#include "EntityCollision.hpp"
#include "WorldCollision.hpp"
#include "../app/Assets.hpp"
+#include "../geometry/const.hpp"
+#include "../geometry/distance.hpp"
#include "../graphics/Format.hpp"
#include "../graphics/Viewport.hpp"
#include <cmath>
#include <iostream>
#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>
, id(-1)
, name("anonymous")
, bounds()
+, radius(0.0f)
, state()
+, heading(0.0f, 0.0f, -1.0f)
, max_vel(5.0f)
, max_force(25.0f)
, ref_count(0)
, 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)
glm::vec3 Entity::ControlForce(const EntityState &s) const noexcept {
if (HasController()) {
- return GetController().ControlForce(s);
+ 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;
+ state.pos.chunk = c;
+ state.pos.block = b;
}
void Entity::Position(const glm::vec3 &pos) noexcept {
- state.block_pos = pos;
+ state.pos.block = pos;
state.AdjustPosition();
}
void Entity::SetHead(float p, float y) noexcept {
state.pitch = p;
state.yaw = y;
- // TODO: I feel like this could be delayed
- UpdateModel();
}
glm::mat4 Entity::Transform(const glm::ivec3 &reference) const noexcept {
- return state.Transform(reference);
+ return glm::translate(glm::vec3((state.pos.chunk - reference) * ExactLocation::Extent())) * model_transform;
}
glm::mat4 Entity::ViewTransform(const glm::ivec3 &reference) const noexcept {
- glm::mat4 transform = Transform(reference);
+ return Transform(reference) * view_transform;
+}
+
+Ray Entity::Aim(const ExactLocation::Coarse &chunk_offset) const noexcept {
+ glm::mat4 transform = ViewTransform(chunk_offset);
+ return Ray{ glm::vec3(transform[3]), -glm::vec3(transform[2]) };
+}
+
+void Entity::Update(float dt) {
+ UpdateTransforms();
+ UpdateHeading();
+ if (HasController()) {
+ GetController().Update(*this, dt);
+ }
+ UpdateModel(dt);
+}
+
+void Entity::UpdateTransforms() noexcept {
+ // model transform is the one given by current state
+ model_transform = state.Transform(state.pos.chunk);
+ // 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) {
- transform *= model.EyesTransform();
+ view_transform = model.EyesTransform();
+ } else {
+ view_transform = toMat4(glm::quat(glm::vec3(state.pitch, state.yaw, 0.0f)));
}
- return 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)) };
+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 model transform (our "chest")
+ heading = -glm::vec3(model_transform[2]);
+ }
}
-void Entity::UpdateModel() noexcept {
+void Entity::UpdateModel(float dt) noexcept {
+ // first, sanitize the pitch and yaw fields of state (our input)
+ // those indicate the head orientation in the entity's local cosystem
state.AdjustHeading();
- 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));
+ // TODO: this flickers horrible and also shouldn't be based on velocity, but on control force
+ //OrientBody(dt);
+ OrientHead(dt);
+}
+
+void Entity::OrientBody(float dt) noexcept {
+ // maximum body rotation per second (due to velocity orientation) (90°)
+ constexpr float max_body_turn_per_second = PI_0p5;
+ const float max_body_turn = max_body_turn_per_second * dt;
+ // minimum speed to apply body correction
+ constexpr float min_speed = 0.0625f;
+ // use local Y as up
+ const glm::vec3 up(model_transform[1]);
+ if (speed > min_speed) {
+ // check if our orientation and velocity are aligned
+ const glm::vec3 forward(-model_transform[2]);
+ // facing is local -Z rotated about local Y by yaw and transformed into world space
+ const glm::vec3 facing(normalize(glm::vec3(glm::vec4(rotateY(glm::vec3(0.0f, 0.0f, -1.0f), state.yaw), 0.0f) * transpose(model_transform))));
+ // only adjust if velocity isn't almost parallel to up
+ float vel_dot_up = dot(Velocity(), up);
+ if (std::abs(1.0f - std::abs(vel_dot_up)) > std::numeric_limits<float>::epsilon()) {
+ // get direction of velocity projected onto model plane
+ glm::vec3 direction(normalize(Velocity() - (Velocity() * vel_dot_up)));
+ // if velocity points away from our facing (with a little bias), flip it around
