X-Git-Url: https://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fworld%2Fworld.cpp;h=e77192b277b46c8a592c9049f00601c59be1a08f;hb=150d065f431d665326fd8028748c48a74ad956bb;hp=e4fb968ddfbb8014004a2b7a6a7647be53b2c2a5;hpb=04531ab5fc3d82ba5b5d456bcc277fe6499e1150;p=blank.git diff --git a/src/world/world.cpp b/src/world/world.cpp index e4fb968..e77192b 100644 --- a/src/world/world.cpp +++ b/src/world/world.cpp @@ -1,4 +1,6 @@ #include "Entity.hpp" +#include "EntityController.hpp" +#include "EntityDerivative.hpp" #include "EntityState.hpp" #include "Player.hpp" #include "World.hpp" @@ -12,6 +14,7 @@ #include #include +#include #include #include #include @@ -21,17 +24,67 @@ namespace blank { Entity::Entity() noexcept -: model() +: ctrl(nullptr) +, model() , id(-1) , name("anonymous") , bounds() , state() +, max_vel(5.0f) +, max_force(25.0f) , ref_count(0) , world_collision(false) -, dead(false) { +, dead(false) +, owns_controller(false) { } +Entity::~Entity() noexcept { + UnsetController(); +} + +Entity::Entity(const Entity &other) noexcept +: ctrl(other.ctrl) +, model(other.model) +, id(-1) +, name(other.name) +, bounds(other.bounds) +, state(other.state) +, max_vel(other.max_vel) +, max_force(other.max_force) +, ref_count(0) +, world_collision(other.world_collision) +, dead(other.dead) +, owns_controller(false) { + +} + +void Entity::SetController(EntityController *c) noexcept { + UnsetController(); + ctrl = c; + owns_controller = true; +} + +void Entity::SetController(EntityController &c) noexcept { + UnsetController(); + ctrl = &c; + owns_controller = false; +} + +void Entity::UnsetController() noexcept { + if (ctrl && owns_controller) { + delete ctrl; + } + ctrl = nullptr; +} + +glm::vec3 Entity::ControlForce(const EntityState &s) const noexcept { + if (HasController()) { + return GetController().ControlForce(s); + } else { + return -s.velocity; + } +} void Entity::Position(const glm::ivec3 &c, const glm::vec3 &b) noexcept { state.chunk_pos = c; @@ -43,8 +96,31 @@ void Entity::Position(const glm::vec3 &pos) noexcept { state.AdjustPosition(); } +void Entity::TurnHead(float dp, float dy) noexcept { + SetHead(state.pitch + dp, state.yaw + dy); +} + +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); +} + +glm::mat4 Entity::ViewTransform(const glm::ivec3 &reference) const noexcept { + glm::mat4 transform = Transform(reference); + if (model) { + transform *= model.EyesTransform(); + } + return transform; +} + Ray Entity::Aim(const Chunk::Pos &chunk_offset) const noexcept { - glm::mat4 transform = Transform(chunk_offset); + glm::mat4 transform = ViewTransform(chunk_offset); glm::vec4 from = transform * glm::vec4(0.0f, 0.0f, 0.0f, 1.0f); from /= from.w; glm::vec4 to = transform * glm::vec4(0.0f, 0.0f, -1.0f, 1.0f); @@ -52,23 +128,29 @@ Ray Entity::Aim(const Chunk::Pos &chunk_offset) const noexcept { return Ray{ glm::vec3(from), glm::normalize(glm::vec3(to - from)) }; } -namespace { - -glm::quat delta_rot(const glm::vec3 &av, float dt) { - glm::vec3 half(av * dt * 0.5f); - float mag = length(half); - if (mag > 0.0f) { - float smag = std::sin(mag) / mag; - return glm::quat(std::cos(mag), half * smag); - } else { - return glm::quat(1.0f, 0.0f, 0.0f, 0.0f); +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) { + if (HasController()) { + GetController().Update(*this, dt); + } } -void Entity::Update(int dt) noexcept { - state.Update(dt); + +EntityController::~EntityController() { + } @@ -77,17 +159,11 @@ EntityState::EntityState() , block_pos(0.0f) , velocity(0.0f) , orient(1.0f, 0.0f, 0.0f, 0.0f) -, ang_vel(0.0f) { +, pitch(0.0f) +, yaw(0.0f) { } -void EntityState::Update(int dt) noexcept { - float fdt = float(dt); - block_pos += velocity * fdt; - orient = delta_rot(ang_vel, fdt) * orient; - AdjustPosition(); -} - void EntityState::AdjustPosition() noexcept { while (block_pos.x >= Chunk::width) { block_pos.x -= Chunk::width; @@ -115,6 +191,21 @@ void EntityState::AdjustPosition() noexcept { } } +void EntityState::AdjustHeading() noexcept { + while (pitch > PI / 2) { + pitch = PI / 2; + } + while (pitch < -PI / 2) { + pitch = -PI / 2; + } + while (yaw > PI) { + yaw -= PI * 2; + } + while (yaw < -PI) { + yaw += PI * 2; + } +} + glm::mat4 EntityState::Transform(const glm::ivec3 &reference) const noexcept { const glm::vec3 translation = RelativePosition(reference); glm::mat4 transform(toMat4(orient)); @@ -178,7 +269,7 @@ Player *World::AddPlayer(const std::string &name) { } Entity &entity = AddEntity(); entity.Name(name); - entity.Bounds({ { -0.5f, -0.5f, -0.5f }, { 0.5f, 0.5f, 0.5f } }); + entity.Bounds({ { -0.4f, -0.9f, -0.4f }, { 0.4f, 0.9f, 0.4f } }); entity.WorldCollidable(true); ChunkIndex &index = chunks.MakeIndex(entity.ChunkCoords(), 6); players.emplace_back(entity, index); @@ -196,7 +287,7 @@ Player *World::AddPlayer(const std::string &name, std::uint32_t id) { return nullptr; } entity->Name(name); - entity->Bounds({ { -0.5f, -0.5f, -0.5f }, { 0.5f, 0.5f, 0.5f } }); + entity->Bounds({ { -0.4f, -0.9f, -0.4f }, { 0.4f, 0.9f, 0.4f } }); entity->WorldCollidable(true); ChunkIndex &index = chunks.MakeIndex(entity->ChunkCoords(), 6); players.emplace_back(*entity, index); @@ -346,13 +437,13 @@ bool World::Intersection( return coll.entity; } -bool World::Intersection(const Entity &e, std::vector &col) { +bool World::Intersection(const Entity &e, const EntityState &s, std::vector &col) { AABB box = e.Bounds(); - Chunk::Pos reference = e.ChunkCoords(); - glm::mat4 M = e.Transform(reference); + Chunk::Pos reference = s.chunk_pos; + glm::mat4 M = s.Transform(reference); bool any = false; for (Chunk &cur_chunk : chunks) { - if (manhattan_radius(cur_chunk.Position() - e.ChunkCoords()) > 1) { + 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; @@ -365,22 +456,13 @@ bool World::Intersection(const Entity &e, std::vector &col) { } -namespace { - -std::vector col; - -} - void World::Update(int dt) { + float fdt(dt * 0.001f); for (Entity &entity : entities) { - entity.Update(dt); + entity.Update(fdt); } for (Entity &entity : entities) { - col.clear(); - if (entity.WorldCollidable() && Intersection(entity, col)) { - // entity collides with the world - Resolve(entity, col); - } + Update(entity, fdt); } for (Player &player : players) { player.Update(dt); @@ -394,36 +476,116 @@ void World::Update(int dt) { } } -void World::Resolve(Entity &e, std::vector &col) { - // determine displacement for each cardinal axis and move entity accordingly - glm::vec3 min_disp(0.0f); - glm::vec3 max_disp(0.0f); - for (const WorldCollision &c : col) { - if (!c.Blocks()) continue; - glm::vec3 local_disp(c.normal * c.depth); - // swap if neccessary (normal may point away from the entity) - if (dot(c.normal, e.Position() - c.BlockCoords()) < 0) { - local_disp *= -1; +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.block_pos += f.position * dt; + state.velocity += f.velocity * dt; + state.AdjustPosition(); + + entity.SetState(state); +} + +EntityDerivative World::CalculateStep( + const Entity &entity, + const EntityState &cur, + float dt, + const EntityDerivative &delta +) { + EntityState next(cur); + next.block_pos += delta.position * dt; + next.velocity += delta.velocity * dt; + next.AdjustPosition(); + + 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 +) { + return ControlForce(entity, state) + CollisionForce(entity, state) + Gravity(entity, state); +} + +glm::vec3 World::ControlForce( + const Entity &entity, + const EntityState &state +) { + return entity.ControlForce(state); +} + +namespace { + +std::vector col; + +} + +glm::vec3 World::CollisionForce( + const Entity &entity, + const 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); } - min_disp = min(min_disp, local_disp); - max_disp = max(max_disp, local_disp); - } - // for each axis - // if only one direction is set, use that as the final - // if both directions are set, use average - glm::vec3 final_disp(0.0f); - for (int axis = 0; axis < 3; ++axis) { - if (std::abs(min_disp[axis]) > std::numeric_limits::epsilon()) { - if (std::abs(max_disp[axis]) > std::numeric_limits::epsilon()) { - final_disp[axis] = (min_disp[axis] + max_disp[axis]) * 0.5f; + 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 { - final_disp[axis] = min_disp[axis]; + correction[i] = -max_pen[i]; } - } else if (std::abs(max_disp[axis]) > std::numeric_limits::epsilon()) { - final_disp[axis] = max_disp[axis]; } + // correction may be zero in which case normalize() returns NaNs + if (dot(correction, correction) < std::numeric_limits::epsilon()) { + return glm::vec3(0.0f); + } + 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); } - e.Position(e.Position() + final_disp); +} + +glm::vec3 World::Gravity( + const Entity &entity, + const EntityState &state +) { + return glm::vec3(0.0f); } World::EntityHandle World::RemoveEntity(EntityHandle &eh) {