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physics.rs cleared

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Quaternions 2024-09-12 13:49:42 -07:00
parent fc7d4b7e0c
commit bbc9a89ad7
1 changed files with 31 additions and 24 deletions
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45
src/physics.rs
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@ -410,7 +410,7 @@ impl HitboxMesh{
let transform=PhysicsMeshTransform::new(transform); let transform=PhysicsMeshTransform::new(transform);
let transformed_mesh=TransformedMesh::new(mesh.complete_mesh_view(),&transform); let transformed_mesh=TransformedMesh::new(mesh.complete_mesh_view(),&transform);
for vert in transformed_mesh.verts(){ for vert in transformed_mesh.verts(){
aabb.grow(vert); aabb.grow(vert.fix_1());
} }
Self{ Self{
halfsize:aabb.size()>>1, halfsize:aabb.size()>>1,
@ -475,7 +475,10 @@ impl StyleHelper for StyleModifiers{
gameplay_style::HitboxMesh::Box=>PhysicsMesh::unit_cube(), gameplay_style::HitboxMesh::Box=>PhysicsMesh::unit_cube(),
gameplay_style::HitboxMesh::Cylinder=>PhysicsMesh::unit_cylinder(), gameplay_style::HitboxMesh::Cylinder=>PhysicsMesh::unit_cylinder(),
}; };
let transform=mat3::from_diagonal(self.hitbox.halfsize).extend_column(vec3::ZERO); let transform=integer::Planar64Affine3::new(
mat3::from_diagonal(self.hitbox.halfsize),
vec3::ZERO
);
HitboxMesh::new(mesh,transform) HitboxMesh::new(mesh,transform)
} }
} }
@ -766,9 +769,9 @@ impl TouchingState{
//TODO: trey push solve //TODO: trey push solve
for contact in &self.contacts{ for contact in &self.contacts{
let n=contact_normal(models,hitbox_mesh,contact); let n=contact_normal(models,hitbox_mesh,contact);
let d=n.dot128(*velocity); let d=n.dot(*velocity);
if d<0{ if d.is_negative(){
*velocity-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64); *velocity-=(n*d/n.length_squared()).divide().fix_1();
} }
} }
} }
@ -776,9 +779,9 @@ impl TouchingState{
//TODO: trey push solve //TODO: trey push solve
for contact in &self.contacts{ for contact in &self.contacts{
let n=contact_normal(models,hitbox_mesh,contact); let n=contact_normal(models,hitbox_mesh,contact);
let d=n.dot128(*acceleration); let d=n.dot(*acceleration);
if d<0{ if d.is_negative(){
*acceleration-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64); *acceleration-=(n*d/n.length_squared()).divide().fix_1();
} }
} }
} }
@ -855,19 +858,19 @@ impl Body{
//v+a*t==0 //v+a*t==0
//goober code //goober code
if !self.acceleration.x.is_zero(){ if !self.acceleration.x.is_zero(){
let t=Time::from(-self.velocity.x/self.acceleration.x); let t=Time::from(-(self.velocity.x/self.acceleration.x).divide().fix_1());
if t0<t&&t<t1{ if t0<t&&t<t1{
aabb.grow(self.extrapolated_position(t)); aabb.grow(self.extrapolated_position(t));
} }
} }
if !self.acceleration.y.is_zero(){ if !self.acceleration.y.is_zero(){
let t=Time::from(-self.velocity.y/self.acceleration.y); let t=Time::from(-(self.velocity.y/self.acceleration.y).divide().fix_1());
if t0<t&&t<t1{ if t0<t&&t<t1{
aabb.grow(self.extrapolated_position(t)); aabb.grow(self.extrapolated_position(t));
} }
} }
if !self.acceleration.z.is_zero(){ if !self.acceleration.z.is_zero(){
let t=Time::from(-self.velocity.z/self.acceleration.z); let t=Time::from(-(self.velocity.z/self.acceleration.z).divide().fix_1());
if t0<t&&t<t1{ if t0<t&&t<t1{
aabb.grow(self.extrapolated_position(t)); aabb.grow(self.extrapolated_position(t));
} }
