--- /dev/null
+Alex Chapman
--- /dev/null
+USING: tools.deploy.config ;
+V{
+ { deploy-ui? t }
+ { deploy-io 1 }
+ { deploy-reflection 1 }
+ { deploy-compiler? t }
+ { deploy-math? t }
+ { deploy-word-props? f }
+ { deploy-c-types? f }
+ { "stop-after-last-window?" t }
+ { deploy-name "Jamshred" }
+}
--- /dev/null
+Alex Chapman
--- /dev/null
+! Copyright (C) 2007, 2008 Alex Chapman
+! See http://factorcode.org/license.txt for BSD license.
+USING: accessors kernel opengl arrays sequences jamshred.log jamshred.player jamshred.sound jamshred.tunnel math math.constants math.vectors ;
+IN: jamshred.game
+
+TUPLE: jamshred sounds tunnel players running quit ;
+
+: <jamshred> ( -- jamshred )
+ <sounds> <random-tunnel> "Player 1" pick <player>
+ 2dup swap play-in-tunnel 1array f f jamshred boa ;
+
+: jamshred-player ( jamshred -- player )
+ ! TODO: support more than one player
+ players>> first ;
+
+: jamshred-update ( jamshred -- )
+ dup running>> [
+ jamshred-player update-player
+ ] [ drop ] if ;
+
+: toggle-running ( jamshred -- )
+ dup running>> [
+ f >>running drop
+ ] [
+ [ jamshred-player moved ]
+ [ t >>running drop ] bi
+ ] if ;
+
+: mouse-moved ( x-radians y-radians jamshred -- )
+ jamshred-player -rot turn-player ;
+
+: units-per-full-roll ( -- n ) 50 ;
+
+: jamshred-roll ( jamshred n -- )
+ [ jamshred-player ] dip 2 pi * * units-per-full-roll / roll-player ;
+
+: mouse-scroll-x ( jamshred x -- ) jamshred-roll ;
+
+: mouse-scroll-y ( jamshred y -- )
+ neg swap jamshred-player change-player-speed ;
--- /dev/null
+Alex Chapman
--- /dev/null
+! Copyright (C) 2007, 2008 Alex Chapman
+! See http://factorcode.org/license.txt for BSD license.
+USING: accessors alien.c-types jamshred.game jamshred.oint
+jamshred.player jamshred.tunnel kernel math math.constants
+math.functions math.vectors opengl opengl.gl opengl.glu
+opengl.demo-support sequences specialized-arrays.float ;
+IN: jamshred.gl
+
+: min-vertices 6 ; inline
+: max-vertices 32 ; inline
+
+: n-vertices ( -- n ) 32 ; inline
+
+! render enough of the tunnel that it looks continuous
+: n-segments-ahead ( -- n ) 60 ; inline
+: n-segments-behind ( -- n ) 40 ; inline
+
+: wall-drawing-offset ( -- n )
+ #! so that we can't see through the wall, we draw it a bit further away
+ 0.15 ;
+
+: wall-drawing-radius ( segment -- r )
+ radius>> wall-drawing-offset + ;
+
+: wall-up ( segment -- v )
+ [ wall-drawing-radius ] [ up>> ] bi n*v ;
+
+: wall-left ( segment -- v )
