std::cout << "direction: " << direction << std::endl;
std::cout << "difference: " << glm::degrees(relative_difference) << "°" << std::endl;
std::cout << "correction: " << glm::degrees(correction) << "°" << std::endl;
- std::cout << std::endl;
+ std::cout << std::endl;
}
// now rotate body by correction and head by -correction
state.orient = rotate(state.orient, correction, up);
}
bool World::Intersection(const Entity &e, const EntityState &s, std::vector<WorldCollision> &col) {
- // TODO: make special case for entities here and in Chunk::Intersection so entity's bounding radius
- // doesn't have to be calculated over and over again (sqrt)
glm::ivec3 reference = s.pos.chunk;
glm::mat4 M = s.Transform(reference);
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.pos.block += f.position * dt;
state.velocity += f.velocity * dt;
+ CollisionFix(entity, state);
state.AdjustPosition();
entity.SetState(state);
EntityState next(cur);
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)) {
- glm::vec3 correction = -CombinedInterpenetration(state, col);
- // correction may be zero in which case normalize() returns NaNs
- if (iszero(correction)) {
- return glm::vec3(0.0f);
- }
- // if entity is already going in the direction of correction,
- // let the problem resolve itself
- if (dot(state.velocity, correction) >= 0.0f) {
- return glm::vec3(0.0f);
- }
- glm::vec3 normal_velocity(proj(state.velocity, correction));
- // apply force proportional to penetration
- // use velocity projected onto correction 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);
+ 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(
glm::vec3 max_pen(0.0f);
for (const WorldCollision &c : col) {
if (!c.Blocks()) continue;
- glm::vec3 local_pen(c.normal * c.depth);
+ glm::vec3 normal(c.normal);
// swap if neccessary (normal may point away from the entity)
- if (dot(c.normal, state.RelativePosition(c.ChunkPos()) - c.BlockCoords()) > 0) {
- local_pen *= -1;
+ if (dot(normal, state.RelativePosition(c.ChunkPos()) - c.BlockCoords()) < 0) {
+ normal = -normal;
}
+ // 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;
+ }
+ glm::vec3 local_pen(normal * c.depth);
min_pen = min(min_pen, local_pen);
max_pen = max(max_pen, local_pen);
}
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) {