X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=b9d9db79711e7b0318b1f622ce080c3301ee8080;hb=1a8d4d31ef0a094ef6488127c5f873040151cb57;hp=ffd30c00e48d4393a9ded247cafb219194cf8050;hpb=170c0ff60b9679c954a9e74d5300c9929899b2bd;p=blank.git diff --git a/src/world/world.cpp b/src/world/world.cpp index ffd30c0..b9d9db7 100644 --- a/src/world/world.cpp +++ b/src/world/world.cpp @@ -1,4 +1,5 @@ #include "Entity.hpp" +#include "EntityCollision.hpp" #include "EntityController.hpp" #include "EntityDerivative.hpp" #include "EntityState.hpp" @@ -9,6 +10,9 @@ #include "EntityCollision.hpp" #include "WorldCollision.hpp" #include "../app/Assets.hpp" +#include "../geometry/const.hpp" +#include "../geometry/distance.hpp" +#include "../geometry/rotation.hpp" #include "../graphics/Format.hpp" #include "../graphics/Viewport.hpp" @@ -16,20 +20,35 @@ #include #include #include +#include #include +#include #include +#include #include namespace blank { +namespace { + +/// used as a buffer for merging collisions +std::vector col; + +} + Entity::Entity() noexcept -: ctrl(nullptr) +: steering(*this) +, ctrl(nullptr) , model() , id(-1) , name("anonymous") , bounds() +, radius(0.0f) , state() +, model_transform(1.0f) +, view_transform(1.0f) +, speed(0.0f) , heading(0.0f, 0.0f, -1.0f) , max_vel(5.0f) , max_force(25.0f) @@ -45,12 +64,17 @@ Entity::~Entity() noexcept { } Entity::Entity(const Entity &other) noexcept -: ctrl(other.ctrl) +: steering(*this) +, 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) @@ -80,20 +104,16 @@ void Entity::UnsetController() noexcept { } glm::vec3 Entity::ControlForce(const EntityState &s) const noexcept { - if (HasController()) { - return GetController().ControlForce(*this, s); - } else { - return -s.velocity; - } + return steering.Force(s); } 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(); } @@ -104,55 +124,85 @@ void Entity::TurnHead(float dp, float dy) noexcept { 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); + return glm::translate(glm::vec3((state.pos.chunk - reference) * ExactLocation::Extent())) * model_transform; } glm::mat4 Entity::ViewTransform(const glm::ivec3 &reference) const noexcept { - glm::mat4 transform = view_local; - transform[3] += glm::vec4(state.RelativePosition(reference), 0.0f); - return transform; + 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]) }; + Ray ray{ glm::vec3(transform[3]), -glm::vec3(transform[2]) }; + ray.Update(); + return ray; } -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)); - } - } -} - -void Entity::Update(float dt) { - UpdateView(); - UpdateHeading(); +void Entity::Update(World &world, float dt) { if (HasController()) { GetController().Update(*this, dt); } + steering.Update(world, dt); + UpdatePhysics(world, dt); + UpdateTransforms(); + UpdateHeading(); + UpdateModel(dt); } -void Entity::UpdateView() noexcept { - // create local transform - view_local = Transform(ChunkCoords()); - // clear the translation part - view_local[3] = glm::vec4(0.0f, 0.0f, 0.0f, 1.0f); - // add the model's eyes translation, if any +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); + 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.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_local *= model.EyesTransform(); + view_transform = model.EyesTransform(); + } else { + view_transform = toMat4(glm::quat(glm::vec3(state.pitch, state.yaw, 0.0f))); } } @@ -162,43 +212,135 @@ void Entity::UpdateHeading() noexcept { heading = Velocity() / speed; } else { speed = 0.0f; - // use -Z (forward axis) of local view transform - heading = -glm::vec3(view_local[2]); + // use -Z (forward axis) of model transform (our "chest") + heading = -glm::vec3(model_transform[2]); } } +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); +} -EntityController::~EntityController() { +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; + } + } +} +void Entity::OrientHead(float dt) noexcept { + // 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 + 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(); + } + // update model if any + if (model) { + model.EyesState().orientation = glm::quat(glm::vec3(state.pitch, state.yaw, 0.0f)); + } } -bool EntityController::MaxOutForce( - glm::vec3 &out, - const glm::vec3 &add, - float max -) noexcept { - if (iszero(add) || any(isnan(add))) { - return false; + +EntityCollision::EntityCollision(Entity *e, float d, const glm::vec3 &n) +: depth(d) +, normal(n) +, entity(e) { + if (entity) { + entity->Ref(); } - float current = iszero(out) ? 