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physics: change body api

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Quaternions 2025-01-22 07:00:42 -08:00
parent b6b090de78
commit 5f2cf8f32e
2 changed files with 35 additions and 35 deletions
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16
engine/physics/src/body.rs
View File

@ -31,6 +31,14 @@ impl<T> Body<T>
time, time,
} }
} }
pub const fn relative_to<'a>(&'a self,body0:&'a Body<T>)->VirtualBody<'a,T>{
//(p0,v0,a0,t0)
//(p1,v1,a1,t1)
VirtualBody{
body0,
body1:self,
}
}
pub fn extrapolated_position(&self,time:Time<T>)->Planar64Vec3{ pub fn extrapolated_position(&self,time:Time<T>)->Planar64Vec3{
let dt=time-self.time; let dt=time-self.time;
self.position self.position
@ -137,14 +145,6 @@ pub struct VirtualBody<'a,T>{
impl<T> VirtualBody<'_,T> impl<T> VirtualBody<'_,T>
where Time<T>:Copy, where Time<T>:Copy,
{ {
pub const fn relative<'a>(body0:&'a Body<T>,body1:&'a Body<T>)->VirtualBody<'a,T>{
//(p0,v0,a0,t0)
//(p1,v1,a1,t1)
VirtualBody{
body0,
body1,
}
}
pub fn extrapolated_position(&self,time:Time<T>)->Planar64Vec3{ pub fn extrapolated_position(&self,time:Time<T>)->Planar64Vec3{
self.body1.extrapolated_position(time)-self.body0.extrapolated_position(time) self.body1.extrapolated_position(time)-self.body0.extrapolated_position(time)
} }