+ // (the entity is "walking backwards")
+ if (dot(facing, direction) < -0.1f) {
+ direction = -direction;
+ }
+ // calculate the difference between forward and direction
+ const float absolute_difference = std::acos(dot(forward, direction));
+ // if direction is clockwise with respect to up vector, invert the angle
+ const float relative_difference = dot(cross(forward, direction), up) < 0.0f
+ ? -absolute_difference
+ : absolute_difference;
+ // only correct by half the difference max
+ const float correction = glm::clamp(relative_difference * 0.5f, -max_body_turn, max_body_turn);
+ if (ID() == 1) {
+ std::cout << "orientation before: " << state.orient << std::endl;
+ std::cout << "up: " << up << std::endl;
+ std::cout << "forward: " << forward << std::endl;
+ std::cout << "facing: " << facing << std::endl;
+ 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;
+ }
+ // now rotate body by correction and head by -correction
+ state.orient = rotate(state.orient, correction, up);
+ state.yaw -= correction;
}
}
}
-void Entity::Update(float dt) {
- if (HasController()) {
- GetController().Update(*this, dt);
+void Entity::OrientHead(float dt) noexcept {
+ // 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
+ if (std::abs(state.yaw) > max_head_yaw) {
+ float deviation = state.yaw < 0.0f ? state.yaw + max_head_yaw : state.yaw - max_head_yaw;
+ // rotate the entity by deviation about local Y
+ state.orient = rotate(state.orient, deviation, up);
+ // and remove from head yaw
+ state.yaw -= deviation;
+ // shouldn't be necessary if max_head_yaw is < PI, but just to be sure :p
+ state.AdjustHeading();
+ }
+ // update model if any
+ if (model) {
+ model.EyesState().orientation = glm::quat(glm::vec3(state.pitch, state.yaw, 0.0f));
}
}
}
+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;
+ }
+}
+
EntityState::EntityState()
-: chunk_pos(0)
-, block_pos(0.0f)
+: pos()
, velocity(0.0f)
, orient(1.0f, 0.0f, 0.0f, 0.0f)
, pitch(0.0f)
}
void EntityState::AdjustPosition() noexcept {
- while (block_pos.x >= Chunk::width) {
- block_pos.x -= Chunk::width;
- ++chunk_pos.x;
- }
- while (block_pos.x < 0) {
- block_pos.x += Chunk::width;
- --chunk_pos.x;
- }
- while (block_pos.y >= Chunk::height) {
- block_pos.y -= Chunk::height;
- ++chunk_pos.y;
- }
- while (block_pos.y < 0) {
- block_pos.y += Chunk::height;
- --chunk_pos.y;
- }
- while (block_pos.z >= Chunk::depth) {
- block_pos.z -= Chunk::depth;
- ++chunk_pos.z;
- }
- while (block_pos.z < 0) {
- block_pos.z += Chunk::depth;
- --chunk_pos.z;
- }
+ pos.Correct();
}
void EntityState::AdjustHeading() noexcept {
- while (pitch > PI / 2) {
- pitch = PI / 2;
- }
- while (pitch < -PI / 2) {
- pitch = -PI / 2;
- }
+ pitch = 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;
}
}
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());
}
bool World::Intersection(
const Ray &ray,
- const glm::mat4 &M,
- const Chunk::Pos &reference,
+ const ExactLocation::Coarse &reference,
WorldCollision &coll
) {
candidates.clear();
for (Chunk &cur_chunk : chunks) {
float cur_dist;
- if (cur_chunk.Intersection(ray, M * cur_chunk.Transform(reference), cur_dist)) {
+ if (cur_chunk.Intersection(ray, reference, cur_dist)) {
candidates.push_back({ &cur_chunk, cur_dist });
}
}
for (Candidate &cand : candidates) {
if (cand.dist > coll.depth) continue;
WorldCollision cur_coll;
- if (cand.chunk->Intersection(ray, M * cand.chunk->Transform(reference), cur_coll)) {
+ if (cand.chunk->Intersection(ray, reference, cur_coll)) {
if (cur_coll.depth < coll.depth) {
coll = cur_coll;
}
bool World::Intersection(
const Ray &ray,
- const glm::mat4 &M,
const Entity &reference,
EntityCollision &coll
) {
}
float cur_dist;
glm::vec3 cur_normal;
- if (blank::Intersection(ray, cur_entity.Bounds(), M * cur_entity.Transform(reference.ChunkCoords()), &cur_dist, &cur_normal)) {
+ if (blank::Intersection(ray, cur_entity.Bounds(), cur_entity.Transform(reference.ChunkCoords()), &cur_dist, &cur_normal)) {
// TODO: fine grained check goes here? maybe?
