X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=2292d15418f6dd30420bb329b9f09fb2fcb2c8f4;hb=20d0a76d2519c71009c3b3babec0df27529f8142;hp=893285ec2ac90d6fedf369bb12ca4e9433abb48a;hpb=f506afdcb23fed22f2c7f345b94cb411487f89c9;p=blank.git diff --git a/src/world/world.cpp b/src/world/world.cpp index 893285e..2292d15 100644 --- a/src/world/world.cpp +++ b/src/world/world.cpp @@ -1,4 +1,5 @@ #include "Entity.hpp" +#include "EntityCollision.hpp" #include "EntityController.hpp" #include "EntityDerivative.hpp" #include "EntityState.hpp" @@ -11,6 +12,7 @@ #include "../app/Assets.hpp" #include "../geometry/const.hpp" #include "../geometry/distance.hpp" +#include "../geometry/rotation.hpp" #include "../graphics/Format.hpp" #include "../graphics/Viewport.hpp" @@ -28,14 +30,25 @@ namespace blank { +namespace { + +/// used as a buffer for merging collisions +std::vector col; + +} + Entity::Entity() noexcept -: ctrl(nullptr) +: steering(*this) +, ctrl(nullptr) , model() , id(-1) , name("anonymous") , bounds() , radius(0.0f) , state() +, model_transform(1.0f) +, view_transform(1.0f) +, speed(0.0f) , heading(0.0f, 0.0f, -1.0f) , max_vel(5.0f) , max_force(25.0f) @@ -51,7 +64,8 @@ Entity::~Entity() noexcept { } Entity::Entity(const Entity &other) noexcept -: ctrl(other.ctrl) +: steering(*this) +, ctrl(other.ctrl) , model(other.model) , id(-1) , name(other.name) @@ -90,14 +104,7 @@ void Entity::UnsetController() noexcept { } glm::vec3 Entity::ControlForce(const EntityState &s) const noexcept { - glm::vec3 force; - if (HasController()) { - force = GetController().ControlForce(*this, s); - } else { - force = -s.velocity; - } - limit(force, max_force); - return force; + return steering.Force(s); } void Entity::Position(const glm::ivec3 &c, const glm::vec3 &b) noexcept { @@ -129,13 +136,16 @@ glm::mat4 Entity::ViewTransform(const glm::ivec3 &reference) const noexcept { 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]) }; + Ray ray{ glm::vec3(transform[3]), -glm::vec3(transform[2]), { } }; + ray.Update(); + return ray; } void Entity::Update(World &world, float dt) { if (HasController()) { GetController().Update(*this, dt); } + steering.Update(world, dt); UpdatePhysics(world, dt); UpdateTransforms(); UpdateHeading(); @@ -174,7 +184,6 @@ EntityDerivative Entity::CalculateStep( next.pos.block += delta.position * dt; next.velocity += delta.velocity * dt; limit(next.velocity, max_vel); - world.ResolveWorldCollision(*this, next); next.AdjustPosition(); EntityDerivative out; @@ -193,12 +202,12 @@ void Entity::UpdateTransforms() noexcept { if (model) { view_transform = model.EyesTransform(); } else { - view_transform = toMat4(glm::quat(glm::vec3(state.pitch, state.yaw, 0.0f))); + view_transform = glm::toMat4(glm::quat(glm::vec3(state.pitch, state.yaw, 0.0f))); } } void Entity::UpdateHeading() noexcept { - speed = length(Velocity()); + speed = glm::length(Velocity()); if (speed > std::numeric_limits::epsilon()) { heading = Velocity() / speed; } else { @@ -229,21 +238,21 @@ void Entity::OrientBody(float dt) noexcept { // 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)))); + const glm::vec3 facing(glm::normalize(glm::vec3(glm::vec4(glm::rotateY(glm::vec3(0.0f, 0.0f, -1.0f), state.yaw), 0.0f) * glm::transpose(model_transform)))); // only adjust if velocity isn't almost parallel to up - float vel_dot_up = dot(Velocity(), up); + float vel_dot_up = glm::dot(Velocity(), up); if (std::abs(1.0f - std::abs(vel_dot_up)) > std::numeric_limits::epsilon()) { // get direction of velocity projected onto model plane - glm::vec3 direction(normalize(Velocity() - (Velocity() * vel_dot_up))); + glm::vec3 