X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=28e419552829262d33c4a74a4716b24bb3f859a1;hb=b94a7dc7daad9ae9be90a39d723e332dae375325;hp=a17b0cb1f6e2a19f64676f5b575f8f2c11cca8ee;hpb=0d580658b896dfec07466c31ae4847455724ee95;p=blank.git

diff --git a/src/world/world.cpp b/src/world/world.cpp
index a17b0cb..28e4195 100644
--- a/src/world/world.cpp
+++ b/src/world/world.cpp
@@ -9,6 +9,8 @@
 #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"
 
@@ -18,6 +20,7 @@
 #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>
@@ -31,6 +34,7 @@ Entity::Entity() noexcept
 , id(-1)
 , name("anonymous")
 , bounds()
+, radius(0.0f)
 , state()
 , heading(0.0f, 0.0f, -1.0f)
 , max_vel(5.0f)
@@ -86,20 +90,23 @@ void Entity::UnsetController() noexcept {
 }
 
 glm::vec3 Entity::ControlForce(const EntityState &s) const noexcept {
+	glm::vec3 force;
 	if (HasController()) {
-		return GetController().ControlForce(*this, s);
+		force = GetController().ControlForce(*this, s);
 	} else {
-		return -s.velocity;
+		force = -s.velocity;
 	}
+	limit(force, max_force);
+	return force;
 }
 
 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();
 }
 
@@ -113,30 +120,73 @@ void Entity::SetHead(float p, float y) noexcept {
 }
 
 glm::mat4 Entity::Transform(const glm::ivec3 &reference) const noexcept {
-	return glm::translate(glm::vec3((state.chunk_pos - reference) * Chunk::Extent())) * model_transform;
+	return glm::translate(glm::vec3((state.pos.chunk - reference) * ExactLocation::Extent())) * model_transform;
 }
 
 glm::mat4 Entity::ViewTransform(const glm::ivec3 &reference) const noexcept {
 	return Transform(reference) * view_transform;
 }
 
-Ray Entity::Aim(const Chunk::Pos &chunk_offset) 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]) };
 }
 
-void Entity::Update(float dt) {
-	UpdateTransforms();
-	UpdateHeading();
+void Entity::Update(World &world, float dt) {
 	if (HasController()) {
 		GetController().Update(*this, dt);
 	}
+	UpdatePhysics(world, dt);
+	UpdateTransforms();
+	UpdateHeading();
 	UpdateModel(dt);
 }
 
+void Entity::UpdatePhysics(World &world, float dt) {
+	EntityState s(state);
+
+	EntityDerivative a(CalculateStep(world, s, 0.0f, EntityDerivative()));
+	EntityDerivative b(CalculateStep(world, s, dt * 0.5f, a));
+	EntityDerivative c(CalculateStep(world, s, dt * 0.5f, b));
+	EntityDerivative d(CalculateStep(world, s, dt, c));
+
+	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);
+
+	s.pos.block += f.position * dt;
+	s.velocity += f.velocity * dt;
+	limit(s.velocity, max_vel);
+	world.ResolveWorldCollision(*this, s);
+	s.AdjustPosition();
+
+	SetState(s);
+}
+
+EntityDerivative Entity::CalculateStep(
+	World &world,
+	const EntityState &cur,
+	float dt,
+	const EntityDerivative &delta
+) const {
+	EntityState next(cur);
+	next.pos.block += delta.position * dt;
+	next.velocity += delta.velocity * dt;
+	limit(next.velocity, max_vel);
+	world.ResolveWorldCollision(*this, next);
+	next.AdjustPosition();
+
+	EntityDerivative out;
+	out.position = next.velocity;
+	out.velocity = ControlForce(next) + world.GravityAt(next.pos); // by mass = 1kg
+	return out;
+}
+
+
 void Entity::UpdateTransforms() noexcept {
 	// model transform is the one given by current state
-	model_transform = state.Transform(state.chunk_pos);
+	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)
@@ -204,9 +254,9 @@ void Entity::OrientBody(float dt) noexcept {
 				std::cout << "forward:   " << forward << std::endl;
 				std::cout << "facing:    " << facing << std::endl;
 				std::cout << "direction: " << direction << std::endl;
-				std::cout << "difference: " << rad2deg(relative_difference) << "°" << std::endl;
-				std::cout << "correction: " << rad2deg(correction) << "°" << std::endl;
-				std::cout  << 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);
@@ -216,8 +266,8 @@ void Entity::OrientBody(float dt) noexcept {
 }
 
 void Entity::OrientHead(float dt) noexcept {
-	// maximum yaw of head (90°)
-	constexpr float max_head_yaw = PI_0p5;
+	// 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
@@ -266,8 +316,7 @@ bool EntityController::MaxOutForce(
 
