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skycraft: can walk around after landing, sort of.

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This commit is contained in:
Paul Mathieu 2025-02-14 14:14:40 +01:00
parent 2efbfcc564
commit 8f43cf3a01
4 changed files with 201 additions and 57 deletions
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2
skycraft/chunk.ts
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@ -329,7 +329,7 @@ export function getBodyGeometry(seed: number) {
};
}
function blockLookup(chunkMap, x, y, z) {
export function blockLookup(chunkMap, x, y, z) {
const chunki = Math.floor((x + CHUNKSIZE / 2) / CHUNKSIZE);
const chunkj = Math.floor((y + CHUNKSIZE / 2) / CHUNKSIZE);
const chunkk = Math.floor((z + CHUNKSIZE / 2) / CHUNKSIZE);

48
skycraft/draw.ts
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@ -122,8 +122,7 @@ export async function initWorldGl(gl: WebGLRenderingContext) {
const drawObject = (objectParams) => {
const {
position,
orientation,
tf,
glBuffer,
numVertices,
lightDirection,
@ -131,8 +130,7 @@ export async function initWorldGl(gl: WebGLRenderingContext) {
specularColor,
} = objectParams;
gl.uniformMatrix4fv(modelLoc, false, new Float32Array(se3.product(
se3.translation(...position), orientation)));
gl.uniformMatrix4fv(modelLoc, false, new Float32Array(tf));
gl.uniform3fv(lightDirectionLoc, lightDirection);
gl.uniform3fv(glowColorLoc, glowColor);
gl.uniform3fv(specularColorLoc, specularColor);
@ -219,14 +217,12 @@ export function getOrbitDrawContext(gl: WebGLRenderingContext) {
const drawObject = (objectParams) => {
const {
position,
orientation,
tf,
value,
glBuffer,
} = objectParams;
gl.uniformMatrix4fv(modelLoc, false, new Float32Array(se3.product(
se3.translation(...position), orientation)));
gl.uniformMatrix4fv(modelLoc, false, new Float32Array(tf));
gl.bindBuffer(gl.ARRAY_BUFFER, glBuffer);
@ -244,6 +240,16 @@ export function getOrbitDrawContext(gl: WebGLRenderingContext) {
};
}
function getShipTf(context) {
if (context.landed) {
const body = context.landedBody;
const bodyTf = se3.product(se3.translation(...body.position), body.orientation);
return se3.product(bodyTf, context.shipTf);
}
return context.player.tf;
}
function getObjects(context, body, parentPosition = undefined) {
const objects = [];
const {gl, glContext, player} = context;
@ -255,8 +261,7 @@ function getObjects(context, body, parentPosition = undefined) {
objects.push({
geometry: body.glBuffer,
orientation,
position,
tf: se3.product(se3.translation(...position), orientation),
glContext,
glowColor,
specularColor,
@ -265,23 +270,10 @@ function getObjects(context, body, parentPosition = undefined) {
const orbitObject = makeOrbitObject(gl, context.orbitGlContext, body.orbit, parentPosition);
//objects.push(orbitObject);
} else {
const tfs = [player.tf];
if (context.landed) {
const body = context.landedBody;
const bodyTf = se3.product(se3.translation(...body.position), body.orientation);
tfs.splice(0, 0, bodyTf);
}
const tf = tfs.reduce(se3.product);
const shipOrientation = [
se3.rotationOnly(tf),
//se3.rotationOnly(context.camera.tf),
se3.rotxyz(-Math.PI / 2, Math.PI / 2, Math.PI / 2),
].reduce(se3.product);
const shipPos = se3.apply(tf, [0, 0, 0, 1]);
const shipTf = se3.product(getShipTf(context), se3.rotxyz(-Math.PI / 2, Math.PI / 2, Math.PI / 2));
objects.push({
geometry: makeBufferFromFaces(gl, context.spaceship),
orientation: shipOrientation,
position: shipPos,
tf: shipTf,
glContext,
specularColor: [0.8, 0.8, 0.8],
});
@ -334,7 +326,7 @@ export function draw(context) {
const viewMatrix = se3.inverse(playerView.reduce(se3.product));
let lastGlContext;
for (const {position, orientation, geometry, glContext, glowColor, specularColor} of objects) {
for (const {tf, geometry, glContext, glowColor, specularColor} of objects) {
if (glContext !== lastGlContext) {
glContext.setupScene({
projectionMatrix: projMatrix,
@ -344,11 +336,11 @@ export function draw(context) {
}
lastGlContext = glContext;
const position = se3.apply(tf, [0, 0, 0, 1]);
const lightDirection = sunDirection(position);
glContext.drawObject({
position,
orientation,
tf,
glBuffer: geometry.glBuffer,
numVertices: geometry.numVertices,
lightDirection,

205
skycraft/index.ts
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@ -4,7 +4,7 @@ import * as linalg from './linalg';
import { loadObjModel } from './obj';
import * as se3 from 'wmc-common/se3';