direction(glm::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) { + if (glm::dot(facing, direction) < -0.1f) { direction = -direction; } // calculate the difference between forward and direction - const float absolute_difference = std::acos(dot(forward, direction)); + const float absolute_difference = std::acos(glm::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 + const float relative_difference = glm::dot(glm::cross(forward, direction), up) < 0.0f ? -absolute_difference : absolute_difference; // only correct by half the difference max @@ -259,13 +268,13 @@ void Entity::OrientBody(float dt) noexcept { std::cout << std::endl; } // now rotate body by correction and head by -correction - state.orient = rotate(state.orient, correction, up); + state.orient = glm::rotate(state.orient, correction, up); state.yaw -= correction; } } } -void Entity::OrientHead(float dt) noexcept { +void Entity::OrientHead(float) noexcept { // maximum yaw of head (60°) constexpr float max_head_yaw = PI / 3.0f; // use local Y as up @@ -274,7 +283,7 @@ void Entity::OrientHead(float dt) noexcept { 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); + state.orient = glm::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 @@ -287,31 +296,46 @@ void Entity::OrientHead(float dt) noexcept { } -EntityController::~EntityController() { +EntityCollision::EntityCollision(Entity *e, float d, const glm::vec3 &n) +: depth(d) +, normal(n) +, entity(e) { + if (entity) { + entity->Ref(); + } +} +EntityCollision::~EntityCollision() { + if (entity) { + entity->UnRef(); + } } -bool EntityController::MaxOutForce( - glm::vec3 &out, - const glm::vec3 &add, - float max -) noexcept { - if (iszero(add) || any(isnan(add))) { - return false; +EntityCollision::EntityCollision(const EntityCollision &other) +: depth(other.depth) +, normal(other.normal) +, entity(other.entity) { + if (entity) { + entity->Ref(); } - float current = iszero(out) ? 0.0f : length(out); - float remain = max - current; - if (remain <= 0.0f) { - return true; +} + +EntityCollision &EntityCollision::operator =(const EntityCollision &other) { + if (entity) { + entity->UnRef(); } - float additional = length(add); - if (additional > remain) { - out += normalize(add) * remain; - return true; - } else { - out += add; - return false; + depth = other.depth; + normal = other.normal; + entity = other.entity; + if (entity) { + entity->Ref(); } + return *this; +} + + +EntityController::~EntityController() { + } @@ -340,7 +364,7 @@ void EntityState::AdjustHeading() noexcept { glm::mat4 EntityState::Transform(const glm::ivec3 &reference) const noexcept { const glm::vec3 translation = RelativePosition(reference); - glm::mat4 transform(toMat4(orient)); + glm::mat4 transform(glm::toMat4(orient)); transform[3] = glm::vec4(translation, 1.0f); return transform; } @@ -370,20 +394,258 @@ bool Player::SuitableSpawn(BlockLookup &spawn_block) const noexcept { return true; } -void Player::Update(int dt) { +void Player::Update(int) { chunks.Rebase(entity.ChunkCoords()); } +Steering::Steering(const Entity &e) +: entity(e) +, target_entity(nullptr) +, target_velocity(0.0f) +, accel(1.0f) +, speed(entity.MaxVelocity()) +, wander_radius(1.0f) +, wander_dist(2.0f) +, wander_disp(1.0f) +, wander_pos(1.0f, 0.0f, 0.0f) +, obstacle_dir(0.0f) +, enabled(0) { + +} + +Steering::~Steering() { + ClearTargetEntity(); +} + +Steering &Steering::SetTargetEntity(Entity &e) noexcept { + ClearTargetEntity(); + target_entity = &e; + e.Ref(); + return *this; +} + +Steering &Steering::ClearTargetEntity() noexcept { + if (target_entity) { + target_entity->UnRef(); + target_entity = nullptr; + } + return *this; +} + +void