Good spline frame algorithm
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parent
1815ab9ef2
commit
e404a33c6f
234
game/game.odin
234
game/game.odin
@ -15,6 +15,7 @@
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package game
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import "assets"
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import "core:math"
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import "core:math/linalg"
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import rl "vendor:raylib"
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import "vendor:raylib/rlgl"
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@ -193,7 +194,7 @@ update_editor :: proc() {
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switch es.track_edit_state {
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case .Select:
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{
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if rl.IsKeyPressed(.ENTER) {
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if rl.IsKeyPressed(.F) {
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add_track_spline_point()
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}
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@ -289,6 +290,34 @@ update :: proc() {
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}
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}
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catmull_rom_coefs :: proc(
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v0, v1, v2, v3: rl.Vector3,
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alpha, tension: f32,
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) -> (
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a, b, c, d: rl.Vector3,
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) {
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t01 := math.pow(linalg.distance(v0, v1), alpha)
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t12 := math.pow(linalg.distance(v1, v2), alpha)
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t23 := math.pow(linalg.distance(v2, v3), alpha)
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m1 := (1.0 - tension) * (v2 - v1 + t12 * ((v1 - v0) / t01 - (v2 - v0) / (t01 + t12)))
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m2 := (1.0 - tension) * (v2 - v1 + t12 * ((v3 - v2) / t23 - (v3 - v1) / (t12 + t23)))
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a = 2.0 * (v1 - v2) + m1 + m2
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b = -3.0 * (v1 - v2) - m1 - m1 - m2
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c = m1
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d = v1
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return
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}
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catmull_rom :: proc(a, b, c, d: rl.Vector3, t: f32) -> rl.Vector3 {
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t2 := t * t
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t3 := t2 * t
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return a * t3 + b * t2 + c * t + d
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}
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draw :: proc() {
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rl.BeginDrawing()
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defer rl.EndDrawing()
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@ -325,58 +354,182 @@ draw :: proc() {
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SPLINE_SUBDIVS_U :: 4
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SPLINE_SUBDIVS_V :: 8
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SPLINE_SUBDIVS_V :: 16
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ROAD_WIDTH :: 2.0
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CATMULL_ROM_ALPHA :: 1.0
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CATMULL_ROM_TENSION :: 0.0
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{
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// Debug draw spline road
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{
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rlgl.EnableWireMode()
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defer rlgl.DisableWireMode()
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rlgl.Color3f(1, 0, 0)
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Frame :: struct {
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tangent, normal: rl.Vector3,
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rotation: linalg.Quaternionf32,
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}
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ctrl_frames := make_soa(#soa[]Frame, points_len, context.temp_allocator)
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// Normals for control points
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for i in 0 ..< points_len - 1 {
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pos := points[i]
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tangent := linalg.normalize0(points[i + 1] - pos)
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bitangent := linalg.normalize0(linalg.cross(tangent, rl.Vector3{0, 1, 0}))
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normal := linalg.normalize0(linalg.cross(bitangent, tangent))
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rotation_matrix: linalg.Matrix3f32
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rotation_matrix[0], rotation_matrix[1], rotation_matrix[2] =
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bitangent, normal, -tangent
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ctrl_frames[i].tangent = tangent
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ctrl_frames[i].normal = normal
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ctrl_frames[i].rotation = linalg.quaternion_from_matrix3(rotation_matrix)
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}
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ctrl_frames[points_len - 1] = ctrl_frames[points_len - 2]
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interpolated_points := make(
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[]rl.Vector3,
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(points_len - 1) * SPLINE_SUBDIVS_V + 1,
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context.temp_allocator,
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)
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if points_len >= 2 {
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extended_start := points[0] + (points[0] - points[1])
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extended_end :=
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points[points_len - 1] + points[points_len - 1] - points[points_len - 2]
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extended_end2 := extended_end + points[points_len - 1] - points[points_len - 2]
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for i in 0 ..< points_len - 1 {
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prev := i > 0 ? points[i - 1] : extended_start
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current := points[i]
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next := i < points_len - 1 ? points[i + 1] : extended_end
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next2 := i < points_len - 2 ? points[i + 2] : extended_end2
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a, b, c, d := catmull_rom_coefs(
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prev,
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current,
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next,
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next2,
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CATMULL_ROM_ALPHA,
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CATMULL_ROM_TENSION,
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)
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v_dt := 1.0 / f32(SPLINE_SUBDIVS_V)
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for v_index in 0 ..< SPLINE_SUBDIVS_V {
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v_t := f32(v_index) * v_dt
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interpolated_pos := catmull_rom(a, b, c, d, v_t)
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interpolated_points[i * SPLINE_SUBDIVS_V + v_index] = interpolated_pos
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}
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}
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interpolated_points[len(interpolated_points) - 1] = points[points_len - 1]
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frames := make_soa(
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#soa[]Frame,
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len(interpolated_points),
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context.temp_allocator,
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)
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{
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for i in 0 ..< len(frames) - 1 {
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ctrl_index := i / SPLINE_SUBDIVS_V
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v_t := f32(i % SPLINE_SUBDIVS_V) / (SPLINE_SUBDIVS_V)
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pos := interpolated_points[i]
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cur_frame := ctrl_frames[ctrl_index]
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next_frame := ctrl_frames[ctrl_index + 1]
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frames[i].rotation = linalg.quaternion_slerp(
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cur_frame.rotation,