+ [ wall-drawing-radius ] [ left>> ] bi n*v ;
+
+: segment-vertex ( theta segment -- vertex )
+ [
+ [ wall-up swap sin v*n ] [ wall-left swap cos v*n ] 2bi v+
+ ] [
+ location>> v+
+ ] bi ;
+
+: segment-vertex-normal ( vertex segment -- normal )
+ location>> swap v- normalize ;
+
+: segment-vertex-and-normal ( segment theta -- vertex normal )
+ swap [ segment-vertex ] keep dupd segment-vertex-normal ;
+
+: equally-spaced-radians ( n -- seq )
+ #! return a sequence of n numbers between 0 and 2pi
+ dup [ / pi 2 * * ] curry map ;
+
+: draw-segment-vertex ( segment theta -- )
+ over color>> gl-color segment-vertex-and-normal
+ gl-normal gl-vertex ;
+
+: draw-vertex-pair ( theta next-segment segment -- )
+ rot tuck draw-segment-vertex draw-segment-vertex ;
+
+: draw-segment ( next-segment segment -- )
+ GL_QUAD_STRIP [
+ [ draw-vertex-pair ] 2curry
+ n-vertices equally-spaced-radians F{ 0.0 } append swap each
+ ] do-state ;
+
+: draw-segments ( segments -- )
+ 1 over length pick subseq swap [ draw-segment ] 2each ;
+
+: segments-to-render ( player -- segments )
+ dup nearest-segment>> number>> dup n-segments-behind -
+ swap n-segments-ahead + rot tunnel>> sub-tunnel ;
+
+: draw-tunnel ( player -- )
+ segments-to-render draw-segments ;
+
+: init-graphics ( width height -- )
+ GL_DEPTH_TEST glEnable
+ GL_SCISSOR_TEST glDisable
+ 1.0 glClearDepth
+ 0.0 0.0 0.0 0.0 glClearColor
+ GL_COLOR_BUFFER_BIT GL_DEPTH_BUFFER_BIT bitor glClear
+ GL_PROJECTION glMatrixMode glLoadIdentity
+ dup 0 = [ 2drop ] [ / >float 45.0 swap 0.1 100.0 gluPerspective ] if
+ GL_MODELVIEW glMatrixMode glLoadIdentity
+ GL_LEQUAL glDepthFunc
+ GL_LIGHTING glEnable
+ GL_LIGHT0 glEnable
+ GL_FOG glEnable
+ GL_FOG_DENSITY 0.09 glFogf
+ GL_FRONT GL_AMBIENT_AND_DIFFUSE glColorMaterial
+ GL_COLOR_MATERIAL glEnable
+ GL_LIGHT0 GL_POSITION float-array{ 0.0 0.0 0.0 1.0 } underlying>> glLightfv
+ GL_LIGHT0 GL_AMBIENT float-array{ 0.2 0.2 0.2 1.0 } underlying>> glLightfv
+ GL_LIGHT0 GL_DIFFUSE float-array{ 1.0 1.0 1.0 1.0 } underlying>> glLightfv
+ GL_LIGHT0 GL_SPECULAR float-array{ 1.0 1.0 1.0 1.0 } underlying>> glLightfv ;
+
+: player-view ( player -- )
+ [ location>> ]
+ [ [ location>> ] [ forward>> ] bi v+ ]
+ [ up>> ] tri gl-look-at ;
+
+: draw-jamshred ( jamshred width height -- )
+ init-graphics jamshred-player [ player-view ] [ draw-tunnel ] bi ;
+
--- /dev/null
+! Copyright (C) 2007, 2008 Alex Chapman
+! See http://factorcode.org/license.txt for BSD license.
