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Quaternions 2023-11-06 18:59:52 -08:00
parent 910d520c2b
commit 03b21aa27f
1 changed files with 53 additions and 32 deletions
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85
src/physics.rs
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@ -70,6 +70,10 @@ impl MouseState {
}
}
enum JumpDirection{
Exactly(Planar64Vec3),
FromContactNormal,
}
enum WalkEnum{
Reached,
Transient(WalkTarget),
@ -79,13 +83,14 @@ struct WalkTarget{
time:Time,
}
struct WalkState{
normal:Planar64Vec3,
jump_direction:JumpDirection,
contact:ContactCollision,
state:WalkEnum,
}
impl WalkEnum{
//args going crazy
//(walk_enum,body.acceleration)=with_target_velocity();
fn with_target_velocity(body:&Body,style:&StyleModifiers,gravity:Planar64Vec3,velocity:Planar64Vec3,normal:&Planar64Vec3)->(WalkEnum,Planar64Vec3){
fn with_target_velocity(body:&Body,style:&StyleModifiers,velocity:Planar64Vec3,normal:&Planar64Vec3,speed:Planar64,normal_accel:Planar64)->(WalkEnum,Planar64Vec3){
let mut target_diff=velocity-body.velocity;
//remove normal component
target_diff-=normal.clone()*(normal.dot(target_diff)/normal.dot(normal.clone()));
@ -94,12 +99,12 @@ impl WalkEnum{
}else{
//normal friction acceleration is clippedAcceleration.dot(normal)*friction
let diff_len=target_diff.length();
let friction=if diff_len<style.walk_speed{
let friction=if diff_len<speed{
style.static_friction
}else{
style.kinetic_friction
};
let accel=style.walk_accel.min(gravity.dot(Planar64Vec3::NEG_Y)*friction);
let accel=style.walk_accel.min(normal_accel*friction);
let time_delta=diff_len/accel;
let a=target_diff.with_length(accel);
(WalkEnum::Transient(WalkTarget{velocity,time:body.time+Time::from(time_delta)}),a)
@ -107,18 +112,20 @@ impl WalkEnum{
}
}
impl WalkState{
fn ground(body:&Body,style:&StyleModifiers,gravity:Planar64Vec3,velocity:Planar64Vec3)->(Self,Planar64Vec3){
let (walk_enum,a)=WalkEnum::with_target_velocity(body,style,gravity,velocity,&Planar64Vec3::Y);
fn ground(body:&Body,style:&StyleModifiers,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:&Planar64Vec3)->(Self,Planar64Vec3){
let (walk_enum,a)=WalkEnum::with_target_velocity(body,style,velocity,&Planar64Vec3::Y,style.walk_speed,normal.dot(gravity));
(Self{
state:walk_enum,
normal:Planar64Vec3::Y,
contact,
jump_direction:JumpDirection::Exactly(Planar64Vec3::Y),
},a)
}
fn ladder(body:&Body,style:&StyleModifiers,gravity:Planar64Vec3,velocity:Planar64Vec3,normal:&Planar64Vec3)->(Self,Planar64Vec3){
let (walk_enum,a)=WalkEnum::with_target_velocity(body,style,gravity,velocity,normal);
fn ladder(body:&Body,style:&StyleModifiers,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:&Planar64Vec3)->(Self,Planar64Vec3){
let (walk_enum,a)=WalkEnum::with_target_velocity(body,style,velocity,normal,style.ladder_speed,style.ladder_accel);
(Self{
state:walk_enum,
normal:normal.clone(),
contact,
jump_direction:JumpDirection::FromContactNormal,
},a)
}
}
@ -778,7 +785,7 @@ impl TouchingState{
fn constrain_velocity(&self,models:&PhysicsModels,velocity:&mut Planar64Vec3){
//TODO: trey push solve
for contact in &self.contacts{
let (n,_)=models.mesh(contact.model_id).face_nd(contact.face_id);
let n=models.mesh(contact.model_id).face_nd(contact.face_id).0;
let d=n.dot(*velocity);
if d<Planar64::ZERO{
*velocity-=n*(d/n.dot(n));
@ -805,21 +812,22 @@ impl TouchingState{
for contact in &self.contacts{
match models.attr(contact.model_id){
PhysicsCollisionAttributes::Contact{contacting,general}=>{
let normal=models.mesh(contact.model_id).face_nd(contact.face_id).0;
match &contacting.contact_behaviour{
Some(crate::model::ContactingBehaviour::Ladder(_))=>{
//ladder walkstate
