rework predict_collision_end
This commit is contained in:
parent
3a0b3900ec
commit
ad7abbdf1c
209
src/body.rs
209
src/body.rs
@ -20,8 +20,6 @@ pub struct Body {
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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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time: TIME,//nanoseconds x xxxxD!
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//origin_time = timestamp of position and velocity
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//processed_time = starting time for new events. prevents colliding with the analytic euqation in the past
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}
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pub enum MoveRestriction {
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@ -260,7 +258,7 @@ impl Model {
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//need non-face (full model) variant for CanCollide false objects
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//OR have a separate list from contacts for model intersection
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#[derive(Eq, Hash, PartialEq)]
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#[derive(Clone,Eq,Hash,PartialEq)]
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pub struct RelativeCollision {
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face: TreyMeshFace,//just an id
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model: u32,//using id to avoid lifetimes
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@ -303,9 +301,9 @@ impl Body {
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impl PhysicsState {
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//tickless gaming
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pub fn run(&mut self, time: TIME){
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pub fn run(&mut self, time_limit:TIME){
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//prepare is ommitted - everything is done via instructions.
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while let Some(instruction) = self.next_instruction(time) {//collect
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while let Some(instruction) = self.next_instruction(time_limit) {//collect
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//advance
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//self.advance_time(instruction.time);
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//process
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@ -369,31 +367,29 @@ impl PhysicsState {
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}
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aabb
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}
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fn predict_collision_end(&self,model:&Model,time_limit:TIME,model_id:u32) -> Option<TimedInstruction<PhysicsInstruction>> {
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fn predict_collision_end(&self,time:TIME,time_limit:TIME,collision_data:&RelativeCollision) -> Option<TimedInstruction<PhysicsInstruction>> {
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//must treat cancollide false objects differently: you may not exit through the same face you entered.
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//RelativeCollsion must reference the full model instead of a particular face
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//this is Ctrl+C Ctrl+V of predict_collision_start but with v=-v before the calc and t=-t after the calc
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//find best t
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let mut best_delta_time=time_limit-self.body.time;
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let mut best_face:Option<TreyMeshFace>=None;
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let mut best_time=time_limit;
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let mut exit_face:Option<TreyMeshFace>=None;
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let mesh0=self.mesh();
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let mesh1=model.mesh();
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let (p,v,a)=(self.body.position,-self.body.velocity,self.body.acceleration);
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let mesh1=self.models_cringe_clone.get(collision_data.model as usize).unwrap().mesh();
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let (v,a)=(-self.body.velocity,self.body.acceleration);
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//collect x
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match collision_data.face {
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AabbFace::Top|AabbFace::Back|AabbFace::Bottom|AabbFace::Front=>{
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for t in zeroes2(mesh0.max.x-mesh1.min.x,v.x,a.x) {
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//negative t = back in time
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=((-t as f64)*1_000_000_000f64) as TIME;
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if 0<=t_time&&t_time<best_delta_time&&0f32<(-v.x+a.x*t){
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let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
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//faces must be overlapping
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if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
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let t_time=self.body.time+((-t as f64)*1_000_000_000f64) as TIME;
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if time<=t_time&&t_time<best_time&&0f32<(-v.x+a.x*t){
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//collect valid t
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best_delta_time=t_time;
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best_face=Some(TreyMeshFace::Left);
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}
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best_time=t_time;
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exit_face=Some(TreyMeshFace::Left);
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}
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}
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for t in zeroes2(mesh0.min.x-mesh1.max.x,v.x,a.x) {
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@ -401,32 +397,42 @@ impl PhysicsState {
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=((-t as f64)*1_000_000_000f64) as TIME;
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if 0<=t_time&&t_time<best_delta_time&&(-v.x+a.x*t)<0f32{
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let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
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//faces must be overlapping
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if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
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let t_time=self.body.time+((-t as f64)*1_000_000_000f64) as TIME;
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if time<=t_time&&t_time<best_time&&(-v.x+a.x*t)<0f32{
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//collect valid t
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best_delta_time=t_time;