+USING: accessors arrays calendar jamshred.game jamshred.gl jamshred.player jamshred.log kernel math math.constants math.geometry.rect math.vectors namespaces sequences threads ui ui.backend ui.gadgets ui.gadgets.worlds ui.gestures ui.render ;
+IN: jamshred
+
+TUPLE: jamshred-gadget < gadget { jamshred jamshred } last-hand-loc ;
+
+: <jamshred-gadget> ( jamshred -- gadget )
+ jamshred-gadget new-gadget swap >>jamshred ;
+
+: default-width ( -- x ) 800 ;
+: default-height ( -- y ) 600 ;
+
+M: jamshred-gadget pref-dim*
+ drop default-width default-height 2array ;
+
+M: jamshred-gadget draw-gadget* ( gadget -- )
+ [ jamshred>> ] [ rect-dim first2 draw-jamshred ] bi ;
+
+: jamshred-loop ( gadget -- )
+ dup jamshred>> quit>> [
+ drop
+ ] [
+ [ jamshred>> jamshred-update ]
+ [ relayout-1 ]
+ [ 10 milliseconds sleep yield jamshred-loop ] tri
+ ] if ;
+
+: fullscreen ( gadget -- )
+ find-world t swap set-fullscreen* ;
+
+: no-fullscreen ( gadget -- )
+ find-world f swap set-fullscreen* ;
+
+: toggle-fullscreen ( world -- )
+ [ fullscreen? not ] keep set-fullscreen* ;
+
+M: jamshred-gadget graft* ( gadget -- )
+ [ jamshred-loop ] curry in-thread ;
+
+M: jamshred-gadget ungraft* ( gadget -- )
+ jamshred>> t swap (>>quit) ;
+
+: jamshred-restart ( jamshred-gadget -- )
+ <jamshred> >>jamshred drop ;
+
+: pix>radians ( n m -- theta )
+ / pi 4 * * ; ! 2 / / pi 2 * * ;
+
+: x>radians ( x gadget -- theta )
+ #! translate motion of x pixels to an angle
+ rect-dim first pix>radians neg ;
+
+: y>radians ( y gadget -- theta )
+ #! translate motion of y pixels to an angle
+ rect-dim second pix>radians ;
+
+: (handle-mouse-motion) ( jamshred-gadget mouse-motion -- )
+ over jamshred>> >r
+ [ first swap x>radians ] 2keep second swap y>radians
+ r> mouse-moved ;
+
+: handle-mouse-motion ( jamshred-gadget -- )
+ hand-loc get [
+ over last-hand-loc>> [
+ v- (handle-mouse-motion)
+ ] [ 2drop ] if*
+ ] 2keep >>last-hand-loc drop ;
+
+: handle-mouse-scroll ( jamshred-gadget -- )
+ jamshred>> scroll-direction get
+ [ first mouse-scroll-x ]
+ [ second mouse-scroll-y ] 2bi ;
+
+: quit ( gadget -- )
+ [ no-fullscreen ] [ close-window ] bi ;
+
+jamshred-gadget H{
+ { T{ key-down f f "r" } [ jamshred-restart ] }
+ { T{ key-down f f " " } [ jamshred>> toggle-running ] }
+ { T{ key-down f f "f" } [ find-world toggle-fullscreen ] }
+ { T{ key-down f f "UP" } [ jamshred>> jamshred-player 1 swap change-player-speed ] }
+ { T{ key-down f f "DOWN" } [ jamshred>> jamshred-player -1 swap change-player-speed ] }
+ { T{ key-down f f "LEFT" } [ jamshred>> 1 jamshred-roll ] }
+ { T{ key-down f f "RIGHT" } [ jamshred>> -1 jamshred-roll ] }
+ { T{ key-down f f "q" } [ quit ] }
+ { T{ motion } [ handle-mouse-motion ] }
+ { T{ mouse-scroll } [ handle-mouse-scroll ] }
+} set-gestures
+
+: jamshred-window ( -- gadget )
+ [ <jamshred> <jamshred-gadget> dup "Jamshred" open-window ] with-ui ;
+
+MAIN: jamshred-window
--- /dev/null
+USING: kernel logging ;
+IN: jamshred.log
+
+LOG: (jamshred-log) DEBUG
+
+: with-jamshred-log ( quot -- )
+ "jamshred" swap with-logging ;
+
+: jamshred-log ( message -- )
+ [ (jamshred-log) ] with-jamshred-log ; ! ugly...
