state.AdjustPosition();
}
+void Entity::TurnHead(float dp, float dy) noexcept {
+ SetHead(state.pitch + dp, state.yaw + dy);
+}
+
+void Entity::SetHead(float p, float y) noexcept {
+ state.pitch = p;
+ state.yaw = y;
+ // TODO: I feel like this could be delayed
+ UpdateModel();
+}
+
glm::mat4 Entity::Transform(const glm::ivec3 &reference) const noexcept {
return state.Transform(reference);
}
return Ray{ glm::vec3(from), glm::normalize(glm::vec3(to - from)) };
}
+void Entity::UpdateModel() noexcept {
+ state.AdjustHeading();
+ if (model) {
+ Part::State &body_state = model.BodyState();
+ Part::State &eyes_state = model.EyesState();
+ if (&body_state != &eyes_state) {
+ body_state.orientation = glm::quat(glm::vec3(0.0f, state.yaw, 0.0f));
+ eyes_state.orientation = glm::quat(glm::vec3(state.pitch, 0.0f, 0.0f));
+ } else {
+ eyes_state.orientation = glm::quat(glm::vec3(state.pitch, state.yaw, 0.0f));
+ }
+ }
+}
+
EntityState::EntityState()
: chunk_pos(0)
, block_pos(0.0f)
, velocity(0.0f)
, orient(1.0f, 0.0f, 0.0f, 0.0f)
-, ang_vel(0.0f) {
+, pitch(0.0f)
+, yaw(0.0f) {
}
}
}
+void EntityState::AdjustHeading() noexcept {
+ while (pitch > PI / 2) {
+ pitch = PI / 2;
+ }
+ while (pitch < -PI / 2) {
+ pitch = -PI / 2;
+ }
+ while (yaw > PI) {
+ yaw -= PI * 2;
+ }
+ while (yaw < -PI) {
+ yaw += PI * 2;
+ }
+}
+
glm::mat4 EntityState::Transform(const glm::ivec3 &reference) const noexcept {
const glm::vec3 translation = RelativePosition(reference);
glm::mat4 transform(toMat4(orient));
}
Entity &entity = AddEntity();
entity.Name(name);
- entity.Bounds({ { -0.5f, -0.5f, -0.5f }, { 0.5f, 0.5f, 0.5f } });
+ entity.Bounds({ { -0.4f, -0.9f, -0.4f }, { 0.4f, 0.9f, 0.4f } });
entity.WorldCollidable(true);
ChunkIndex &index = chunks.MakeIndex(entity.ChunkCoords(), 6);
players.emplace_back(entity, index);
return nullptr;
}
entity->Name(name);
- entity->Bounds({ { -0.5f, -0.5f, -0.5f }, { 0.5f, 0.5f, 0.5f } });
+ entity->Bounds({ { -0.4f, -0.9f, -0.4f }, { 0.4f, 0.9f, 0.4f } });
entity->WorldCollidable(true);
ChunkIndex &index = chunks.MakeIndex(entity->ChunkCoords(), 6);
players.emplace_back(*entity, index);
}
}
-namespace {
-
-glm::quat delta_rot(const glm::vec3 &av, float dt) {
- glm::vec3 half(av * dt * 0.5f);
- float mag = length(half);
- if (mag > 0.0f) {
- float smag = std::sin(mag) / mag;
- return glm::quat(std::cos(mag), half * smag);
- } else {
- return glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
- }
-}
-
-}
-
void World::Update(Entity &entity, float dt) {
EntityState state(entity.GetState());
constexpr float sixth = 1.0f / 6.0f;
f.position = sixth * ((a.position + 2.0f * (b.position + c.position)) + d.position);
f.velocity = sixth * ((a.velocity + 2.0f * (b.velocity + c.velocity)) + d.velocity);
- f.orient = sixth * ((a.orient + 2.0f * (b.orient + c.orient)) + d.orient);
state.block_pos += f.position * dt;
state.velocity += f.velocity * dt;
- state.orient = delta_rot(f.orient, dt) * state.orient;
state.AdjustPosition();
entity.SetState(state);
EntityState next(cur);
next.block_pos += delta.position * dt;
next.velocity += delta.velocity * dt;
- next.orient = delta_rot(cur.ang_vel, dt) * cur.orient;
next.AdjustPosition();
EntityDerivative out;
min_pen = min(min_pen, local_pen);
max_pen = max(max_pen, local_pen);
}
- glm::vec3 penetration(min_pen + max_pen);
- glm::vec3 normal(normalize(penetration) * -1.0f);
+ glm::vec3 correction(0.0f);
+ // only apply correction for axes where penetration is only in one direction
+ for (std::size_t i = 0; i < 3; ++i) {
+ if (min_pen[i] < -std::numeric_limits<float>::epsilon()) {
+ if (max_pen[i] < std::numeric_limits<float>::epsilon()) {
+ correction[i] = -min_pen[i];
+ }
+ } else {
+ correction[i] = -max_pen[i];
+ }
+ }
+ // correction may be zero in which case normalize() returns NaNs
+ if (dot(correction, correction) < std::numeric_limits<float>::epsilon()) {
+ return glm::vec3(0.0f);
+ }
+ glm::vec3 normal(normalize(correction));
glm::vec3 normal_velocity(normal * dot(state.velocity, normal));
// apply force proportional to penetration
// use velocity projected onto normal as damper
constexpr float k = 1000.0f; // spring constant
- constexpr float b = 100.0f; // damper constant
- const glm::vec3 x(penetration); // endpoint displacement from equilibrium in m
+ constexpr float b = 10.0f; // damper constant
+ const glm::vec3 x(-correction); // endpoint displacement from equilibrium in m
const glm::vec3 v(normal_velocity); // relative velocity between endpoints in m/s
return (((-k) * x) - (b * v)); // times 1kg/s, in kg*m/s²
} else {