#include "Entity.hpp"
+#include "EntityController.hpp"
#include "EntityDerivative.hpp"
#include "EntityState.hpp"
#include "Player.hpp"
#include <cmath>
#include <iostream>
#include <limits>
+#include <glm/gtx/euler_angles.hpp>
#include <glm/gtx/io.hpp>
#include <glm/gtx/quaternion.hpp>
#include <glm/gtx/transform.hpp>
namespace blank {
Entity::Entity() noexcept
-: model()
+: ctrl(nullptr)
+, model()
, id(-1)
, name("anonymous")
, bounds()
, state()
-, tgt_vel(0.0f)
+, heading(0.0f, 0.0f, -1.0f)
+, max_vel(5.0f)
+, max_force(25.0f)
, ref_count(0)
, world_collision(false)
-, dead(false) {
+, dead(false)
+, owns_controller(false) {
}
+Entity::~Entity() noexcept {
+ UnsetController();
+}
+
+Entity::Entity(const Entity &other) noexcept
+: ctrl(other.ctrl)
+, model(other.model)
+, id(-1)
+, name(other.name)
+, bounds(other.bounds)
+, state(other.state)
+, model_transform(1.0f)
+, view_transform(1.0f)
+, speed(0.0f)
+, heading(0.0f, 0.0f, -1.0f)
+, max_vel(other.max_vel)
+, max_force(other.max_force)
+, ref_count(0)
+, world_collision(other.world_collision)
+, dead(other.dead)
+, owns_controller(false) {
+
+}
+
+void Entity::SetController(EntityController *c) noexcept {
+ UnsetController();
+ ctrl = c;
+ owns_controller = true;
+}
+
+void Entity::SetController(EntityController &c) noexcept {
+ UnsetController();
+ ctrl = &c;
+ owns_controller = false;
+}
+
+void Entity::UnsetController() noexcept {
+ if (ctrl && owns_controller) {
+ delete ctrl;
+ }
+ ctrl = nullptr;
+}
+
+glm::vec3 Entity::ControlForce(const EntityState &s) const noexcept {
+ if (HasController()) {
+ return GetController().ControlForce(*this, s);
+ } else {
+ return -s.velocity;
+ }
+}
void Entity::Position(const glm::ivec3 &c, const glm::vec3 &b) noexcept {
state.chunk_pos = c;
state.AdjustPosition();
}
-Ray Entity::Aim(const Chunk::Pos &chunk_offset) const noexcept {
- glm::mat4 transform = Transform(chunk_offset);
- glm::vec4 from = transform * glm::vec4(0.0f, 0.0f, 0.0f, 1.0f);
- from /= from.w;
- glm::vec4 to = transform * glm::vec4(0.0f, 0.0f, -1.0f, 1.0f);
- to /= to.w;
- return Ray{ glm::vec3(from), glm::normalize(glm::vec3(to - from)) };
+void Entity::TurnHead(float dp, float dy) noexcept {
+ SetHead(state.pitch + dp, state.yaw + dy);
}
-namespace {
+void Entity::SetHead(float p, float y) noexcept {
+ state.pitch = p;
+ state.yaw = y;
+ // TODO: I feel like this could be delayed
+ UpdateModel();
+}
-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);
- }
+glm::mat4 Entity::Transform(const glm::ivec3 &reference) const noexcept {
+ return glm::translate(glm::vec3((state.chunk_pos - reference) * Chunk::Extent())) * model_transform;
}
+glm::mat4 Entity::ViewTransform(const glm::ivec3 &reference) const noexcept {
+ return Transform(reference) * view_transform;
}
-void Entity::Update(int dt) noexcept {
- float fdt = float(dt);
+Ray Entity::Aim(const Chunk::Pos &chunk_offset) const noexcept {
+ glm::mat4 transform = ViewTransform(chunk_offset);
+ return Ray{ glm::vec3(transform[3]), -glm::vec3(transform[2]) };
+}
- // euler
- //state.block_pos += state.velocity * fdt;
- //state.velocity += ControlForce(state) * fdt;
- //state.orient = delta_rot(state.ang_vel, fdt) * state.orient;
- //state.AdjustPosition();
+void Entity::UpdateModel() noexcept {
+ state.AdjustHeading();
+ state.orient = glm::quat(glm::vec3(0.0f, state.yaw, 0.0f));
+ if (model) {
+ model.EyesState().orientation = glm::quat(glm::vec3(state.pitch, 0.0f, 0.0f));
+ }
+}
- // RK4
- EntityDerivative a(CalculateStep(state, 0.0f, EntityDerivative()));
- EntityDerivative b(CalculateStep(state, fdt * 0.5f, a));
- EntityDerivative c(CalculateStep(state, fdt * 0.5f, b));
- EntityDerivative d(CalculateStep(state, fdt, c));
+void Entity::Update(float dt) {
+ UpdateTransforms();
+ UpdateHeading();
+ if (HasController()) {
+ GetController().Update(*this, dt);
+ }
+}
- 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.orient = sixth * ((a.orient + 2.0f * (b.orient + c.orient)) + d.orient);
+void Entity::UpdateTransforms() noexcept {
+ // model transform is the one given by current state
