X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=d2b05d66850e96923704bfd262335af5cc464832;hb=e4a1425dccd0ba9b106e415dd02809f4308a85ee;hp=937203190ff1b3879b64a5339f5e540b222e3ff8;hpb=4fbf5a3c1b0e530706023f5fc4be2f68d30ea645;p=blank.git diff --git a/src/world/world.cpp b/src/world/world.cpp index 9372031..d2b05d6 100644 --- a/src/world/world.cpp +++ b/src/world/world.cpp @@ -20,6 +20,7 @@ #include #include #include +#include #include #include #include @@ -33,6 +34,7 @@ Entity::Entity() noexcept , id(-1) , name("anonymous") , bounds() +, radius(0.0f) , state() , heading(0.0f, 0.0f, -1.0f) , max_vel(5.0f) @@ -96,12 +98,12 @@ glm::vec3 Entity::ControlForce(const EntityState &s) const noexcept { } 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(); } @@ -115,14 +117,14 @@ void Entity::SetHead(float p, float y) noexcept { } glm::mat4 Entity::Transform(const glm::ivec3 &reference) const noexcept { - return glm::translate(glm::vec3((state.chunk_pos - reference) * Chunk::Extent())) * model_transform; + return glm::translate(glm::vec3((state.pos.chunk - reference) * ExactLocation::Extent())) * model_transform; } glm::mat4 Entity::ViewTransform(const glm::ivec3 &reference) const noexcept { 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]) }; } @@ -138,7 +140,7 @@ void Entity::Update(float dt) { void Entity::UpdateTransforms() noexcept { // model transform is the one given by current state - model_transform = state.Transform(state.chunk_pos); + 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) @@ -218,8 +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 @@ -268,8 +270,7 @@ bool EntityController::MaxOutForce( 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) @@ -278,30 +279,7 @@ 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 { @@ -363,7 +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()); } @@ -482,15 +473,14 @@ std::vector candidates; bool World::Intersection( const Ray &ray, - const glm::mat4 &M, - const Chunk::Pos &reference, + const ExactLocation::Coarse &reference, WorldCollision &coll ) { candidates.clear(); for (Chunk &cur_chunk : chunks) { float cur_dist; - if (cur_chunk.Intersection(ray, M * cur_chunk.Transform(reference), cur_dist)) { + if (cur_chunk.Intersection(ray, reference, cur_dist)) { candidates.push_back({ &cur_chunk, cur_dist }); } } @@ -506,7 +496,7 @@ 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; } @@ -518,7 +508,6 @@ bool World::Intersection( bool World::Intersection( const Ray &ray, - const glm::mat4 &M, const Entity &reference, EntityCollision &coll ) { @@ -530,7 +519,7 @@ bool World::Intersection( } 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; @@ -544,10 +533,26 @@ bool World::Intersection( } bool World::Intersection(const Entity &e, const EntityState &s, std::vector &col) { - AABB box = e.Bounds(); - Chunk::Pos reference = s.chunk_pos; + // TODO: make special case for entities here and in Chunk::Intersection so entity's bounding radius + // doesn't have to be calculated over and over again (sqrt) + 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.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; } bool World::Intersection( @@ -600,10 +605,10 @@ 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.block_pos += f.position * dt; + state.pos.block += f.position * dt; state.velocity += f.velocity * dt; state.AdjustPosition(); @@ -617,7 +622,7 @@ EntityDerivative World::CalculateStep( const EntityDerivative &delta ) { EntityState next(cur); - next.block_pos += delta.position * dt; + next.pos.block += delta.position * dt; next.velocity += delta.velocity * dt; next.AdjustPosition(); @@ -662,38 +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 @@ -704,11 +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) {