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best_face=Some(TreyMeshFace::Right);
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best_time=t_time;
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exit_face=Some(TreyMeshFace::Right);
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}
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}
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},
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AabbFace::Left=>{
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//generate event if v.x<0||a.x<0
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if -v.x<0f32{
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best_time=time;
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exit_face=Some(TreyMeshFace::Left);
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}
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},
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AabbFace::Right=>{
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//generate event if 0<v.x||0<a.x
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if 0f32<(-v.x){
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best_time=time;
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exit_face=Some(TreyMeshFace::Right);
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}
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},
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}
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//collect y
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match collision_data.face {
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AabbFace::Left|AabbFace::Back|AabbFace::Right|AabbFace::Front=>{
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for t in zeroes2(mesh0.max.y-mesh1.min.y,v.y,a.y) {
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//negative t = back in time
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=((-t as f64)*1_000_000_000f64) as TIME;
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if 0<=t_time&&t_time<best_delta_time&&0f32<(-v.y+a.y*t){
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let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
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//faces must be overlapping
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if mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
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let t_time=self.body.time+((-t as f64)*1_000_000_000f64) as TIME;
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if time<=t_time&&t_time<best_time&&0f32<(-v.y+a.y*t){
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//collect valid t
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best_delta_time=t_time;
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best_face=Some(TreyMeshFace::Bottom);
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}
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best_time=t_time;
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exit_face=Some(TreyMeshFace::Bottom);
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}
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}
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for t in zeroes2(mesh0.min.y-mesh1.max.y,v.y,a.y) {
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@ -434,32 +440,42 @@ impl PhysicsState {
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=((-t as f64)*1_000_000_000f64) as TIME;
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if 0<=t_time&&t_time<best_delta_time&&(-v.y+a.y*t)<0f32{
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let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
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//faces must be overlapping
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if mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
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let t_time=self.body.time+((-t as f64)*1_000_000_000f64) as TIME;
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if time<=t_time&&t_time<best_time&&(-v.y+a.y*t)<0f32{
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//collect valid t
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best_delta_time=t_time;
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best_face=Some(TreyMeshFace::Top);
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best_time=t_time;
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exit_face=Some(TreyMeshFace::Top);
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}
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}
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},
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AabbFace::Bottom=>{
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//generate event if v.y<0||a.y<0
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if -v.y<0f32{
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best_time=time;
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exit_face=Some(TreyMeshFace::Bottom);
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}
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},
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AabbFace::Top=>{
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//generate event if 0<v.y||0<a.y
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if 0f32<(-v.y){
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best_time=time;
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exit_face=Some(TreyMeshFace::Top);
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}
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},
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}
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//collect z
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match collision_data.face {
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AabbFace::Left|AabbFace::Bottom|AabbFace::Right|AabbFace::Top=>{
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for t in zeroes2(mesh0.max.z-mesh1.min.z,v.z,a.z) {
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//negative t = back in time
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=((-t as f64)*1_000_000_000f64) as TIME;
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if 0<=t_time&&t_time<best_delta_time&&0f32<(-v.z+a.z*t){
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let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
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//faces must be overlapping
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if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x {
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let t_time=self.body.time+((-t as f64)*1_000_000_000f64) as TIME;
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if time<=t_time&&t_time<best_time&&0f32<(-v.z+a.z*t){
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//collect valid t
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best_delta_time=t_time;
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best_face=Some(TreyMeshFace::Front);
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}
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best_time=t_time;
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exit_face=Some(TreyMeshFace::Front);
