X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=8f22f0c091645486c99913cfa4925bdc1533e5be;hb=9f220f26cd81235a43993deed53b5780d17fb5fa;hp=8ea99fec247734e6b592c6e65fc231f9350a49c7;hpb=5178dd1e226d45db7ae61e3d7d6866dc4254d9ae;p=blank.git diff --git a/src/world/world.cpp b/src/world/world.cpp index 8ea99fe..8f22f0c 100644 --- a/src/world/world.cpp +++ b/src/world/world.cpp @@ -1,4 +1,5 @@ #include "Entity.hpp" +#include "EntityDerivative.hpp" #include "EntityState.hpp" #include "Player.hpp" #include "World.hpp" @@ -12,6 +13,7 @@ #include #include +#include #include #include #include @@ -26,13 +28,13 @@ Entity::Entity() noexcept , name("anonymous") , bounds() , state() +, tgt_vel(0.0f) , ref_count(0) , world_collision(false) , dead(false) { } - void Entity::Position(const glm::ivec3 &c, const glm::vec3 &b) noexcept { state.chunk_pos = c; state.block_pos = b; @@ -43,8 +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); @@ -52,25 +66,6 @@ Ray Entity::Aim(const Chunk::Pos &chunk_offset) const noexcept { return Ray{ glm::vec3(from), glm::normalize(glm::vec3(to - from)) }; } -namespace { - -glm::quat delta_rot(const glm::vec3 &av, float dt) { - glm::vec3 half(av * dt * 0.5f); - float mag = length(half); - if (mag > 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 Entity::Update(int dt) noexcept { - state.Update(dt); -} - EntityState::EntityState() : chunk_pos(0) @@ -81,13 +76,6 @@ EntityState::EntityState() } -void EntityState::Update(int dt) noexcept { - float fdt = float(dt); - block_pos += velocity * fdt; - orient = delta_rot(ang_vel, fdt) * orient; - AdjustPosition(); -} - void EntityState::AdjustPosition() noexcept { while (block_pos.x >= Chunk::width) { block_pos.x -= Chunk::width; @@ -136,6 +124,19 @@ Player::~Player() { } +bool Player::SuitableSpawn(BlockLookup &spawn_block) const noexcept { + if (!spawn_block || spawn_block.GetType().collide_block) { + return false; + } + + BlockLookup head_block(spawn_block.Next(Block::FACE_UP)); + if (!head_block || head_block.GetType().collide_block) { + return false; + } + + return true; +} + void Player::Update(int dt) { chunks.Rebase(entity.ChunkCoords()); } @@ -333,13 +334,13 @@ bool World::Intersection( return coll.entity; } -bool World::Intersection(const Entity &e, std::vector &col) { +bool World::Intersection(const Entity &e, const EntityState &s, std::vector &col) { AABB box = e.Bounds(); - Chunk::Pos reference = e.ChunkCoords(); - glm::mat4 M = e.Transform(reference); + Chunk::Pos reference = s.chunk_pos; + glm::mat4 M = s.Transform(reference); bool any = false; for (Chunk &cur_chunk : chunks) { - if (manhattan_radius(cur_chunk.Position() - e.ChunkCoords()) > 1) { + 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 continue; @@ -352,22 +353,10 @@ bool World::Intersection(const Entity &e, std::vector &col) { } -namespace { - -std::vector col; - -} - void World::Update(int dt) { + float fdt(dt * 0.001f); for (Entity &entity : entities) { - entity.Update(dt); - } - for (Entity &entity : entities) { - col.clear(); - if (entity.WorldCollidable() && Intersection(entity, col)) { - // entity collides with the world - Resolve(entity, col); - } + Update(entity, fdt); } for (Player &player : players) { player.Update(dt); @@ -381,36 +370,138 @@ void World::Update(int dt) { } } -void World::Resolve(Entity &e, std::vector &col) { - // determine displacement for each cardinal axis and move entity accordingly - glm::vec3 min_disp(0.0f); - glm::vec3 max_disp(0.0f); - for (const WorldCollision &c : col) { - if (!c.Blocks()) continue; - glm::vec3 local_disp(c.normal * c.depth); - // swap if neccessary (normal may point away from the entity) - if (dot(c.normal, e.Position() - c.BlockCoords()) < 0) { - local_disp *= -1; +namespace { + +glm::quat delta_rot(const glm::vec3 &av, float dt) { + glm::vec3 half(av * dt * 0.5f); + float mag = length(half); + if (mag > 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()); + + 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); + 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); +} + +EntityDerivative World::CalculateStep( + const Entity &entity, + const EntityState &cur, + float dt, + const EntityDerivative &delta +) { + 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(); + + 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 +) { + return ControlForce(entity, state) + CollisionForce(entity, state) + Gravity(entity, state); +} + +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 +} + +namespace { + +std::vector col; + +} + +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); } - min_disp = min(min_disp, local_disp); - max_disp = max(max_disp, local_disp); - } - // for each axis - // if only one direction is set, use that as the final - // if both directions are set, use average - glm::vec3 final_disp(0.0f); - for (int axis = 0; axis < 3; ++axis) { - if (std::abs(min_disp[axis]) > std::numeric_limits::epsilon()) { - if (std::abs(max_disp[axis]) > std::numeric_limits::epsilon()) { - final_disp[axis] = (min_disp[axis] + max_disp[axis]) * 0.5f; + 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 { - final_disp[axis] = min_disp[axis]; + correction[i] = -max_pen[i]; } - } else if (std::abs(max_disp[axis]) > std::numeric_limits::epsilon()) { - final_disp[axis] = max_disp[axis]; } + // 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 = 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); } - e.Position(e.Position() + final_disp); +} + +glm::vec3 World::Gravity( + const Entity &entity, + const EntityState &state +) { + return glm::vec3(0.0f); } World::EntityHandle World::RemoveEntity(EntityHandle &eh) {