#include "EntityCollision.hpp"
#include "WorldCollision.hpp"
#include "../app/Assets.hpp"
+#include "../geometry/const.hpp"
+#include "../geometry/distance.hpp"
#include "../graphics/Format.hpp"
#include "../graphics/Viewport.hpp"
#include <limits>
#include <glm/gtx/euler_angles.hpp>
#include <glm/gtx/io.hpp>
+#include <glm/gtx/projection.hpp>
#include <glm/gtx/quaternion.hpp>
#include <glm/gtx/rotate_vector.hpp>
#include <glm/gtx/transform.hpp>
, id(-1)
, name("anonymous")
, bounds()
+, radius(0.0f)
, state()
, heading(0.0f, 0.0f, -1.0f)
, max_vel(5.0f)
}
void Entity::Position(const glm::ivec3 &c, const glm::vec3 &b) noexcept {
- state.chunk_pos = c;
- state.block_pos = b;
+ state.pos.chunk = c;
+ state.pos.block = b;
}
void Entity::Position(const glm::vec3 &pos) noexcept {
- state.block_pos = pos;
+ state.pos.block = pos;
state.AdjustPosition();
}
}
glm::mat4 Entity::Transform(const glm::ivec3 &reference) const noexcept {
- return glm::translate(glm::vec3((state.chunk_pos - reference) * Chunk::Extent())) * model_transform;
+ return glm::translate(glm::vec3((state.pos.chunk - reference) * ExactLocation::Extent())) * model_transform;
}
glm::mat4 Entity::ViewTransform(const glm::ivec3 &reference) const noexcept {
return Transform(reference) * view_transform;
}
-Ray Entity::Aim(const Chunk::Pos &chunk_offset) const noexcept {
+Ray Entity::Aim(const ExactLocation::Coarse &chunk_offset) const noexcept {
glm::mat4 transform = ViewTransform(chunk_offset);
return Ray{ glm::vec3(transform[3]), -glm::vec3(transform[2]) };
}
void Entity::UpdateTransforms() noexcept {
// model transform is the one given by current state
- model_transform = state.Transform(state.chunk_pos);
+ model_transform = state.Transform(state.pos.chunk);
// view transform is either the model's eyes transform or,
// should the entity have no model, the pitch (yaw already is
// in model transform)
std::cout << "forward: " << forward << std::endl;
std::cout << "facing: " << facing << std::endl;
std::cout << "direction: " << direction << std::endl;
- std::cout << "difference: " << rad2deg(relative_difference) << "°" << std::endl;
- std::cout << "correction: " << rad2deg(correction) << "°" << std::endl;
- std::cout << std::endl;
+ std::cout << "difference: " << glm::degrees(relative_difference) << "°" << std::endl;
+ std::cout << "correction: " << glm::degrees(correction) << "°" << std::endl;
+ std::cout << std::endl;
}
// now rotate body by correction and head by -correction
state.orient = rotate(state.orient, correction, up);
}
void Entity::OrientHead(float dt) noexcept {
- // maximum yaw of head (90°)
- constexpr float max_head_yaw = PI_0p5;
+ // maximum yaw of head (60°)
+ constexpr float max_head_yaw = PI / 3.0f;
// use local Y as up
const glm::vec3 up(model_transform[1]);
// if yaw is bigger than max, rotate the body to accomodate
EntityState::EntityState()
-: chunk_pos(0)
-, block_pos(0.0f)
+: pos()
, velocity(0.0f)
, orient(1.0f, 0.0f, 0.0f, 0.0f)
, pitch(0.0f)
}
void EntityState::AdjustPosition() noexcept {
- while (block_pos.x >= Chunk::width) {
- block_pos.x -= Chunk::width;
- ++chunk_pos.x;
- }
- while (block_pos.x < 0) {
- block_pos.x += Chunk::width;
- --chunk_pos.x;
- }
- while (block_pos.y >= Chunk::height) {
- block_pos.y -= Chunk::height;
- ++chunk_pos.y;
- }
- while (block_pos.y < 0) {
- block_pos.y += Chunk::height;
- --chunk_pos.y;
- }
- while (block_pos.z >= Chunk::depth) {
- block_pos.z -= Chunk::depth;
