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use style mesh + remove double reference in set_velocity & set_acceleration

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Quaternions 2023-11-15 22:49:19 -08:00
parent 5c2aad268f
commit 5a3013365e
1 changed files with 59 additions and 47 deletions
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106
src/physics.rs
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@ -670,6 +670,9 @@ impl StyleModifiers{
let camera_mat=camera.simulate_move_rotation(camera.mouse.lerp(&next_mouse,time));
camera_mat*self.get_control_dir(controls)
}
fn mesh(&self)->TransformedMesh{
self.hitbox.transformed_mesh()
}
}
enum MoveState{
@ -836,20 +839,20 @@ impl TouchingState{
//add water../?
a
}
fn constrain_velocity(&self,models:&PhysicsModels,velocity:&mut Planar64Vec3){
fn constrain_velocity(&self,models:&PhysicsModels,style_mesh:&TransformedMesh,velocity:&mut Planar64Vec3){
//TODO: trey push solve
for contact in &self.contacts{
let n=models.mesh(contact.model_id).face_nd(contact.face_id).0;
let n=contact_normal(models,style_mesh,contact);
let d=n.dot128(*velocity);
if d<0{
*velocity-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64);
}
}
}
fn constrain_acceleration(&self,models:&PhysicsModels,acceleration:&mut Planar64Vec3){
fn constrain_acceleration(&self,models:&PhysicsModels,style_mesh:&TransformedMesh,acceleration:&mut Planar64Vec3){
//TODO: trey push solve
for contact in &self.contacts{
let n=models.mesh(contact.model_id).face_nd(contact.face_id).0;
let n=contact_normal(models,style_mesh,contact);
let d=n.dot128(*acceleration);
if d<0{
*acceleration-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64);
@ -860,30 +863,31 @@ impl TouchingState{
//check current move conditions and use heuristics to determine
//which ladder to climb on, which ground to walk on, etc
//collect move state affecting objects from contacts (accelerator,water,ladder,ground)
let style_mesh=style.mesh();
let gravity=self.base_acceleration(models,style,camera,controls,next_mouse,time);
let mut move_state=MoveState::Air;
let mut a=gravity;
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;
let normal=contact_normal(models,&style_mesh,contact);
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,&normal);
self.constrain_velocity(models,&mut target_velocity);
self.constrain_velocity(models,&style_mesh,&mut target_velocity);
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);
self.constrain_acceleration(models,&style_mesh,&mut acceleration);
a=acceleration;
},
None=>if style.surf_slope.map_or(true,|s|normal.walkable(s,Planar64Vec3::Y)){
//check ground
let mut target_velocity=style.get_walk_target_velocity(camera,controls,next_mouse,time,&normal);
self.constrain_velocity(models,&mut target_velocity);
self.constrain_velocity(models,&style_mesh,&mut 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);
self.constrain_acceleration(models,&style_mesh,&mut acceleration);
a=acceleration;
},
_=>(),
@ -895,7 +899,7 @@ impl TouchingState{
for intersect in &self.intersects{
//
}
self.constrain_acceleration(models,&mut a);
self.constrain_acceleration(models,&style_mesh,&mut a);
(move_state,a)
}
fn predict_collision_end(&self,collector:&mut crate::instruction::InstructionCollector<PhysicsInstruction>,models:&PhysicsModels,style_mesh:&TransformedMesh,body:&Body,time:Time){
@ -1159,21 +1163,23 @@ impl PhysicsState {
match &mut self.move_state{
MoveState::Air|MoveState::Water=>self.touching.base_acceleration(&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time),
MoveState::Walk(WalkState{state,contact,jump_direction:_})=>{
let n=self.models.mesh(contact.model_id).face_nd(contact.face_id).0;
let style_mesh=self.style.mesh();
let n=contact_normal(&self.models,&style_mesh,contact);
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,&n);
self.touching.constrain_velocity(&self.models,&mut v);