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}
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}
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for t in zeroes2(mesh0.min.z-mesh1.max.z,v.z,a.z) {
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@ -467,35 +483,44 @@ impl PhysicsState {
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=((-t as f64)*1_000_000_000f64) as TIME;
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if 0<=t_time&&t_time<best_delta_time&&(-v.z+a.z*t)<0f32{
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let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
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//faces must be overlapping
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if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x {
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let t_time=self.body.time+((-t as f64)*1_000_000_000f64) as TIME;
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if time<=t_time&&t_time<best_time&&(-v.z+a.z*t)<0f32{
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//collect valid t
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best_delta_time=t_time;
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best_face=Some(TreyMeshFace::Back);
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best_time=t_time;
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exit_face=Some(TreyMeshFace::Back);
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}
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}
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},
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AabbFace::Front=>{
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//generate event if v.z<0||a.z<0
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if -v.z<0f32{
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best_time=time;
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exit_face=Some(TreyMeshFace::Front);
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}
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},
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AabbFace::Back=>{
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//generate event if 0<v.z||0<a.z
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if 0f32<(-v.z){
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best_time=time;
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exit_face=Some(TreyMeshFace::Back);
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}
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},
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}
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//generate instruction
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if let Some(face) = best_face{
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if let Some(face) = exit_face{
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return Some(TimedInstruction {
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time: self.body.time+best_delta_time,
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instruction: PhysicsInstruction::CollisionStart(RelativeCollision {
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face,
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model: model_id
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})
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time: best_time,
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instruction: PhysicsInstruction::CollisionEnd(collision_data.clone())
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})
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}
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None
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}
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fn predict_collision_start(&self,model:&Model,time_limit:TIME,model_id:u32) -> Option<TimedInstruction<PhysicsInstruction>> {
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fn predict_collision_start(&self,time:TIME,time_limit:TIME,model_id:u32) -> Option<TimedInstruction<PhysicsInstruction>> {
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//find best t
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let mut best_delta_time=time_limit-self.body.time;
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let mut best_time=time_limit;
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let mut best_face:Option<TreyMeshFace>=None;
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let mesh0=self.mesh();
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let mesh1=model.mesh();
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let mesh1=self.models_cringe_clone.get(model_id as usize).unwrap().mesh();
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let (p,v,a)=(self.body.position,self.body.velocity,self.body.acceleration);
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//collect x
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for t in zeroes2(mesh0.max.x-mesh1.min.x,v.x,a.x) {
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@ -503,13 +528,13 @@ impl PhysicsState {
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=((t as f64)*1_000_000_000f64) as TIME;
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if 0<=t_time&&t_time<best_delta_time&&0f32<v.x+a.x*t{
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let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
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let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
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if time<=t_time&&t_time<best_time&&0f32<v.x+a.x*t{
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let dp=self.body.extrapolated_position(t_time)-p;
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//faces must be overlapping
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if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
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//collect valid t
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best_delta_time=t_time;
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best_time=t_time;
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best_face=Some(TreyMeshFace::Left);
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}
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}
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@ -519,13 +544,13 @@ impl PhysicsState {
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=((t as f64)*1_000_000_000f64) as TIME;
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if 0<=t_time&&t_time<best_delta_time&&v.x+a.x*t<0f32{
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let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
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let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
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if time<=t_time&&t_time<best_time&&v.x+a.x*t<0f32{
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let dp=self.body.extrapolated_position(t_time)-p;
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//faces must be overlapping
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if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
