remove commented code left from collision change

[blank.git] / src / world / world.cpp

diff --git a/src/world/world.cpp b/src/world/world.cpp
index 2a3d5fbc12d7c4dd447acd5c71a4d5f4b47044ca..d7771f320e8b55d10b47d126aeeba2a790551601 100644 (file)
--- a/src/world/world.cpp
+++ b/src/world/world.cpp
@@ -210,7 +210,7 @@ void Entity::OrientBody(float dt) noexcept {
                                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;
+                               std::cout << std::endl;
                        }
                        // now rotate body by correction and head by -correction
                        state.orient = rotate(state.orient, correction, up);
@@ -533,8 +533,6 @@ bool World::Intersection(
 }
 
 bool World::Intersection(const Entity &e, const EntityState &s, std::vector<WorldCollision> &col) {
-       // 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);
 
@@ -605,11 +603,12 @@ void World::Update(Entity &entity, float 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.pos.block += f.position * dt;
        state.velocity += f.velocity * dt;
+       CollisionFix(entity, state);
        state.AdjustPosition();
 
        entity.SetState(state);
@@ -624,6 +623,7 @@ EntityDerivative World::CalculateStep(
        EntityState next(cur);
        next.pos.block += delta.position * dt;
        next.velocity += delta.velocity * dt;
+       CollisionFix(entity, next);
        next.AdjustPosition();
 
        if (dot(next.velocity, next.velocity) > entity.MaxVelocity() * entity.MaxVelocity()) {
@@ -640,12 +640,11 @@ glm::vec3 World::CalculateForce(
        const Entity &entity,
        const EntityState &state
 ) {
-       glm::vec3 force(ControlForce(entity, state) + CollisionForce(entity, state) + Gravity(entity, state));
+       glm::vec3 force(ControlForce(entity, state));
        if (dot(force, force) > entity.MaxControlForce() * entity.MaxControlForce()) {
-               return normalize(force) * entity.MaxControlForce();
-       } else {
-               return force;
+               force = normalize(force) * entity.MaxControlForce();
        }
+       return force + Gravity(entity, state);
 }
 
 glm::vec3 World::ControlForce(
@@ -661,33 +660,30 @@ std::vector<WorldCollision> col;
 
 }
 
-glm::vec3 World::CollisionForce(
+void World::CollisionFix(
        const Entity &entity,
-       const EntityState &state
+       EntityState &state
 ) {
        col.clear();
-       if (entity.WorldCollidable() && Intersection(entity, state, col)) {
-               glm::vec3 correction = -CombinedInterpenetration(state, col);
-               // correction may be zero in which case normalize() returns NaNs
-               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_velocity(proj(state.velocity, correction));
-               // apply force proportional to penetration
-               // 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
-               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);
+       if (!entity.WorldCollidable() || !Intersection(entity, state, col)) {
+               // no collision, no fix
+               return;
        }
+       glm::vec3 correction = CombinedInterpenetration(state, col);
+       // correction may be zero in which case normalize() returns NaNs
+       if (iszero(correction)) {
+               return;
+       }
+       // if entity is already going in the direction of correction,
+       // let the problem resolve itself
+       if (dot(state.velocity, correction) >= 0.0f) {
+               return;
+       }
+       // apply correction, maybe could use some damping, gotta test
+       state.pos.block += correction;
+       // kill velocity?
+       glm::vec3 normal_velocity(proj(state.velocity, correction));
+       state.velocity -= normal_velocity;
 }
 
 glm::vec3 World::CombinedInterpenetration(
@@ -699,11 +695,19 @@ glm::vec3 World::CombinedInterpenetration(
        glm::vec3 max_pen(0.0f);
        for (const WorldCollision &c : col) {
                if (!c.Blocks()) continue;
-               glm::vec3 local_pen(c.normal * c.depth);
+               glm::vec3 normal(c.normal);
                // swap if neccessary (normal may point away from the entity)
-               if (dot(c.normal, state.RelativePosition(c.ChunkPos()) - c.BlockCoords()) > 0) {
-                       local_pen *= -1;
+               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);
        }