Implement lift and adapt things to work with it

This reverts commit 823d38a058e757542ac423af5da457ca02cce674.

Cargo.lock

@@ -5463,6 +5463,7 @@ dependencies = [
  "hashbrown",
  "image",
  "indexmap",
+ "inline_tweak",
  "lazy_static",
  "num-derive",
  "num-traits",
@@ -5541,6 +5542,7 @@ dependencies = [
  "bincode",
  "hashbrown",
  "indexmap",
+ "inline_tweak",
  "ordered-float 2.1.1",
  "rand 0.8.3",
  "rayon",

client/src/lib.rs

@@ -1192,7 +1192,7 @@ impl Client {
             .map(|cs| {
                 matches!(
                     cs,
-                    comp::CharacterState::GlideWield | comp::CharacterState::Glide
+                    comp::CharacterState::GlideWield | comp::CharacterState::Glide(_)
                 )
             });
 

common/Cargo.toml

@@ -15,7 +15,7 @@ default = ["simd"]
 [dependencies]
 
 common-base = { package = "veloren-common-base", path = "base" }
-# inline_tweak = "1.0.8"
+inline_tweak = "1.0.8"
 
 # Serde
 serde = { version = "1.0.110", features = ["derive", "rc"] }

common/src/comp/body.rs

@@ -595,6 +595,21 @@ impl Body {
         }
     }
 
+    pub fn wings(&self) -> Option<RigidWings> {
+        matches!(
+            self,
+            Body::BirdMedium(_)
+                | Body::BirdSmall(_)
+                | Body::Dragon(_)
+                | Body::FishMedium(_)
+                | Body::FishSmall(_)
+        )
+        .then_some({
+            let dim = self.dimensions().xy();
+            RigidWings::new(dim.x, dim.y * 0.2)
+        })
+    }
+
     pub fn immune_to(&self, buff: BuffKind) -> bool {
         match buff {
             BuffKind::Bleeding => matches!(self, Body::Object(_) | Body::Golem(_) | Body::Ship(_)),
@@ -651,3 +666,30 @@ impl Body {
 impl Component for Body {
     type Storage = DerefFlaggedStorage<Self, IdvStorage<Self>>;
 }
+
+/// Rigid, elliptical wings
+// Not exactly great for birds and such, but for now it'll have to do.
+#[derive(Copy, Clone, Debug, PartialEq, Serialize, Deserialize)]
+pub struct RigidWings {
+    aspect_ratio: f32,
+    planform_area: f32,
+    // sweep_angle: Option<f32>,
+}
+
+impl RigidWings {
+    /// Wings from total span (wing-tip to wing-tip) and
+    /// chord length (leading edge to trailing edge)
+    pub fn new(span_length: f32, chord_length: f32) -> Self {
+        let planform_area = std::f32::consts::PI * chord_length * span_length * 0.25;
+        Self {
+            aspect_ratio: span_length.powi(2) / planform_area,
+            planform_area,
+        }
+    }
+
+    /// The aspect ratio is the ratio of the span squared to actual planform
+    /// area
+    pub fn aspect_ratio(&self) -> f32 { self.aspect_ratio }
+
+    pub fn planform_area(&self) -> f32 { self.planform_area }
+}

common/src/comp/character_state.rs

@@ -50,7 +50,7 @@ pub enum CharacterState {
     Dance,
     Talk,
     Sneak,
-    Glide,
+    Glide(glide::Data),
     GlideWield,
     /// A stunned state
     Stunned(stunned::Data),

common/src/comp/fluid_dynamics.rs

@@ -1,6 +1,6 @@
 use super::{
-    body::{object, Body},
+    body::{object, Body, RigidWings},
-    Density, Vel,
+    Density, Ori, Vel,
 };
 use crate::{
     consts::{AIR_DENSITY, WATER_DENSITY},
@@ -88,7 +88,13 @@ impl Default for Fluid {
 }
 