--- /dev/null
+Alex Chapman
--- /dev/null
+USING: jamshred.oint tools.test ;
+IN: jamshred.oint-tests
+
+[ { 0 -1 -1 } ] [ { 0 1 -1 } { 0 -1 0 } reflect ] unit-test
+[ { 0 1 0 } ] [ { 1 1 0 } { 1 0 0 } proj-perp ] unit-test
+[ { 1 0 0 } ] [ { 1 1 0 } { 0 1 0 } proj-perp ] unit-test
+[ { 1/2 -1/2 0 } ] [ { 1 0 0 } { 1 1 0 } proj-perp ] unit-test
+[ { -1/2 1/2 0 } ] [ { 0 1 0 } { 1 1 0 } proj-perp ] unit-test
--- /dev/null
+! Copyright (C) 2007, 2008 Alex Chapman
+! See http://factorcode.org/license.txt for BSD license.
+USING: accessors arrays float-arrays kernel locals math math.constants math.functions math.matrices math.vectors math.quaternions random sequences ;
+IN: jamshred.oint
+
+! An oint is a point with three linearly independent unit vectors
+! given relative to that point. In jamshred a player's location and
+! direction are given by the player's oint. Similarly, a tunnel
+! segment's location and orientation are given by an oint.
+
+TUPLE: oint location forward up left ;
+C: <oint> oint
+
+: rotation-quaternion ( theta axis -- quaternion )
+ swap 2 / dup cos swap sin rot n*v first3 rect> >r rect> r> 2array ;
+
+: rotate-vector ( q qrecip v -- v )
+ v>q swap q* q* q>v ;
+
+: rotate-oint ( oint theta axis -- )
+ rotation-quaternion dup qrecip pick
+ [ forward>> rotate-vector >>forward ]
+ [ up>> rotate-vector >>up ]
+ [ left>> rotate-vector >>left ] 3tri drop ;
+
+: left-pivot ( oint theta -- )
+ over left>> rotate-oint ;
+
+: up-pivot ( oint theta -- )
+ over up>> rotate-oint ;
+
+: forward-pivot ( oint theta -- )
+ over forward>> rotate-oint ;
+
+: random-float+- ( n -- m )
+ #! find a random float between -n/2 and n/2
+ dup 10000 * >fixnum random 10000 / swap 2 / - ;
+
+: random-turn ( oint theta -- )
+ 2 / 2dup random-float+- left-pivot random-float+- up-pivot ;
+
+: location+ ( v oint -- )
+ [ location>> v+ ] [ (>>location) ] bi ;
+
+: go-forward ( distance oint -- )
+ [ forward>> n*v ] [ location+ ] bi ;
+
+: distance-vector ( oint oint -- vector )
+ [ location>> ] bi@ swap v- ;
+
+: distance ( oint oint -- distance )
+ distance-vector norm ;
+
+: scalar-projection ( v1 v2 -- n )
+ #! the scalar projection of v1 onto v2
+ tuck v. swap norm / ;
+
+: proj-perp ( u v -- w )
+ dupd proj v- ;
+
+: perpendicular-distance ( oint oint -- distance )
+ tuck distance-vector swap 2dup left>> scalar-projection abs
+ -rot up>> scalar-projection abs + ;
+
+:: reflect ( v n -- v' )
+ #! bounce v on a surface with normal n
+ v v n v. n n v. / 2 * n n*v v- ;
+
+: half-way ( p1 p2 -- p3 )
+ over v- 2 v/n v+ ;
+
+: half-way-between-oints ( o1 o2 -- p )
+ [ location>> ] bi@ half-way ;
--- /dev/null
+Alex Chapman
--- /dev/null
+! Copyright (C) 2007, 2008 Alex Chapman
+! See http://factorcode.org/license.txt for BSD license.
