------------------------------------------------------------------*/
955 static float sol_test_fore(float dt,
956 const struct s_ball *up,
957 const struct s_side *sp,
963 /* If the ball is not behind the plane, the test passes. */
967 if (v_dot(q, sp->n) - sp->d + up->r >= 0)
970 /* if the ball is behind the plane but will hit before dt, test passes. */
972 if (v_side(q, o, w, sp->n, sp->d, up->p, up->v, up->r) < dt)
975 /* If the ball is behind but moving toward the plane, test passes. */
977 if (v_dot(up->v, sp->n) > 0)
981 /* Else, test fails. */
986 static float sol_test_back(float dt,
987 const struct s_ball *up,
988 const struct s_side *sp,
994 /* If the ball is not in front of the plane, the test passes. */
998 if (v_dot(q, sp->n) - sp->d - up->r <= 0)
1001 /* if the ball is behind the plane but will hit before dt, test passes. */
1003 if (v_side(q, o, w, sp->n, sp->d, up->p, up->v, up->r) < dt)
1006 /* If the ball is in front but moving toward the plane, test passes. */
1008 if (v_dot(up->v, sp->n) < 0)
1012 /* Else, test fails. */
1017 /*---------------------------------------------------------------------------*/
1019 static float sol_test_lump(float dt,
1021 const struct s_ball *up,
1022 const struct s_file *fp,
1023 const struct s_lump *lp,
1027 float U[3] = {0.0f, 0.0f, 0.0f}; /* init value only to avoid gcc warnings */
1031 /* Short circuit a non-solid lump. */
1033 if (lp->fl & L_DETAIL) return t;
1035 /* Test all verts */
1038 for (i = 0; i < lp->vc; i++)
1040 const struct s_vert *vp = fp->vv + fp->iv[lp->v0 + i];
1042 if ((u = sol_test_vert(t, U, up, vp, o, w)) < t)
1049 /* Test all edges */
1052 for (i = 0; i < lp->ec; i++)
1054 const struct s_edge *ep = fp->ev + fp->iv[lp->e0 + i];
1056 if ((u = sol_test_edge(t, U, up, fp, ep, o, w)) < t)
1063 /* Test all sides */
1065 for (i = 0; i < lp->sc; i++)
1067 const struct s_side *sp = fp->sv + fp->iv[lp->s0 + i];
1069 if ((u = sol_test_side(t, U, up, fp, lp, sp, o, w)) < t)
1078 static float sol_test_node(float dt,
1080 const struct s_ball *up,
1081 const struct s_file *fp,
1082 const struct s_node *np,
1086 float U[3], u, t = dt;
1089 /* Test all lumps */
1091 for (i = 0; i < np->lc; i++)
1093 const struct s_lump *lp = fp->lv + np->l0 + i;
1095 if ((u = sol_test_lump(t, U, up, fp, lp, o, w)) < t)
1102 /* Test in front of this node */
1104 if (np->ni >= 0 && sol_test_fore(t, up, fp->sv + np->si, o, w))
1106 const struct s_node *nq = fp->nv + np->ni;
1108 if ((u = sol_test_node(t, U, up, fp, nq, o, w)) < t)
1115 /* Test behind this node */
1117 if (np->nj >= 0 && sol_test_back(t, up, fp->sv + np->si, o, w))
1119 const struct s_node *nq = fp->nv + np->nj;
1121 if ((u = sol_test_node(t, U, up, fp, nq, o, w)) < t)
1131 static float sol_test_body(float dt,
1132 float T[3], float V[3],
1133 const struct s_ball *up,
1134 const struct s_file *fp,
1135 const struct s_body *bp)
1137 float U[3], O[3], W[3], u, t = dt;
1139 const struct s_node *np = fp->nv + bp->ni;
1141 sol_body_p(O, fp, bp);
1142 sol_body_v(W, fp, bp);
1144 if ((u = sol_test_node(t, U, up, fp, np, O, W)) < t)
1153 static float sol_test_file(float dt,
1154 float T[3], float V[3],
1155 const struct s_ball *up,
1156 const struct s_file *fp)
1158 float U[3], W[3], u, t = dt;
1161 for (i = 0; i < fp->bc; i++)
1163 const struct s_body *bp = fp->bv + i;
1165 if ((u = sol_test_body(t, U, W, up, fp, bp)) < t)
1175 /*---------------------------------------------------------------------------*/
1178 * Step the physics forward DT seconds under the influence of gravity
1179 * vector G. If the ball gets pinched between two moving solids, this
1180 * loop might not terminate. It is better to do something physically
1181 * impossible than to lock up the game. So, if we make more than C
1182 * iterations, punt it.