 impl Body {
-    pub fn aerodynamic_forces(&self, rel_flow: &Vel, fluid_density: f32) -> Vec3<f32> {
+    pub fn aerodynamic_forces(
+        &self,
+        ori: &Ori,
+        rel_flow: &Vel,
+        fluid_density: f32,
+        wings: Option<&RigidWings>,
+    ) -> Vec3<f32> {
         let v_sq = rel_flow.0.magnitude_squared();
         if v_sq < 0.25 {
             // don't bother with miniscule forces
@@ -96,7 +102,69 @@ impl Body {
         } else {
             let rel_flow_dir = Dir::new(rel_flow.0 / v_sq.sqrt());
             // All the coefficients come pre-multiplied by their reference area
-            0.5 * fluid_density * v_sq * self.parasite_drag_coefficient() * *rel_flow_dir
+            0.5 * fluid_density
+                * v_sq
+                * wings
+                    .filter(|_| crate::lift_enabled())
+                    .map(|wings| {
+                        // Since we have wings, we proceed to calculate the lift and drag
+
+                        let ar = wings.aspect_ratio();
+                        // aoa will be positive when we're pitched up and negative otherwise
+                        let aoa = angle_of_attack(ori, &rel_flow_dir);
+                        // c_l will be positive when aoa is positive (we have positive lift,
+                        // producing an upward force) and negative otherwise
+                        let c_l = wings.lift_coefficient(aoa);
+
+                        // lift dir will be orthogonal to the local relative flow vector.
+                        // Local relative flow is the resulting vector of (relative) freestream flow
+                        // + downwash (created by the vortices of the wing tips)
+                        let lift_dir: Dir = {
+                            // induced angle of attack
+                            let aoa_i = c_l / (PI * ar);
+                            // effective angle of attack; the aoa as seen by aerofoil after downwash
+                            let aoa_eff = aoa - aoa_i;
+                            /*println!(
+                                "CL={:.1}, α={:.1}°, αᵢ={:.1}°, αₑ={:.1}°, AR={:.1}",
+                                c_l,
+                                aoa.to_degrees(),
+                                aoa_i.to_degrees(),
+                                aoa_eff.to_degrees(),
+                                ar
+                            );*/
+                            // Angle between chord line and local relative wind is aoa_eff radians.
+                            // Direction of lift is perpendicular to local relative wind.
+                            // At positive lift, local relative wind will be below our cord line at
+                            // an angle of aoa_eff. Thus if we pitch down by aoa_eff radians then
+                            // our chord line will be colinear with local relative wind vector and
+                            // our up will be the direction of lift.
+                            ori.pitched_down(aoa_eff).up()
+                        };
+
+                        // drag coefficient due to lift
+                        let c_d = {
+                            // Oswald's efficiency factor (empirically derived--very magical)
+                            // (this definition should not be used for aspect ratios > 25)
+                            let e = 1.78 * (1.0 - 0.045 * ar.powf(0.68)) - 0.64;
+
+                            wings.zero_lift_drag_coefficient()
+                                + self.parasite_drag_coefficient()
+                                + c_l.powi(2) / (PI * e * ar)
+                        };
+                        debug_assert!(c_d.is_sign_positive());
+                        debug_assert!(c_l.is_sign_positive() || aoa.is_sign_negative());
+                        /*println!(
+                            "L/D (at α={:.1}, AR={:.1}) = {:.1}/{:.1} = {:.1}",
+                            aoa.to_degrees(),
+                            ar,
+                            0.5 * fluid_density * v_sq * c_l,
+                            0.5 * fluid_density * v_sq * c_d,
+                            c_l / c_d
+                        );*/
+
+                        c_l * *lift_dir + c_d * *rel_flow_dir
+                    })
+                    .unwrap_or_else(|| self.parasite_drag_coefficient() * *rel_flow_dir)
         }
     }
 