54
engine/physics/src/physics.rs
View File

@ -791,7 +791,7 @@ impl TouchingState{
crate::push_solve::push_solve(&contacts,acceleration) crate::push_solve::push_solve(&contacts,acceleration)
} }
fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector<InternalInstruction,TimeInner>,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&Body,start_time:Time){ fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector<InternalInstruction,TimeInner>,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&Body,start_time:Time){
// let relative_body=crate::body::VirtualBody::relative(&Body::ZERO,body).body(time); // let relative_body=body.relative_to(&Body::ZERO);
let relative_body=body; let relative_body=body;
for contact in &self.contacts{ for contact in &self.contacts{
//detect face slide off //detect face slide off
@ -1140,7 +1140,7 @@ impl PhysicsData{
state.body.grow_aabb(&mut aabb,state.time,collector.time()); state.body.grow_aabb(&mut aabb,state.time,collector.time());
aabb.inflate(data.hitbox_mesh.halfsize); aabb.inflate(data.hitbox_mesh.halfsize);
//relative to moving platforms //relative to moving platforms
//let relative_body=&VirtualBody::relative(&Body::default(),&state.body).body(state.time); //let relative_body=state.body.relative_to(&Body::ZERO);
let relative_body=&state.body; let relative_body=&state.body;
data.bvh.the_tester(&aabb,&mut |&convex_mesh_id|{ data.bvh.the_tester(&aabb,&mut |&convex_mesh_id|{
//no checks are needed because of the time limits. //no checks are needed because of the time limits.
@ -1203,7 +1203,7 @@ fn recalculate_touching(
aabb.grow(body.position); aabb.grow(body.position);
aabb.inflate(hitbox_mesh.halfsize); aabb.inflate(hitbox_mesh.halfsize);
//relative to moving platforms //relative to moving platforms
//let relative_body=&VirtualBody::relative(&Body::default(),&state.body).body(state.time); //let relative_body=state.body.relative_to(&Body::ZERO);
bvh.the_tester(&aabb,&mut |&convex_mesh_id|{ bvh.the_tester(&aabb,&mut |&convex_mesh_id|{
//no checks are needed because of the time limits. //no checks are needed because of the time limits.
let model_mesh=models.mesh(convex_mesh_id); let model_mesh=models.mesh(convex_mesh_id);
@ -1954,111 +1954,111 @@ mod test{
} }
#[test] #[test]
fn test_collision_parabola_edge_east_from_west(){ fn test_collision_parabola_edge_east_from_west(){
test_collision(VirtualBody::relative(&Body::ZERO,&Body::new( test_collision(Body::new(
int3(3,3,0), int3(3,3,0),
int3(100,-1,0), int3(100,-1,0),
int3(0,-1,0), int3(0,-1,0),
Time::ZERO Time::ZERO
)).body(Time::from_secs(-1)),Some(Time::from_secs(0))); ).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
} }
#[test] #[test]
fn test_collision_parabola_edge_south_from_north(){ fn test_collision_parabola_edge_south_from_north(){
test_collision(VirtualBody::relative(&Body::ZERO,&Body::new( test_collision(Body::new(
int3(0,3,3), int3(0,3,3),
int3(0,-1,100), int3(0,-1,100),
int3(0,-1,0), int3(0,-1,0),
Time::ZERO Time::ZERO
)).body(Time::from_secs(-1)),Some(Time::from_secs(0))); ).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
} }
#[test] #[test]
fn test_collision_parabola_edge_west_from_east(){ fn test_collision_parabola_edge_west_from_east(){
test_collision(VirtualBody::relative(&Body::ZERO,&Body::new( test_collision(Body::new(
int3(-3,3,0), int3(-3,3,0),
int3(-100,-1,0), int3(-100,-1,0),
int3(0,-1,0), int3(0,-1,0),
Time::ZERO Time::ZERO
)).body(Time::from_secs(-1)),Some(Time::from_secs(0))); ).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
} }
#[test] #[test]
fn test_collision_parabola_edge_north_from_south(){ fn test_collision_parabola_edge_north_from_south(){
test_collision(VirtualBody::relative(&Body::ZERO,&Body::new( test_collision(Body::new(
int3(0,3,-3), int3(0,3,-3),
int3(0,-1,-100), int3(0,-1,-100),
int3(0,-1,0), int3(0,-1,0),
Time::ZERO Time::ZERO
)).body(Time::from_secs(-1)),Some(Time::from_secs(0))); ).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
} }
#[test] #[test]
fn test_collision_parabola_edge_north_from_ne(){ fn test_collision_parabola_edge_north_from_ne(){
test_collision(VirtualBody::relative(&Body::ZERO,&Body::new( test_collision(Body::new(
int3(0,6,-7)>>1, int3(0,6,-7)>>1,
int3(-10,-1,1), int3(-10,-1,1),
int3(0,-1,0), int3(0,-1,0),
Time::ZERO Time::ZERO
)).body(Time::from_secs(-1)),Some(Time::from_secs(0))); ).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
} }
#[test] #[test]
fn test_collision_parabola_edge_north_from_nw(){ fn test_collision_parabola_edge_north_from_nw(){
test_collision(VirtualBody::relative(&Body::ZERO,&Body::new( test_collision(Body::new(
int3(0,6,-7)>>1, int3(0,6,-7)>>1,
int3(10,-1,1), int3(10,-1,1),
int3(0,-1,0), int3(0,-1,0),
Time::ZERO Time::ZERO
)).body(Time::from_secs(-1)),Some(Time::from_secs(0))); ).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
} }
#[test] #[test]
fn test_collision_parabola_edge_east_from_se(){ fn test_collision_parabola_edge_east_from_se(){
test_collision(VirtualBody::relative(&Body::ZERO,&Body::new( test_collision(Body::new(
int3(7,6,0)>>1, int3(7,6,0)>>1,
int3(-1,-1,-10), int3(-1,-1,-10),
int3(0,-1,0), int3(0,-1,0),
Time::ZERO Time::ZERO
)).body(Time::from_secs(-1)),Some(Time::from_secs(0))); ).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
} }
#[test] #[test]
fn test_collision_parabola_edge_east_from_ne(){ fn test_collision_parabola_edge_east_from_ne(){
test_collision(VirtualBody::relative(&Body::ZERO,&Body::new( test_collision(Body::new(
int3(7,6,0)>>1, int3(7,6,0)>>1,
int3(-1,-1,10), int3(-1,-1,10),
int3(0,-1,0), int3(0,-1,0),
Time::ZERO Time::ZERO
)).body(Time::from_secs(-1)),Some(Time::from_secs(0))); ).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
} }
#[test] #[test]
fn test_collision_parabola_edge_south_from_se(){ fn test_collision_parabola_edge_south_from_se(){
test_collision(VirtualBody::relative(&Body::ZERO,&Body::new( test_collision(Body::new(
int3(0,6,7)>>1, int3(0,6,7)>>1,
int3(-10,-1,-1), int3(-10,-1,-1),
int3(0,-1,0), int3(0,-1,0),
Time::ZERO Time::ZERO
)).body(Time::from_secs(-1)),Some(Time::from_secs(0))); ).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
} }
#[test] #[test]
fn test_collision_parabola_edge_south_from_sw(){ fn test_collision_parabola_edge_south_from_sw(){
test_collision(VirtualBody::relative(&Body::ZERO,&Body::new( test_collision(Body::new(
int3(0,6,7)>>1, int3(0,6,7)>>1,
int3(10,-1,-1), int3(10,-1,-1),
int3(0,-1,0), int3(0,-1,0),
Time::ZERO Time::ZERO
)).body(Time::from_secs(-1)),Some(Time::from_secs(0))); ).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
} }
#[test] #[test]
fn test_collision_parabola_edge_west_from_se(){ fn test_collision_parabola_edge_west_from_se(){
test_collision(VirtualBody::relative(&Body::ZERO,&Body::new( test_collision(Body::new(
int3(-7,6,0)>>1, int3(-7,6,0)>>1,
int3(1,-1,-10), int3(1,-1,-10),
int3(0,-1,0), int3(0,-1,0),
Time::ZERO Time::ZERO
)).body(Time::from_secs(-1)),Some(Time::from_secs(0))); ).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
} }
#[test] #[test]
fn test_collision_parabola_edge_west_from_ne(){ fn test_collision_parabola_edge_west_from_ne(){
test_collision(VirtualBody::relative(&Body::ZERO,&Body::new( test_collision(Body::new(
int3(-7,6,0)>>1, int3(-7,6,0)>>1,
int3(1,-1,10), int3(1,-1,10),
int3(0,-1,0), int3(0,-1,0),
Time::ZERO Time::ZERO
)).body(Time::from_secs(-1)),Some(Time::from_secs(0))); ).relative_to(&Body::ZERO).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
} }
#[test] #[test]
fn test_collision_oblique(){ fn test_collision_oblique(){