X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=d2b05d66850e96923704bfd262335af5cc464832;hb=e4a1425dccd0ba9b106e415dd02809f4308a85ee;hp=ffd30c00e48d4393a9ded247cafb219194cf8050;hpb=170c0ff60b9679c954a9e74d5300c9929899b2bd;p=blank.git diff --git a/src/world/world.cpp b/src/world/world.cpp index ffd30c0..d2b05d6 100644 --- a/src/world/world.cpp +++ b/src/world/world.cpp @@ -9,6 +9,8 @@ #include "EntityCollision.hpp" #include "WorldCollision.hpp" #include "../app/Assets.hpp" +#include "../geometry/const.hpp" +#include "../geometry/distance.hpp" #include "../graphics/Format.hpp" #include "../graphics/Viewport.hpp" @@ -16,8 +18,11 @@ #include #include #include +#include #include +#include #include +#include #include @@ -29,6 +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) @@ -51,6 +57,10 @@ Entity::Entity(const Entity &other) noexcept , 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) @@ -88,12 +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(); } @@ -104,55 +114,40 @@ 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]) }; } -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(); + UpdateTransforms(); UpdateHeading(); if (HasController()) { GetController().Update(*this, dt); } + 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::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))); } } @@ -162,8 +157,86 @@ 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); +} + +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)); } } @@ -197,8 +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) @@ -207,34 +279,11 @@ 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; } @@ -292,7 +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()); } @@ -411,15 +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 }); } } @@ -435,7 +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; } @@ -447,7 +508,6 @@ bool World::Intersection( bool World::Intersection( const Ray &ray, - const glm::mat4 &M, const Entity &reference, EntityCollision &coll ) { @@ -459,7 +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; @@ -473,10 +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( @@ -502,10 +578,10 @@ bool World::Intersection( void World::Update(int dt) { float fdt(dt * 0.001f); for (Entity &entity : entities) { - entity.Update(fdt); + Update(entity, fdt); } for (Entity &entity : entities) { - Update(entity, fdt); + entity.Update(fdt); } for (Player &player : players) { player.Update(dt); @@ -529,10 +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(); @@ -546,7 +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(); @@ -591,38 +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 @@ -633,11 +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) { @@ -657,11 +760,77 @@ 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 +) { + Chunk *chunk = chunks.Get(e.ChunkCoords()); + if (!chunk) { + // 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); + 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); + 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::vec4(1.0f, 0.0f, 0.0f, 1.0f)); + debug_mesh.Update(debug_buf); + prog.SetM(entity.Transform(players.front().GetEntity().ChunkCoords())); + debug_mesh.DrawLines(); } }