@@ -194,6 +262,88 @@ impl Body {
     }
 }
 
+/// Geometric angle of attack
+fn angle_of_attack(ori: &Ori, rel_flow_dir: &Dir) -> f32 {
+    PI / 2.0 - ori.up().angle_between(rel_flow_dir.to_vec())
+}
+
+impl RigidWings {
+    /// Total lift coefficient for a finite wing of symmetric aerofoil shape and
+    /// elliptical pressure distribution.
+    pub fn lift_coefficient(&self, aoa: f32) -> f32 {
+        let aoa_abs = aoa.abs();
+        let stall_angle = PI * 0.1;
+        inline_tweak::tweak!(1.0)
+            * self.planform_area()
+            * if aoa_abs < stall_angle {
+                self.lift_slope(None) * aoa
+            } else if inline_tweak::tweak!(true) {
+                // This is when flow separation and turbulence starts to kick in.
+                // Going to just make something up (based on some data), as the alternative is
+                // to just throw your hands up and return 0
+                let aoa_s = aoa.signum();
+                let c_l_max = self.lift_slope(None) * stall_angle;
+                let deg_45 = PI / 4.0;
+                if aoa_abs < deg_45 {
+                    // drop directly to 0.6 * max lift at stall angle
+                    // then climb back to max at 45°
+                    Lerp::lerp(0.6 * c_l_max, c_l_max, aoa_abs / deg_45) * aoa_s
+                } else {
+                    // let's just say lift goes down linearly again until we're at 90°
+                    Lerp::lerp(c_l_max, 0.0, (aoa_abs - deg_45) / deg_45) * aoa_s
+                }
+            } else {
+                0.0
+            }
+    }
+
+    /// The zero-lift profile drag coefficient is the parasite drag on the wings
+    /// at the angle of attack which generates no lift
+    pub fn zero_lift_drag_coefficient(&self) -> f32 {
+        // avg value for Harris' hawk (Parabuteo unicinctus) [1]
+        self.planform_area() * 0.02
+    }
+
+    /// The change in lift over change in angle of attack¹. Multiplying by angle
+    /// of attack gives the lift coefficient (for a finite wing, not aerofoil).
+    ///
+    /// Aspect ratio is the ratio of total wing span squared over planform area.
+    ///
+    /// # Notes
+    ///
+    /// Only valid for symmetric, elliptical wings at small² angles of attack³.
+    /// Does not apply to twisted, cambered or delta wings. (It still gives a
+    /// reasonably accurate approximation if the wing shape is not truly
+    /// elliptical.)
+    ///
+    /// 1. geometric angle of attack, i.e. the pitch angle relative to
+    /// freestream flow
+    /// 2. up to around ~18°, at which point maximum lift has been achieved and
+    /// thereafter falls precipitously, causing a stall (this is the stall
+    /// angle) 3. effective aoa, i.e. geometric aoa - induced aoa; assumes
+    /// no sideslip
+    fn lift_slope(&self, sweep_angle: Option<f32>) -> f32 {
+        // lift slope for a thin aerofoil, given by Thin Aerofoil Theory
+        let ar = self.aspect_ratio();
+        let a0 = 2.0 * PI;
+        if let Some(sweep) = sweep_angle {
+            // for swept wings we use Kuchemann's modification to Helmbold's
+            // equation
+            let a0_cos_sweep = a0 * sweep.cos();
+            let x = a0_cos_sweep / (PI * ar);
+            a0_cos_sweep / ((1.0 + x.powi(2)).sqrt() + x)
+        } else if ar < 4.0 {
+            // for low aspect ratio wings (AR < 4) we use Helmbold's equation
+            let x = a0 / (PI * ar);
+            a0 / ((1.0 + x.powi(2)).sqrt() + x)
+        } else {
+            // for high aspect ratio wings (AR > 4) we use the equation given by
+            // Prandtl's lifting-line theory
+            a0 / (1.0 + (a0 / (PI * ar)))
+        }
+    }
+}
+
 /*
 ## References:
 

common/src/comp/mod.rs

@@ -52,7 +52,7 @@ pub use self::{
     body::{
         biped_large, biped_small, bird_medium, bird_small, dragon, fish_medium, fish_small, golem,
         humanoid, object, quadruped_low, quadruped_medium, quadruped_small, ship, theropod,
-        AllBodies, Body, BodyData,
+        AllBodies, Body, BodyData, RigidWings,
     },
     buff::{
         Buff, BuffCategory, BuffChange, BuffData, BuffEffect, BuffId, BuffKind, BuffSource, Buffs,

common/src/lib.rs

@@ -87,3 +87,5 @@ pub use comp::inventory::loadout_builder::LoadoutBuilder;
 pub use explosion::{Explosion, RadiusEffect};
 #[cfg(not(target_arch = "wasm32"))]
 pub use skillset_builder::SkillSetBuilder;
+
+pub fn lift_enabled() -> bool { inline_tweak::tweak!(true) }

common/src/states/glide.rs

@@ -1,7 +1,10 @@
 use super::utils::handle_climb;
 use crate::{
-    comp::{inventory::slot::EquipSlot, CharacterState, Ori, StateUpdate},
+    comp::{inventory::slot::EquipSlot, CharacterState, Ori, RigidWings, StateUpdate},
-    states::behavior::{CharacterBehavior, JoinData},
+    states::{
+        behavior::{CharacterBehavior, JoinData},
+        utils::fly_move,
+    },
     util::Dir,
 };
 use serde::{Deserialize, Serialize};
@@ -12,7 +15,19 @@ const GLIDE_ACCEL: f32 = 5.0;
 const GLIDE_MAX_SPEED: f32 = 30.0;
 
 #[derive(Copy, Clone, Debug, PartialEq, Serialize, Deserialize)]
-pub struct Data;
+pub struct Data {
+    pub wings: RigidWings,
+    pub ori: Ori,
+}
+
+impl Data {
+    pub fn new(span_length: f32, chord_length: f32, ori: Ori) -> Self {
+        Self {
+            wings: RigidWings::new(span_length, chord_length),
+            ori,
+        }
+    }
+}
 
 impl CharacterBehavior for Data {
     fn behavior(&self, data: &JoinData) -> StateUpdate {
@@ -35,25 +50,29 @@ impl CharacterBehavior for Data {
             update.character = CharacterState::Idle
         };
 
