wip: integer physics
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@ -1,5 +1,7 @@
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use crate::{instruction::{InstructionEmitter, InstructionConsumer, TimedInstruction}, zeroes::zeroes2};
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use crate::integer::{Planar64,Planar64Vec3,Angle32Vec2};
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#[derive(Debug)]
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pub enum PhysicsInstruction {
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CollisionStart(RelativeCollision),
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@ -49,9 +51,9 @@ pub enum InputInstruction {
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}
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#[derive(Clone)]
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pub struct Body {
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position: glam::Vec3,//I64 where 2^32 = 1 u
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velocity: glam::Vec3,//I64 where 2^32 = 1 u/s
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acceleration: glam::Vec3,//I64 where 2^32 = 1 u/s/s
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position: Planar64Vec3,//I64 where 2^32 = 1 u
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velocity: Planar64Vec3,//I64 where 2^32 = 1 u/s
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acceleration: Planar64Vec3,//I64 where 2^32 = 1 u/s/s
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time: TIME,//nanoseconds x xxxxD!
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}
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trait MyHash{
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@ -137,14 +139,14 @@ pub enum WalkEnum{
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Transient,
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}
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pub struct WalkState {
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pub target_velocity: glam::Vec3,
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pub target_velocity: Planar64Vec3,
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pub target_time: TIME,
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pub state: WalkEnum,
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}
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impl WalkState {
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pub fn new() -> Self {
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Self{
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target_velocity:glam::Vec3::ZERO,
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target_velocity:Planar64Vec3::ZERO,
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target_time:0,
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state:WalkEnum::Reached,
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}
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@ -153,10 +155,10 @@ impl WalkState {
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#[derive(Clone)]
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pub struct PhysicsCamera {
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offset: glam::Vec3,
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offset: Planar64Vec3,
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angles: glam::DVec2,//YAW AND THEN PITCH
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//punch: glam::Vec3,
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//punch_velocity: glam::Vec3,
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//punch: Planar64Vec3,
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//punch_velocity: Planar64Vec3,
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sensitivity: glam::DVec2,
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mouse:MouseState,
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}
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@ -165,13 +167,13 @@ pub struct PhysicsCamera {
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fn mat3_from_rotation_y_f64(angle: f64) -> glam::Mat3 {
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let (sina, cosa) = angle.sin_cos();
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glam::Mat3::from_cols(
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glam::Vec3::new(cosa as f32, 0.0, -sina as f32),
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glam::Vec3::Y,
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glam::Vec3::new(sina as f32, 0.0, cosa as f32),
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Planar64Vec3::new(cosa as f32, 0.0, -sina as f32),
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Planar64Vec3::Y,
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Planar64Vec3::new(sina as f32, 0.0, cosa as f32),
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)
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}
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impl PhysicsCamera {
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pub fn from_offset(offset:glam::Vec3) -> Self {
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pub fn from_offset(offset:Planar64Vec3) -> Self {
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Self{
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offset,
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angles: glam::DVec2::ZERO,
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@ -206,14 +208,14 @@ pub struct WorldState{}
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pub struct StyleModifiers{
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pub controls_mask:u32,//controls which are unable to be activated
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pub controls_held:u32,//controls which must be active to be able to strafe
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pub mv:f32,
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pub walkspeed:f32,
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pub friction:f32,
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pub walk_accel:f32,
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pub gravity:glam::Vec3,
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pub mv:Planar64,
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pub walkspeed:Planar64,
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pub friction:Planar64,
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pub walk_accel:Planar64,
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pub gravity:Planar64Vec3,
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pub strafe_tick_num:TIME,
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pub strafe_tick_den:TIME,
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pub hitbox_halfsize:glam::Vec3,
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pub hitbox_halfsize:Planar64Vec3,
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}
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impl std::default::Default for StyleModifiers{
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fn default() -> Self {
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@ -222,12 +224,12 @@ impl std::default::Default for StyleModifiers{
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controls_held: 0,
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strafe_tick_num: 100,//100t
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strafe_tick_den: 1_000_000_000,
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gravity: glam::vec3(0.0,-100.0,0.0),
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gravity: Planar64Vec3::new(0,100,0),
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friction: 1.2,
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walk_accel: 90.0,
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mv: 2.7,
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mv: Planar64::new(27)/10,
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walkspeed: 18.0,
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hitbox_halfsize: glam::vec3(1.0,2.5,1.0),
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hitbox_halfsize: Planar64Vec3::new(2,5,2)/2,
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}
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}
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}
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@ -241,17 +243,17 @@ impl StyleModifiers{
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const CONTROL_JUMP:u32 = 0b01000000;
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const CONTROL_ZOOM:u32 = 0b10000000;
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const FORWARD_DIR:glam::Vec3 = glam::Vec3::NEG_Z;
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const RIGHT_DIR:glam::Vec3 = glam::Vec3::X;
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const UP_DIR:glam::Vec3 = glam::Vec3::Y;
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const FORWARD_DIR:Planar64Vec3 = Planar64Vec3::NEG_Z;
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const RIGHT_DIR:Planar64Vec3 = Planar64Vec3::X;
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const UP_DIR:Planar64Vec3 = Planar64Vec3::Y;
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fn get_control(&self,control:u32,controls:u32)->bool{
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controls&self.controls_mask&control==control
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}
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fn get_control_dir(&self,controls:u32)->glam::Vec3{
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fn get_control_dir(&self,controls:u32)->Planar64Vec3{
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//don't get fancy just do it
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let mut control_dir:glam::Vec3 = glam::Vec3::ZERO;
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let mut control_dir:Planar64Vec3 = Planar64Vec3::ZERO;
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//Disallow strafing if held controls are not held
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if controls&self.controls_held!=self.controls_held{
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return control_dir;
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@ -303,7 +305,7 @@ pub struct PhysicsState{
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pub mode_from_mode_id:std::collections::HashMap::<u32,usize>,
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//the spawn point is where you spawn when you load into the map.
