}
glm::vec3 Entity::ControlForce(const EntityState &s) const noexcept {
+ glm::vec3 force;
if (HasController()) {
- return GetController().ControlForce(*this, s);
+ force = GetController().ControlForce(*this, s);
} else {
- return -s.velocity;
+ force = -s.velocity;
}
+ limit(force, max_force);
+ return force;
}
void Entity::Position(const glm::ivec3 &c, const glm::vec3 &b) noexcept {
return Ray{ glm::vec3(transform[3]), -glm::vec3(transform[2]) };
}
-void Entity::Update(float dt) {
- UpdateTransforms();
- UpdateHeading();
+void Entity::Update(World &world, float dt) {
if (HasController()) {
GetController().Update(*this, dt);
}
+ UpdatePhysics(world, dt);
+ UpdateTransforms();
+ UpdateHeading();
UpdateModel(dt);
}
+void Entity::UpdatePhysics(World &world, float dt) {
+ EntityState s(state);
+
+ EntityDerivative a(CalculateStep(world, s, 0.0f, EntityDerivative()));
+ EntityDerivative b(CalculateStep(world, s, dt * 0.5f, a));
+ EntityDerivative c(CalculateStep(world, s, dt * 0.5f, b));
+ EntityDerivative d(CalculateStep(world, s, 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);
+
+ s.pos.block += f.position * dt;
+ s.velocity += f.velocity * dt;
+ limit(s.velocity, max_vel);
+ world.ResolveWorldCollision(*this, s);
+ s.AdjustPosition();
+
+ SetState(s);
+}
+
+EntityDerivative Entity::CalculateStep(
+ World &world,
+ const EntityState &cur,
+ float dt,
+ const EntityDerivative &delta
+) const {
+ EntityState next(cur);
+ next.pos.block += delta.position * dt;
+ next.velocity += delta.velocity * dt;
+ limit(next.velocity, max_vel);
+ world.ResolveWorldCollision(*this, next);
+ next.AdjustPosition();
+
+ EntityDerivative out;
+ out.position = next.velocity;
+ out.velocity = ControlForce(next) + world.GravityAt(next.pos); // by mass = 1kg
+ return out;
+}
+
+
void Entity::UpdateTransforms() noexcept {
// model transform is the one given by current state
model_transform = state.Transform(state.pos.chunk);
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
+ // TODO: change to indexed (like with entity)
continue;
}
if (cur_chunk.Intersection(box, M, cur_chunk.Transform(reference), col)) {
void World::Update(int dt) {
float fdt(dt * 0.001f);
for (Entity &entity : entities) {
- Update(entity, fdt);
- }
- for (Entity &entity : entities) {
- entity.Update(fdt);
+ entity.Update(*this, fdt);
}
for (Player &player : players) {
player.Update(dt);
}
}
-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.pos.block += f.position * dt;
- state.velocity += f.velocity * dt;
- CollisionFix(entity, state);
- state.AdjustPosition();
-
- entity.SetState(state);
-}
-
-EntityDerivative World::CalculateStep(
- const Entity &entity,
- const EntityState &cur,
- float dt,
- const EntityDerivative &delta
-) {
- 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()) {
- next.velocity = normalize(next.velocity) * entity.MaxVelocity();
- }
-
- 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
-) {
- glm::vec3 force(ControlForce(entity, state));
- if (dot(force, force) > entity.MaxControlForce() * entity.MaxControlForce()) {
- force = normalize(force) * entity.MaxControlForce();
- }
- return force + Gravity(entity, state);
-}
-
-glm::vec3 World::ControlForce(
- const Entity &entity,
- const EntityState &state
-) {
- return entity.ControlForce(state);
-}
-
namespace {
std::vector<WorldCollision> col;
}
-void World::CollisionFix(
+void World::ResolveWorldCollision(
const Entity &entity,
EntityState &state
) {
return pen;
}
-glm::vec3 World::Gravity(
- const Entity &entity,
- const EntityState &state
-) {
+glm::vec3 World::GravityAt(const ExactLocation &loc) const noexcept {
glm::vec3 force(0.0f);
- ExactLocation::Coarse begin(state.pos.chunk - 1);
- ExactLocation::Coarse end(state.pos.chunk + 2);
+ ExactLocation::Coarse begin(loc.chunk - 1);
+ ExactLocation::Coarse end(loc.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);
+ const Chunk *chunk = chunks.Get(pos);
if (chunk) {
- force += chunk->GravityAt(state.pos);
+ force += chunk->GravityAt(loc);
}
}
}
projects / blank.git / commitdiff