let mut target_velocity=style.get_ladder_target_velocity(camera,controls,next_mouse,time);
self.constrain_velocity(models,&mut target_velocity);
let (walk_state,mut acceleration)=WalkState::ladder(body,style,gravity,target_velocity,&models.mesh(contact.model_id).face_nd(contact.face_id).0);
let (walk_state,mut acceleration)=WalkState::ladder(body,style,gravity,target_velocity,contact.clone(),&normal);
move_state=MoveState::Ladder(walk_state);
self.constrain_acceleration(models,&mut acceleration);
a=acceleration;
},
None=>if style.surf_slope.map_or(true,|s|models.mesh(contact.model_id).face_nd(contact.face_id).0.slope_cmp(s,Planar64Vec3::Y)){
None=>if style.surf_slope.map_or(true,|s|normal.slope_cmp(s,Planar64Vec3::Y)){
//check ground
let mut target_velocity=style.get_walk_target_velocity(camera,controls,next_mouse,time);
self.constrain_velocity(models,&mut target_velocity);
let (walk_state,mut acceleration)=WalkState::ground(body,style,gravity,target_velocity);
let (walk_state,mut acceleration)=WalkState::ground(body,style,gravity,target_velocity,contact.clone(),&normal);
move_state=MoveState::Walk(walk_state);
self.constrain_acceleration(models,&mut acceleration);
a=acceleration;
@ -1050,13 +1058,24 @@ impl PhysicsState {
self.controls=if state{self.controls|control}else{self.controls&!control};
}
fn jump(&mut self){
match &self.move_state{
if match &self.move_state{
MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>{
let mut v=self.body.velocity+walk_state.normal*self.style.get_jump_deltav();
let n=match &walk_state.jump_direction{
JumpDirection::FromContactNormal=>self.models.mesh(walk_state.contact.model_id).face_nd(walk_state.contact.face_id).0,
&JumpDirection::Exactly(dir)=>dir,
};
let mut v=self.body.velocity+n*self.style.get_jump_deltav();
self.touching.constrain_velocity(&self.models,&mut v);
self.body.velocity=v;
let moving_away=Planar64::ZERO<n.dot(v);
if moving_away{
self.touching.remove(&Collision::Contact(walk_state.contact.clone()));
}
moving_away
},
MoveState::Air|MoveState::Water=>(),
MoveState::Air|MoveState::Water=>false,
}{
(self.move_state,self.body.acceleration)=self.touching.get_move_state(&self.body,&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
}
}
@ -1104,23 +1123,24 @@ impl PhysicsState {
fn refresh_walk_target(&mut self)->Option<Planar64Vec3>{
match &mut self.move_state{
MoveState::Air|MoveState::Water=>None,
MoveState::Walk(WalkState{normal,state})=>{
let n=normal;
MoveState::Walk(WalkState{state,contact,jump_direction:_})=>{
let n=self.models.mesh(contact.model_id).face_nd(contact.face_id).0;
let gravity=self.touching.base_acceleration(&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
let mut a;
let mut v=self.style.get_walk_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time);
self.touching.constrain_velocity(&self.models,&mut v);
(*state,a)=WalkEnum::with_target_velocity(&self.body,&self.style,gravity,v,&n);
let normal_accel=-n.dot(gravity);
(*state,a)=WalkEnum::with_target_velocity(&self.body,&self.style,v,&n,self.style.walk_speed,normal_accel);
self.touching.constrain_acceleration(&self.models,&mut a);
Some(a)
},
MoveState::Ladder(WalkState{normal,state})=>{
let n=normal;
MoveState::Ladder(WalkState{state,contact,jump_direction:_})=>{
let n=self.models.mesh(contact.model_id).face_nd(contact.face_id).0;
let gravity=self.touching.base_acceleration(&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
let mut a;
let mut v=self.style.get_ladder_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time);
self.touching.constrain_velocity(&self.models,&mut v);
(*state,a)=WalkEnum::with_target_velocity(&self.body,&self.style,gravity,v,&n);