self.touching.constrain_velocity(&self.models,&style_mesh,&mut v);
let normal_accel=-n.dot(gravity)/n.length();
(*state,a)=WalkEnum::with_target_velocity(&self.body,&self.style,v,&n,self.style.walk_speed,normal_accel);
a
},
MoveState::Ladder(WalkState{state,contact,jump_direction:_})=>{
let n=self.models.mesh(contact.model_id).face_nd(contact.face_id).0;
let style_mesh=self.style.mesh();
let n=contact_normal(&self.models,&style_mesh,contact);
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,&n);
self.touching.constrain_velocity(&self.models,&mut v);
self.touching.constrain_velocity(&self.models,&style_mesh,&mut v);
(*state,a)=WalkEnum::with_target_velocity(&self.body,&self.style,v,&n,self.style.ladder_speed,self.style.ladder_accel);
a
},
@ -1210,7 +1216,7 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
let mut aabb=crate::aabb::Aabb::default();
aabb.grow(self.body.extrapolated_position(self.time));
aabb.grow(self.body.extrapolated_position(collector.time()));
aabb.inflate(self.style.hitbox_halfsize);
aabb.inflate(self.style.hitbox.halfsize);
//common body
let relative_body=VirtualBody::relative(&Body::default(),&self.body).body(self.time);
self.bvh.the_tester(&aabb,&mut |id|{
@ -1236,12 +1242,17 @@ fn get_walk_state(move_state:&MoveState)->Option<&WalkState>{
fn jumped_velocity(models:&PhysicsModels,style:&StyleModifiers,walk_state:&WalkState,v:&mut Planar64Vec3){
let jump_dir=match &walk_state.jump_direction{
JumpDirection::FromContactNormal=>models.mesh(walk_state.contact.model_id).face_nd(walk_state.contact.face_id).0,
JumpDirection::FromContactNormal=>contact_normal(models,&style.mesh(),&walk_state.contact),
&JumpDirection::Exactly(dir)=>dir,
};
*v=*v+jump_dir*(style.get_jump_deltav()/jump_dir.length());
}
fn contact_normal(models:&PhysicsModels,style_mesh:&TransformedMesh,contact:&ContactCollision)->Planar64Vec3{
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(style_mesh,&models.mesh(contact.model_id));
minkowski.face_nd(contact.face_id).0
}
fn set_position(body:&mut Body,touching:&mut TouchingState,point:Planar64Vec3)->Planar64Vec3{
//test intersections at new position
//hovering above the surface 0 units is not intersecting. you will fall into it just fine
@ -1252,11 +1263,11 @@ fn set_position(body:&mut Body,touching:&mut TouchingState,point:Planar64Vec3)->
//touching.recalculate(body);
point
}
fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,v:Planar64Vec3)->bool{
fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,style_mesh:&TransformedMesh,v:Planar64Vec3)->bool{
//This is not correct but is better than what I have
let mut culled=false;
touching.contacts.retain(|contact|{
let n=models.mesh(contact.model_id).face_nd(contact.face_id).0;
let n=contact_normal(models,style_mesh,contact);
let r=n.dot(v)<=Planar64::ZERO;
if !r{
culled=true;
@ -1264,19 +1275,19 @@ fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsM
}
r
});
set_velocity(body,touching,models,v);
set_velocity(body,touching,models,style_mesh,v);
culled
}
fn set_velocity(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,mut v:Planar64Vec3)->Planar64Vec3{
touching.constrain_velocity(&models,&mut v);
fn set_velocity(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,style_mesh:&TransformedMesh,mut v:Planar64Vec3)->Planar64Vec3{
touching.constrain_velocity(models,style_mesh,&mut v);
body.velocity=v;
v
}
fn set_acceleration_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,a:Planar64Vec3)->bool{
fn set_acceleration_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,style_mesh:&TransformedMesh,a:Planar64Vec3)->bool{
//This is not correct but is better than what I have
let mut culled=false;
touching.contacts.retain(|contact|{
let n=models.mesh(contact.model_id).face_nd(contact.face_id).0;
let n=contact_normal(models,style_mesh,contact);
let r=n.dot(a)<=Planar64::ZERO;
if !r{
culled=true;
@ -1284,23 +1295,23 @@ fn set_acceleration_cull(body:&mut Body,touching:&mut TouchingState,models:&Phys
