state.AdjustPosition();
}
+glm::mat4 Entity::Transform(const glm::ivec3 &reference) const noexcept {
+ return state.Transform(reference);
+}
+
+glm::mat4 Entity::ViewTransform(const glm::ivec3 &reference) const noexcept {
+ glm::mat4 transform = Transform(reference);
+ if (model) {
+ transform *= model.EyesTransform();
+ }
+ return transform;
+}
+
Ray Entity::Aim(const Chunk::Pos &chunk_offset) const noexcept {
- glm::mat4 transform = Transform(chunk_offset);
+ 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);
void World::Update(int dt) {
- float fdt(dt);
+ float fdt(dt * 0.001f);
for (Entity &entity : entities) {
Update(entity, fdt);
}
EntityDerivative out;
out.position = next.velocity;
- out.velocity = CalculateForce(entity, next); // by mass = 1
+ out.velocity = CalculateForce(entity, next); // by mass = 1kg
return out;
}
const Entity &entity,
const EntityState &state
) {
- 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(-entity.TargetVelocity()); // endpoint displacement from equilibrium
- const glm::vec3 v(state.velocity); // relative velocity between endpoints
- return (((-k) * x) - (b * v)) * t; // times mass = 1
+ 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
}
namespace {
min_pen = min(min_pen, local_pen);
max_pen = max(max_pen, local_pen);
}
- glm::vec3 penetration(min_pen + max_pen);
- glm::vec3 normal(normalize(penetration) * -1.0f);
+ 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];
+ }
+ }
+ // 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 = 1.0f; // spring constant
- constexpr float b = 1.0f; // damper constant
- constexpr float t = 0.001f; // 1/time constant
- const glm::vec3 x(penetration); // endpoint displacement from equilibrium
- const glm::vec3 v(normal_velocity); // relative velocity between endpoints
- return (((-k) * x) - (b * v)) * t; // times mass = 1
+ 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);
}