@ -1157,7 +1160,7 @@ impl PhysicsContext{
let mut aabb=aabb::Aabb::default(); let mut aabb=aabb::Aabb::default();
let transformed_mesh=TransformedMesh::new(view,transform); let transformed_mesh=TransformedMesh::new(view,transform);
for v in transformed_mesh.verts(){ for v in transformed_mesh.verts(){
aabb.grow(v); aabb.grow(v.fix_1());
} }
(ConvexMeshId{ (ConvexMeshId{
model_id, model_id,
@ -1408,7 +1411,8 @@ fn teleport_to_spawn(
)->Result<(),TeleportToSpawnError>{ )->Result<(),TeleportToSpawnError>{
const EPSILON:Planar64=Planar64::raw((1<<32)/16); const EPSILON:Planar64=Planar64::raw((1<<32)/16);
let transform=models.get_model_transform(stage.spawn()).ok_or(TeleportToSpawnError::NoModel)?; let transform=models.get_model_transform(stage.spawn()).ok_or(TeleportToSpawnError::NoModel)?;
let point=transform.vertex.y_axis+Planar64Vec3::new([Planar64::ZERO,style.hitbox.halfsize.y+EPSILON,Planar64::ZERO]); //TODO: transform.vertex.matrix3.col(1)+transform.vertex.translation
let point=transform.vertex.transform_point3(vec3::Y).fix_1()+Planar64Vec3::new([Planar64::ZERO,style.hitbox.halfsize.y+EPSILON,Planar64::ZERO]);
teleport(point,move_state,body,touching,run,mode_state,Some(mode),models,hitbox_mesh,bvh,style,camera,input_state,time); teleport(point,move_state,body,touching,run,mode_state,Some(mode),models,hitbox_mesh,bvh,style,camera,input_state,time);
Ok(()) Ok(())
} }
@ -1496,7 +1500,7 @@ fn run_teleport_behaviour(
} }
if let Some(&gameplay_attributes::Wormhole{destination_model})=wormhole{ if let Some(&gameplay_attributes::Wormhole{destination_model})=wormhole{
if let (Some(origin),Some(destination))=(models.get_model_transform(model_id),models.get_model_transform(destination_model)){ if let (Some(origin),Some(destination))=(models.get_model_transform(model_id),models.get_model_transform(destination_model)){
let point=body.position-origin.vertex.col(3)+destination.vertex.col(3); let point=body.position-origin.vertex.translation+destination.vertex.translation;
//TODO: camera angles //TODO: camera angles
teleport(point,move_state,body,touching,run,mode_state,mode,models,hitbox_mesh,bvh,style,camera,input_state,time); teleport(point,move_state,body,touching,run,mode_state,mode,models,hitbox_mesh,bvh,style,camera,input_state,time);
} }
@ -1529,7 +1533,7 @@ fn collision_start_contact(
Some(gameplay_attributes::ContactingBehaviour::Surf)=>println!("I'm surfing!"), Some(gameplay_attributes::ContactingBehaviour::Surf)=>println!("I'm surfing!"),
Some(gameplay_attributes::ContactingBehaviour::Cling)=>println!("Unimplemented!"), Some(gameplay_attributes::ContactingBehaviour::Cling)=>println!("Unimplemented!"),
&Some(gameplay_attributes::ContactingBehaviour::Elastic(elasticity))=>{ &Some(gameplay_attributes::ContactingBehaviour::Elastic(elasticity))=>{
let reflected_velocity=body.velocity+(body.velocity-incident_velocity)*Planar64::raw(elasticity as i64+1); let reflected_velocity=body.velocity+((body.velocity-incident_velocity)*Planar64::raw(elasticity as i64+1)).fix_1();
set_velocity(body,touching,models,hitbox_mesh,reflected_velocity); set_velocity(body,touching,models,hitbox_mesh,reflected_velocity);
}, },
Some(gameplay_attributes::ContactingBehaviour::Ladder(contacting_ladder))=> Some(gameplay_attributes::ContactingBehaviour::Ladder(contacting_ladder))=>
@ -1547,7 +1551,7 @@ fn collision_start_contact(
}, },
Some(gameplay_attributes::ContactingBehaviour::NoJump)=>todo!("nyi"), Some(gameplay_attributes::ContactingBehaviour::NoJump)=>todo!("nyi"),