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//This is not the same as Reset which teleports you to Spawn0
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pub spawn_point:glam::Vec3,
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pub spawn_point:Planar64Vec3,
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}
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#[derive(Clone)]
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pub struct PhysicsOutputState{
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@ -311,8 +313,8 @@ pub struct PhysicsOutputState{
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body:Body,
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}
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impl PhysicsOutputState{
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pub fn adjust_mouse(&self,mouse:&MouseState)->(glam::Vec3,glam::Vec2){
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(self.body.extrapolated_position(mouse.time)+self.camera.offset,self.camera.simulate_move_angles(mouse.pos).as_vec2())
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pub fn adjust_mouse(&self,mouse:&MouseState)->(Planar64Vec3,Angle32Vec2){
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(self.body.extrapolated_position(mouse.time)+self.camera.offset,self.camera.simulate_move_angles(mouse.pos))
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}
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}
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@ -343,7 +345,7 @@ impl ModelPhysics {
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fn from_model_transform_attributes(model:&crate::model::IndexedModel,transform:&glam::Affine3A,attributes:PhysicsCollisionAttributes)->Self{
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let mut aabb=TreyMesh::new();
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for indexed_vertex in &model.unique_vertices {
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aabb.grow(transform.transform_point3(glam::Vec3::from_array(model.unique_pos[indexed_vertex.pos as usize])));
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aabb.grow(transform.transform_point3(Planar64Vec3::from_array(model.unique_pos[indexed_vertex.pos as usize])));
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}
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Self{
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mesh:aabb,
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@ -358,7 +360,7 @@ impl ModelPhysics {
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crate::model::CollisionAttributes::Decoration=>None,
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}
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}
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pub fn unit_vertices(&self) -> [glam::Vec3;8] {
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pub fn unit_vertices(&self) -> [Planar64Vec3;8] {
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TreyMesh::unit_vertices()
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}
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pub fn mesh(&self) -> &TreyMesh {
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@ -367,7 +369,7 @@ impl ModelPhysics {
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pub fn face_mesh(&self,face:TreyMeshFace)->TreyMesh{
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self.mesh.face(face)
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}
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pub fn face_normal(&self,face:TreyMeshFace) -> glam::Vec3 {
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pub fn face_normal(&self,face:TreyMeshFace) -> Planar64Vec3 {
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TreyMesh::normal(face)//this is wrong for scale
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}
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}
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@ -387,7 +389,7 @@ impl RelativeCollision {
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pub fn mesh(&self,models:&Vec<ModelPhysics>) -> TreyMesh {
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return self.model(models).unwrap().face_mesh(self.face).clone()
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}
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pub fn normal(&self,models:&Vec<ModelPhysics>) -> glam::Vec3 {
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pub fn normal(&self,models:&Vec<ModelPhysics>) -> Planar64Vec3 {
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return self.model(models).unwrap().face_normal(self.face)
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}
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}
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@ -395,7 +397,7 @@ impl RelativeCollision {
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pub type TIME = i64;
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impl Body {
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pub fn with_pva(position:glam::Vec3,velocity:glam::Vec3,acceleration:glam::Vec3) -> Self {
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pub fn with_pva(position:Planar64Vec3,velocity:Planar64Vec3,acceleration:Planar64Vec3) -> Self {
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Self{
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position,
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velocity,
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@ -403,11 +405,11 @@ impl Body {
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time: 0,
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}
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}
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pub fn extrapolated_position(&self,time: TIME)->glam::Vec3{
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pub fn extrapolated_position(&self,time: TIME)->Planar64Vec3{
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let dt=(time-self.time) as f64/1_000_000_000f64;
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self.position+self.velocity*(dt as f32)+self.acceleration*((0.5*dt*dt) as f32)
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}
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pub fn extrapolated_velocity(&self,time: TIME)->glam::Vec3{
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pub fn extrapolated_velocity(&self,time: TIME)->Planar64Vec3{
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let dt=(time-self.time) as f64/1_000_000_000f64;
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self.velocity+self.acceleration*(dt as f32)
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}
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@ -648,12 +650,12 @@ impl PhysicsState {
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}
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fn jump(&mut self){
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self.grounded=false;//do I need this?
