X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=bf68a9eca412f295c977e486c465e0794025366a;hb=f071bb512a09cece895e65ca48eba2a7155d6593;hp=d7771f320e8b55d10b47d126aeeba2a790551601;hpb=bc171dfe0897bccbbf9d9114d128be0801a1aff9;p=blank.git diff --git a/src/world/world.cpp b/src/world/world.cpp index d7771f3..bf68a9e 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" @@ -11,6 +12,7 @@ #include "../app/Assets.hpp" #include "../geometry/const.hpp" #include "../geometry/distance.hpp" +#include "../geometry/rotation.hpp" #include "../graphics/Format.hpp" #include "../graphics/Viewport.hpp" @@ -28,8 +30,16 @@ 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") @@ -51,7 +61,8 @@ 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) @@ -90,11 +101,7 @@ 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 { @@ -129,15 +136,58 @@ Ray Entity::Aim(const ExactLocation::Coarse &chunk_offset) const noexcept { return Ray{ glm::vec3(transform[3]), -glm::vec3(transform[2]) }; } -void Entity::Update(float dt) { - UpdateTransforms(); - 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::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); @@ -241,31 +291,46 @@ void Entity::OrientHead(float dt) noexcept { } -EntityController::~EntityController() { +EntityCollision::EntityCollision(Entity *e, float d, const glm::vec3 &n) +: depth(d) +, normal(n) +, entity(e) { + if (entity) { + entity->Ref(); + } +} +EntityCollision::~EntityCollision() { + if (entity) { + entity->UnRef(); + } } -bool EntityController::MaxOutForce( - glm::vec3 &out, - const glm::vec3 &add, - float max -) noexcept { - if (iszero(add) || any(isnan(add))) { - return false; +EntityCollision::EntityCollision(const EntityCollision &other) +: depth(other.depth) +, normal(other.normal) +, entity(other.entity) { + if (entity) { + entity->Ref(); } - float current = iszero(out) ? 0.0f : length(out); - float remain = max - current; - if (remain <= 0.0f) { - return true; +} + +EntityCollision &EntityCollision::operator =(const EntityCollision &other) { + if (entity) { + entity->UnRef(); } - float additional = length(add); - if (additional > remain) { - out += normalize(add) * remain; - return true; - } else { - out += add; - return false; + depth = other.depth; + normal = other.normal; + entity = other.entity; + if (entity) { + entity->Ref(); } + return *this; +} + + +EntityController::~EntityController() { + } @@ -329,15 +394,253 @@ 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() { @@ -476,12 +779,22 @@ bool World::Intersection( 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: convert to coords based iteration and trim based + // on ray direction + for (Chunk *cur_chunk : *index) { float cur_dist; - if (cur_chunk.Intersection(ray, 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 }); } } @@ -511,8 +824,7 @@ bool World::Intersection( 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; @@ -522,14 +834,12 @@ bool World::Intersection( 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) { @@ -540,7 +850,7 @@ bool World::Intersection(const Entity &e, const EntityState &s, 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; @@ -576,10 +890,7 @@ bool World::Intersection( void World::Update(int dt) { float fdt(dt * 0.001f); for (Entity &entity : entities) { - Update(entity, fdt); - } - for (Entity &entity : entities) { - entity.Update(fdt); + entity.Update(*this, fdt); } for (Player &player : players) { player.Update(dt); @@ -593,74 +904,7 @@ 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.pos.block += f.position * dt; - state.velocity += f.velocity * dt; - CollisionFix(entity, state); - state.AdjustPosition(); - - entity.SetState(state); -} - -EntityDerivative World::CalculateStep( - const Entity &entity, - const EntityState &cur, - float dt, - const EntityDerivative &delta -) { - EntityState next(cur); - next.pos.block += delta.position * dt; - next.velocity += delta.velocity * dt; - CollisionFix(entity, next); - 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 = 1kg - return out; -} - -glm::vec3 World::CalculateForce( - const Entity &entity, - const EntityState &state -) { - glm::vec3 force(ControlForce(entity, state)); - if (dot(force, force) > entity.MaxControlForce() * entity.MaxControlForce()) { - force = normalize(force) * entity.MaxControlForce(); - } - return force + Gravity(entity, state); -} - -glm::vec3 World::ControlForce( - const Entity &entity, - const EntityState &state -) { - return entity.ControlForce(state); -} - -namespace { - -std::vector col; - -} - -void World::CollisionFix( +void World::ResolveWorldCollision( const Entity &entity, EntityState &state ) { @@ -725,20 +969,17 @@ glm::vec3 World::CombinedInterpenetration( return pen; } -glm::vec3 World::Gravity( - const Entity &entity, - const EntityState &state -) { +glm::vec3 World::GravityAt(const ExactLocation &loc) const noexcept { glm::vec3 force(0.0f); - ExactLocation::Coarse begin(state.pos.chunk - 1); - ExactLocation::Coarse end(state.pos.chunk + 2); + 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) { - Chunk *chunk = chunks.Get(pos); + const Chunk *chunk = chunks.Get(pos); if (chunk) { - force += chunk->GravityAt(state.pos); + force += chunk->GravityAt(loc); } } } @@ -788,23 +1029,23 @@ void World::GetLight( glm::vec3 &col, glm::vec3 &amb ) { - Chunk *chunk = chunks.Get(e.ChunkCoords()); - if (!chunk) { + 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(e.Position()); - int base_light = chunk->GetLight(base); + 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(chunk, base + offset); + BlockLookup block(¢er.GetChunk(), center.GetBlockPos() + offset); if (!block) { // missing, just ignore it continue; @@ -831,7 +1072,7 @@ 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_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();