From 0d580658b896dfec07466c31ae4847455724ee95 Mon Sep 17 00:00:00 2001 From: Daniel Karbach Date: Mon, 2 Nov 2015 13:20:15 +0100 Subject: [PATCH 1/1] new turn style gives head a little more wiggleroom sadly, body has less now. it could work, but it wobbles like mad :/ see comment in Entity::UpdateModel --- src/ai/ai.cpp | 8 ++- src/standalone/MasterState.cpp | 2 - src/ui/ui.cpp | 8 ++- src/world/Entity.hpp | 13 +++-- src/world/world.cpp | 92 ++++++++++++++++++++++++++++++---- 5 files changed, 104 insertions(+), 19 deletions(-) diff --git a/src/ai/ai.cpp b/src/ai/ai.cpp index fc6abfc..c47b4d3 100644 --- a/src/ai/ai.cpp +++ b/src/ai/ai.cpp @@ -100,9 +100,13 @@ void AIController::Update(Entity &e, float dt) { if (e.Moving()) { // orient head towards heading glm::vec3 heading(e.Heading()); - float tgt_pitch = std::atan(heading.y / length(glm::vec2(heading.x, heading.z))); - float tgt_yaw = std::atan2(-heading.x, -heading.z); + // only half pitch, so we don't crane our neck + float tgt_pitch = std::atan(heading.y / length(glm::vec2(heading.x, heading.z))) * 0.5f; + // always look straight ahead + // maybe look at the pursuit target if there is one + float tgt_yaw = 0.0f; e.SetHead(tgt_pitch, tgt_yaw); + e.OrientBody(dt); } } diff --git a/src/standalone/MasterState.cpp b/src/standalone/MasterState.cpp index e802703..665f8d4 100644 --- a/src/standalone/MasterState.cpp +++ b/src/standalone/MasterState.cpp @@ -53,8 +53,6 @@ MasterState::MasterState( chunk_renderer.FogDensity(wc.fog_density); if (save.Exists(player)) { save.Read(player); - glm::vec3 orient(glm::eulerAngles(player.GetEntity().Orientation())); - input.TurnHead(orient.x, orient.y); } else { spawn_player = true; } diff --git a/src/ui/ui.cpp b/src/ui/ui.cpp index 263245c..f5664dc 100644 --- a/src/ui/ui.cpp +++ b/src/ui/ui.cpp @@ -60,7 +60,13 @@ void PlayerController::SetMovement(const glm::vec3 &m) noexcept { } glm::vec3 PlayerController::ControlForce(const Entity &e, const EntityState &s) const { - return TargetVelocity(rotateY(move_dir * e.MaxVelocity(), s.yaw), s, 5.0f); + if (!iszero(move_dir)) { + // scale input by max velocity, apply yaw, and transform to world space + return TargetVelocity(glm::vec3(glm::vec4(rotateY(move_dir * e.MaxVelocity(), s.yaw), 0.0f) * transpose(e.Transform())), s, 5.0f); + } else { + // target velocity of 0 is the same as halt + return Halt(s, 5.0f); + } } void PlayerController::TurnHead(float dp, float dy) noexcept { diff --git a/src/world/Entity.hpp b/src/world/Entity.hpp index 7c10395..802ea90 100644 --- a/src/world/Entity.hpp +++ b/src/world/Entity.hpp @@ -86,8 +86,10 @@ public: void SetHead(float pitch, float yaw) noexcept; /// get a transform for this entity's coordinate space + const glm::mat4 Transform() const noexcept { return model_transform; } + /// get a transform for this entity's coordinate space relative to reference chunk glm::mat4 Transform(const glm::ivec3 &reference) const noexcept; - /// get a transform for this entity's view space + /// get a transform for this entity's view space relative to reference chunk glm::mat4 ViewTransform(const glm::ivec3 &reference) const noexcept; /// get a ray in entity's face direction originating from center of vision Ray Aim(const Chunk::Pos &chunk_offset) const noexcept; @@ -99,7 +101,7 @@ public: /// normalized velocity or heading if standing still const glm::vec3 &Heading() const noexcept { return heading; } - void SetState(const EntityState &s) noexcept { state = s; UpdateModel(); } + void SetState(const EntityState &s) noexcept { state = s; } const EntityState &GetState() const noexcept { return state; } void Ref() noexcept { ++ref_count; } @@ -116,9 +118,14 @@ public: } private: - void UpdateModel() noexcept; void UpdateTransforms() noexcept; void UpdateHeading() noexcept; + void UpdateModel(float dt) noexcept; +public: + // temporarily made public so AI can use it until it's smoothed out to be suitable for players, too + void OrientBody(float dt) noexcept; +private: + void OrientHead(float dt) noexcept; private: EntityController *ctrl; diff --git a/src/world/world.cpp b/src/world/world.cpp index 46afc1b..a17b0cb 100644 --- a/src/world/world.cpp +++ b/src/world/world.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include @@ -109,8 +110,6 @@ 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 { @@ -126,20 +125,13 @@ Ray Entity::Aim(const Chunk::Pos &chunk_offset) const noexcept { return Ray{ glm::vec3(transform[3]), -glm::vec3(transform[2]) }; } -void Entity::UpdateModel() noexcept { - state.AdjustHeading(); - state.orient = glm::quat(glm::vec3(0.0f, state.yaw, 0.0f)); - if (model) { - model.EyesState().orientation = glm::quat(glm::vec3(state.pitch, 0.0f, 0.0f)); - } -} - void Entity::Update(float dt) { UpdateTransforms(); UpdateHeading(); if (HasController()) { GetController().Update(*this, dt); } + UpdateModel(dt); } void Entity::UpdateTransforms() noexcept { @@ -151,7 +143,7 @@ void Entity::UpdateTransforms() noexcept { if (model) { view_transform = model.EyesTransform(); } else { - view_transform = glm::eulerAngleX(state.pitch); + view_transform = toMat4(glm::quat(glm::vec3(state.pitch, state.yaw, 0.0f))); } } @@ -166,6 +158,84 @@ void Entity::UpdateHeading() noexcept { } } +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: " << rad2deg(relative_difference) << "°" << std::endl; + std::cout << "correction: " << rad2deg(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 (90°) + constexpr float max_head_yaw = PI_0p5; + // 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)); + } +} + EntityController::~EntityController() { -- 2.39.2