+USING: accessors colors combinators float-arrays jamshred.log jamshred.oint jamshred.sound jamshred.tunnel kernel locals math math.constants math.order math.ranges math.vectors math.matrices sequences shuffle strings system ;
+IN: jamshred.player
+
+TUPLE: player < oint
+ { name string }
+ { sounds sounds }
+ tunnel
+ nearest-segment
+ { last-move integer }
+ { speed float } ;
+
+! speeds are in GL units / second
+: default-speed ( -- speed ) 1.0 ;
+: max-speed ( -- speed ) 30.0 ;
+
+: <player> ( name sounds -- player )
+ [ F{ 0 0 5 } F{ 0 0 -1 } F{ 0 1 0 } F{ -1 0 0 } ] 2dip
+ f f 0 default-speed player boa ;
+
+: turn-player ( player x-radians y-radians -- )
+ >r over r> left-pivot up-pivot ;
+
+: roll-player ( player z-radians -- )
+ forward-pivot ;
+
+: to-tunnel-start ( player -- )
+ [ tunnel>> first dup location>> ]
+ [ tuck (>>location) (>>nearest-segment) ] bi ;
+
+: play-in-tunnel ( player segments -- )
+ >>tunnel to-tunnel-start ;
+
+: update-nearest-segment ( player -- )
+ [ tunnel>> ] [ dup nearest-segment>> nearest-segment ]
+ [ (>>nearest-segment) ] tri ;
+
+: update-time ( player -- seconds-passed )
+ millis swap [ last-move>> - 1000 / ] [ (>>last-move) ] 2bi ;
+
+: moved ( player -- ) millis swap (>>last-move) ;
+
+: speed-range ( -- range )
+ max-speed [0,b] ;
+
+: change-player-speed ( inc player -- )
+ [ + speed-range clamp-to-range ] change-speed drop ;
+
+: multiply-player-speed ( n player -- )
+ [ * speed-range clamp-to-range ] change-speed drop ;
+
+: distance-to-move ( seconds-passed player -- distance )
+ speed>> * ;
+
+: bounce ( d-left player -- d-left' player )
+ {
+ [ dup nearest-segment>> bounce-off-wall ]
+ [ sounds>> bang ]
+ [ 3/4 swap multiply-player-speed ]
+ [ ]
+ } cleave ;
+
+:: (distance) ( heading player -- current next location heading )
+ player nearest-segment>>
+ player [ tunnel>> ] [ nearest-segment>> ] bi heading heading-segment
+ player location>> heading ;
+
+: distance-to-heading-segment ( heading player -- distance )
+ (distance) distance-to-next-segment ;
+
+: distance-to-heading-segment-area ( heading player -- distance )
+ (distance) distance-to-next-segment-area ;
+
+: distance-to-collision ( player -- distance )
+ dup nearest-segment>> (distance-to-collision) ;
+
+: almost-to-collision ( player -- distance )
+ distance-to-collision 0.1 - dup 0 < [ drop 0 ] when ;
+
+: from ( player -- radius distance-from-centre )
+ [ nearest-segment>> dup radius>> swap ] [ location>> ] bi
+ distance-from-centre ;
+
+: distance-from-wall ( player -- distance ) from - ;
+: fraction-from-centre ( player -- fraction ) from swap / ;
+: fraction-from-wall ( player -- fraction )
+ fraction-from-centre 1 swap - ;
+
+: update-nearest-segment2 ( heading player -- )
+ 2dup distance-to-heading-segment-area 0 <= [
+ [ tunnel>> ] [ nearest-segment>> rot heading-segment ]
+ [ (>>nearest-segment) ] tri
+ ] [
+ 2drop
+ ] if ;
+
+:: move-player-on-heading ( d-left player distance heading -- d-left' player )
+ [let* | d-to-move [ d-left distance min ]
+ move-v [ d-to-move heading n*v ] |
+ move-v player location+
+ heading player update-nearest-segment2
+ d-left d-to-move - player ] ;
+
+: distance-to-move-freely ( player -- distance )
+ [ almost-to-collision ]
+ [ [ forward>> ] keep distance-to-heading-segment-area ] bi min ;
+
+: ?move-player-freely ( d-left player -- d-left' player )
+ over 0 > [
+ ! must make sure we are moving a significant distance, otherwise
+ ! we can recurse endlessly due to floating-point imprecision.
+ ! (at least I /think/ that's what causes it...)
