Better orientation, axels

assets/common/manifests/ship_manifest.ron

@@ -199,16 +199,16 @@
     ),
     Carriage: (
         bone0: (
-            offset: (-4.5, -6.5, -0.5),
+            offset: (-4.5, -7.0, -0.5),
             central: ("carriage.structure"),
         ),
         bone1: (
-            offset: (0.0, 0.0, 0.0),
+            offset: (-2.0, -5.0, -2.0),
-            central: ("empty"),
+            central: ("carriage.axle"),
         ),
         bone2: (
-            offset: (0.0, 0.0, 0.0),
+            offset: (-2.0, -5.0, -2.0),
-            central: ("empty"),
+            central: ("carriage.axle"),
         ),
         bone3: (
             offset: (0.0, 0.0, 0.0),

common/src/comp/body/ship.rs

@@ -19,7 +19,13 @@ pub const ALL_BODIES: [Body; 6] = [
 ];
 
 pub const ALL_AIRSHIPS: [Body; 2] = [Body::DefaultAirship, Body::AirBalloon];
-pub const ALL_SHIPS: [Body; 5] = [Body::SailBoat, Body::Galleon, Body::Skiff, Body::Submarine, Body::Carriage];
+pub const ALL_SHIPS: [Body; 5] = [
+    Body::SailBoat,
+    Body::Galleon,
+    Body::Skiff,
+    Body::Submarine,
+    Body::Carriage,
+];
 
 make_case_elim!(
     body,
@@ -114,7 +120,7 @@ impl Body {
             Body::Submarine => Density(WATER_DENSITY), // Neutrally buoyant
             Body::Carriage => Density(WATER_DENSITY * 0.5),
             _ => Density(AIR_DENSITY * 0.95 + WATER_DENSITY * 0.05), /* Most boats should be very
-                                                         * buoyant */
+                                                                      * buoyant */
         }
     }
 
@@ -130,6 +136,8 @@ impl Body {
         !self.can_fly() && !matches!(self, Body::Carriage) // TODO: Differentiate this more carefully
     }
 
+    pub fn has_wheels(&self) -> bool { matches!(self, Body::Carriage) }
+
     pub fn make_collider(&self) -> Collider {
         match self.manifest_entry() {
             Some(manifest_entry) => Collider::Voxel {

common/src/comp/phys.rs

@@ -63,7 +63,6 @@ pub struct PreviousPhysCache {
     pub origins: Option<(Vec2<f32>, Vec2<f32>)>,
     pub pos: Option<Pos>,
     pub ori: Quaternion<f32>,
-    pub pos_interp: Option<Pos>,
 }
 
 impl Component for PreviousPhysCache {

common/src/states/behavior.rs

@@ -5,8 +5,8 @@ use crate::{
         item::{tool::AbilityMap, MaterialStatManifest},
         ActiveAbilities, Beam, Body, CharacterActivity, CharacterState, Combo, ControlAction,
         Controller, ControllerInputs, Density, Energy, Health, InputAttr, InputKind, Inventory,
-        InventoryAction, Mass, Melee, Ori, PhysicsState, Pos, Scale, SkillSet, Stance, StateUpdate,
+        InventoryAction, Mass, Melee, Ori, PhysicsState, Pos, PreviousPhysCache, Scale, SkillSet,
-        Stats, Vel, PreviousPhysCache,
+        Stance, StateUpdate, Stats, Vel,
     },
     link::Is,
     mounting::{Rider, VolumeRider},

