#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>
}
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
}
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());
}
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;
) {
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);
- }
- 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];
- }
- }
+ glm::vec3 correction = -CombinedInterpenetration(state, col);
// correction may be zero in which case normalize() returns NaNs
- if (dot(correction, correction) < std::numeric_limits<float>::epsilon()) {
+ if (iszero(correction)) {
return glm::vec3(0.0f);
}
- glm::vec3 normal(normalize(correction));
- glm::vec3 normal_velocity(normal * dot(state.velocity, normal));
+ // 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 normal as damper
+ // 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
}
}
+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;
+ }
+ // 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);
+ }
+ 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];
+ }
+ }
+ 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) {