None=>if let Some(walk_settings)=&style.walk{ None=>if let Some(walk_settings)=&style.walk{
if walk_settings.is_slope_walkable(contact_normal(models,hitbox_mesh,&contact),Planar64Vec3::Y){ if walk_settings.is_slope_walkable(contact_normal(models,hitbox_mesh,&contact),vec3::Y){
//ground //ground
let (gravity,target_velocity)=ground_things(walk_settings,&contact,touching,models,hitbox_mesh,style,camera,input_state); let (gravity,target_velocity)=ground_things(walk_settings,&contact,touching,models,hitbox_mesh,style,camera,input_state);
let walk_state=ContactMoveState::ground(walk_settings,body,gravity,target_velocity,contact); let walk_state=ContactMoveState::ground(walk_settings,body,gravity,target_velocity,contact);
@ -1847,7 +1851,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
//TODO: spawn at the bottom of the start zone plus the hitbox size //TODO: spawn at the bottom of the start zone plus the hitbox size
//TODO: set camera andles to face the same way as the start zone //TODO: set camera andles to face the same way as the start zone
data.models.get_model_transform(mode.get_start().into()).map(|transform| data.models.get_model_transform(mode.get_start().into()).map(|transform|
transform.vertex.col(3) transform.vertex.translation
) )
).unwrap_or(vec3::ZERO); ).unwrap_or(vec3::ZERO);
set_position(spawn_point,&mut state.move_state,&mut state.body,&mut state.touching,&mut state.run,&mut state.mode_state,mode,&data.models,&data.hitbox_mesh,&data.bvh,&state.style,&state.camera,&state.input_state,state.time); set_position(spawn_point,&mut state.move_state,&mut state.body,&mut state.touching,&mut state.run,&mut state.mode_state,mode,&data.models,&data.hitbox_mesh,&data.bvh,&state.style,&state.camera,&state.input_state,state.time);
@ -1917,7 +1921,7 @@ mod test{
use strafesnet_common::integer::{vec3::{self,int as int3},mat3}; use strafesnet_common::integer::{vec3::{self,int as int3},mat3};
use super::*; use super::*;
fn test_collision_axis_aligned(relative_body:Body,expected_collision_time:Option<Time>){ fn test_collision_axis_aligned(relative_body:Body,expected_collision_time:Option<Time>){
let h0=HitboxMesh::new(PhysicsMesh::unit_cube(),mat3::from_diagonal(int3(5,1,5)>>1).extend_column(vec3::ZERO)); let h0=HitboxMesh::new(PhysicsMesh::unit_cube(),integer::Planar64Affine3::new(mat3::from_diagonal(int3(5,1,5)>>1),vec3::ZERO));
let h1=StyleModifiers::roblox_bhop().calculate_mesh(); let h1=StyleModifiers::roblox_bhop().calculate_mesh();
let hitbox_mesh=h1.transformed_mesh(); let hitbox_mesh=h1.transformed_mesh();
let platform_mesh=h0.transformed_mesh(); let platform_mesh=h0.transformed_mesh();
@ -1927,11 +1931,14 @@ mod test{
} }
fn test_collision_rotated(relative_body:Body,expected_collision_time:Option<Time>){ fn test_collision_rotated(relative_body:Body,expected_collision_time:Option<Time>){
let h0=HitboxMesh::new(PhysicsMesh::unit_cube(), let h0=HitboxMesh::new(PhysicsMesh::unit_cube(),
integer::Planar64Affine3::new(
integer::Planar64Mat3::from_rows([ integer::Planar64Mat3::from_rows([
int3(5,0,1)>>1, int3(5,0,1)>>1,
int3(0,1,0)>>1, int3(0,1,0)>>1,
int3(-1,0,5)>>1, int3(-1,0,5)>>1,
]).extend_column(vec3::ZERO), ]),
vec3::ZERO
),
); );
let h1=StyleModifiers::roblox_bhop().calculate_mesh(); let h1=StyleModifiers::roblox_bhop().calculate_mesh();
let hitbox_mesh=h1.transformed_mesh(); let hitbox_mesh=h1.transformed_mesh();