1185 float sol_step(struct s_file *fp, const float *g, float dt, int ui, int *m)
1187 float P[3], V[3], v[3], r[3], d, e, nt, b = 0.0f, tt = dt;
1192 struct s_ball *up = fp->uv + ui;
1194 /* If the ball is in contact with a surface, apply friction. */
1199 if (m && sol_test_file(tt, P, V, up, fp) < 0.0005f)
1204 if ((d = v_dot(r, g) / (v_len(r) * v_len(g))) > 0.999f)
1206 if ((e = (v_len(up->v) - dt)) > 0.0f)
1208 /* Scale the linear velocity. */
1210 v_nrm(up->v, up->v);
1211 v_scl(up->v, up->v, e);
1213 /* Scale the angular velocity. */
1217 v_scl(up->w, up->w, -1.0f / (up->r * up->r));
1221 /* Friction has brought the ball to a stop. */
1230 else v_mad(up->v, v, g, tt);
1232 else v_mad(up->v, v, g, tt);
1234 /* Test for collision. */
1236 while (c > 0 && tt > 0 && tt > (nt = sol_test_file(tt, P, V, up, fp)))
1238 sol_body_step(fp, nt);
1239 sol_swch_step(fp, nt);
1240 sol_ball_step(fp, nt);
1244 if (b < (d = sol_bounce(up, P, V, nt)))
1250 sol_body_step(fp, tt);
1251 sol_swch_step(fp, tt);
1252 sol_ball_step(fp, tt);
1257 /*---------------------------------------------------------------------------*/
1259 int sol_coin_test(struct s_file *fp, float *p, float coin_r)
1261 const float *ball_p = fp->uv->p;
1262 const float ball_r = fp->uv->r;
1265 for (ci = 0; ci < fp->cc; ci++)
1269 r[0] = ball_p[0] - fp->cv[ci].p[0];
1270 r[1] = ball_p[1] - fp->cv[ci].p[1];
1271 r[2] = ball_p[2] - fp->cv[ci].p[2];
1273 if (fp->cv[ci].n > 0 && v_len(r) < ball_r + coin_r)
1275 p[0] = fp->cv[ci].p[0];
1276 p[1] = fp->cv[ci].p[1];
1277 p[2] = fp->cv[ci].p[2];
1288 struct s_goal *sol_goal_test(struct s_file *fp, float *p, int ui)
1290 const float *ball_p = fp->uv[ui].p;
1291 const float ball_r = fp->uv[ui].r;
1294 for (zi = 0; zi < fp->zc; zi++)
1298 r[0] = ball_p[0] - fp->zv[zi].p[0];
1299 r[1] = ball_p[2] - fp->zv[zi].p[2];
1302 if (v_len(r) < fp->zv[zi].r * 1.1 - ball_r &&
1303 ball_p[1] > fp->zv[zi].p[1] &&
1304 ball_p[1] < fp->zv[zi].p[1] + GOAL_HEIGHT / 2)
1306 p[0] = fp->zv[zi].p[0];
1307 p[1] = fp->zv[zi].p[1];
1308 p[2] = fp->zv[zi].p[2];
1316 int sol_jump_test(struct s_file *fp, float *p, int ui)
1317 /* Test if the ball ui is inside a jump. */
1318 /* Return 1 if yes and fill p with the destination position. */
1319 /* Return 0 if no. */
1320 /* Return 2 if the ball is on the border of a jump. */
1322 const float *ball_p = fp->uv[ui].p;
1323 const float ball_r = fp->uv[ui].r;
1328 for (ji = 0; ji < fp->jc; ji++)
1332 r[0] = ball_p[0] - fp->jv[ji].p[0];
1333 r[1] = ball_p[2] - fp->jv[ji].p[2];
1336 l = v_len(r) - fp->jv[ji].r;
1338 ball_p[1] > fp->jv[ji].p[1] &&
1339 ball_p[1] < fp->jv[ji].p[1] + JUMP_HEIGHT / 2)
1343 p[0] = fp->jv[ji].q[0] + (ball_p[0] - fp->jv[ji].p[0]);
1344 p[1] = fp->jv[ji].q[1] + (ball_p[1] - fp->jv[ji].p[1]);
1345 p[2] = fp->jv[ji].q[2] + (ball_p[2] - fp->jv[ji].p[2]);
1356 int sol_swch_test(struct s_file *fp, int ui)
1357 /* In the SOL fp, test and process the event the ball ui enters a switch.
1358 * Return 1 if a visible switch is activated, return 0 otherwise (no switch is
1359 * activated or only invisible switchs) */
1361 const float *ball_p = fp->uv[ui].p;
1362 const float ball_r = fp->uv[ui].r;
1365 int res = 0; /* result */
1367 for (xi = 0; xi < fp->xc; xi++)
1369 struct s_swch *xp = fp->xv + xi;
1371 if (xp->t0 == 0 || xp->f == xp->f0)
1375 r[0] = ball_p[0] - xp->p[0];
1376 r[1] = ball_p[2] - xp->p[2];
1379 l = v_len(r) - xp->r;
1381 ball_p[1] > xp->p[1] &&
1382 ball_p[1] < xp->p[1] + SWCH_HEIGHT / 2)
1384 if (!xp->e && l < - ball_r)
1389 /* The ball enter */
1393 /* Toggle the state, update the path. */
1395 xp->f = xp->f ? 0 : 1;
1397 do /* Tortoise and hare cycle traverser. */
1399 fp->pv[pi].f = xp->f;
1400 fp->pv[pj].f = xp->f;
1408 /* It toggled to non-default state, start the timer. */
1410 if (xp->f != xp->f0)
1413 /* If visible, set the result */
1426 /*---------------------------------------------------------------------------*/
1428 void put_file_state(FILE *fout, struct s_file *fp)
1430 /* Write the position and orientation of the ball. */
1432 put_array(fout, fp->uv[0].p, 3);
1433 put_array(fout, fp->uv[0].e[0], 3);
1434 put_array(fout, fp->uv[0].e[1], 3);
1437 void get_file_state(FILE *fin, struct s_file *fp)
1439 /* Read the position and orientation of the ball. */
1441 get_array(fin, fp->uv[0].p, 3);
1442 get_array(fin, fp->uv[0].e[0], 3);
1443 get_array(fin, fp->uv[0].e[1], 3);
1445 /* Compute the 3rd vector of the ball orientatian basis. */
1447 v_crs(fp->uv[0].e[2], fp->uv[0].e[0], fp->uv[0].e[1]);
1450 /*---------------------------------------------------------------------------*/