Steering::Update(World &world, float dt) { + if (AnyEnabled(WANDER)) { + UpdateWander(world, dt); + } + if (AnyEnabled(OBSTACLE_AVOIDANCE)) { + UpdateObstacle(world); + } +} + +void Steering::UpdateWander(World &world, float dt) { + glm::vec3 displacement( + world.Random().SNorm() * wander_disp, + world.Random().SNorm() * wander_disp, + world.Random().SNorm() * wander_disp + ); + if (!iszero(displacement)) { + wander_pos = glm::normalize(wander_pos + displacement * dt) * wander_radius; + } +} + +void Steering::UpdateObstacle(World &world) { + if (!entity.Moving()) { + obstacle_dir = glm::vec3(0.0f); + return; + } + AABB box(entity.Bounds()); + box.min.z = -entity.Speed(); + box.max.z = 0.0f; + glm::mat4 transform(find_rotation(glm::vec3(0.0f, 0.0f, -1.0f), entity.Heading())); + transform[3] = glm::vec4(entity.Position(), 1.0f); + // check if that box intersects with any blocks + col.clear(); + if (!world.Intersection(box, transform, entity.ChunkCoords(), col)) { + obstacle_dir = glm::vec3(0.0f); + return; + } + // if so, pick the nearest collision + const WorldCollision *nearest = nullptr; + glm::vec3 difference(0.0f); + float distance = std::numeric_limits::infinity(); + for (const WorldCollision &c : col) { + // diff points from block to state + glm::vec3 diff = entity.GetState().RelativePosition(c.ChunkPos()) - c.BlockCoords(); + float dist = glm::length2(diff); + if (dist < distance) { + nearest = &c; + difference = diff; + distance = dist; + } + } + if (!nearest) { + // intersection test lied to us + obstacle_dir = glm::vec3(0.0f); + return; + } + // and try to avoid it + float to_go = glm::dot(difference, entity.Heading()); + glm::vec3 point(entity.Position() + entity.Heading() * to_go); + obstacle_dir = glm::normalize(point - nearest->BlockCoords()) * (entity.Speed() / std::sqrt(distance)); +} + +glm::vec3 Steering::Force(const EntityState &state) const noexcept { + glm::vec3 force(0.0f); + if (!enabled) { + return force; + } + const float max = entity.MaxControlForce(); + if (AnyEnabled(HALT)) { + if (SumForce(force, Halt(state), max)) { + return force; + } + } + if (AnyEnabled(TARGET_VELOCITY)) { + if (SumForce(force, TargetVelocity(state, target_velocity), max)) { + return force; + } + } + if (AnyEnabled(OBSTACLE_AVOIDANCE)) { + if (SumForce(force, ObstacleAvoidance(state), max)) { + return force; + } + } + if (AnyEnabled(EVADE_TARGET)) { + if (HasTargetEntity()) { + if (SumForce(force, Evade(state, GetTargetEntity()), max)) { + return force; + } + } else { + std::cout << "Steering: evade enabled, but target entity not set" << std::endl; + } + } + if (AnyEnabled(PURSUE_TARGET)) { + if (HasTargetEntity()) { + if (SumForce(force, Pursuit(state, GetTargetEntity()), max)) { + return force; + } + } else { + std::cout << "Steering: pursuit enabled, but target entity not set" << std::endl; + } + } + if (AnyEnabled(WANDER)) { + if (SumForce(force, Wander(state), max)) { + return force; + } + } + return force; +} + +bool Steering::SumForce(glm::vec3 &out, const glm::vec3 &in, float max) noexcept { + if (iszero(in) || glm::any(glm::isnan(in))) { + return false; + } + float current = iszero(out) ? 