X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=d2b05d66850e96923704bfd262335af5cc464832;hb=e4a1425dccd0ba9b106e415dd02809f4308a85ee;hp=5e3420d525494f646ea85ad3789c1d83c6b011ad;hpb=7354c74fb8f409336db3a6d70455fbc10232ae64;p=blank.git diff --git a/src/world/world.cpp b/src/world/world.cpp index 5e3420d..d2b05d6 100644 --- a/src/world/world.cpp +++ b/src/world/world.cpp @@ -20,6 +20,7 @@ #include #include #include +#include #include #include #include @@ -219,8 +220,8 @@ void Entity::OrientBody(float dt) noexcept { } void Entity::OrientHead(float dt) noexcept { - // maximum yaw of head (90°) - constexpr float max_head_yaw = PI_0p5; + // 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 @@ -340,7 +341,20 @@ World::World(const BlockTypeRegistry &types, const Config &config) } 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()); } @@ -524,15 +538,18 @@ bool World::Intersection(const Entity &e, const EntityState &s, std::vector 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(e, M, cur_chunk.Transform(reference), col)) { - any = true; + for (ExactLocation::Coarse pos(begin); pos.z < end.y; ++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; @@ -588,8 +605,8 @@ void World::Update(Entity &entity, float dt) { 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.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; @@ -650,38 +667,19 @@ glm::vec3 World::CollisionForce( ) { 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); - } - 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]; - } - } + glm::vec3 correction = -CombinedInterpenetration(state, col); // correction may be zero in which case normalize() returns NaNs - if (dot(correction, correction) < std::numeric_limits::epsilon()) { + if (iszero(correction)) { + return glm::vec3(0.0f); + } + // if entity is already going in the direction of correction, + // let the problem resolve itself + if (dot(state.velocity, correction) >= 0.0f) { return glm::vec3(0.0f); } - glm::vec3 normal(normalize(correction)); - glm::vec3 normal_velocity(normal * dot(state.velocity, normal)); + glm::vec3 normal_velocity(proj(state.velocity, correction)); // apply force proportional to penetration - // use velocity projected onto normal as damper + // use velocity projected onto correction 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 @@ -692,11 +690,57 @@ glm::vec3 World::CollisionForce( } } +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 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); + } + 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]; + } + } else { + pen[i] = max_pen[i]; + } + } + return pen; +} + glm::vec3 World::Gravity( const Entity &entity, const EntityState &state ) { - return glm::vec3(0.0f); + glm::vec3 force(0.0f); + ExactLocation::Coarse begin(state.pos.chunk - 1); + ExactLocation::Coarse end(state.pos.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); + if (chunk) { + force += chunk->GravityAt(state.pos); + } + } + } + } + + return force; } World::EntityHandle World::RemoveEntity(EntityHandle &eh) {