(*state,a)=WalkEnum::with_target_velocity(&self.body,&self.style,v,&n,self.style.ladder_speed,self.style.ladder_accel);
self.touching.constrain_acceleration(&self.models,&mut a);
Some(a)
},
@ -1275,9 +1295,10 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
match ins.instruction{
PhysicsInstruction::CollisionStart(c)=>{
let model_id=c.model_id();
match self.models.attr(model_id){
PhysicsCollisionAttributes::Contact{contacting,general}=>{
match (self.models.attr(model_id),&c){
(PhysicsCollisionAttributes::Contact{contacting,general},Collision::Contact(contact))=>{
let mut v=self.body.velocity;
let normal=self.models.mesh(model_id).face_nd(contact.face_id).0;
match &contacting.contact_behaviour{
Some(crate::model::ContactingBehaviour::Surf)=>println!("I'm surfing!"),
Some(crate::model::ContactingBehaviour::Cling)=>println!("Unimplemented!"),
@ -1296,17 +1317,17 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
let gravity=self.touching.base_acceleration(&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
let mut target_velocity=self.style.get_ladder_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time);
self.touching.constrain_velocity(&self.models,&mut target_velocity);
let (walk_state,mut a)=WalkState::ladder(&self.body,&self.style,gravity,target_velocity,&self.models.mesh(model_id).face_nd(c.face_id().unwrap()).0);
let (walk_state,mut a)=WalkState::ladder(&self.body,&self.style,gravity,target_velocity,contact.clone(),&normal);
self.move_state=MoveState::Ladder(walk_state);
self.touching.constrain_acceleration(&self.models,&mut a);
self.body.acceleration=a;
}
None=>if self.style.surf_slope.map_or(true,|s|self.models.mesh(model_id).face_nd(c.face_id().unwrap()).0.slope_cmp(s,Planar64Vec3::Y)){
None=>if self.style.surf_slope.map_or(true,|s|self.models.mesh(model_id).face_nd(contact.face_id).0.slope_cmp(s,Planar64Vec3::Y)){
//ground
let gravity=self.touching.base_acceleration(&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
let mut target_velocity=self.style.get_walk_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time);
self.touching.constrain_velocity(&self.models,&mut target_velocity);
let (walk_state,mut a)=WalkState::ground(&self.body,&self.style,gravity,target_velocity);
let (walk_state,mut a)=WalkState::ground(&self.body,&self.style,gravity,target_velocity,contact.clone(),&normal);
self.move_state=MoveState::Walk(walk_state);
self.touching.constrain_acceleration(&self.models,&mut a);
self.body.acceleration=a;
@ -1352,11 +1373,12 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
self.body.acceleration=a;
}
},
PhysicsCollisionAttributes::Intersect{intersecting: _,general}=>{
(PhysicsCollisionAttributes::Intersect{intersecting: _,general},Collision::Intersect(intersect))=>{
//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
self.touching.insert(c);
run_teleport_behaviour(&general.teleport_behaviour,&mut self.game,&self.models,&self.modes,&self.style,&mut self.touching,&mut self.body,model_id);
},
_=>panic!("invalid pair"),
}
},
PhysicsInstruction::CollisionEnd(c) => {
@ -1432,9 +1454,8 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
self.body.position=self.spawn_point;
self.body.velocity=Planar64Vec3::ZERO;
//manual clear //for c in self.contacts{process_instruction(CollisionEnd(c))}
self.touching.clear();
self.body.acceleration=self.style.gravity;
self.move_state=MoveState::Air;
self.touching.clear();//touching.recalculate() or some
(self.move_state,self.body.acceleration)=self.touching.get_move_state(&self.body,&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
refresh_walk_target=false;
},
PhysicsInputInstruction::Idle => {refresh_walk_target=false;},//literally idle!