0.0f : glm::length(out); + float remain = max - current; + if (remain <= 0.0f) { + return true; + } + float additional = glm::length(in); + if (additional > remain) { + out += glm::normalize(in) * remain; + return true; + } else { + out += in; + return false; + } +} + +glm::vec3 Steering::Halt(const EntityState &state) const noexcept { + return state.velocity * -accel; +} + +glm::vec3 Steering::TargetVelocity(const EntityState &state, const glm::vec3 &vel) const noexcept { + return (vel - state.velocity) * accel; +} + +glm::vec3 Steering::Seek(const EntityState &state, const ExactLocation &loc) const noexcept { + const glm::vec3 diff(loc.Difference(state.pos).Absolute()); + if (iszero(diff)) { + return glm::vec3(0.0f); + } else { + return TargetVelocity(state, glm::normalize(diff) * speed); + } +} + +glm::vec3 Steering::Flee(const EntityState &state, const ExactLocation &loc) const noexcept { + const glm::vec3 diff(state.pos.Difference(loc).Absolute()); + if (iszero(diff)) { + return glm::vec3(0.0f); + } else { + return TargetVelocity(state, glm::normalize(diff) * speed); + } +} + +glm::vec3 Steering::Arrive(const EntityState &state, const ExactLocation &loc) const noexcept { + const glm::vec3 diff(loc.Difference(state.pos).Absolute()); + const float dist = glm::length(diff); + if (dist < std::numeric_limits::epsilon()) { + return glm::vec3(0.0f); + } else { + const float att_speed = std::min(dist * accel, speed); + return TargetVelocity(state, diff * att_speed / dist); + } +} + +glm::vec3 Steering::Pursuit(const EntityState &state, const Entity &other) const noexcept { + const glm::vec3 diff(state.Diff(other.GetState())); + if (iszero(diff)) { + return TargetVelocity(state, other.Velocity()); + } else { + const float time_estimate = glm::length(diff) / speed; + ExactLocation prediction(other.ChunkCoords(), other.Position() + (other.Velocity() * time_estimate)); + return Seek(state, prediction); + } +} + +glm::vec3 Steering::Evade(const EntityState &state, const Entity &other) const noexcept { + const glm::vec3 diff(state.Diff(other.GetState())); + if (iszero(diff)) { + return TargetVelocity(state, -other.Velocity()); + } else { + const float time_estimate = glm::length(diff) / speed; + ExactLocation prediction(other.ChunkCoords(), other.Position() + (other.Velocity() * time_estimate)); + return Flee(state, prediction); + } +} + +glm::vec3 Steering::Wander(const EntityState &state) const noexcept { + return TargetVelocity(state, glm::normalize(entity.Heading() * wander_dist + wander_pos) * speed); +} + +glm::vec3 Steering::ObstacleAvoidance(const EntityState &) const noexcept { + return obstacle_dir; +} + + World::World(const BlockTypeRegistry &types, const Config &config) : config(config) , block_type(types) , chunks(types) , players() , entities() +, rng( +#ifdef BLANK_PROFILING +0 +#else +std::time(nullptr) +#endif +) , light_direction(config.light_direction) , fog_density(config.fog_density) { - + for (int i = 0; i < 4; ++i) { + rng.Next(); + } } World::~World() { @@ -522,12 +784,48 @@ bool World::Intersection( const ExactLocation::Coarse &reference, WorldCollision &coll ) { + // only consider chunks of the index closest to reference + // this makes the ray not be infinite anymore (which means it's + // actually a line segment), but oh well + ChunkIndex *index = chunks.ClosestIndex(reference); + if (!index) { + return false; + } + candidates.clear(); - for (Chunk &cur_chunk : chunks) { - float cur_dist; - if (cur_chunk.Intersection(ray, reference, cur_dist)) { - candidates.push_back({ &cur_chunk, cur_dist }); + // maybe worht to try: + // change this so the test starts at the chunk of the ray's + // origin and "walks" forward until it hits (actually casting + // the ray, so to say). if this performs well (at least, better + // than now), this could also qualify for the chunk test itself + // see Bresenham's line algo or something similar + + ExactLocation ray_loc(reference, ray.orig); + ray_loc.Correct(); + + ExactLocation::Coarse begin(index->CoordsBegin()); + ExactLocation::Coarse end(index->CoordsEnd()); + + // ignore chunks that are bind the ray's origin + for (int i = 0; i < 3; ++i) { + if (ray.dir[i] >= 0.0f) { + begin[i] = ray_loc.chunk[i]; + } + if (ray.dir[i] <= 0.0f) { + end[i] = ray_loc.chunk[i] + 1; + } + } + + 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 *cur_chunk = index->Get(pos); + float cur_dist; + if (cur_chunk && cur_chunk->Intersection(ray, reference, cur_dist)) { + candidates.push_back({ cur_chunk, cur_dist }); + } + } } } @@ -557,8 +855,7 @@ bool World::Intersection( const Entity &reference, EntityCollision &coll ) { - coll.entity = nullptr; - coll.depth = std::numeric_limits::infinity(); + coll = EntityCollision(nullptr, std::numeric_limits::infinity(), glm::vec3(0.0f)); for (Entity &cur_entity : entities) { if (&cur_entity == &reference) { continue; @@ -568,14 +865,12 @@ bool World::Intersection( 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; - coll.depth = cur_dist; - coll.normal = cur_normal; + coll = EntityCollision(&cur_entity, cur_dist, cur_normal); } } } - return coll.entity; + return coll; } bool World::Intersection(const Entity &e, const EntityState &s, std::vector &col) { @@ -586,7 +881,7 @@ bool World::Intersection(const Entity &e, const EntityState &s, std::vector &col ) { + // this only works if box's diameter is < than 16 + ExactLocation::Coarse begin(reference - 1); + ExactLocation::Coarse end(reference + 2); + bool any = false; - for (Chunk &cur_chunk : chunks) { - if (manhattan_radius(cur_chunk.Position() - reference) > 1) { - // chunk is not one of the 3x3x3 surrounding the entity - // since there's no entity which can extent over 16 blocks, they can be skipped - // TODO: change to indexed (like with entity) - continue; - } - if (cur_chunk.Intersection(box, M, cur_chunk.Transform(reference), col)) { - any = true; + 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 && chunk->Intersection(box, M, chunk->Transform(reference), col)) { + any = true; + } + } } } return any; @@ -637,12 +935,6 @@ void World::Update(int dt) { } } -namespace { - -std::vector col; - -} - void World::ResolveWorldCollision( const Entity &entity, EntityState &state @@ -659,13 +951,13 @@ void World::ResolveWorldCollision( } // if entity is already going in the direction of correction, // let the problem resolve itself - if (dot(state.velocity, correction) >= 0.0f) { + if (glm::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)); + glm::vec3 normal_velocity(glm::proj(state.velocity, correction)); state.velocity -= normal_velocity; } @@ -680,7 +972,7 @@ glm::vec3 World::CombinedInterpenetration( 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) { + if (glm::dot(normal, state.RelativePosition(c.ChunkPos()) - c.BlockCoords()) < 0) { normal = -normal; } // check if block surface is "inside" @@ -691,8 +983,8 @@ glm::vec3 World::CombinedInterpenetration( continue; } glm::vec3 local_pen(normal * c.depth); - min_pen = min(min_pen, local_pen); - max_pen = max(max_pen, local_pen); + min_pen = glm::min(min_pen, local_pen); + max_pen = glm::max(max_pen, local_pen); } glm::vec3 pen(0.0f); // only apply correction for axes where penetration is only in one direction @@ -768,7 +1060,7 @@ void World::GetLight( glm::vec3 &col, glm::vec3 &amb ) { - BlockLookup center(chunks.Get(e.ChunkCoords()), e.Position()); + BlockLookup center(chunks.Get(e.ChunkCoords()), RoughLocation::Fine(e.Position())); if (!center) { // chunk unavailable, so make it really dark and from // some arbitrary direction @@ -811,7 +1103,7 @@ 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_buf.OutlineBox(entity.Bounds(), TVEC4(255, 0, 0, 255)); debug_mesh.Update(debug_buf); prog.SetM(entity.Transform(players.front().GetEntity().ChunkCoords())); debug_mesh.DrawLines();