 
 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)
@@ -276,30 +325,7 @@ EntityState::EntityState()
 }
 
 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 {
@@ -361,7 +387,20 @@ World::World(const BlockTypeRegistry &types, const Config &config)
 }
 
 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());
 }
 
 
@@ -480,15 +519,14 @@ std::vector<Candidate> candidates;
 
 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 });
 		}
 	}
@@ -504,7 +542,7 @@ bool World::Intersection(
 	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;
 			}
@@ -516,7 +554,6 @@ bool World::Intersection(
 
 bool World::Intersection(
 	const Ray &ray,
-	const glm::mat4 &M,
 	const Entity &reference,
 	EntityCollision &coll
 ) {
@@ -528,7 +565,7 @@ bool World::Intersection(
 		}
 		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;
@@ -542,10 +579,24 @@ bool World::Intersection(
 }
 
 bool World::Intersection(const Entity &e, const EntityState &s, std::vector<WorldCollision> &col) {
-	AABB box = e.Bounds();
-	Chunk::Pos reference = s.chunk_pos;
+	glm::ivec3 reference = s.pos.chunk;
 	glm::mat4 M = s.Transform(reference);
-	return Intersection(box, M, reference, col);
+
+	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(
@@ -559,6 +610,7 @@ bool World::Intersection(
 		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)) {
@@ -571,10 +623,7 @@ bool World::Intersection(
 void World::Update(int dt) {
 	float fdt(dt * 0.001f);
 	for (Entity &entity : entities) {
-		Update(entity, fdt);
-	}
-	for (Entity &entity : entities) {
-		entity.Update(fdt);
+		entity.Update(*this, fdt);
 	}
 	for (Player &player : players) {
 		player.Update(dt);
@@ -588,125 +637,94 @@ void World::Update(int dt) {
 	}
 }
 
-void World::Update(Entity &entity, float dt) {
-	EntityState state(entity.GetState());
-
-	EntityDerivative a(CalculateStep(entity, state, 0.0f, EntityDerivative()));
-	EntityDerivative b(CalculateStep(entity, state, dt * 0.5f, a));
-	EntityDerivative c(CalculateStep(entity, state, dt * 0.5f, b));
-	EntityDerivative d(CalculateStep(entity, state, dt, c));
-
-	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);
+namespace {
 
-	state.block_pos += f.position * dt;
-	state.velocity += f.velocity * dt;
-	state.AdjustPosition();
+std::vector<WorldCollision> col;
 
-	entity.SetState(state);
 }
 
-EntityDerivative World::CalculateStep(
+void World::ResolveWorldCollision(
 	const Entity &entity,
-	const EntityState &cur,
-	float dt,
-	const EntityDerivative &delta
+	EntityState &state
 ) {
-	EntityState next(cur);
-	next.block_pos += 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();
+	col.clear();
+	if (!entity.WorldCollidable() || !Intersection(entity, state, col)) {
+		// no collision, no fix
+		return;
 	}
-
-	EntityDerivative out;
-	out.position = next.velocity;
-	out.velocity = CalculateForce(entity, next); // by mass = 1kg
-	return out;
-}
-
-glm::vec3 World::CalculateForce(
-	const Entity &entity,
-	const EntityState &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 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::ControlForce(
-	const Entity &entity,
-	const EntityState &state
-) {
-	return entity.ControlForce(state);
+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 normal(c.normal);
+		// swap if neccessary (normal may point away from the entity)
+		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);
+	}
+	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;
 }
 
-namespace {
-
-std::vector<WorldCollision> col;
-
-}
+glm::vec3 World::GravityAt(const ExactLocation &loc) const noexcept {
+	glm::vec3 force(0.0f);
+	ExactLocation::Coarse begin(loc.chunk - 1);
+	ExactLocation::Coarse end(loc.chunk + 2);
 
-glm::vec3 World::CollisionForce(
-	const Entity &entity,
-	const EntityState &state
-) {
-	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];
+	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) {
+				const Chunk *chunk = chunks.Get(pos);
+				if (chunk) {
+					force += chunk->GravityAt(loc);
 				}
-			} 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 = 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);
 	}
-}
 
-glm::vec3 World::Gravity(
-	const Entity &entity,
-	const EntityState &state
-) {
-	return glm::vec3(0.0f);
+	return force;
 }
 
 World::EntityHandle World::RemoveEntity(EntityHandle &eh) {