mirror of
https://github.com/open-goal/jak-project
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water111
111 lines
3.6 KiB
Common Lisp
111 lines
3.6 KiB
Common Lisp
;;-*-Lisp-*-
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(in-package goal)
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;; name: trajectory.gc
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;; name in dgo: trajectory
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;; dgos: GAME, ENGINE
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(defmethod eval-position! trajectory ((obj trajectory) (time float) (result vector))
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"Evaluate the position of the object at a give time"
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(set! (-> result quad) (-> obj initial-position quad))
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(+! (-> result x) (* time (-> obj initial-velocity x)))
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(+! (-> result y) (* time (-> obj initial-velocity y)))
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(+! (-> result z) (* time (-> obj initial-velocity z)))
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(+! (-> result y) (* (* (* 0.5 time) time) (-> obj gravity)))
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result
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)
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(defmethod eval-velocity! trajectory ((obj trajectory) (time float) (result vector))
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"Evaluate the velocity of the object at a given time"
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(set! (-> result quad) (-> obj initial-velocity quad))
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(+! (-> result y) (* time (-> obj gravity)))
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result
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)
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(defmethod setup-from-to-duration! trajectory ((obj trajectory) (from vector) (to vector) (duration float) (grav float))
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"Set up a trajectory that goes from->to in the given duration"
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(set! (-> obj initial-position quad) (-> from quad))
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(set! (-> obj gravity) grav)
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(set! (-> obj time) duration)
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;; the velocity we need in xz to make it in time
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(let ((xz-vel (/ (vector-vector-xz-distance to from) duration)))
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;; our velocity will point along from -> to
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(vector-! (-> obj initial-velocity) to from)
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;; but have magnitude that we calculated above.
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(vector-xz-normalize! (-> obj initial-velocity) xz-vel)
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)
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;; solve for the y velocity that makes us land at the right height.
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(set! (-> obj initial-velocity y)
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(- (/ (- (-> to y) (-> from y)) duration)
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(* (* 0.5 duration) (-> obj gravity))
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)
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)
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(none)
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)
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(defmethod setup-from-to-xz-vel! trajectory ((obj trajectory) (from vector) (to vector) (xz-vel float) (grav float))
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"Set up a trajectory that goes from->to with the given velocity"
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;; just solve for the duration and use the previous
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(let ((duration (/ (vector-vector-xz-distance to from) xz-vel)))
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(setup-from-to-duration! obj from to duration grav)
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)
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(none)
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)
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(defmethod setup-from-to-y-vel! trajectory ((obj trajectory) (from vector) (to vector) (y-vel float) (grav float))
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"Set up a trajectory with the given initial y velocity."
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(let* ((f0-0 y-vel)
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(f1-3 (- (* f0-0 f0-0) (* (* 2.0 (- (-> from y) (-> to y))) grav)))
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(f0-3 900.0)
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)
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(when (>= f1-3 0.0)
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(let ((f0-4 (sqrtf f1-3)))
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(set! f0-3 (fmax (/ (- (- y-vel) f0-4) grav) (/ (+ (- y-vel) f0-4) grav)))
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)
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)
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(setup-from-to-duration! obj from to f0-3 grav)
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)
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0
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(none)
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)
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(defmethod setup-from-to-height! trajectory ((obj trajectory) (arg0 vector) (arg1 vector) (arg2 float) (arg3 float))
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"Setup a trajectory that reaches a given height"
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(let* ((f1-2 (+ arg2 (fmax (-> arg0 y) (-> arg1 y))))
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(f1-5 (* (* 2.0 (- (-> arg0 y) f1-2)) arg3))
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(f0-3 4096.0)
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)
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(if (< 0.0 f1-5)
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(set! f0-3 (sqrtf f1-5))
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)
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(setup-from-to-y-vel! obj arg0 arg1 f0-3 arg3)
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)
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(none)
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)
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(defmethod debug-draw! trajectory ((obj trajectory))
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"Draw the trajectory"
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(let ((prev-pos (new 'stack-no-clear 'vector))
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(pos (new 'stack-no-clear 'vector))
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(num-segments 10)
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)
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(set! (-> pos quad) (-> obj initial-position quad))
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(dotimes (s2-0 num-segments)
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(set! (-> prev-pos quad) (-> pos quad))
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(let ((t-eval (* (-> obj time) (/ (+ 1.0 (the float s2-0)) (the float num-segments)))))
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(eval-position! obj t-eval pos)
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)
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(add-debug-line
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#t
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(bucket-id debug-draw1)
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prev-pos
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pos
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(new 'static 'rgba :r #xff :a #x80)
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#f
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(the-as rgba -1)
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)
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)
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)
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(none)
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)
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