- ++chunk_pos.z;
- }
- while (block_pos.z < 0) {
- block_pos.z += Chunk::depth;
- --chunk_pos.z;
- }
+ pos.Correct();
}
void EntityState::AdjustHeading() noexcept {
}
World::~World() {
-
+ for (Entity &e : entities) {
+ e.Kill();
+ }
+ std::size_t removed = 0;
+ do {
+ removed = 0;
+ for (auto e = entities.begin(), end = entities.end(); e != end; ++e) {
+ if (e->CanRemove()) {
+ e = RemoveEntity(e);
+ end = entities.end();
+ ++removed;
+ }
+ }
+ } while (removed > 0 && !entities.empty());
}
bool World::Intersection(
const Ray &ray,
- const glm::mat4 &M,
- const Chunk::Pos &reference,
+ const ExactLocation::Coarse &reference,
WorldCollision &coll
) {
candidates.clear();
for (Chunk &cur_chunk : chunks) {
float cur_dist;
- if (cur_chunk.Intersection(ray, M * cur_chunk.Transform(reference), cur_dist)) {
+ if (cur_chunk.Intersection(ray, reference, cur_dist)) {
candidates.push_back({ &cur_chunk, cur_dist });
}
}
for (Candidate &cand : candidates) {
if (cand.dist > coll.depth) continue;
WorldCollision cur_coll;
- if (cand.chunk->Intersection(ray, M * cand.chunk->Transform(reference), cur_coll)) {
+ if (cand.chunk->Intersection(ray, reference, cur_coll)) {
if (cur_coll.depth < coll.depth) {
coll = cur_coll;
}
bool World::Intersection(
const Ray &ray,
- const glm::mat4 &M,
const Entity &reference,
EntityCollision &coll
) {
}
float cur_dist;
glm::vec3 cur_normal;
- if (blank::Intersection(ray, cur_entity.Bounds(), M * cur_entity.Transform(reference.ChunkCoords()), &cur_dist, &cur_normal)) {
+ if (blank::Intersection(ray, cur_entity.Bounds(), cur_entity.Transform(reference.ChunkCoords()), &cur_dist, &cur_normal)) {
// TODO: fine grained check goes here? maybe?
if (cur_dist < coll.depth) {
coll.entity = &cur_entity;
}
bool World::Intersection(const Entity &e, const EntityState &s, std::vector<WorldCollision> &col) {
- AABB box = e.Bounds();
- Chunk::Pos reference = s.chunk_pos;
+ glm::ivec3 reference = s.pos.chunk;
glm::mat4 M = s.Transform(reference);
- return Intersection(box, M, reference, col);
+
+ ExactLocation::Coarse begin(reference - 1);
+ ExactLocation::Coarse end(reference + 2);
+
+ bool any = false;
+ for (ExactLocation::Coarse pos(begin); pos.z < end.y; ++pos.z) {
+ for (pos.y = begin.y; pos.y < end.y; ++pos.y) {
+ for (pos.x = begin.x; pos.x < end.x; ++pos.x) {
+ Chunk *chunk = chunks.Get(pos);
+ if (chunk && chunk->Intersection(e, M, chunk->Transform(reference), col)) {
+ any = true;
+ }
+ }
+ }
+ }
+ return any;
}
bool World::Intersection(
EntityDerivative f;
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.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);
- state.block_pos += f.position * dt;
+ state.pos.block += f.position * dt;
state.velocity += f.velocity * dt;
+ CollisionFix(entity, state);
state.AdjustPosition();
entity.SetState(state);
const EntityDerivative &delta
) {
EntityState next(cur);
- next.block_pos += delta.position * dt;
+ next.pos.block += delta.position * dt;
next.velocity += delta.velocity * dt;
+ CollisionFix(entity, next);
next.AdjustPosition();
if (dot(next.velocity, next.velocity) > entity.MaxVelocity() * entity.MaxVelocity()) {
const Entity &entity,
const EntityState &state
) {
- glm::vec3 force(ControlForce(entity, state) + CollisionForce(entity, state) + Gravity(entity, state));
+ glm::vec3 force(ControlForce(entity, state));
if (dot(force, force) > entity.MaxControlForce() * entity.MaxControlForce()) {
- return normalize(force) * entity.MaxControlForce();