-        let horiz_vel = Vec2::<f32>::from(update.vel.0);
+        if crate::lift_enabled() {
-        let horiz_speed_sq = horiz_vel.magnitude_squared();
+            fly_move(data, &mut update, inline_tweak::tweak!(0.1));
+        } else {
+            let horiz_vel = Vec2::<f32>::from(update.vel.0);
+            let horiz_speed_sq = horiz_vel.magnitude_squared();
 
-        // Move player according to movement direction vector
+            // Move player according to movement direction vector
-        if horiz_speed_sq < GLIDE_MAX_SPEED.powi(2) {
+            if horiz_speed_sq < GLIDE_MAX_SPEED.powi(2) {
-            update.vel.0 += Vec2::broadcast(data.dt.0) * data.inputs.move_dir * GLIDE_ACCEL;
+                update.vel.0 += Vec2::broadcast(data.dt.0) * data.inputs.move_dir * GLIDE_ACCEL;
-        }
+            }
 
-        // Determine orientation vector from movement direction vector
+            // Determine orientation vector from movement direction vector
-        if let Some(dir) = Dir::from_unnormalized(update.vel.0) {
+            if let Some(dir) = Dir::from_unnormalized(update.vel.0) {
-            update.ori = update.ori.slerped_towards(Ori::from(dir), 2.0 * data.dt.0);
+                update.ori = update.ori.slerped_towards(Ori::from(dir), 2.0 * data.dt.0);
-        };
+            };
 
-        // Apply Glide antigrav lift
+            // Apply Glide antigrav lift
-        if update.vel.0.z < 0.0 {
+            if update.vel.0.z < 0.0 {
-            let lift = (GLIDE_ANTIGRAV + update.vel.0.z.powi(2) * 0.15)
+                let lift = (GLIDE_ANTIGRAV + update.vel.0.z.powi(2) * 0.15)
-                * (horiz_speed_sq * f32::powf(0.075, 2.0)).clamp(0.2, 1.0);
+                    * (horiz_speed_sq * f32::powf(0.075, 2.0)).clamp(0.2, 1.0);
 
-            update.vel.0.z += lift * data.dt.0;
+                update.vel.0.z += lift * data.dt.0;
+            }
         }
 
         // If there is a wall in front of character and they are trying to climb go to

common/src/states/glide_wield.rs

@@ -1,7 +1,10 @@
 use super::utils::*;
 use crate::{
     comp::{slot::EquipSlot, CharacterState, EnergySource, InventoryAction, StateUpdate},
-    states::behavior::{CharacterBehavior, JoinData},
+    states::{
+        behavior::{CharacterBehavior, JoinData},
+        glide,
+    },
 };
 
 pub struct Data;
@@ -24,7 +27,11 @@ impl CharacterBehavior for Data {
                 .try_change_by(-energy_cost, EnergySource::Glide)
                 .is_ok()
             {
-                update.character = CharacterState::Glide;
+                update.character = CharacterState::Glide(glide::Data::new(
+                    inline_tweak::tweak!(10.0),
+                    inline_tweak::tweak!(1.0),
+                    *data.ori,
+                ));
             } else {
                 update.energy.set_to(0, EnergySource::Glide);
                 update.character = CharacterState::Idle;

common/src/states/utils.rs

@@ -6,7 +6,7 @@ use crate::{
         quadruped_low, quadruped_medium, quadruped_small, ship,
         skills::{Skill, SwimSkill},
         theropod, Body, CharacterAbility, CharacterState, Density, InputAttr, InputKind,
-        InventoryAction, StateUpdate,
+        InventoryAction, Ori, StateUpdate,
     },
     consts::{FRIC_GROUND, GRAVITY},
     event::{LocalEvent, ServerEvent},
@@ -367,18 +367,78 @@ fn swim_move(data: &JoinData, update: &mut StateUpdate, efficiency: f32, submers
 
 /// Updates components to move entity as if it's flying
 pub fn fly_move(data: &JoinData, update: &mut StateUpdate, efficiency: f32) -> bool {
-    if let Some(force) = data.body.can_fly() {
+    let glider = match data.character {
+        CharacterState::Glide(data) => Some(data),
+        _ => None,
+    };
+    if let Some(force) = data
+        .body
+        .can_fly()
+        .or_else(|| glider.is_some().then_some(0.0))
+    {
         let thrust = efficiency * force;
 
         let accel = thrust / data.mass.0;
 