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let mut v=self.body.velocity+glam::Vec3::new(0.0,0.715588/2.0*100.0,0.0);
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let mut v=self.body.velocity+Planar64Vec3::new(0.0,0.715588/2.0*100.0,0.0);
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self.contact_constrain_velocity(&mut v);
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self.body.velocity=v;
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}
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fn contact_constrain_velocity(&self,velocity:&mut glam::Vec3){
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fn contact_constrain_velocity(&self,velocity:&mut Planar64Vec3){
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for (_,contact) in &self.contacts {
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let n=contact.normal(&self.models);
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let d=velocity.dot(n);
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@ -662,7 +664,7 @@ impl PhysicsState {
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}
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}
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}
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fn contact_constrain_acceleration(&self,acceleration:&mut glam::Vec3){
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fn contact_constrain_acceleration(&self,acceleration:&mut Planar64Vec3){
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for (_,contact) in &self.contacts {
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let n=contact.normal(&self.models);
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let d=acceleration.dot(n);
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@ -717,8 +719,8 @@ impl PhysicsState {
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self.contact_constrain_velocity(&mut v);
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let mut target_diff=v-self.body.velocity;
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target_diff.y=0f32;
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if target_diff==glam::Vec3::ZERO{
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let mut a=glam::Vec3::ZERO;
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if target_diff==Planar64Vec3::ZERO{
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let mut a=Planar64Vec3::ZERO;
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self.contact_constrain_acceleration(&mut a);
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self.body.acceleration=a;
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self.walk.state=WalkEnum::Reached;
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@ -1111,7 +1113,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
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if let Some(mode)=self.get_mode(stage_element.mode_id){
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if let Some(&spawn)=mode.get_spawn_model_id(self.game.stage_id){
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if let Some(model)=self.models.get(spawn as usize){
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self.body.position=model.transform.transform_point3(glam::Vec3::Y)+glam::Vec3::Y*(self.style.hitbox_halfsize.y+0.1);
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self.body.position=model.transform.transform_point3(Planar64Vec3::Y)+Planar64Vec3::Y*(self.style.hitbox_halfsize.y+0.1);
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//manual clear //for c in self.contacts{process_instruction(CollisionEnd(c))}
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self.contacts.clear();
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self.intersects.clear();
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@ -1159,7 +1161,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
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if let Some(mode)=self.get_mode(stage_element.mode_id){
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if let Some(&spawn)=mode.get_spawn_model_id(self.game.stage_id){
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if let Some(model)=self.models.get(spawn as usize){
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self.body.position=model.transform.transform_point3(glam::Vec3::Y)+glam::Vec3::Y*(self.style.hitbox_halfsize.y+0.1);
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self.body.position=model.transform.transform_point3(Planar64Vec3::Y)+Planar64Vec3::Y*(self.style.hitbox_halfsize.y+0.1);
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//manual clear //for c in self.contacts{process_instruction(CollisionEnd(c))}
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self.contacts.clear();
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self.intersects.clear();
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@ -1212,7 +1214,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
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}
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PhysicsInstruction::ReachWalkTargetVelocity => {
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//precisely set velocity
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let mut a=glam::Vec3::ZERO;
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let mut a=Planar64Vec3::ZERO;
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self.contact_constrain_acceleration(&mut a);
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self.body.acceleration=a;
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let mut v=self.walk.target_velocity;
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@ -1252,7 +1254,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
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PhysicsInputInstruction::Reset => {
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//temp
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self.body.position=self.spawn_point;
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self.body.velocity=glam::Vec3::ZERO;
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self.body.velocity=Planar64Vec3::ZERO;
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//manual clear //for c in self.contacts{process_instruction(CollisionEnd(c))}
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self.contacts.clear();
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self.body.acceleration=self.style.gravity;
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