common/src/states/utils.rs

@@ -21,7 +21,7 @@ use crate::{
     event::{LocalEvent, ServerEvent},
     outcome::Outcome,
     states::{behavior::JoinData, utils::CharacterState::Idle, *},
-    terrain::{TerrainGrid, UnlockKind},
+    terrain::{Block, TerrainGrid, UnlockKind},
     util::Dir,
     vol::ReadVol,
 };
@@ -146,7 +146,7 @@ impl Body {
                 quadruped_low::Species::Deadwood => 140.0,
                 quadruped_low::Species::Mossdrake => 100.0,
             },
-            Body::Ship(ship::Body::Carriage) => 350.0,
+            Body::Ship(ship::Body::Carriage) => 200.0,
             Body::Ship(_) => 0.0,
             Body::Arthropod(arthropod) => match arthropod.species {
                 arthropod::Species::Tarantula => 135.0,
@@ -221,7 +221,7 @@ impl Body {
                 quadruped_low::Species::Mossdrake => 1.7,
                 _ => 2.0,
             },
-            Body::Ship(ship::Body::Carriage) => 0.6,
+            Body::Ship(ship::Body::Carriage) => 0.04,
             Body::Ship(ship) if ship.has_water_thrust() => 5.0 / self.dimensions().y,
             Body::Ship(_) => 6.0 / self.dimensions().y,
             Body::Arthropod(_) => 3.5,
@@ -589,11 +589,26 @@ pub fn handle_orientation(
         (a.to_quat().into_vec4() - b.to_quat().into_vec4()).reduce(|a, b| a.abs() + b.abs())
     }
 
-    let pitch = if matches!(data.body, Body::Ship(ship::Body::Carriage)) {
+    let (tilt_ori, efficiency) = if let Body::Ship(ship) = data.body && ship.has_wheels() && data.physics.on_ground.is_some() {
-        let change = (data.pos.0 - data.previous_physics.and_then(|p| p.pos_interp).unwrap_or(*data.pos).0) / data.dt.0;
+        let height_at = |rpos| data
-        change.z / change.xy().magnitude().max(1.0)
+            .terrain
+            .ray(
+                data.pos.0 + rpos + Vec3::unit_z() * 4.0,
+                data.pos.0 + rpos - Vec3::unit_z() * 4.0,
+            )
+            .until(Block::is_solid)
+            .cast()
+            .0;
+
+        let x_diff = (height_at(data.ori.to_horizontal().right().to_vec() * 3.0) - height_at(data.ori.to_horizontal().right().to_vec() * -3.0)) / 10.0;
+        let y_diff = (height_at(data.ori.to_horizontal().look_dir().to_vec() * -4.5) - height_at(data.ori.to_horizontal().look_dir().to_vec() * 4.5)) / 10.0;
+
+        (
+            Quaternion::rotation_y(x_diff.atan()) * Quaternion::rotation_x(y_diff.atan()),
+            (data.vel.0 - data.physics.ground_vel).dot(data.ori.to_horizontal().look_dir().to_vec()).max(3.0) * efficiency,
+        )
     } else {
-        0.0
+        (Quaternion::identity(), efficiency)
     };
 
     // Direction is set to the override if one is provided, else if entity is
@@ -611,7 +626,7 @@ pub fn handle_orientation(
         Dir::from_unnormalized(data.inputs.move_dir.into())
             .map_or_else(|| to_horizontal_fast(data.ori), |dir| dir.into())
     }
-        .pitched_up(pitch);
+    .rotated(tilt_ori);
     // unit is multiples of 180°
     let half_turns_per_tick = data.body.base_ori_rate() / data.scale.map_or(1.0, |s| s.0.sqrt())
         * efficiency

common/systems/src/character_behavior.rs

@@ -10,7 +10,7 @@ use common::{
         inventory::item::{tool::AbilityMap, MaterialStatManifest},
         ActiveAbilities, Beam, Body, CharacterActivity, CharacterState, Combo, Controller, Density,
         Energy, Health, Inventory, InventoryManip, Mass, Melee, Ori, PhysicsState, Poise, Pos,
-        Scale, SkillSet, Stance, StateUpdate, Stats, Vel, PreviousPhysCache,
+        PreviousPhysCache, Scale, SkillSet, Stance, StateUpdate, Stats, Vel,
     },
     event::{EventBus, LocalEvent, ServerEvent},
     link::Is,

common/systems/src/phys.rs

@@ -218,7 +218,6 @@ impl<'a> PhysicsData<'a> {
                     origins: None,
                     pos: None,
                     ori: Quaternion::identity(),
-                    pos_interp: None,
                 });
         }
 
