X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=d7771f320e8b55d10b47d126aeeba2a790551601;hb=bc171dfe0897bccbbf9d9114d128be0801a1aff9;hp=b07d05ade64d3788ca8ea953a07ad1f8398ba42b;hpb=f40ef0f5cc3d451c3789112e760719abb393ac03;p=blank.git

diff --git a/src/world/world.cpp b/src/world/world.cpp
index b07d05a..d7771f3 100644
--- a/src/world/world.cpp
+++ b/src/world/world.cpp
@@ -20,6 +20,7 @@
 #include <limits>
 #include <glm/gtx/euler_angles.hpp>
 #include <glm/gtx/io.hpp>
+#include <glm/gtx/projection.hpp>
 #include <glm/gtx/quaternion.hpp>
 #include <glm/gtx/rotate_vector.hpp>
 #include <glm/gtx/transform.hpp>
@@ -209,7 +210,7 @@ void Entity::OrientBody(float dt) noexcept {
 				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;
+				std::cout << std::endl;
 			}
 			// now rotate body by correction and head by -correction
 			state.orient = rotate(state.orient, correction, up);
@@ -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());
 }
 
 
@@ -519,8 +533,6 @@ bool World::Intersection(
 }
 
 bool World::Intersection(const Entity &e, const EntityState &s, std::vector<WorldCollision> &col) {
-	// 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);
 
@@ -591,11 +603,12 @@ 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;
+	CollisionFix(entity, state);
 	state.AdjustPosition();
 
 	entity.SetState(state);
@@ -610,6 +623,7 @@ EntityDerivative World::CalculateStep(
 	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()) {
@@ -626,12 +640,11 @@ glm::vec3 World::CalculateForce(
 	const Entity &entity,
 	const EntityState &state
 ) {
-	glm::vec3 force(ControlForce(entity, state) + CollisionForce(entity, state) + Gravity(entity, state));
+	glm::vec3 force(ControlForce(entity, state));
 	if (dot(force, force) > entity.MaxControlForce() * entity.MaxControlForce()) {
-		return normalize(force) * entity.MaxControlForce();
-	} else {
-		return force;
+		force = normalize(force) * entity.MaxControlForce();
 	}
+	return force + Gravity(entity, state);
 }
 
 glm::vec3 World::ControlForce(
@@ -647,59 +660,91 @@ std::vector<WorldCollision> col;
 
 }
 
-glm::vec3 World::CollisionForce(
+void World::CollisionFix(
 	const Entity &entity,
-	const EntityState &state
+	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;
-			}
-			min_pen = min(min_pen, local_pen);
-			max_pen = max(max_pen, local_pen);
+	if (!entity.WorldCollidable() || !Intersection(entity, state, col)) {
+		// no collision, no fix
+		return;
+	}
+	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::CombinedInterpenetration(
+	const EntityState &state,
+	const std::vector<WorldCollision> &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;
 		}
-		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<float>::epsilon()) {
-				if (max_pen[i] < std::numeric_limits<float>::epsilon()) {
-					correction[i] = -min_pen[i];
-				}
-			} else {
-				correction[i] = -max_pen[i];
-			}
+		// 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;
 		}
-		// correction may be zero in which case normalize() returns NaNs
-		if (dot(correction, correction) < std::numeric_limits<float>::epsilon()) {
-			return glm::vec3(0.0f);
+		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<float>::epsilon()) {
+			if (max_pen[i] < std::numeric_limits<float>::epsilon()) {
+				pen[i] = min_pen[i];
+			}
+		} else {
+			pen[i] = max_pen[i];
 		}
-		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);
 	}
+	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) {