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next_frame.rotation,
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v_t,
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)
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normal := linalg.matrix3_from_quaternion(frames[i].rotation)[1]
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tangent := linalg.normalize0(interpolated_points[i + 1] - pos)
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frames[i].tangent = tangent
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frames[i].normal = normal
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}
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frames[len(frames) - 1] = frames[len(frames) - 2]
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}
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// Parallel frame algorithm (doesn't work because it rotates the road too much, but looks pretty)
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if false {
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// Calculate reference normal
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{
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tangent := linalg.normalize0(
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interpolated_points[1] - interpolated_points[0],
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)
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frames[0].tangent = tangent
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bitangent := linalg.normalize0(
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linalg.cross(tangent, rl.Vector3{0, 1, 0}),
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)
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frames[0].normal = linalg.normalize0(linalg.cross(bitangent, tangent))
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}
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for i in 1 ..< len(frames) {
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cur, next := interpolated_points[i], interpolated_points[i + 1]
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tangent := linalg.normalize0(next - cur)
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bitangent := linalg.cross(frames[i - 1].tangent, tangent)
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bitangent_len := linalg.length(bitangent)
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normal: rl.Vector3
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if bitangent_len < math.F32_EPSILON {
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normal = frames[i - 1].normal
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} else {
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bitangent /= bitangent_len
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angle := math.acos(linalg.dot(frames[i - 1].tangent, tangent))
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normal =
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linalg.matrix3_rotate(angle, bitangent) * frames[i - 1].normal
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}
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frames[i].tangent = tangent
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frames[i].normal = normal
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}
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}
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{
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rlgl.Begin(rlgl.LINES)
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defer rlgl.End()
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rlgl.Color3f(1, 0, 0)
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for i in 0 ..< len(interpolated_points) - 1 {
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cur, next := interpolated_points[i], interpolated_points[i + 1]
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for i in 0 ..< points_len {
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if i >= 1 && i < points_len - 2 {
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for v in 0 ..< SPLINE_SUBDIVS_V {
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t := f32(v) / f32(SPLINE_SUBDIVS_V)
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t2 := f32(v + 1) / f32(SPLINE_SUBDIVS_V)
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point := linalg.catmull_rom(
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points[i - 1],
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points[i],
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points[i + 1],
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points[i + 2],
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t,
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)
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point2 := linalg.catmull_rom(
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points[i - 1],
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points[i],
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points[i + 1],
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points[i + 2],
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t2,
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// rotation := linalg.matrix3_look_at(cur, next, rl.Vector3{0, 1, 0})
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tangent := frames[i].tangent
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normal := frames[i].normal
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bitangent := linalg.cross(tangent, normal)
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rlgl.Color4ub(255, 255, 255, 255)
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rlgl.Vertex3f(cur.x, cur.y, cur.z)
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rlgl.Vertex3f(next.x, next.y, next.z)
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rlgl.Color4ub(255, 0, 0, 255)
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rlgl.Vertex3f(cur.x, cur.y, cur.z)
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rlgl.Vertex3f(cur.x + tangent.x, cur.y + tangent.y, cur.z + tangent.z)
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rlgl.Color4ub(0, 255, 0, 255)
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rlgl.Vertex3f(cur.x, cur.y, cur.z)
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rlgl.Vertex3f(
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cur.x + bitangent.x,
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cur.y + bitangent.y,
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cur.z + bitangent.z,
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)
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tangent := linalg.normalize0(point2 - point)
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right := -linalg.cross(tangent, rl.Vector3{0, 1, 0})
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// normal := linalg.cross(tangent, right)
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rlgl.Color4ub(0, 0, 255, 255)
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rlgl.Vertex3f(cur.x, cur.y, cur.z)
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rlgl.Vertex3f(cur.x + normal.x, cur.y + normal.y, cur.z + normal.z)
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for u in 0 ..< SPLINE_SUBDIVS_U {
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offset := f32(u) / f32(SPLINE_SUBDIVS_U)
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offset = offset * 2 - 1
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offset2 := f32(u + 1) / f32(SPLINE_SUBDIVS_U)
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offset2 = offset2 * 2 - 1
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p1 := point + offset * right
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p2 := point + offset2 * right
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rlgl.Vertex3f(p1.x, p1.y, p1.z)
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rlgl.Vertex3f(p2.x, p2.y, p2.z)
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}
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rlgl.Vertex3f(point.x, point.y, point.z)
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rlgl.Vertex3f(point2.x, point2.y, point2.z)
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}
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}
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}
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}
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if g_mem.editor {
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es := &g_mem.es
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@ -384,6 +537,8 @@ draw :: proc() {
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switch es.track_edit_state {
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case .Select:
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case .Move:
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rlgl.Begin(rlgl.LINES)
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defer rlgl.End()
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axes_buf: [2]rl.Vector3
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colors_buf: [2]rl.Color
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axes, colors := get_movement_axes(es.move_axis, &axes_buf, &colors_buf)
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@ -421,7 +576,6 @@ draw :: proc() {
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points_len := len(points)
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for i in 0 ..< points_len {
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if spline_handle(g_mem.track.points[i], camera, es.selected_track_point == i) {
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g_mem.es.selected_track_point = i
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}
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