-        handle_orientation(data, update, efficiency);
+        // if lift is enabled we do some more advanced stuff with pitch and roll
+        if crate::lift_enabled() && !matches!(data.body, Body::Ship(_)) {
+            let mut ori = glider.map(|g| g.ori).unwrap_or(update.ori);
+            let fw_dir = ori.look_dir().to_horizontal();
+            let tgt_ori = Some(data.inputs.move_dir)
+                .filter(|mv_dir| !mv_dir.is_approx_zero())
+                .map(|mv_dir| {
+                    Vec3::new(
+                        mv_dir.x,
+                        mv_dir.y,
+                        Lerp::lerp_unclamped(
+                            0.0,
+                            data.inputs.look_dir.z + inline_tweak::tweak!(0.3),
+                            mv_dir.magnitude_squared() * inline_tweak::tweak!(2.0),
+                        ),
+                    )
+                })
+                .and_then(Dir::from_unnormalized)
+                .and_then(|tgt_dir| {
+                    Dir::from_unnormalized(data.vel.0)
+                        .and_then(|moving_dir| moving_dir.to_horizontal())
+                        .map(|moving_dir| {
+                            Ori::from(tgt_dir).rolled_right(
+                                (1.0 - moving_dir.dot(*tgt_dir).max(0.0))
+                                    * ori.right().dot(*tgt_dir).signum()
+                                    * std::f32::consts::PI
+                                    / 3.0,
+                            )
+                        })
+                })
+                .or_else(|| fw_dir.map(Ori::from))
+                .unwrap_or_default();
+            let rate = {
+                let angle = ori.look_dir().angle_between(*data.inputs.look_dir);
+                data.body.base_ori_rate() * efficiency * std::f32::consts::PI / angle
+            };
+
+            ori = ori.slerped_towards(tgt_ori, (data.dt.0 * rate).min(0.1));
+            if let Some(data) = glider {
+                update.character = CharacterState::Glide(glide::Data { ori, ..*data });
+                if let Some(char_ori) = ori.to_horizontal() {
+                    update.ori = char_ori;
+                }
+            } else {
+                update.ori = ori;
+            }
+        } else {
+            handle_orientation(data, update, efficiency);
+        }
 
         // Elevation control
         match data.body {
             // flappy flappy
             Body::Dragon(_) | Body::BirdMedium(_) | Body::BirdSmall(_) => {
-                let anti_grav = GRAVITY * (1.0 + data.inputs.move_z.min(0.0));
+                let anti_grav = if crate::lift_enabled() {
+                    0.0
+                } else {
+                    GRAVITY * (1.0 + data.inputs.move_z.min(0.0))
+                };
                 update.vel.0.z += data.dt.0 * (anti_grav + accel * data.inputs.move_z.max(0.0));
             },
             // floaty floaty

common/sys/Cargo.toml

@@ -43,4 +43,4 @@ bincode = { version = "1.3.1", optional = true }
 plugin-api = { package = "veloren-plugin-api", path = "../../plugin/api", optional = true }
 
 # Tweak running code
-# inline_tweak = { version = "1.0.8", features = ["release_tweak"] }
+inline_tweak = { version = "1.0.8", features = ["release_tweak"] }

common/sys/src/character_behavior.rs

@@ -287,7 +287,7 @@ impl<'a> System<'a> for Sys {
                     CharacterState::Idle => states::idle::Data.handle_event(&j, action),
                     CharacterState::Talk => states::talk::Data.handle_event(&j, action),
                     CharacterState::Climb(data) => data.handle_event(&j, action),
-                    CharacterState::Glide => states::glide::Data.handle_event(&j, action),
+                    CharacterState::Glide(data) => data.handle_event(&j, action),
                     CharacterState::GlideWield => {
                         states::glide_wield::Data.handle_event(&j, action)
                     },
@@ -351,7 +351,7 @@ impl<'a> System<'a> for Sys {
                 CharacterState::Idle => states::idle::Data.behavior(&j),
                 CharacterState::Talk => states::talk::Data.behavior(&j),
                 CharacterState::Climb(data) => data.behavior(&j),
-                CharacterState::Glide => states::glide::Data.behavior(&j),
+                CharacterState::Glide(data) => data.behavior(&j),
                 CharacterState::GlideWield => states::glide_wield::Data.behavior(&j),
                 CharacterState::Stunned(data) => data.behavior(&j),
                 CharacterState::Sit => states::sit::Data::behavior(&states::sit::Data, &j),

