X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=08ee294fca5e5a8b72351be8bb3ff3e3e40abdd2;hb=be06fbd6c75dabf411f33ebdeed29e60fb639694;hp=8f22f0c091645486c99913cfa4925bdc1533e5be;hpb=9f220f26cd81235a43993deed53b5780d17fb5fa;p=blank.git diff --git a/src/world/world.cpp b/src/world/world.cpp index 8f22f0c..08ee294 100644 --- a/src/world/world.cpp +++ b/src/world/world.cpp @@ -1,4 +1,5 @@ #include "Entity.hpp" +#include "EntityController.hpp" #include "EntityDerivative.hpp" #include "EntityState.hpp" #include "Player.hpp" @@ -15,6 +16,7 @@ #include #include #include +#include #include #include #include @@ -23,18 +25,73 @@ 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; @@ -45,25 +102,96 @@ void Entity::Position(const glm::vec3 &pos) noexcept { state.AdjustPosition(); } +void Entity::TurnHead(float dp, float dy) noexcept { + SetHead(state.pitch + dp, state.yaw + dy); +} + +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.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) { + 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::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; + } } @@ -72,7 +200,8 @@ EntityState::EntityState() , block_pos(0.0f) , velocity(0.0f) , orient(1.0f, 0.0f, 0.0f, 0.0f) -, ang_vel(0.0f) { +, pitch(0.0f) +, yaw(0.0f) { } @@ -103,12 +232,20 @@ void EntityState::AdjustPosition() noexcept { } } +void EntityState::AdjustHeading() noexcept { + glm::clamp(pitch, -PI_0p5, PI_0p5); + while (yaw > PI) { + yaw -= PI_2p0; + } + while (yaw < -PI) { + 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; } @@ -166,7 +303,7 @@ Player *World::AddPlayer(const std::string &name) { } Entity &entity = AddEntity(); entity.Name(name); - entity.Bounds({ { -0.5f, -0.5f, -0.5f }, { 0.5f, 0.5f, 0.5f } }); + entity.Bounds({ { -0.4f, -0.9f, -0.4f }, { 0.4f, 0.9f, 0.4f } }); entity.WorldCollidable(true); ChunkIndex &index = chunks.MakeIndex(entity.ChunkCoords(), 6); players.emplace_back(entity, index); @@ -184,7 +321,7 @@ Player *World::AddPlayer(const std::string &name, std::uint32_t id) { return nullptr; } entity->Name(name); - entity->Bounds({ { -0.5f, -0.5f, -0.5f }, { 0.5f, 0.5f, 0.5f } }); + entity->Bounds({ { -0.4f, -0.9f, -0.4f }, { 0.4f, 0.9f, 0.4f } }); entity->WorldCollidable(true); ChunkIndex &index = chunks.MakeIndex(entity->ChunkCoords(), 6); players.emplace_back(*entity, index); @@ -338,6 +475,15 @@ bool World::Intersection(const Entity &e, const EntityState &s, std::vector &col +) { bool any = false; for (Chunk &cur_chunk : chunks) { if (manhattan_radius(cur_chunk.Position() - reference) > 1) { @@ -352,12 +498,14 @@ bool World::Intersection(const Entity &e, const EntityState &s, std::vector 0.0f) { - float smag = std::sin(mag) / mag; - return glm::quat(std::cos(mag), half * smag); - } else { - return glm::quat(1.0f, 0.0f, 0.0f, 0.0f); - } -} - -} - void World::Update(Entity &entity, float dt) { EntityState state(entity.GetState()); @@ -397,11 +530,9 @@ void World::Update(Entity &entity, float dt) { 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.orient = sixth * ((a.orient + 2.0f * (b.orient + c.orient)) + d.orient); state.block_pos += f.position * dt; state.velocity += f.velocity * dt; - state.orient = delta_rot(f.orient, dt) * state.orient; state.AdjustPosition(); entity.SetState(state); @@ -416,9 +547,12 @@ EntityDerivative World::CalculateStep( EntityState next(cur); next.block_pos += delta.position * dt; next.velocity += delta.velocity * dt; - next.orient = delta_rot(cur.ang_vel, dt) * cur.orient; 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 @@ -429,18 +563,19 @@ glm::vec3 World::CalculateForce( 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 { @@ -525,7 +660,27 @@ void World::Render(Viewport &viewport) { 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(); } }