}
r
});
set_acceleration(body,touching,models,a);
set_acceleration(body,touching,models,style_mesh,a);
culled
}
fn set_acceleration(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,mut a:Planar64Vec3)->Planar64Vec3{
touching.constrain_acceleration(&models,&mut a);
fn set_acceleration(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,style_mesh:&TransformedMesh,mut a:Planar64Vec3)->Planar64Vec3{
touching.constrain_acceleration(models,style_mesh,&mut a);
body.acceleration=a;
a
}
fn teleport(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,style:&StyleModifiers,point:Planar64Vec3)->MoveState{
set_position(body,touching,point);
set_acceleration(body,touching,models,style.gravity);
set_acceleration(body,touching,models,&style.mesh(),style.gravity);
MoveState::Air
}
fn teleport_to_spawn(body:&mut Body,touching:&mut TouchingState,style:&StyleModifiers,mode:&crate::model::ModeDescription,models:&PhysicsModels,stage_id:u32)->Option<MoveState>{
let model=models.model(*mode.get_spawn_model_id(stage_id)? as usize);
let point=model.transform.transform_point3(Planar64Vec3::Y)+Planar64Vec3::Y*(style.hitbox_halfsize.y()+Planar64::ONE/16);
let point=model.transform.transform_point3(Planar64Vec3::Y)+Planar64Vec3::Y*(style.hitbox.halfsize.y()+Planar64::ONE/16);
Some(teleport(body,touching,models,style,point))
}
@ -1389,19 +1400,19 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
}
match ins.instruction{
PhysicsInstruction::CollisionStart(c)=>{
let style_mesh=self.style.mesh();
let model_id=c.model_id();
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;
let normal=contact_normal(&self.models,&style_mesh,contact);
match &contacting.contact_behaviour{
Some(crate::model::ContactingBehaviour::Surf)=>println!("I'm surfing!"),
Some(crate::model::ContactingBehaviour::Cling)=>println!("Unimplemented!"),
&Some(crate::model::ContactingBehaviour::Elastic(elasticity))=>{
let n=self.models.mesh(contact.model_id).face_nd(contact.face_id).0;
//velocity and normal are facing opposite directions so this is inherently negative.
let d=n.dot(v)*(Planar64::ONE+Planar64::raw(elasticity as i64+1));
v+=n*(d/n.dot(n));
let d=normal.dot(v)*(Planar64::ONE+Planar64::raw(elasticity as i64+1));
v+=normal*(d/normal.dot(normal));
},
Some(crate::model::ContactingBehaviour::Ladder(contacting_ladder))=>{
if contacting_ladder.sticky{
@ -1411,19 +1422,19 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
//ladder walkstate
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,&normal);
self.touching.constrain_velocity(&self.models,&mut target_velocity);
self.touching.constrain_velocity(&self.models,&style_mesh,&mut target_velocity);
let (walk_state,a)=WalkState::ladder(&self.body,&self.style,gravity,target_velocity,contact.clone(),&normal);
self.move_state=MoveState::Ladder(walk_state);
set_acceleration(&mut self.body,&self.touching,&self.models,a);
set_acceleration(&mut self.body,&self.touching,&self.models,&style_mesh,a);
}
None=>if self.style.surf_slope.map_or(true,|s|self.models.mesh(model_id).face_nd(contact.face_id).0.walkable(s,Planar64Vec3::Y)){
None=>if self.style.surf_slope.map_or(true,|s|contact_normal(&self.models,&style_mesh,contact).walkable(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,&normal);
self.touching.constrain_velocity(&self.models,&mut target_velocity);
self.touching.constrain_velocity(&self.models,&style_mesh,&mut target_velocity);
let (walk_state,a)=WalkState::ground(&self.body,&self.style,gravity,target_velocity,contact.clone(),&normal);
self.move_state=MoveState::Walk(walk_state);
set_acceleration(&mut self.body,&self.touching,&self.models,a);
set_acceleration(&mut self.body,&self.touching,&self.models,&style_mesh,a);
},
}
//check ground
@ -1431,7 +1442,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
//I love making functions with 10 arguments to dodge the borrow checker