common/sys/src/phys.rs

@@ -13,6 +13,7 @@ use common::{
     event::{EventBus, ServerEvent},
     outcome::Outcome,
     resources::DeltaTime,
+    states,
     terrain::{Block, TerrainGrid},
     uid::Uid,
     util::Projection,
@@ -64,9 +65,11 @@ fn fluid_density(height: f32, fluid: &Fluid) -> Density {
 fn integrate_forces(
     dt: &DeltaTime,
     mut vel: Vel,
+    ori: &Ori,
     body: &Body,
     density: &Density,
     mass: &Mass,
+    character_state: Option<&CharacterState>,
     fluid: &Fluid,
     gravity: f32,
 ) -> Vel {
@@ -80,7 +83,24 @@ fn integrate_forces(
     // Aerodynamic/hydrodynamic forces
     if !rel_flow.0.is_approx_zero() {
         debug_assert!(!rel_flow.0.map(|a| a.is_nan()).reduce_or());
-        let impulse = dt.0 * body.aerodynamic_forces(&rel_flow, fluid_density.0);
+        let glider: Option<&states::glide::Data> = character_state.and_then(|cs| match cs {
+            CharacterState::Glide(data) => Some(data),
+            _ => None,
+        });
+        // let wings: Option<(RigidWings, Ori)> =
+        // body.wings().map(|w| (w, ori)).or(character_state.and_then(|cs| {
+        //     match cs {
+        //         CharacterState::Glide(states::glide::Data{wings, ori}) =>
+        // Some((*wings, *ori)),         _ => None,
+        //     }
+        // }));
+        let impulse = dt.0
+            * body.aerodynamic_forces(
+                glider.map(|g| &g.ori).unwrap_or(ori),
+                &rel_flow,
+                fluid_density.0,
+                glider.map(|g| g.wings).or_else(|| body.wings()).as_ref(),
+            );
         debug_assert!(!impulse.map(|a| a.is_nan()).reduce_or());
         if !impulse.is_approx_zero() {
             let v_sq = rel_flow.0.magnitude_squared();
@@ -97,7 +117,8 @@ fn integrate_forces(
 
     // Hydrostatic/aerostatic forces
     // modify gravity to account for the effective density as a result of buoyancy
-    let down_force = dt.0 * gravity * (density.0 - fluid_density.0) / density.0;
+    let down_force =
+        dt.0 * inline_tweak::tweak!(1.0) * gravity * (density.0 - fluid_density.0) / density.0;
     vel.0.z -= down_force;
 
     vel
@@ -578,7 +599,9 @@ impl<'a> PhysicsData<'a> {
         (
             positions,
             velocities,
+            &write.orientations,
             &read.bodies,
+            read.character_states.maybe(),
             &write.physics_states,
             &read.masses,
             &read.densities,
@@ -590,7 +613,7 @@ impl<'a> PhysicsData<'a> {
                     prof_span!(guard, "velocity update rayon job");
                     guard
                 },
-                |_guard, (pos, vel, body, physics_state, mass, density, _)| {
+                |_guard, (pos, vel, ori, body, character_state, physics_state, mass, density, _)| {
                     let in_loaded_chunk = read
                         .terrain
                         .get_key(read.terrain.pos_key(pos.0.map(|e| e.floor() as i32)))
@@ -609,7 +632,7 @@ impl<'a> PhysicsData<'a> {
                             },
                             Some(fluid) => {
                                 vel.0 = integrate_forces(
-                                    &dt, *vel, body, density, mass, &fluid, GRAVITY,
+                                    &dt, *vel, ori, body, density, mass, character_state, &fluid, GRAVITY,
                                 )
                                 .0
                             },

server/src/sys/agent.rs

@@ -221,7 +221,7 @@ impl<'a> System<'a> for Sys {
                         });
                     let is_gliding = matches!(
                         read_data.char_states.get(entity),
-                        Some(CharacterState::GlideWield) | Some(CharacterState::Glide)
+                        Some(CharacterState::GlideWield) | Some(CharacterState::Glide(_))
                     ) && !physics_state.on_ground;
 
                     // This controls how picky NPCs are about their pathfinding. Giants are larger

voxygen/anim/src/character/gliding.rs

@@ -11,8 +11,10 @@ type GlidingAnimationDependency = (
     Option<ToolKind>,
     Option<ToolKind>,
     Vec3<f32>,
-    Vec3<f32>,
+    Quaternion<f32>,
-    Vec3<f32>,
+    Quaternion<f32>,
+    Quaternion<f32>,
+    f32,
     f32,
 );
 
@@ -27,90 +29,105 @@ impl Animation for GlidingAnimation {
 
     fn update_skeleton_inner(
         skeleton: &Self::Skeleton,
-        (_active_tool_kind, _second_tool_kind, velocity, orientation, last_ori, global_time): Self::Dependency,
+        (
+            _active_tool_kind,
+            _second_tool_kind,
+            velocity,
+            orientation,
+            last_ori,
+            glider_orientation,
+            global_time,
+            acc_vel,
+        ): Self::Dependency,
         anim_time: f32,
         _rate: &mut f32,
         s_a: &SkeletonAttr,
     ) -> Self::Skeleton {
         let mut next = (*skeleton).clone();
 