@@ -745,9 +744,6 @@ impl<'a> PhysicsData<'a> {
             // it did not work (investigate root cause?)
             previous_phys_cache.pos = Some(*pos);
             previous_phys_cache.ori = ori.to_quat();
-            previous_phys_cache.pos_interp = Some(Pos(
-                previous_phys_cache.pos_interp.unwrap_or(*pos).0 * 0.85 + pos.0 * 0.15,
-            ));
         }
         drop(guard);
     }

voxygen/anim/src/ship/idle.rs

@@ -45,10 +45,12 @@ impl Animation for IdleAnimation {
         next.bone0.position = Vec3::new(s_a.bone0.0, s_a.bone0.1, s_a.bone0.2);
 
         next.bone1.position = Vec3::new(s_a.bone1.0, s_a.bone1.1, s_a.bone1.2);
-        next.bone1.orientation = Quaternion::rotation_y(acc_vel * 0.8);
+        next.bone1.orientation = Quaternion::rotation_z(s_a.bone1_ori)
+            * Quaternion::rotation_y(acc_vel * s_a.bone_rotation_rate);
 
         next.bone2.position = Vec3::new(s_a.bone2.0, s_a.bone2.1, s_a.bone2.2);
-        next.bone2.orientation = Quaternion::rotation_y(-acc_vel * 0.8);
+        next.bone2.orientation = Quaternion::rotation_z(s_a.bone2_ori)
+            * Quaternion::rotation_y(-acc_vel * s_a.bone_rotation_rate);
 
         next.bone3.position = Vec3::new(s_a.bone3.0, s_a.bone3.1, s_a.bone3.2);
         next.bone3.orientation = Quaternion::rotation_z(tilt * 25.0);

voxygen/anim/src/ship/mod.rs

@@ -70,6 +70,9 @@ pub struct SkeletonAttr {
     bone1: (f32, f32, f32),
     bone2: (f32, f32, f32),
     bone3: (f32, f32, f32),
+    bone1_ori: f32,
+    bone2_ori: f32,
+    bone_rotation_rate: f32,
     bone1_prop_trail_offset: Option<f32>,
     bone2_prop_trail_offset: Option<f32>,
 }
@@ -92,6 +95,9 @@ impl Default for SkeletonAttr {
             bone1: (0.0, 0.0, 0.0),
             bone2: (0.0, 0.0, 0.0),
             bone3: (0.0, 0.0, 0.0),
+            bone1_ori: 0.0,
+            bone2_ori: 0.0,
+            bone_rotation_rate: 0.0,
             bone1_prop_trail_offset: None,
             bone2_prop_trail_offset: None,
         }
@@ -119,7 +125,7 @@ impl<'a> From<&'a Body> for SkeletonAttr {
                 Galleon => (0.0, 0.0, 0.0),
                 Skiff => (0.0, 0.0, 0.0),
                 Submarine => (0.0, -15.0, 3.5),
-                Carriage => (0.0, 0.0, 0.0),
+                Carriage => (0.0, 3.0, 2.0),
                 Volume => (0.0, 0.0, 0.0),
             },
             bone2: match body {
@@ -129,7 +135,7 @@ impl<'a> From<&'a Body> for SkeletonAttr {
                 Galleon => (0.0, 0.0, 0.0),
                 Skiff => (0.0, 0.0, 0.0),
                 Submarine => (0.0, 0.0, 0.0),
-                Carriage => (0.0, 0.0, 0.0),
+                Carriage => (0.0, -3.0, 2.0),
                 Volume => (0.0, 0.0, 0.0),
             },
             bone3: match body {
@@ -142,6 +148,18 @@ impl<'a> From<&'a Body> for SkeletonAttr {
                 Carriage => (0.0, 0.0, 0.0),
                 Volume => (0.0, 0.0, 0.0),
             },
+            bone1_ori: match body {
+                Carriage => std::f32::consts::PI * 0.5,
+                _ => 0.0,
+            },
+            bone2_ori: match body {
+                Carriage => std::f32::consts::PI * -0.5,
+                _ => 0.0,
+            },
+            bone_rotation_rate: match body {
+                Carriage => 0.25,
+                _ => 0.8,
+            },
             bone1_prop_trail_offset: match body {
                 DefaultAirship => Some(8.5),
                 Submarine => Some(3.5),