import { computeOrbit, findSoi, getCartesianState, updateBodyPhysics, isInSoi } from './orbit';
import { getBodyGeometry, castRay, BlockType } from './chunk';
import { getBodyGeometry, castRay, blockLookup, BlockType } from './chunk';
import { draw, getOrbitDrawContext, initWorldGl } from './draw';
import * as quat from './quat';
@ -159,9 +159,14 @@ function initUiListeners(canvas: HTMLCanvasElement, context) {
case 'KeyL':
context.landing = !context.landing;
return false;
case 'Space':
case 'KeyP':
context.pause = !context.pause;
return false;
case 'Space':
if (!context.flying) {
jump(context);
}
return false;
}
} else {
context.keys.delete(e.code);
@ -204,29 +209,80 @@ function initUiListeners(canvas: HTMLCanvasElement, context) {
});
}
function jump(context) {
if (context.jumpAmount > 0) {
const amount = context.jumpForce;
context.jumpAmount -= 1;
const gravity = landedGravity(context);
const up = linalg.normalize(linalg.scale(gravity, -1));
context.player.velocity = linalg.scale(up, amount);
}
}
function moveShip(context, forward, right) {
if (context.keys.has('ShiftLeft')) {
forward *= 10;
right *= 10;
}
const tf = se3.product(
se3.orientationOnly(context.player.tf),
context.camera.tf,
);
const dir = [right, 0, -forward, 10];
if (context.flying) {
context.player.tf = [
context.player.tf,
se3.translation(...dir),
].reduce(se3.product);
} else {
const vel = context.player.velocity;
const dv = linalg.scale(se3.apply(tf, dir), 1/dir[3]);
context.player.velocity = linalg.add(vel, dv);
delete context.orbit;
}
}
function moveOnGround(context, forward, right) {
if (context.keys.has('ShiftLeft')) {
forward *= 2;
right *= 2;
}
const tf = se3.product(
se3.orientationOnly(context.player.tf),
context.camera.tf,
);
const dir = [right, 0, -forward, 0];
if (context.flying) {
context.player.tf = [
context.player.tf,
se3.translation(...dir),
].reduce(se3.product);
return;
}
const dv = linalg.scale(se3.apply(tf, dir), 10);
const maxSpeed = 8;
const airMovement = 0.08;
if (context.isOnGround) {
context.player.velocity = dv;
return;
}
// steering in the air
context.player.velocity = linalg.add(context.player.velocity, linalg.scale(dv, airMovement));
const curVel = linalg.norm(context.player.velocity);
if (curVel > maxSpeed) {
context.player.velocity = linalg.scale(context.player.velocity, maxSpeed / curVel);
}
}
function handleInput(context) {
const move = (forward: number, right: number) => {
if (context.keys.has('ShiftLeft')) {
forward *= 10;
right *= 10;
}
const tf = se3.product(
se3.orientationOnly(context.player.tf),
context.camera.tf,
);
const dir = [right, 0, -forward, 10];
if (context.flying) {
context.player.tf = [
context.player.tf,
se3.translation(...dir),
].reduce(se3.product);
} else {
const vel = context.player.velocity;
const dv = linalg.scale(se3.apply(tf, dir), 1/dir[3]);
context.player.velocity = linalg.add(vel, dv);
delete context.orbit;
}
};
const move = (f, r) => (context.landed ? moveOnGround : moveShip)(context, f, r);
const roll = (amount: number) => {
if (context.keys.has('ShiftLeft')) {
@ -312,6 +368,9 @@ function finishLanding(context, body) {
se3.inverse(se3.translation(...body.position)),
p.tf,
].reduce(se3.product);
context.shipTf = p.tf;
p.tf = se3.product(p.tf, se3.translation(1, 1, 0));
p.velocity = [0, 0, 0];
p.position = se3.apply(p.tf, [0, 0, 0, 1]);
}
@ -407,6 +466,100 @@ function effectiveGravity(position: number[], rootBody: Body) : number[] {
return acceleration;
}
function landedGravity(context) {
// just clamp "down" to one of our six directions
const pos = context.player.position;
const altitude2 = pos[0]**2 + pos[1]**2 + pos[2]**2;
const g = context.landedBody.mass / altitude2;
if (pos[0] > 0 && Math.abs(pos[1]) < pos[0] && Math.abs(pos[2]) < pos[0]) {
return [-g, 0, 0];
}
if (pos[0] < 0 && Math.abs(pos[1]) < -pos[0] && Math.abs(pos[2]) < -pos[0]) {
return [+g, 0, 0];
}
if (pos[1] > 0 && Math.abs(pos[0]) < pos[1] && Math.abs(pos[2]) < pos[1]) {
return [0, -g, 0];
}
if (pos[1] < 0 && Math.abs(pos[0]) < -pos[1] && Math.abs(pos[2]) < -pos[1]) {
return [0, +g, 0];
}
if (pos[2] > 0 && Math.abs(pos[1]) < pos[2] && Math.abs(pos[1]) < pos[2]) {
return [0, 0, -g];
}
if (pos[2] < 0 && Math.abs(pos[1]) < -pos[2] && Math.abs(pos[1]) < -pos[2]) {
return [0, 0, +g];
}
// blarg
}
function checkCollision(curPos, newPos, chunkMap, orientation) {
const upDir = se3.apply(orientation, [0, 1, 0, 0]);
// I guess Gaspard is about 1.7 m tall?
