X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=738fa4ad9b06bb7256f66886bfeca86bd5e3bd2c;hb=1bc2f230105ad6e1ee8d999ddc079cd85d244bf9;hp=750cd2d6ff31707e0613d30390bde043b2e78c95;hpb=8639a90bcbcd045c57cd489f02a25e0df4236deb;p=blank.git diff --git a/src/world/world.cpp b/src/world/world.cpp index 750cd2d..738fa4a 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" @@ -8,6 +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" @@ -15,88 +18,283 @@ #include #include #include +#include #include #include +#include #include namespace blank { Entity::Entity() noexcept -: model() +: ctrl(nullptr) +, model() , id(-1) , name("anonymous") , bounds() +, radius(0.0f) , 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; + 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(); } -Ray Entity::Aim(const Chunk::Pos &chunk_offset) const noexcept { - glm::mat4 transform = Transform(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::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; +} -EntityState::EntityState() -: chunk_pos(0) -, block_pos(0.0f) -, velocity(0.0f) -, orient(1.0f, 0.0f, 0.0f, 0.0f) -, ang_vel(0.0f) { +glm::mat4 Entity::Transform(const glm::ivec3 &reference) const noexcept { + 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; } -void EntityState::AdjustPosition() noexcept { - while (block_pos.x >= Chunk::width) { - block_pos.x -= Chunk::width; - ++chunk_pos.x; +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); } - while (block_pos.x < 0) { - block_pos.x += Chunk::width; - --chunk_pos.x; + 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) { + view_transform = model.EyesTransform(); + } else { + view_transform = toMat4(glm::quat(glm::vec3(state.pitch, state.yaw, 0.0f))); } - while (block_pos.y >= Chunk::height) { - block_pos.y -= Chunk::height; - ++chunk_pos.y; +} + +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 model transform (our "chest") + heading = -glm::vec3(model_transform[2]); } - while (block_pos.y < 0) { - block_pos.y += Chunk::height; - --chunk_pos.y; +} + +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(); + // 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::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; + } } - while (block_pos.z >= Chunk::depth) { - block_pos.z -= Chunk::depth; - ++chunk_pos.z; +} + +void Entity::OrientHead(float dt) noexcept { + // maximum yaw of head (90°) + constexpr float max_head_yaw = PI_0p5; + // 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(); } - while (block_pos.z < 0) { - block_pos.z += Chunk::depth; - --chunk_pos.z; + // update model if any + if (model) { + model.EyesState().orientation = glm::quat(glm::vec3(state.pitch, state.yaw, 0.0f)); + } +} + + +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; + } +} + + +EntityState::EntityState() +: pos() +, velocity(0.0f) +, orient(1.0f, 0.0f, 0.0f, 0.0f) +, pitch(0.0f) +, yaw(0.0f) { + +} + +void EntityState::AdjustPosition() noexcept { + pos.Correct(); +} + +void EntityState::AdjustHeading() noexcept { + pitch = 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; } @@ -142,7 +340,20 @@ 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()); } @@ -154,7 +365,7 @@ 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); @@ -172,7 +383,7 @@ 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); @@ -261,15 +472,14 @@ std::vector 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 }); } } @@ -285,7 +495,7 @@ 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; } @@ -297,7 +507,6 @@ bool World::Intersection( bool World::Intersection( const Ray &ray, - const glm::mat4 &M, const Entity &reference, EntityCollision &coll ) { @@ -309,7 +518,7 @@ 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; @@ -323,9 +532,34 @@ bool World::Intersection( } bool World::Intersection(const Entity &e, const EntityState &s, std::vector &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 &col +) { bool any = false; for (Chunk &cur_chunk : chunks) { if (manhattan_radius(cur_chunk.Position() - reference) > 1) { @@ -340,12 +574,14 @@ 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()); @@ -385,11 +606,9 @@ 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.pos.block += f.position * dt; state.velocity += f.velocity * dt; - state.orient = delta_rot(f.orient, dt) * state.orient; state.AdjustPosition(); entity.SetState(state); @@ -402,14 +621,17 @@ EntityDerivative World::CalculateStep( const EntityDerivative &delta ) { EntityState next(cur); - next.block_pos += delta.position * dt; + next.pos.block += 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 = 1 + out.velocity = CalculateForce(entity, next); // by mass = 1kg return out; } @@ -417,19 +639,19 @@ 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 = 1.0f; // spring constant - constexpr float b = 1.0f; // damper constant - constexpr float t = 0.01f; // 1/time constant - const glm::vec3 x(-entity.TargetVelocity()); // endpoint displacement from equilibrium - const glm::vec3 v(state.velocity); // relative velocity between endpoints - return (((-k) * x) - (b * v)) * t; // times mass = 1 + return entity.ControlForce(state); } namespace { @@ -457,17 +679,30 @@ glm::vec3 World::CollisionForce( min_pen = min(min_pen, local_pen); max_pen = max(max_pen, local_pen); } - glm::vec3 penetration(min_pen + max_pen); - glm::vec3 normal(normalize(penetration) * -1.0f); + 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::epsilon()) { + if (max_pen[i] < std::numeric_limits::epsilon()) { + correction[i] = -min_pen[i]; + } + } else { + correction[i] = -max_pen[i]; + } + } + // correction may be zero in which case normalize() returns NaNs + if (dot(correction, correction) < std::numeric_limits::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 = 1.0f; // spring constant - constexpr float b = 1.0f; // damper constant - constexpr float t = 0.001f; // 1/time constant - const glm::vec3 x(penetration); // endpoint displacement from equilibrium - const glm::vec3 v(normal_velocity); // relative velocity between endpoints - return (((-k) * x) - (b * v)) * t; // times mass = 1 + 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); } @@ -497,11 +732,77 @@ 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(); } }