+ dup distance-to-move-freely dup 0.1 > [
+ over forward>> move-player-on-heading ?move-player-freely
+ ] [ drop ] if
+ ] when ;
+
+: drag-heading ( player -- heading )
+ [ forward>> ] [ nearest-segment>> forward>> proj ] bi ;
+
+: drag-player ( d-left player -- d-left' player )
+ dup [ [ drag-heading ] keep distance-to-heading-segment-area ]
+ [ drag-heading move-player-on-heading ] bi ;
+
+: (move-player) ( d-left player -- d-left' player )
+ ?move-player-freely over 0 > [
+ ! bounce
+ drag-player
+ (move-player)
+ ] when ;
+
+: move-player ( player -- )
+ [ update-time ] [ distance-to-move ] [ (move-player) 2drop ] tri ;
+
+: update-player ( player -- )
+ [ move-player ] [ nearest-segment>> white swap (>>color) ] bi ;
--- /dev/null
+! Copyright (C) 2008 Alex Chapman
+! See http://factorcode.org/license.txt for BSD license.
+USING: accessors io.files kernel openal sequences ;
+IN: jamshred.sound
+
+TUPLE: sounds bang ;
+
+: assign-sound ( source wav-path -- )
+ resource-path create-buffer-from-wav AL_BUFFER swap set-source-param ;
+
+: <sounds> ( -- sounds )
+ init-openal 1 gen-sources first sounds boa
+ dup bang>> "extra/jamshred/sound/bang.wav" assign-sound ;
+
+: bang ( sounds -- ) bang>> source-play check-error ;
--- /dev/null
+A simple 3d tunnel racing game
--- /dev/null
+applications
+games
--- /dev/null
+Alex Chapman
--- /dev/null
+! Copyright (C) 2007, 2008 Alex Chapman
+! See http://factorcode.org/license.txt for BSD license.
+USING: accessors arrays float-arrays jamshred.oint jamshred.tunnel kernel math.vectors sequences tools.test ;
+IN: jamshred.tunnel.tests
+
+[ 0 ] [ T{ segment f { 0 0 0 } f f f 0 }
+ T{ segment f { 1 1 1 } f f f 1 }
+ T{ oint f { 0 0 0.25 } }
+ nearer-segment number>> ] unit-test
+
+[ 0 ] [ T{ oint f { 0 0 0 } } <straight-tunnel> find-nearest-segment number>> ] unit-test
+[ 1 ] [ T{ oint f { 0 0 -1 } } <straight-tunnel> find-nearest-segment number>> ] unit-test
+[ 2 ] [ T{ oint f { 0 0.1 -2.1 } } <straight-tunnel> find-nearest-segment number>> ] unit-test
+
+[ 3 ] [ <straight-tunnel> T{ oint f { 0 0 -3.25 } } 0 nearest-segment-forward number>> ] unit-test
+
+[ F{ 0 0 0 } ] [ <straight-tunnel> T{ oint f { 0 0 -0.25 } } over first nearest-segment location>> ] unit-test
+
+: test-segment-oint ( -- oint )
+ { 0 0 0 } { 0 0 -1 } { 0 1 0 } { -1 0 0 } <oint> ;
+
+[ { -1 0 0 } ] [ test-segment-oint { 1 0 0 } vector-to-centre ] unit-test
+[ { 1 0 0 } ] [ test-segment-oint { -1 0 0 } vector-to-centre ] unit-test
+[ { 0 -1 0 } ] [ test-segment-oint { 0 1 0 } vector-to-centre ] unit-test
+[ { 0 1 0 } ] [ test-segment-oint { 0 -1 0 } vector-to-centre ] unit-test
+[ { -1 0 0 } ] [ test-segment-oint { 1 0 -1 } vector-to-centre ] unit-test
+[ { 1 0 0 } ] [ test-segment-oint { -1 0 -1 } vector-to-centre ] unit-test
+[ { 0 -1 0 } ] [ test-segment-oint { 0 1 -1 } vector-to-centre ] unit-test
+[ { 0 1 0 } ] [ test-segment-oint { 0 -1 -1 } vector-to-centre ] unit-test
+
+: simplest-straight-ahead ( -- oint segment )
+ { 0 0 0 } { 0 0 -1 } { 0 1 0 } { -1 0 0 } <oint>
+ initial-segment ;
+
+[ { 0.0 0.0 0.0 } ] [ simplest-straight-ahead sideways-heading ] unit-test