if (cur_dist < coll.depth) {
coll.entity = &cur_entity;
}
bool World::Intersection(const Entity &e, const EntityState &s, std::vector<WorldCollision> &col) {
- AABB box = e.Bounds();
- Chunk::Pos reference = s.chunk_pos;
+ // 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);
+
+ ExactLocation::Coarse begin(reference - 1);
+ ExactLocation::Coarse end(reference + 2);
+
+ bool any = false;
+ for (ExactLocation::Coarse pos(begin); pos.z < end.y; ++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 && chunk->Intersection(e, M, chunk->Transform(reference), col)) {
+ any = true;
+ }
+ }
+ }
+ }
+ return any;
+}
+
+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) {
- entity.Update(fdt);
+ Update(entity, fdt);
}
for (Entity &entity : entities) {
- Update(entity, fdt);
+ entity.Update(fdt);
}
for (Player &player : players) {
player.Update(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.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.pos.block += f.position * dt;
state.velocity += f.velocity * dt;
state.AdjustPosition();
const EntityDerivative &delta
) {
EntityState next(cur);
- next.block_pos += delta.position * dt;
+ next.pos.block += 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
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(
) {
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);
+ }
+ // 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(normalize(correction));
- glm::vec3 normal_velocity(normal * dot(state.velocity, normal));
+ 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 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 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) {
void World::Render(Viewport &viewport) {
DirectionalLighting &entity_prog = viewport.EntityProgram();
- entity_prog.SetLightDirection(light_direction);
entity_prog.SetFogDensity(fog_density);
+ glm::vec3 light_dir;
+ glm::vec3 light_col;
+ glm::vec3 ambient_col;
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)) {
+ GetLight(entity, light_dir, light_col, ambient_col);
+ entity_prog.SetLightDirection(light_dir);
+ entity_prog.SetLightColor(light_col);
+ entity_prog.SetAmbientColor(ambient_col);
+ entity.Render(M, entity_prog);
+ }
+ }
+}
+
+// this should interpolate based on the fractional part of entity's block position
+void World::GetLight(
+ const Entity &e,
+ glm::vec3 &dir,
+ glm::vec3 &col,
+ glm::vec3 &amb
+) {
+ Chunk *chunk = chunks.Get(e.ChunkCoords());
+ if (!chunk) {
+ // chunk unavailable, so make it really dark and from
+ // some arbitrary direction
+ dir = glm::vec3(1.0f, 2.0f, 3.0f);
+ col = glm::vec3(0.025f); // ~0.8^15
+ return;
+ }
+ glm::ivec3 base(e.Position());
+ int base_light = chunk->GetLight(base);
+ int max_light = 0;
+ int min_light = 15;
+ glm::ivec3 acc(0, 0, 0);
+ for (glm::ivec3 offset(-1, -1, -1); offset.z < 2; ++offset.z) {
+ for (offset.y = -1; offset.y < 2; ++offset.y) {
+ for (offset.x = -1; offset.x < 2; ++offset.x) {
+ BlockLookup block(chunk, base + offset);
+ if (!block) {
+ // missing, just ignore it
+ continue;
+ }
+ // otherwise, accumulate the difference times direction
+ acc += offset * (base_light - block.GetLight());
+ max_light = std::max(max_light, block.GetLight());
+ min_light = std::min(min_light, block.GetLight());
+ }
+ }
+ }
+ dir = acc;
+ col = glm::vec3(std::pow(0.8f, 15 - max_light));
+ amb = glm::vec3(std::pow(0.8f, 15 - min_light));
+}
+
+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