0.0f : length(out); - float remain = max - current; - if (remain <= 0.0f) { - return true; +} + +EntityCollision::~EntityCollision() { + if (entity) { + entity->UnRef(); } - float additional = length(add); - if (additional > remain) { - out += normalize(add) * remain; - return true; - } else { - out += add; - return false; +} + +EntityCollision::EntityCollision(const EntityCollision &other) +: depth(other.depth) +, normal(other.normal) +, entity(other.entity) { + if (entity) { + entity->Ref(); } } +EntityCollision &EntityCollision::operator =(const EntityCollision &other) { + if (entity) { + entity->UnRef(); + } + depth = other.depth; + normal = other.normal; + entity = other.entity; + if (entity) { + entity->Ref(); + } + return *this; +} + + +EntityController::~EntityController() { + +} + 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) @@ -207,34 +349,11 @@ 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 { - glm::clamp(pitch, -PI_0p5, PI_0p5); + pitch = glm::clamp(pitch, -PI_0p5, PI_0p5); while (yaw > PI) { yaw -= PI_2p0; } @@ -280,19 +399,270 @@ void Player::Update(int dt) { } +Steering::Steering(const Entity &e) +: entity(e) +, target_entity(nullptr) +, target_velocity(0.0f) +, accel(1.0f) +, speed(entity.MaxVelocity()) +, wander_radius(1.0f) +, wander_dist(2.0f) +, wander_disp(1.0f) +, wander_pos(1.0f, 0.0f, 0.0f) +, obstacle_dir(0.0f) +, enabled(0) { + +} + +Steering::~Steering() { + ClearTargetEntity(); +} + +Steering &Steering::SetTargetEntity(Entity &e) noexcept { + ClearTargetEntity(); + target_entity = &e; + e.Ref(); + return *this; +} + +Steering &Steering::ClearTargetEntity() noexcept { + if (target_entity) { + target_entity->UnRef(); + target_entity = nullptr; + } + return *this; +} + +void Steering::Update(World &world, float dt) { + if (AnyEnabled(WANDER)) { + UpdateWander(world, dt); + } + if (AnyEnabled(OBSTACLE_AVOIDANCE)) { + UpdateObstacle(world); + } +} + +void Steering::UpdateWander(World &world, float dt) { + glm::vec3 displacement( + world.Random().SNorm() * wander_disp, + world.Random().SNorm() * wander_disp, + world.Random().SNorm() * wander_disp + ); + if (!iszero(displacement)) { + wander_pos = normalize(wander_pos + displacement * dt) * wander_radius; + } +} + +void Steering::UpdateObstacle(World &world) { + if (!entity.Moving()) { + obstacle_dir = glm::vec3(0.0f); + return; + } + AABB box(entity.Bounds()); + box.min.z = -entity.Speed(); + box.max.z = 0.0f; + glm::mat4 transform(find_rotation(glm::vec3(0.0f, 0.0f, -1.0f), entity.Heading())); + transform[3] = glm::vec4(entity.Position(), 1.0f); + // check if that box intersects with any blocks + col.clear(); + if (!world.Intersection(box, transform, entity.ChunkCoords(), col)) { + obstacle_dir = glm::vec3(0.0f); + return; + } + // if so, pick the nearest collision + const WorldCollision *nearest = nullptr; + glm::vec3 difference(0.0f); + float distance = std::numeric_limits::infinity(); + for (const WorldCollision &c : col) { + // diff points from block to state + glm::vec3 diff = entity.GetState().RelativePosition(c.ChunkPos()) - c.BlockCoords(); + float dist = length2(diff); + if (dist < distance) { + nearest = &c; + difference = diff; + distance = dist; + } + } + if (!nearest) { + // intersection test lied to us + obstacle_dir = glm::vec3(0.0f); + return; + } + // and try to avoid it + float to_go = dot(difference, entity.Heading()); + glm::vec3 point(entity.Position() + entity.Heading() * to_go); + obstacle_dir = normalize(point - nearest->BlockCoords()) * (entity.Speed() / std::sqrt(distance)); +} + +glm::vec3 Steering::Force(const EntityState &state) const noexcept { + glm::vec3 force(0.0f); + if (!enabled) { + return force; + } + const float max = entity.MaxControlForce(); + if (AnyEnabled(HALT)) { + if (SumForce(force, Halt(state), max)) { + return force; + } + } + if (AnyEnabled(TARGET_VELOCITY)) { + if (SumForce(force, TargetVelocity(state, target_velocity), max)) { + return force; + } + } + if (AnyEnabled(OBSTACLE_AVOIDANCE)) { + if (SumForce(force, ObstacleAvoidance(state), max)) { + return force; + } + } + if (AnyEnabled(EVADE_TARGET)) { + if (HasTargetEntity()) { + if (SumForce(force, Evade(state, GetTargetEntity()), max)) { + return force; + } + } else { + std::cout << "Steering: evade enabled, but target entity not set" << std::endl; + } + } + if (AnyEnabled(PURSUE_TARGET)) { + if (HasTargetEntity()) { + if (SumForce(force, Pursuit(state, GetTargetEntity()), max)) { + return force; + } + } else { + std::cout << "Steering: pursuit enabled, but target entity not set" << std::endl; + } + } + if (AnyEnabled(WANDER)) { + if (SumForce(force, Wander(state), max)) { + return force; + } + } + return force; +} + +bool Steering::SumForce(glm::vec3 &out, const glm::vec3 &in, float max) noexcept { + if (iszero(in) || any(isnan(in))) { + return false; + } + float current = iszero(out) ? 0.0f : length(out); + float remain = max - current; + if (remain <= 0.0f) { + return true; + } + float additional = length(in); + if (additional > remain) { + out += normalize(in) * remain; + return true; + } else { + out += in; + return false; + } +} + +glm::vec3 Steering::Halt(const EntityState &state) const noexcept { + return state.velocity * -accel; +} + +glm::vec3 Steering::TargetVelocity(const EntityState &state, const glm::vec3 &vel) const noexcept { + return (vel - state.velocity) * accel; +} + +glm::vec3 Steering::Seek(const EntityState &state, const ExactLocation &loc) const noexcept { + const glm::vec3 diff(loc.Difference(state.pos).Absolute()); + if (iszero(diff)) { + return glm::vec3(0.0f); + } else { + return TargetVelocity(state, normalize(diff) * speed); + } +} + +glm::vec3 Steering::Flee(const EntityState &state, const ExactLocation &loc) const noexcept { + const glm::vec3 diff(state.pos.Difference(loc).Absolute()); + if (iszero(diff)) { + return glm::vec3(0.0f); + } else { + return TargetVelocity(state, normalize(diff) * speed); + } +} + +glm::vec3 Steering::Arrive(const EntityState &state, const ExactLocation &loc) const noexcept { + const glm::vec3 diff(loc.Difference(state.pos).Absolute()); + const float dist = length(diff); + if (dist < std::numeric_limits::epsilon()) { + return glm::vec3(0.0f); + } else { + const float att_speed = std::min(dist * accel, speed); + return TargetVelocity(state, diff * att_speed / dist); + } +} + +glm::vec3 Steering::Pursuit(const EntityState &state, const Entity &other) const noexcept { + const glm::vec3 diff(state.Diff(other.GetState())); + if (iszero(diff)) { + return TargetVelocity(state, other.Velocity()); + } else { + const float time_estimate = length(diff) / speed; + ExactLocation prediction(other.ChunkCoords(), other.Position() + (other.Velocity() * time_estimate)); + return Seek(state, prediction); + } +} + +glm::vec3 Steering::Evade(const EntityState &state, const Entity &other) const noexcept { + const glm::vec3 diff(state.Diff(other.GetState())); + if (iszero(diff)) { + return TargetVelocity(state, -other.Velocity()); + } else { + const float time_estimate = length(diff) / speed; + ExactLocation prediction(other.ChunkCoords(), other.Position() + (other.Velocity() * time_estimate)); + return Flee(state, prediction); + } +} + +glm::vec3 Steering::Wander(const EntityState &state) const noexcept { + return TargetVelocity(state, normalize(entity.Heading() * wander_dist + wander_pos) * speed); +} + +glm::vec3 Steering::ObstacleAvoidance(const EntityState &state) const noexcept { + return obstacle_dir; +} + + World::World(const BlockTypeRegistry &types, const Config &config) : config(config) , block_type(types) , chunks(types) , players() , entities() +, rng( +#ifdef BLANK_PROFILING +0 +#else +std::time(nullptr) +#endif +) , light_direction(config.light_direction) , fog_density(config.fog_density) { - + for (int i = 0; i < 4; ++i) { + rng.Next(); + } } 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()); } @@ -411,16 +781,28 @@ std::vector candidates; bool World::Intersection( const Ray &ray, - const glm::mat4 &M, - const Chunk::Pos &reference, + const ExactLocation::Coarse &reference, WorldCollision &coll ) { + // only consider chunks of the idex closest to reference + // this makes the ray not be infinite anymore (which means it's + // actually a line segment), but oh well + ChunkIndex *index = chunks.ClosestIndex(reference); + if (!index) { + return false; + } + candidates.clear(); - for (Chunk &cur_chunk : chunks) { + // TODO: change this so the test starts at the chunk of the ray's + // origin and "walks" forward until it hits (actually casting + // the ray, so to say). if this performs well (at least, better + // than now), this could also qualify for the chunk test itself + // see Bresenham's line algo or something similar + for (Chunk *cur_chunk : *index) { float cur_dist; - if (cur_chunk.Intersection(ray, M * cur_chunk.Transform(reference), cur_dist)) { - candidates.push_back({ &cur_chunk, cur_dist }); + if (cur_chunk && cur_chunk->Intersection(ray, reference, cur_dist)) { + candidates.push_back({ cur_chunk, cur_dist }); } } @@ -435,7 +817,7 @@ 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; } @@ -447,36 +829,46 @@ bool World::Intersection( bool World::Intersection( const Ray &ray, - const glm::mat4 &M, const Entity &reference, EntityCollision &coll ) { - coll.entity = nullptr; - coll.depth = std::numeric_limits::infinity(); + coll = EntityCollision(nullptr, std::numeric_limits::infinity(), glm::vec3(0.0f)); for (Entity &cur_entity : entities) { if (&cur_entity == &reference) { continue; } 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; - coll.depth = cur_dist; - coll.normal = cur_normal; + coll = EntityCollision(&cur_entity, cur_dist, cur_normal); } } } - return coll.entity; + return coll; } bool World::Intersection(const Entity &e, const EntityState &s, std::vector &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.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) { + Chunk *chunk = chunks.Get(pos); + if (chunk && chunk->Intersection(e, M, chunk->Transform(reference), col)) { + any = true; + } + } + } + } + return any; } bool World::Intersection( @@ -485,15 +877,19 @@ bool World::Intersection( const glm::ivec3 &reference, std::vector &col ) { + // this only works if box's diameter is < than 16 + ExactLocation::Coarse begin(reference - 1); + ExactLocation::Coarse end(reference + 2); + bool any = false; - for (Chunk &cur_chunk : chunks) { - 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; - } - if (cur_chunk.Intersection(box, M, cur_chunk.Transform(reference), col)) { - any = true; + 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) { + Chunk *chunk = chunks.Get(pos); + if (chunk && chunk->Intersection(box, M, chunk->Transform(reference), col)) { + any = true; + } + } } } return any; @@ -502,10 +898,7 @@ bool World::Intersection( void World::Update(int dt) { float fdt(dt * 0.001f); for (Entity &entity : entities) { - entity.Update(fdt); - } - for (Entity &entity : entities) { - Update(entity, fdt); + entity.Update(*this, fdt); } for (Player &player : players) { player.Update(dt); @@ -519,125 +912,88 @@ 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); - - state.block_pos += f.position * dt; - state.velocity += f.velocity * dt; - state.AdjustPosition(); - - 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); -} - -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; +glm::vec3 World::CombinedInterpenetration( + const EntityState &state, + const std::vector &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::epsilon()) { + if (max_pen[i] < std::numeric_limits::epsilon()) { + pen[i] = min_pen[i]; } - min_pen = min(min_pen, local_pen); - max_pen = max(max_pen, local_pen); + } else { + pen[i] = max_pen[i]; } - 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]; + } + return pen; +} + +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); + + 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::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) { @@ -657,11 +1013,77 @@ 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 +) { + BlockLookup center(chunks.Get(e.ChunkCoords()), e.Position()); + if (!center) { + // 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(center.GetBlockPos()); + int base_light = center.GetLight(); + 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(¢er.GetChunk(), center.GetBlockPos() + 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::tvec4(255, 0, 0, 255)); + debug_mesh.Update(debug_buf); + prog.SetM(entity.Transform(players.front().GetEntity().ChunkCoords())); + debug_mesh.DrawLines(); } }