X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=a852038664a05410292a2e7bdd58ecfb0183f2de;hb=33b37e7242e4cbfa76e4a0d6e5bb54223b541162;hp=750cd2d6ff31707e0613d30390bde043b2e78c95;hpb=8639a90bcbcd045c57cd489f02a25e0df4236deb;p=blank.git diff --git a/src/world/world.cpp b/src/world/world.cpp index 750cd2d..a852038 100644 --- a/src/world/world.cpp +++ b/src/world/world.cpp @@ -45,8 +45,31 @@ void Entity::Position(const glm::vec3 &pos) noexcept { state.AdjustPosition(); } +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; + // TODO: I feel like this could be delayed + UpdateModel(); +} + +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); @@ -54,13 +77,28 @@ Ray Entity::Aim(const Chunk::Pos &chunk_offset) const noexcept { return Ray{ glm::vec3(from), glm::normalize(glm::vec3(to - from)) }; } +void Entity::UpdateModel() noexcept { + state.AdjustHeading(); + if (model) { + Part::State &body_state = model.BodyState(); + Part::State &eyes_state = model.EyesState(); + if (&body_state != &eyes_state) { + body_state.orientation = glm::quat(glm::vec3(0.0f, state.yaw, 0.0f)); + eyes_state.orientation = glm::quat(glm::vec3(state.pitch, 0.0f, 0.0f)); + } else { + eyes_state.orientation = glm::quat(glm::vec3(state.pitch, state.yaw, 0.0f)); + } + } +} + 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) { +, pitch(0.0f) +, yaw(0.0f) { } @@ -91,6 +129,21 @@ void EntityState::AdjustPosition() noexcept { } } +void EntityState::AdjustHeading() noexcept { + while (pitch > PI / 2) { + pitch = PI / 2; + } + while (pitch < -PI / 2) { + pitch = -PI / 2; + } + while (yaw > PI) { + yaw -= PI * 2; + } + while (yaw < -PI) { + yaw += PI * 2; + } +} + glm::mat4 EntityState::Transform(const glm::ivec3 &reference) const noexcept { const glm::vec3 translation = RelativePosition(reference); glm::mat4 transform(toMat4(orient)); @@ -154,7 +207,7 @@ 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 +225,7 @@ 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); @@ -342,7 +395,7 @@ 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 +423,9 @@ 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.velocity += f.velocity * dt; - state.orient = delta_rot(f.orient, dt) * state.orient; state.AdjustPosition(); entity.SetState(state); @@ -404,12 +440,11 @@ EntityDerivative World::CalculateStep( 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 = 1 + out.velocity = CalculateForce(entity, next); // by mass = 1kg return out; } @@ -424,12 +459,11 @@ 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 +491,30 @@ 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); }