// he also has a 60x60 cm axis-aligned square section '^_^
// box is centered around the camera
const gaspardBB = [
[-0.3, 0.2, -0.3],
[-0.3, 0.2, 0.3],
[0.3, 0.2, -0.3],
[0.3, 0.2, 0.3],
[-0.3, -1.5, -0.3],
[-0.3, -1.5, 0.3],
[0.3, -1.5, -0.3],
[0.3, -1.5, 0.3],
].map(v => se3.apply(orientation, v.concat([0])));
let dp = linalg.diff(newPos, curPos);
let isOnGround = false;
for (let i = 0; i < 3; i++) {
const newGaspard = v => v.map((x, j) => i === j ? x + newPos[j] : x + curPos[j]);
for (const point of gaspardBB.map(newGaspard)) {
const block = blockLookup(chunkMap, ...point);
if (block.type !== BlockType.AIR) {
const dir = [...Array(3).keys()].map(j => j === i ? 1 : 0);
if (Math.abs(linalg.dot(dir, upDir)) > 0.5) {
isOnGround = true;
}
dp[i] = 0;
}
}
}
for (let i = 0; i < 3; i++) {
const newGaspard = v => linalg.add(linalg.add(curPos, v), dp);
for (const point of gaspardBB.map(newGaspard)) {
const block = blockLookup(chunkMap, ...point);
if (block.type !== BlockType.AIR) {
dp[i] = 0;
}
}
}
return {
newPos: linalg.add(curPos, dp),
isOnGround,
};
}
function updateLandedPhysics(context, dt) {
const gravity = landedGravity(context);
context.player.velocity = linalg.add(context.player.velocity, linalg.scale(gravity, dt));
const oldPos = context.player.position;
const taregtPos = linalg.add(context.player.position, linalg.scale(context.player.velocity, dt));
// from wmc
const {isOnGround, newPos} = checkCollision(oldPos, taregtPos, context.landedBody.geometry.chunkMap, se3.orientationOnly(context.player.tf));
context.player.position = newPos;
context.player.velocity = newPos.map((p, i) => (p - oldPos[i]) / dt);
if (isOnGround) {
context.jumpAmount = 2;
context.player.velocity = context.player.velocity.map(v => v * 0.7);
}
context.isOnGround = isOnGround;
context.player.tf = se3.setPosition(context.player.tf, newPos);
}
function updatePhysics(time: number, context) {
const {player} = context;
const dt = time - (context.lastTime || 0);
@ -421,7 +574,7 @@ function updatePhysics(time: number, context) {
const kShipRotateSpeed = 0.1;
if (context.landed) {
return; // TODO: implement
return updateLandedPhysics(context, dt);
}
if (context.landing) {
@ -505,7 +658,7 @@ async function main() {
// TODO
// [ ] loading bar
// [x] spaceship
// [ ] landing
// [x] landing
// [ ] huge planets
// [x] lighting
// [x] better lighting

3
skycraft/orbit.ts
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@ -277,8 +277,7 @@ export function makeOrbitObject(gl: WebGLRenderingContext, glContext: any, orbit
return {
geometry,
orientation,
position,
tf: se3.product(se3.translation(...position), orientation),
glContext,
};
}