+[ { 0.0 0.0 0.0 } ] [ simplest-straight-ahead sideways-relative-location ] unit-test
+
+: simple-collision-up ( -- oint segment )
+ { 0 0 0 } { 0 1 0 } { 0 0 1 } { -1 0 0 } <oint>
+ initial-segment ;
+
+[ { 0.0 1.0 0.0 } ] [ simple-collision-up sideways-heading ] unit-test
+[ { 0.0 0.0 0.0 } ] [ simple-collision-up sideways-relative-location ] unit-test
+[ { 0.0 1.0 0.0 } ]
+[ simple-collision-up collision-vector 0 0 0 3array v+ ] unit-test
--- /dev/null
+! Copyright (C) 2007, 2008 Alex Chapman
+! See http://factorcode.org/license.txt for BSD license.
+USING: accessors arrays colors combinators float-arrays kernel
+locals math math.constants math.matrices math.order math.ranges
+math.vectors math.quadratic random sequences vectors jamshred.oint ;
+IN: jamshred.tunnel
+
+: n-segments ( -- n ) 5000 ; inline
+
+TUPLE: segment < oint number color radius ;
+C: <segment> segment
+
+: segment-number++ ( segment -- )
+ [ number>> 1+ ] keep (>>number) ;
+
+: random-color ( -- color )
+ { 100 100 100 } [ random 100 / >float ] map first3 1.0 <rgba> ;
+
+: tunnel-segment-distance ( -- n ) 0.4 ;
+: random-rotation-angle ( -- theta ) pi 20 / ;
+
+: random-segment ( previous-segment -- segment )
+ clone dup random-rotation-angle random-turn
+ tunnel-segment-distance over go-forward
+ random-color >>color dup segment-number++ ;
+
+: (random-segments) ( segments n -- segments )
+ dup 0 > [
+ >r dup peek random-segment over push r> 1- (random-segments)
+ ] [ drop ] if ;
+
+: default-segment-radius ( -- r ) 1 ;
+
+: initial-segment ( -- segment )
+ F{ 0 0 0 } F{ 0 0 -1 } F{ 0 1 0 } F{ -1 0 0 }
+ 0 random-color default-segment-radius <segment> ;
+
+: random-segments ( n -- segments )
+ initial-segment 1vector swap (random-segments) ;
+
+: simple-segment ( n -- segment )
+ [ F{ 0 0 -1 } n*v F{ 0 0 -1 } F{ 0 1 0 } F{ -1 0 0 } ] keep
+ random-color default-segment-radius <segment> ;
+
+: simple-segments ( n -- segments )
+ [ simple-segment ] map ;
+
+: <random-tunnel> ( -- segments )
+ n-segments random-segments ;
+
+: <straight-tunnel> ( -- segments )
+ n-segments simple-segments ;
+
+: sub-tunnel ( from to segments -- segments )
+ #! return segments between from and to, after clamping from and to to
+ #! valid values
+ [ sequence-index-range [ clamp-to-range ] curry bi@ ] keep <slice> ;
+
+: nearer-segment ( segment segment oint -- segment )
+ #! return whichever of the two segments is nearer to the oint
+ >r 2dup r> tuck distance >r distance r> < -rot ? ;
+
+: (find-nearest-segment) ( nearest next oint -- nearest ? )
+ #! find the nearest of 'next' and 'nearest' to 'oint', and return
+ #! t if the nearest hasn't changed
+ pick >r nearer-segment dup r> = ;
+
+: find-nearest-segment ( oint segments -- segment )
+ dup first swap rest-slice rot [ (find-nearest-segment) ] curry
+ find 2drop ;
+
+: nearest-segment-forward ( segments oint start -- segment )
+ rot dup length swap <slice> find-nearest-segment ;
+
+: nearest-segment-backward ( segments oint start -- segment )
+ swapd 1+ 0 spin <slice> <reversed> find-nearest-segment ;
+
+: nearest-segment ( segments oint start-segment -- segment )
+ #! find the segment nearest to 'oint', and return it.