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//collect valid t
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best_delta_time=t_time;
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best_time=t_time;
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best_face=Some(TreyMeshFace::Right);
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}
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}
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@ -536,13 +561,13 @@ impl PhysicsState {
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=((t as f64)*1_000_000_000f64) as TIME;
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if 0<=t_time&&t_time<best_delta_time&&0f32<v.y+a.y*t{
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let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
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let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
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if time<=t_time&&t_time<best_time&&0f32<v.y+a.y*t{
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let dp=self.body.extrapolated_position(t_time)-p;
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//faces must be overlapping
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if mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
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//collect valid t
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best_delta_time=t_time;
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best_time=t_time;
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best_face=Some(TreyMeshFace::Bottom);
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}
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}
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@ -552,13 +577,13 @@ impl PhysicsState {
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=((t as f64)*1_000_000_000f64) as TIME;
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if 0<=t_time&&t_time<best_delta_time&&v.y+a.y*t<0f32{
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let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
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let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
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if time<=t_time&&t_time<best_time&&v.y+a.y*t<0f32{
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let dp=self.body.extrapolated_position(t_time)-p;
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//faces must be overlapping
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if mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x&&mesh1.min.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
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//collect valid t
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best_delta_time=t_time;
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best_time=t_time;
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best_face=Some(TreyMeshFace::Top);
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}
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}
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@ -569,13 +594,13 @@ impl PhysicsState {
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=((t as f64)*1_000_000_000f64) as TIME;
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if 0<=t_time&&t_time<best_delta_time&&0f32<v.z+a.z*t{
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let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
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let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
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if time<=t_time&&t_time<best_time&&0f32<v.z+a.z*t{
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let dp=self.body.extrapolated_position(t_time)-p;
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//faces must be overlapping
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if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x {
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//collect valid t
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best_delta_time=t_time;
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best_time=t_time;
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best_face=Some(TreyMeshFace::Front);
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}
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}
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@ -585,13 +610,13 @@ impl PhysicsState {
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//must be moving towards surface to collide
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//must beat the current soonest collision time
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//must be moving towards surface
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let t_time=((t as f64)*1_000_000_000f64) as TIME;
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if 0<=t_time&&t_time<best_delta_time&&v.z+a.z*t<0f32{
|
||||
let dp=self.body.extrapolated_position(self.body.time+t_time)-p;
|
||||
let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
|
||||
if time<=t_time&&t_time<best_time&&v.z+a.z*t<0f32{
|
||||
let dp=self.body.extrapolated_position(t_time)-p;
|
||||
//faces must be overlapping
|
||||
if mesh1.min.y<mesh0.max.y+dp.y&&mesh0.min.y+dp.y<mesh1.max.y&&mesh1.min.x<mesh0.max.x+dp.x&&mesh0.min.x+dp.x<mesh1.max.x {
|
||||
//collect valid t
|
||||
best_delta_time=t_time;
|
||||
best_time=t_time;
|
||||
best_face=Some(TreyMeshFace::Back);
|
||||
}
|
||||
}
|
||||
@ -599,7 +624,7 @@ impl PhysicsState {
|
||||
//generate instruction
|
||||
if let Some(face) = best_face{
|
||||
return Some(TimedInstruction {
|
||||
time: self.body.time+best_delta_time,
|
||||
time: best_time,
|
||||
instruction: PhysicsInstruction::CollisionStart(RelativeCollision {
|
||||
face,
|
||||
model: model_id
|
||||
@ -625,11 +650,11 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
|
||||
}
|
||||
//check for collision stop instructions with curent contacts
|
||||
for collision_data in self.contacts.iter() {
|
||||
collector.collect(self.predict_collision_end(self.models_cringe_clone.get(collision_data.model as usize).unwrap(),time_limit,collision_data.model));
|
||||
collector.collect(self.predict_collision_end(self.time,time_limit,collision_data));
|
||||
}
|
||||
//check for collision start instructions (against every part in the game with no optimization!!)
|
||||
for (i,model) in self.models_cringe_clone.iter().enumerate() {
|
||||
collector.collect(self.predict_collision_start(model,time_limit,i as u32));
|
||||
for i in 0..self.models_cringe_clone.len() {
|
||||
collector.collect(self.predict_collision_start(self.time,time_limit,i as u32));
|
||||
}
|
||||
if self.grounded {
|
||||
//walk maintenance
|
||||
|
||||
@ -4,7 +4,7 @@ pub struct TimedInstruction<I> {
|
||||
}
|
||||
|
||||
pub trait InstructionEmitter<I> {
|
||||
fn next_instruction(&self, time:crate::body::TIME) -> Option<TimedInstruction<I>>;
|
||||
fn next_instruction(&self, time_limit:crate::body::TIME) -> Option<TimedInstruction<I>>;
|
||||
}
|
||||
pub trait InstructionConsumer<I> {
|
||||
fn process_instruction(&mut self, instruction:TimedInstruction<I>);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user