+ model_transform = state.Transform(state.chunk_pos);
+ // view transform is either the model's eyes transform or,
+ // should the entity have no model, the pitch (yaw already is
+ // in model transform)
+ if (model) {
+ view_transform = model.EyesTransform();
+ } else {
+ view_transform = glm::eulerAngleX(state.pitch);
+ }
+}
- state.block_pos += f.position * fdt;
- state.velocity += f.velocity * fdt;
- state.orient = delta_rot(f.orient, fdt) * state.orient;
- state.AdjustPosition();
+void Entity::UpdateHeading() noexcept {
+ speed = length(Velocity());
+ if (speed > std::numeric_limits<float>::epsilon()) {
+ heading = Velocity() / speed;
+ } else {
+ speed = 0.0f;
+ // use -Z (forward axis) of local view transform
+ heading = -glm::vec3(view_transform[2]);
+ }
}
-EntityDerivative Entity::CalculateStep(
- const EntityState &cur,
- float dt,
- const EntityDerivative &delta
-) const noexcept {
- 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;
- out.position = next.velocity;
- out.velocity = ControlForce(next); // plus other forces and then by mass
- return out;
+EntityController::~EntityController() {
+
}
-glm::vec3 Entity::ControlForce(const EntityState &cur) const noexcept {
- constexpr float k = 1.0f; // spring constant
- constexpr float b = 1.0f; // damper constant
- constexpr float t = 0.01f; // 1/time constant
- const glm::vec3 x(-tgt_vel); // endpoint displacement from equilibrium
- const glm::vec3 v(cur.velocity); // relative velocity between endpoints
- return (((-k) * x) - (b * v)) * t; // times mass = 1
+bool EntityController::MaxOutForce(
+ glm::vec3 &out,
+ const glm::vec3 &add,
+ float max
+) noexcept {
+ if (iszero(add) || any(isnan(add))) {
+ return false;
+ }
+ float current = iszero(out) ? 0.0f : length(out);
+ float remain = max - current;
+ if (remain <= 0.0f) {
+ return true;
+ }
+ float additional = length(add);
+ if (additional > remain) {
+ out += normalize(add) * remain;
+ return true;
+ } else {
+ out += add;
+ return false;
+ }
}
, 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 {
+ glm::clamp(pitch, -PI_0p5, PI_0p5);
+ while (yaw > PI) {
+ yaw -= PI_2p0;
+ }
+ while (yaw < -PI) {
+ yaw += PI_2p0;
+ }
+}
+
glm::mat4 EntityState::Transform(const glm::ivec3 &reference) const noexcept {
const glm::vec3 translation = RelativePosition(reference);
glm::mat4 transform(toMat4(orient));
- transform[3].x = translation.x;
- transform[3].y = translation.y;
- transform[3].z = translation.z;
+ transform[3] = glm::vec4(translation, 1.0f);
return transform;
}
}
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);
return coll.entity;
}
-bool World::Intersection(const Entity &e, std::vector<WorldCollision> &col) {
+bool World::Intersection(const Entity &e, const EntityState &s, std::vector<WorldCollision> &col) {
AABB box = e.Bounds();
- Chunk::Pos reference = e.ChunkCoords();
- glm::mat4 M = e.Transform(reference);
+ Chunk::Pos reference = s.chunk_pos;
+ glm::mat4 M = s.Transform(reference);
+ return Intersection(box, M, reference, col);
+}
+
+bool World::Intersection(
+ const AABB &box,
+ const glm::mat4 &M,
+ const glm::ivec3 &reference,
+ std::vector<WorldCollision> &col
+) {
bool any = false;
for (Chunk &cur_chunk : chunks) {
- if (manhattan_radius(cur_chunk.Position() - e.ChunkCoords()) > 1) {
+ if (manhattan_radius(cur_chunk.Position() - reference) > 1) {
// chunk is not one of the 3x3x3 surrounding the entity
// since there's no entity which can extent over 16 blocks, they can be skipped
continue;
return any;
}
-
-namespace {
-
-std::vector<WorldCollision> col;
-
-}
-
void World::Update(int dt) {
+ float fdt(dt * 0.001f);
for (Entity &entity : entities) {
- entity.Update(dt);
+ Update(entity, fdt);
}
for (Entity &entity : entities) {
- col.clear();
- if (entity.WorldCollidable() && Intersection(entity, col)) {
- // entity collides with the world
- Resolve(entity, col);
- }
+ entity.Update(fdt);
}
for (Player &player : players) {
player.Update(dt);
}
}
-void World::Resolve(Entity &e, std::vector<WorldCollision> &col) {