+ #! start looking at segment 'start-segment'
+ number>> over >r
+ [ nearest-segment-forward ] 3keep
+ nearest-segment-backward r> nearer-segment ;
+
+: get-segment ( segments n -- segment )
+ over sequence-index-range clamp-to-range swap nth ;
+
+: next-segment ( segments current-segment -- segment )
+ number>> 1+ get-segment ;
+
+: previous-segment ( segments current-segment -- segment )
+ number>> 1- get-segment ;
+
+: heading-segment ( segments current-segment heading -- segment )
+ #! the next segment on the given heading
+ over forward>> v. 0 <=> {
+ { +gt+ [ next-segment ] }
+ { +lt+ [ previous-segment ] }
+ { +eq+ [ nip ] } ! current segment
+ } case ;
+
+:: distance-to-next-segment ( current next location heading -- distance )
+ [let | cf [ current forward>> ] |
+ cf next location>> v. cf location v. - cf heading v. / ] ;
+
+:: distance-to-next-segment-area ( current next location heading -- distance )
+ [let | cf [ current forward>> ]
+ h [ next current half-way-between-oints ] |
+ cf h v. cf location v. - cf heading v. / ] ;
+
+: vector-to-centre ( seg loc -- v )
+ over location>> swap v- swap forward>> proj-perp ;
+
+: distance-from-centre ( seg loc -- distance )
+ vector-to-centre norm ;
+
+: wall-normal ( seg oint -- n )
+ location>> vector-to-centre normalize ;
+
+: distant ( -- n ) 1000 ;
+
+: max-real ( a b -- c )
+ #! sometimes collision-coefficient yields complex roots, so we ignore these (hack)
+ dup real? [
+ over real? [ max ] [ nip ] if
+ ] [
+ drop dup real? [ drop distant ] unless
+ ] if ;
+
+:: collision-coefficient ( v w r -- c )
+ v norm 0 = [
+ distant
+ ] [
+ [let* | a [ v dup v. ]
+ b [ v w v. 2 * ]
+ c [ w dup v. r sq - ] |
+ c b a quadratic max-real ]
+ ] if ;
+
+: sideways-heading ( oint segment -- v )
+ [ forward>> ] bi@ proj-perp ;
+
+: sideways-relative-location ( oint segment -- loc )
+ [ [ location>> ] bi@ v- ] keep forward>> proj-perp ;
+
+: (distance-to-collision) ( oint segment -- distance )
+ [ sideways-heading ] [ sideways-relative-location ]
+ [ nip radius>> ] 2tri collision-coefficient ;
+
+: collision-vector ( oint segment -- v )
+ dupd (distance-to-collision) swap forward>> n*v ;
+
+: bounce-forward ( segment oint -- )
+ [ wall-normal ] [ forward>> swap reflect ] [ (>>forward) ] tri ;
+
+: bounce-left ( segment oint -- )
+ #! must be done after forward
+ [ forward>> vneg ] dip [ left>> swap reflect ]
+ [ forward>> proj-perp normalize ] [ (>>left) ] tri ;
+
+: bounce-up ( segment oint -- )
+ #! must be done after forward and left!
+ nip [ forward>> ] [ left>> cross ] [ (>>up) ] tri ;
+
+: bounce-off-wall ( oint segment -- )
+ swap [ bounce-forward ] [ bounce-left ] [ bounce-up ] 2tri ;
+
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