#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.block_pos = b;
}
glm::mat4 Entity::Transform(const glm::ivec3 &reference) const noexcept {
- return state.Transform(reference);
+ return glm::translate(glm::vec3((state.chunk_pos - reference) * Chunk::Extent())) * model_transform;
}
glm::mat4 Entity::ViewTransform(const glm::ivec3 &reference) const noexcept {
- glm::mat4 transform = Transform(reference);
- if (model) {
- transform *= model.EyesTransform();
- }
- return transform;
+ return Transform(reference) * view_transform;
}
Ray Entity::Aim(const Chunk::Pos &chunk_offset) const noexcept {
glm::mat4 transform = ViewTransform(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)) };
+ return Ray{ glm::vec3(transform[3]), -glm::vec3(transform[2]) };
}
void Entity::UpdateModel() noexcept {
state.AdjustHeading();
+ state.orient = glm::quat(glm::vec3(0.0f, state.yaw, 0.0f));
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));
- }
+ model.EyesState().orientation = glm::quat(glm::vec3(state.pitch, 0.0f, 0.0f));
+ }
+}
+
+void Entity::Update(float dt) {
+ UpdateTransforms();
+ UpdateHeading();
+ if (HasController()) {
+ GetController().Update(*this, dt);
+ }
+}
+
+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);
+ }
+}
+
+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]);
+ }
+}
+
+
+EntityController::~EntityController() {
+
+}
+
+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;
}
}
}
void EntityState::AdjustHeading() noexcept {
- while (pitch > PI / 2) {
- pitch = PI / 2;
- }
- while (pitch < -PI / 2) {
- pitch = -PI / 2;
- }
+ glm::clamp(pitch, -PI_0p5, PI_0p5);
while (yaw > PI) {
- yaw -= PI * 2;
+ yaw -= PI_2p0;
}
while (yaw < -PI) {
- yaw += PI * 2;
+ 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;
}
AABB box = e.Bounds();
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() - reference) > 1) {
return any;
}
-
void World::Update(int dt) {
float fdt(dt * 0.001f);
for (Entity &entity : entities) {
Update(entity, fdt);
}
+ for (Entity &entity : entities) {
+ entity.Update(fdt);
+ }
for (Player &player : players) {
player.Update(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
const Entity &entity,
const EntityState &state
) {
- return ControlForce(entity, state) + CollisionForce(entity, state) + Gravity(entity, 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
) {
- constexpr float k = 10.0f; // spring constant
- constexpr float b = 10.0f; // damper constant
- const glm::vec3 x(-entity.TargetVelocity()); // endpoint displacement from equilibrium, by 1s, in m
- const glm::vec3 v(state.velocity); // relative velocity between endpoints in m/s
- return ((-k) * x) - (b * v); // times 1kg/s, in kg*m/s²
+ return entity.ControlForce(state);
}
namespace {
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