-        let speed = Vec2::<f32>::from(velocity).magnitude();
+        let speednorm = velocity.xy().magnitude().min(30.0) / 30.0;
+        let speedxyznorm = velocity.magnitude().min(30.0) / 30.0;
 
-        let quick = (anim_time * 7.0).sin();
+        let slow = (acc_vel * 0.5).sin();
-        let quicka = (anim_time * 7.0 + PI / 2.0).sin();
+        let slowa = (acc_vel * 0.5 + PI / 2.0).sin();
-        let wave_stop = (anim_time * 1.5).min(PI / 2.0).sin();
-        let slow = (anim_time * 3.0).sin();
-        let slowb = (anim_time * 3.0 + PI).sin();
-        let slowa = (anim_time * 3.0 + PI / 2.0).sin();
 
         let head_look = Vec2::new(
-            ((global_time + anim_time) / 5.0).floor().mul(7331.0).sin() * 0.5,
+            ((global_time + anim_time) as f32 / 4.0)
-            ((global_time + anim_time) / 5.0).floor().mul(1337.0).sin() * 0.25,
+                .floor()
+                .mul(7331.0)
+                .sin()
+                * 0.5,
+            ((global_time + anim_time) as f32 / 4.0)
+                .floor()
+                .mul(1337.0)
+                .sin()
+                * 0.25,
         );
 
-        let ori: Vec2<f32> = Vec2::from(orientation);
+        let tilt = {
-        let last_ori = Vec2::from(last_ori);
+            let ori: Vec2<f32> = Vec2::from(orientation * Vec3::unit_y());
-        let tilt = if ::vek::Vec2::new(ori, last_ori)
+            let last_ori: Vec2<f32> = Vec2::from(last_ori * Vec3::unit_y());
-            .map(|o| o.magnitude_squared())
+            if ::vek::Vec2::new(ori, last_ori)
-            .map(|m| m > 0.0001 && m.is_finite())
+                .map(|o| o.magnitude_squared())
-            .reduce_and()
+                .map(|m| m > 0.001 && m.is_finite())
-            && ori.angle_between(last_ori).is_finite()
+                .reduce_and()
-        {
+                && ori.angle_between(last_ori).is_finite()
-            ori.angle_between(last_ori).min(0.05)
+            {
-                * last_ori.determine_side(Vec2::zero(), ori).signum()
+                ori.angle_between(last_ori).min(0.2)
-        } else {
+                    * last_ori.determine_side(Vec2::zero(), ori).signum()
-            0.0
+                    * 1.3
+            } else {
+                0.0
+            }
         };
-
+        let torso_ori = Quaternion::slerp(
-        let tiltcancel = if anim_time > 1.0 { 1.0 } else { anim_time };
+            Quaternion::rotation_x(-0.06 * speednorm.max(5.0) + slow * 0.04)
-
+                * Quaternion::rotation_y(speednorm * tilt * 2.0 / speednorm.max(0.2))
-        next.head.position = Vec3::new(0.0, s_a.head.0 + 1.0, s_a.head.1);
+                * Quaternion::rotation_z(speednorm * tilt * 3.0 * speednorm),
-        next.head.orientation = Quaternion::rotation_x(0.35 - slow * 0.10 + head_look.y)
+            orientation.inverse() * glider_orientation,
-            * Quaternion::rotation_z(head_look.x + slowa * 0.15);
+            0.3,
-
-        next.chest.orientation = Quaternion::rotation_z(slowa * 0.02);
-
-        next.belt.orientation = Quaternion::rotation_z(slowa * 0.1 + tilt * tiltcancel * 12.0);
-        next.belt.position = Vec3::new(0.0, s_a.belt.0, s_a.belt.1);
-
-        next.shorts.orientation = Quaternion::rotation_z(slowa * 0.12 + tilt * tiltcancel * 16.0);
-        next.shorts.position = Vec3::new(0.0, s_a.shorts.0, s_a.shorts.1);
-
-        next.hand_l.position = Vec3::new(-9.5, -3.0, 10.0);
-        next.hand_l.orientation =
-            Quaternion::rotation_x(-2.7 + slowa * -0.1) * Quaternion::rotation_y(0.2);
-
-        next.hand_r.position = Vec3::new(9.5, -3.0, 10.0);
-        next.hand_r.orientation =
-            Quaternion::rotation_x(-2.7 + slowa * -0.10) * Quaternion::rotation_y(-0.2);
-
-        next.foot_l.position = Vec3::new(
-            -s_a.foot.0,
-            s_a.foot.1 + slowa * -1.0 + tilt * tiltcancel * -35.0,
-            -1.0 + s_a.foot.2,
         );
-        next.foot_l.orientation = Quaternion::rotation_x(
+        let chest_ori = Quaternion::rotation_z(slowa * 0.01);
-            (wave_stop * -0.7 - quicka * -0.21 + slow * 0.19) * speed * 0.04,
+        let chest_global_inv = (orientation * torso_ori * chest_ori).inverse();
-        ) * Quaternion::rotation_z(tilt * tiltcancel * 20.0);
+        let glider_pos = Vec3::new(0.0, -5.0, 18.0);
+        let glider_ori = chest_global_inv * glider_orientation;
+        let center_of_rot = glider_pos * 0.8;
 