- // determine displacement for each cardinal axis and move entity accordingly
- glm::vec3 min_disp(0.0f);
- glm::vec3 max_disp(0.0f);
- for (const WorldCollision &c : col) {
- if (!c.Blocks()) continue;
- glm::vec3 local_disp(c.normal * c.depth);
- // swap if neccessary (normal may point away from the entity)
- if (dot(c.normal, e.Position() - c.BlockCoords()) < 0) {
- local_disp *= -1;
+void World::Update(Entity &entity, float dt) {
+ EntityState state(entity.GetState());
+
+ EntityDerivative a(CalculateStep(entity, state, 0.0f, EntityDerivative()));
+ EntityDerivative b(CalculateStep(entity, state, dt * 0.5f, a));
+ EntityDerivative c(CalculateStep(entity, state, dt * 0.5f, b));
+ EntityDerivative d(CalculateStep(entity, state, dt, c));
+
+ 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);
+
+ state.block_pos += f.position * dt;
+ state.velocity += f.velocity * dt;
+ state.AdjustPosition();
+
+ entity.SetState(state);
+}
+
+EntityDerivative World::CalculateStep(
+ const Entity &entity,
+ const EntityState &cur,
+ float dt,
+ const EntityDerivative &delta
+) {
+ EntityState next(cur);
+ next.block_pos += delta.position * dt;
+ next.velocity += delta.velocity * dt;
+ next.AdjustPosition();
+
+ if (dot(next.velocity, next.velocity) > entity.MaxVelocity() * entity.MaxVelocity()) {
+ next.velocity = normalize(next.velocity) * entity.MaxVelocity();
+ }
+
+ EntityDerivative out;
+ out.position = next.velocity;
+ out.velocity = CalculateForce(entity, next); // by mass = 1kg
+ return out;
+}
+
+glm::vec3 World::CalculateForce(
+ const Entity &entity,
+ const EntityState &state
+) {
+ glm::vec3 force(ControlForce(entity, state) + CollisionForce(entity, state) + Gravity(entity, state));
+ if (dot(force, force) > entity.MaxControlForce() * entity.MaxControlForce()) {
+ return normalize(force) * entity.MaxControlForce();
+ } else {
+ return force;
+ }
+}
+
+glm::vec3 World::ControlForce(
+ const Entity &entity,
+ const EntityState &state
+) {
+ return entity.ControlForce(state);
+}
+
+namespace {
+
+std::vector<WorldCollision> col;
+
+}
+
+glm::vec3 World::CollisionForce(
+ const Entity &entity,
+ const 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);
}
- min_disp = min(min_disp, local_disp);
- max_disp = max(max_disp, local_disp);
- }
- // for each axis
- // if only one direction is set, use that as the final
- // if both directions are set, use average
- glm::vec3 final_disp(0.0f);
- for (int axis = 0; axis < 3; ++axis) {
- if (std::abs(min_disp[axis]) > std::numeric_limits<float>::epsilon()) {
- if (std::abs(max_disp[axis]) > std::numeric_limits<float>::epsilon()) {
- final_disp[axis] = (min_disp[axis] + max_disp[axis]) * 0.5f;
+ 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 {
- final_disp[axis] = min_disp[axis];
+ correction[i] = -max_pen[i];
}
- } else if (std::abs(max_disp[axis]) > std::numeric_limits<float>::epsilon()) {
- final_disp[axis] = max_disp[axis];
}
+ // 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 = 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);
}
- e.Position(e.Position() + final_disp);
+}
+
+glm::vec3 World::Gravity(
+ const Entity &entity,
+ const EntityState &state
+) {
+ return glm::vec3(0.0f);
}
World::EntityHandle World::RemoveEntity(EntityHandle &eh) {
entity_prog.SetFogDensity(fog_density);
for (Entity &entity : entities) {
- entity.Render(entity.Transform(players.front().GetEntity().ChunkCoords()), entity_prog);
+ glm::mat4 M(entity.Transform(players.front().GetEntity().ChunkCoords()));
+ if (!CullTest(entity.Bounds(), entity_prog.GetVP() * M)) {
+ entity.Render(M, entity_prog);
+ }
+ }
+}
+
+namespace {
+
+PrimitiveMesh::Buffer debug_buf;
+
+}
+
+void World::RenderDebug(Viewport &viewport) {
+ PrimitiveMesh debug_mesh;
+ PlainColor &prog = viewport.WorldColorProgram();
+ for (const Entity &entity : entities) {
+ debug_buf.OutlineBox(entity.Bounds(), glm::vec4(1.0f, 0.0f, 0.0f, 1.0f));
+ debug_mesh.Update(debug_buf);
+ prog.SetM(entity.Transform(players.front().GetEntity().ChunkCoords()));
+ debug_mesh.DrawLines();
}
}
projects / blank.git / blobdiff