run_teleport_behaviour(&general.teleport_behaviour,&mut self.game,&self.models,&self.modes,&self.style,&mut self.touching,&mut self.body,model_id);
//flatten v
self.touching.constrain_velocity(&self.models,&mut v);
self.touching.constrain_velocity(&self.models,&style_mesh,&mut v);
match &general.booster{
Some(booster)=>{
//DELETE THIS when boosters get converted to height machines
@ -1446,7 +1457,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
let calc_move=if self.style.get_control(StyleModifiers::CONTROL_JUMP,self.controls){
if let Some(walk_state)=get_walk_state(&self.move_state){
jumped_velocity(&self.models,&self.style,walk_state,&mut v);
set_velocity_cull(&mut self.body,&mut self.touching,&self.models,v)
set_velocity_cull(&mut self.body,&mut self.touching,&self.models,&style_mesh,v)
}else{false}
}else{false};
match &general.trajectory{
@ -1462,13 +1473,13 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
},
None=>(),
}
set_velocity(&mut self.body,&self.touching,&self.models,v);
set_velocity(&mut self.body,&self.touching,&self.models,&style_mesh,v);
//not sure if or is correct here
if calc_move||Planar64::ZERO<normal.dot(v){
(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);
}
let a=self.refresh_walk_target();
set_acceleration(&mut self.body,&self.touching,&self.models,a);
set_acceleration(&mut self.body,&self.touching,&self.models,&style_mesh,a);
},
(PhysicsCollisionAttributes::Intersect{intersecting: _,general},Collision::Intersect(intersect))=>{
//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
@ -1501,7 +1512,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
let v=self.body.velocity+control_dir*(self.style.mv-d);
//this is wrong but will work ig
//need to note which push planes activate in push solve and keep those
if set_velocity_cull(&mut self.body,&mut self.touching,&self.models,v){
if set_velocity_cull(&mut self.body,&mut self.touching,&self.models,&self.style.mesh(),v){
(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);
}
}
@ -1514,11 +1525,12 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
match &mut walk_state.state{
WalkEnum::Reached=>(),
WalkEnum::Transient(walk_target)=>{
let style_mesh=self.style.mesh();
//precisely set velocity
let a=Planar64Vec3::ZERO;//ignore gravity for now.
set_acceleration(&mut self.body,&self.touching,&self.models,a);
set_acceleration(&mut self.body,&self.touching,&self.models,&style_mesh,a);
let v=walk_target.velocity;
set_velocity(&mut self.body,&self.touching,&self.models,v);
set_velocity(&mut self.body,&self.touching,&self.models,&style_mesh,v);
walk_state.state=WalkEnum::Reached;
},
}
@ -1547,7 +1559,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
if let Some(walk_state)=get_walk_state(&self.move_state){
let mut v=self.body.velocity;
jumped_velocity(&self.models,&self.style,walk_state,&mut v);
if set_velocity_cull(&mut self.body,&mut self.touching,&self.models,v){
if set_velocity_cull(&mut self.body,&mut self.touching,&self.models,&self.style.mesh(),v){
(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);
}
}
@ -1560,7 +1572,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
PhysicsInputInstruction::Reset => {
//it matters which of these runs first, but I have not thought it through yet as it doesn't matter yet
set_position(&mut self.body,&mut self.touching,self.spawn_point);
set_velocity(&mut self.body,&self.touching,&self.models,Planar64Vec3::ZERO);
set_velocity(&mut self.body,&self.touching,&self.models,&self.style.mesh(),Planar64Vec3::ZERO);
(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;
},
@ -1568,7 +1580,7 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
}
if refresh_walk_target{
let a=self.refresh_walk_target();
if set_acceleration_cull(&mut self.body,&mut self.touching,&self.models,a){
if set_acceleration_cull(&mut self.body,&mut self.touching,&self.models,&self.style.mesh(),a){
(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);
}
}