-        next.foot_r.position = Vec3::new(
+        next.head.orientation = Quaternion::rotation_x(head_look.y + speednorm.min(28.0) * 0.03)
-            s_a.foot.0,
+            * Quaternion::rotation_z(head_look.x);
-            s_a.foot.1 + slowa * 1.0 + tilt * tiltcancel * 35.0,
-            -1.0 + s_a.foot.2,
-        );
-        next.foot_r.orientation = Quaternion::rotation_x(
-            (wave_stop * -0.8 + quick * -0.25 + slowb * 0.13) * speed * 0.04,
-        ) * Quaternion::rotation_z(tilt * tiltcancel * 20.0);
 
-        next.glider.position = Vec3::new(0.0, -13.0 + slow * 0.10, 8.0);
+        next.torso.position =
-        next.glider.orientation =
+            (center_of_rot - orientation.inverse() * glider_orientation * center_of_rot) / 11.0
-            Quaternion::rotation_x(0.8) * Quaternion::rotation_y(slowa * 0.04);
+                * s_a.scaler;
+        next.torso.orientation = torso_ori;
+
+        next.chest.orientation = chest_ori;
+
+        next.belt.orientation = Quaternion::rotation_z(slowa * 0.1);
+
+        next.shorts.position = Vec3::new(s_a.shorts.0, 0.0, s_a.shorts.1);
+        next.shorts.orientation = chest_ori.inverse() * Quaternion::rotation_z(slowa * 0.12);
+
+        next.hand_l.position = glider_pos
+            + glider_ori * Vec3::new(-s_a.hand.0 + -2.0, s_a.hand.1 + 8.0, s_a.hand.2 + -5.0);
+        next.hand_l.orientation = Quaternion::rotation_x(3.35) * Quaternion::rotation_y(0.2);
+
+        next.hand_r.position = glider_pos
+            + glider_ori * Vec3::new(s_a.hand.0 + 2.0, s_a.hand.1 + 8.0, s_a.hand.2 + -5.0);
+        next.hand_r.orientation = Quaternion::rotation_x(3.35) * Quaternion::rotation_y(-0.2);
+
+        next.foot_l.position = Vec3::new(-s_a.foot.0, s_a.foot.1, s_a.foot.2);
+        next.foot_l.orientation =
+            Quaternion::rotation_x(-0.8 * speedxyznorm + slow * -0.5 * speedxyznorm);
+
+        next.foot_r.position = Vec3::new(s_a.foot.0, s_a.foot.1, s_a.foot.2);
+        next.foot_r.orientation =
+            Quaternion::rotation_x(-0.8 * speedxyznorm + slow * 0.5 * speedxyznorm);
+
+        next.glider.position = glider_pos;
+        next.glider.orientation = glider_ori;
         next.glider.scale = Vec3::one();
 
-        next.torso.position = Vec3::new(0.0, -1.0, 0.0) / 11.0 * s_a.scaler;
-        next.torso.orientation = Quaternion::rotation_x(-0.03 * speed.max(12.0) + slow * 0.04)
-            * Quaternion::rotation_y(tilt * tiltcancel * 32.0);
-
         next
     }
 }

voxygen/src/scene/figure/mod.rs

@@ -1445,17 +1445,18 @@ impl FigureMgr {
                                 )
                             }
                         },
-                        CharacterState::Glide { .. } => {
+                        CharacterState::Glide(data) => {
                             anim::character::GlidingAnimation::update_skeleton(
                                 &target_base,
                                 (
                                     active_tool_kind,
                                     second_tool_kind,
                                     rel_vel,
-                                    // TODO: Update to use the quaternion.
+                                    ori,
-                                    ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    state.last_ori,
-                                    state.last_ori * anim::vek::Vec3::<f32>::unit_y(),
+                                    data.ori.into(),
                                     time,
+                                    state.acc_vel,
                                 ),
                                 state.state_time,
                                 &mut state_animation_rate,