X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=8f22f0c091645486c99913cfa4925bdc1533e5be;hb=9f220f26cd81235a43993deed53b5780d17fb5fa;hp=750cd2d6ff31707e0613d30390bde043b2e78c95;hpb=8639a90bcbcd045c57cd489f02a25e0df4236deb;p=blank.git

diff --git a/src/world/world.cpp b/src/world/world.cpp
index 750cd2d..8f22f0c 100644
--- a/src/world/world.cpp
+++ b/src/world/world.cpp
@@ -45,8 +45,20 @@ void Entity::Position(const glm::vec3 &pos) noexcept {
 	state.AdjustPosition();
 }
 
+glm::mat4 Entity::Transform(const glm::ivec3 &reference) const noexcept {
+	return state.Transform(reference);
+}
+
+glm::mat4 Entity::ViewTransform(const glm::ivec3 &reference) const noexcept {
+	glm::mat4 transform = Transform(reference);
+	if (model) {
+		transform *= model.EyesTransform();
+	}
+	return transform;
+}
+
 Ray Entity::Aim(const Chunk::Pos &chunk_offset) const noexcept {
-	glm::mat4 transform = Transform(chunk_offset);
+	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);
@@ -342,7 +354,7 @@ bool World::Intersection(const Entity &e, const EntityState &s, std::vector<Worl
 
 
 void World::Update(int dt) {
-	float fdt(dt);
+	float fdt(dt * 0.001f);
 	for (Entity &entity : entities) {
 		Update(entity, fdt);
 	}
@@ -409,7 +421,7 @@ EntityDerivative World::CalculateStep(
 
 	EntityDerivative out;
 	out.position = next.velocity;
-	out.velocity = CalculateForce(entity, next); // by mass = 1
+	out.velocity = CalculateForce(entity, next); // by mass = 1kg
 	return out;
 }
 
@@ -424,12 +436,11 @@ 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
+	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
 }
 
 namespace {
@@ -457,17 +468,30 @@ 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<float>::epsilon()) {
+				if (max_pen[i] < std::numeric_limits<float>::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<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 = 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);
 	}