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TouchingState::base_acceleration

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Quaternions 2023-11-06 17:04:35 -08:00
parent e6e7366e66
commit ce1e9df334
1 changed files with 60 additions and 21 deletions
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81
src/physics.rs
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@ -85,7 +85,7 @@ struct WalkState{
impl WalkEnum{
//args going crazy
//(walk_enum,body.acceleration)=with_target_velocity();
fn with_target_velocity(body:&Body,style:&StyleModifiers,models:&PhysicsModels,velocity:Planar64Vec3,normal:&Planar64Vec3)->(WalkEnum,Planar64Vec3){
fn with_target_velocity(body:&Body,style:&StyleModifiers,gravity:Planar64Vec3,velocity:Planar64Vec3,normal:&Planar64Vec3)->(WalkEnum,Planar64Vec3){
let mut target_diff=velocity-body.velocity;
//remove normal component
target_diff-=normal.clone()*(normal.dot(target_diff)/normal.dot(normal.clone()));
@ -99,23 +99,23 @@ impl WalkEnum{
}else{
style.kinetic_friction
};
let accel=style.walk_accel.min(style.gravity.dot(Planar64Vec3::NEG_Y)*friction);
let accel=style.walk_accel.min(gravity.dot(Planar64Vec3::NEG_Y)*friction);
let time_delta=diff_len/accel;
let mut a=target_diff.with_length(accel);
let a=target_diff.with_length(accel);
(WalkEnum::Transient(WalkTarget{velocity,time:body.time+Time::from(time_delta)}),a)
}
}
}
impl WalkState{
fn ground(touching:&TouchingState,body:&Body,style:&StyleModifiers,models:&PhysicsModels,velocity:Planar64Vec3)->(Self,Planar64Vec3){
let (walk_enum,a)=WalkEnum::with_target_velocity(body,style,models,velocity,&Planar64Vec3::Y);
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);
(Self{
state:walk_enum,
normal:Planar64Vec3::Y,
},a)
}
fn ladder(touching:&TouchingState,body:&Body,style:&StyleModifiers,models:&PhysicsModels,velocity:Planar64Vec3,normal:&Planar64Vec3)->(Self,Planar64Vec3){
let (walk_enum,a)=WalkEnum::with_target_velocity(body,style,models,velocity,normal);
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);
(Self{
state:walk_enum,
normal:normal.clone(),
@ -743,6 +743,41 @@ impl TouchingState{
Collision::Intersect(collision)=>self.intersects.remove(collision),
}
}
fn base_acceleration(&self,models:&PhysicsModels,style:&StyleModifiers,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time)->Planar64Vec3{
let mut a=style.gravity;
if let Some(rocket_force)=style.rocket_force{
a+=style.get_propulsion_control_dir(camera,controls,next_mouse,time)*rocket_force;
}
//add accelerators
for contact in &self.contacts{
match models.attr(contact.model_id){
PhysicsCollisionAttributes::Contact{contacting,general}=>{
match &general.accelerator{
Some(accelerator)=>{
a+=accelerator.acceleration;
},
None=>(),
}
},
_=>panic!("impossible touching state"),
}
}
for intersect in &self.intersects{
match models.attr(intersect.model_id){
PhysicsCollisionAttributes::Intersect{intersecting,general}=>{
match &general.accelerator{
Some(accelerator)=>{
a+=accelerator.acceleration;
},
None=>(),
}
},
_=>panic!("impossible touching state"),
}
}
//add water../?
a
}
fn constrain_velocity(&self,models:&PhysicsModels,velocity:&mut Planar64Vec3){
//TODO: trey push solve
for contact in &self.contacts{
@ -989,13 +1024,6 @@ impl PhysicsState {
fn set_control(&mut self,control:u32,state:bool){
self.controls=if state{self.controls|control}else{self.controls&!control};
}
fn gravity(&self)->Planar64Vec3{
let mut a=self.style.gravity;
if let Some(rocket_force)=self.style.rocket_force{
a+=self.style.get_propulsion_control_dir(&self.camera,self.controls,&self.next_mouse,self.time)*rocket_force;
}
a
}
fn jump(&mut self){
match &self.move_state{
MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>{
@ -1053,14 +1081,22 @@ impl PhysicsState {
MoveState::Air|MoveState::Water=>None,
MoveState::Walk(WalkState{normal,state})=>{
let n=normal;
let a;
(*state,a)=WalkEnum::with_target_velocity(&self.body,&self.style,&self.models,self.style.get_walk_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time),&n);
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);
self.touching.constrain_acceleration(&self.models,&mut a);
Some(a)
},
MoveState::Ladder(WalkState{normal,state})=>{
let n=normal;
let a;
(*state,a)=WalkEnum::with_target_velocity(&self.body,&self.style,&self.models,self.style.get_ladder_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time),&n);
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);
self.touching.constrain_acceleration(&self.models,&mut a);
Some(a)
},
}
@ -1232,18 +1268,20 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
v=Planar64Vec3::ZERO;//model.velocity
}
//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);
self.touching.constrain_velocity(&self.models,&mut target_velocity);
let (walk_state,mut a)=WalkState::ladder(&self.touching,&self.body,&self.style,&self.models,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,&self.models.mesh(model_id).face_nd(c.face_id().unwrap()).0);
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)){
//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.touching,&self.body,&self.style,&self.models,target_velocity);
let (walk_state,mut a)=WalkState::ground(&self.body,&self.style,gravity,target_velocity);
self.move_state=MoveState::Walk(walk_state);
self.touching.constrain_acceleration(&self.models,&mut a);
self.body.acceleration=a;
@ -1301,7 +1339,8 @@ impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsStat
PhysicsCollisionAttributes::Contact{contacting:_,general:_}=>{
self.touching.remove(&c);//remove contact before calling contact_constrain_acceleration
//check ground
(self.move_state,self.body.acceleration)=self.touching.get_move_state(self.gravity());
let gravity=self.touching.base_acceleration(&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
(self.move_state,self.body.acceleration)=self.touching.get_move_state(gravity);
},
PhysicsCollisionAttributes::Intersect{intersecting:_,general:_}=>{
self.touching.remove(&c);