- } else {
- return force;
+ force = normalize(force) * entity.MaxControlForce();
}
+ return force + Gravity(entity, state);
}
glm::vec3 World::ControlForce(
}
-glm::vec3 World::CollisionForce(
+void World::CollisionFix(
const Entity &entity,
- const EntityState &state
+ EntityState &state
) {
col.clear();
- if (entity.WorldCollidable() && Intersection(entity, state, col)) {
- // determine displacement for each cardinal axis and move entity accordingly
- glm::vec3 min_pen(0.0f);
- glm::vec3 max_pen(0.0f);
- for (const WorldCollision &c : col) {
- if (!c.Blocks()) continue;
- glm::vec3 local_pen(c.normal * c.depth);
- // swap if neccessary (normal may point away from the entity)
- if (dot(c.normal, state.RelativePosition(c.ChunkPos()) - c.BlockCoords()) > 0) {
- local_pen *= -1;
- }
- min_pen = min(min_pen, local_pen);
- max_pen = max(max_pen, local_pen);
+ if (!entity.WorldCollidable() || !Intersection(entity, state, col)) {
+ // no collision, no fix
+ return;
+ }
+ glm::vec3 correction = CombinedInterpenetration(state, col);
+ // correction may be zero in which case normalize() returns NaNs
+ if (iszero(correction)) {
+ return;
+ }
+ // if entity is already going in the direction of correction,
+ // let the problem resolve itself
+ if (dot(state.velocity, correction) >= 0.0f) {
+ return;
+ }
+ // apply correction, maybe could use some damping, gotta test
+ state.pos.block += correction;
+ // kill velocity?
+ glm::vec3 normal_velocity(proj(state.velocity, correction));
+ state.velocity -= normal_velocity;
+}
+
+glm::vec3 World::CombinedInterpenetration(
+ const EntityState &state,
+ const std::vector<WorldCollision> &col
+) noexcept {
+ // determine displacement for each cardinal axis and move entity accordingly
+ glm::vec3 min_pen(0.0f);
+ glm::vec3 max_pen(0.0f);
+ for (const WorldCollision &c : col) {
+ if (!c.Blocks()) continue;
+ glm::vec3 normal(c.normal);
+ // swap if neccessary (normal may point away from the entity)
+ if (dot(normal, state.RelativePosition(c.ChunkPos()) - c.BlockCoords()) < 0) {
+ normal = -normal;
}
- 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];
- }
+ // check if block surface is "inside"
+ Block::Face coll_face = Block::NormalFace(normal);
+ BlockLookup neighbor(c.chunk, c.BlockPos(), coll_face);
+ if (neighbor && neighbor.FaceFilled(Block::Opposite(coll_face))) {
+ // yep, so ignore this contact
+ continue;
}
- // 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 local_pen(normal * c.depth);
+ min_pen = min(min_pen, local_pen);
+ max_pen = max(max_pen, local_pen);
+ }
+ glm::vec3 pen(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()) {
+ pen[i] = min_pen[i];
+ }
+ } else {
+ pen[i] = max_pen[i];
}
- 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 = 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 {
- return glm::vec3(0.0f);
}
+ return pen;
}
glm::vec3 World::Gravity(
const Entity &entity,
const EntityState &state
) {
- return glm::vec3(0.0f);
+ glm::vec3 force(0.0f);
+ ExactLocation::Coarse begin(state.pos.chunk - 1);
+ ExactLocation::Coarse end(state.pos.chunk + 2);
+
+ for (ExactLocation::Coarse pos(begin); pos.z < end.z; ++pos.z) {
+ for (pos.y = begin.y; pos.y < end.y; ++pos.y) {
+ for (pos.x = begin.x; pos.x < end.x; ++pos.x) {
+ Chunk *chunk = chunks.Get(pos);
+ if (chunk) {
+ force += chunk->GravityAt(state.pos);
+ }
+ }
+ }
+ }
+
+ return force;
}
World::EntityHandle World::RemoveEntity(EntityHandle &eh) {