wip
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c895a66ad6
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dbd08729d7
204
src/physics.rs
204
src/physics.rs
@ -138,59 +138,61 @@ impl JumpDirection{
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}
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}
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}
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enum WalkEnum{
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enum WalkTarget{
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Reached,
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Transient(WalkTarget),
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}
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struct WalkTarget{
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velocity:Planar64Vec3,
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Reachable{
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acceleration:Planar64Vec3,
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time:Time,
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},
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//walk target will never be reached
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Unreachable{
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acceleration:Planar64Vec3,
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}
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}
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struct WalkState{
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jump_direction:JumpDirection,
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contact:ContactCollision,
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state:WalkEnum,
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target:WalkTarget,
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}
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impl WalkEnum{
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//args going crazy
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//(walk_enum,body.acceleration)=with_target_velocity();
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fn with_target_velocity(body:&Body,style:&StyleModifiers,velocity:Planar64Vec3,normal:&Planar64Vec3,speed:Planar64,normal_accel:Planar64)->(WalkEnum,Planar64Vec3){
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let mut target_diff=velocity-body.velocity;
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//remove normal component
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target_diff-=normal.clone()*(normal.dot(target_diff)/normal.dot(normal.clone()));
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impl WalkTarget{
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fn with_target_diff(target_diff:Planar64Vec3,accel:Planar64,time:Time)->Self{
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if target_diff==Planar64Vec3::ZERO{
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(WalkEnum::Reached,Planar64Vec3::ZERO)
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WalkTarget::Reached
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}else{
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//normal friction acceleration is clippedAcceleration.dot(normal)*friction
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let diff_len=target_diff.length();
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let friction=if diff_len<speed{
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style.static_friction
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}else{
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style.kinetic_friction
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};
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let accel=style.walk_accel.min(normal_accel*friction);
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let time_delta=diff_len/accel;
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let a=target_diff.with_length(accel);
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(WalkEnum::Transient(WalkTarget{velocity,time:body.time+Time::from(time_delta)}),a)
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WalkTarget::Reachable{
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acceleration:target_diff.with_length(accel),
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time:time+Time::from(target_diff.length()/accel)
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}
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}
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}
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fn acceleration(&self)->Planar64Vec3{
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match self{
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WalkTarget::Reached=>Planar64Vec3::ZERO,
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&WalkTarget::Reachable{acceleration,time:_}=>acceleration,
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&WalkTarget::Unreachable{acceleration}=>acceleration,
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}
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}
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}
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impl WalkState{
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fn ground(body:&Body,style:&StyleModifiers,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:&Planar64Vec3)->(Self,Planar64Vec3){
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let (walk_enum,a)=WalkEnum::with_target_velocity(body,style,velocity,&Planar64Vec3::Y,style.walk_speed,-normal.dot(gravity));
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(Self{
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state:walk_enum,
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fn ground(body:&Body,walk_settings:&gameplay_style::WalkSettings,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:Planar64Vec3)->Self{
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let target_diff=velocity-body.velocity;
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//precalculate accel
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let accel=walk_settings.accel(target_diff,gravity);
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Self{
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target:WalkTarget::with_target_diff(target_diff,accel,body.time),
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contact,
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jump_direction:JumpDirection::Exactly(Planar64Vec3::Y),
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},a)
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}
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fn ladder(body:&Body,style:&StyleModifiers,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:&Planar64Vec3)->(Self,Planar64Vec3){
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let (walk_enum,a)=WalkEnum::with_target_velocity(body,style,velocity,normal,style.ladder_speed,style.ladder_accel);
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(Self{
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state:walk_enum,
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}
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fn ladder(body:&Body,ladder_settings:&gameplay_style::LadderSettings,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:Planar64Vec3)->Self{
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let target_diff=velocity-body.velocity;
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let accel=ladder_settings.accel(target_diff,gravity);
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Self{//,style,velocity,normal,style.ladder_speed,style.ladder_accel
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target:WalkTarget::with_target_diff(target_diff,accel,body.time),
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contact,
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jump_direction:JumpDirection::FromContactNormal,
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},a)
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}
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}
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}
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@ -481,6 +483,59 @@ impl MoveState{
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},
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}
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}
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/// Returns whether the MoveState was changed
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fn apply_input(&mut self,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&mut Body){
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match self{
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MoveState::Fly=>(),
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MoveState::Air|MoveState::Water=>s.touching.base_acceleration(models,&s.style,&s.camera,&s.input_state),
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MoveState::Walk(WalkState{target: state,contact,jump_direction:_})=>{
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let n=contact_normal(models,hitbox_mesh,contact);
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let gravity=s.touching.base_acceleration(models,&s.style,&s.camera,&s.input_state);
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let a;
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let mut v=s.style.get_walk_target_velocity(&s.camera,&s.input_state,&n);
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s.touching.constrain_velocity(models,hitbox_mesh,&mut v);
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let normal_accel=-n.dot(gravity)/n.length();
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(*state,a)=WalkTarget::with_target_velocity(&s.body,&s.style,v,&n,s.style.walk_speed,normal_accel);
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a
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},
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MoveState::Ladder(WalkState{target: state,contact,jump_direction:_})=>{
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let n=contact_normal(models,hitbox_mesh,contact);
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//let gravity=s.touching.base_acceleration(&data.models,&s.style,&s.camera,s.controls,&s.next_mouse,s.time);
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let a;
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let mut v=s.style.get_ladder_target_velocity(&s.camera,&s.input_state,&n);
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s.touching.constrain_velocity(models,hitbox_mesh,&mut v);
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(*state,a)=WalkTarget::with_target_velocity(&s.body,&s.style,v,&n,s.style.ladder_speed,s.style.ladder_accel);
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a
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},
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}
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self.apply_to_body(touching,models,hitbox_mesh,body);
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}
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fn get_walk_state(&self)->Option<&WalkState>{
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match self{
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MoveState::Walk(walk_state)
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|MoveState::Ladder(walk_state)
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=>Some(walk_state),
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MoveState::Air
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|MoveState::Water
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|MoveState::Fly
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=>None,
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}
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}
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fn next_move_instruction(&self)->Option<TimedInstruction<PhysicsInstruction>>{
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//check if you have a valid walk state and create an instruction
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match self{
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MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>match &walk_state.target{
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WalkTarget::Reachable(walk_target)=>Some(TimedInstruction{
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time:walk_target.time,
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instruction:PhysicsInstruction::ReachWalkTargetVelocity
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}),
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WalkTarget::Reached=>None,
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}
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MoveState::Air=>self.next_strafe_instruction(),
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MoveState::Water=>None,//TODO
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MoveState::Fly=>None,
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}
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}
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}
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#[derive(Clone,Default)]
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@ -620,9 +675,7 @@ impl TouchingState{
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fn base_acceleration(&self,models:&PhysicsModels,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->Planar64Vec3{
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let mut a=style.gravity;
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if let Some(rocket_settings)=style.rocket{
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if rocket_settings.activates(input_state.controls){
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a+=rocket_settings.acceleration(style.get_propulsion_control_dir(camera,input_state));
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}
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a+=rocket_settings.acceleration(style.get_propulsion_control_dir(camera,input_state.controls));
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}
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//add accelerators
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for contact in &self.contacts{
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@ -647,7 +700,7 @@ impl TouchingState{
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_=>panic!("impossible touching state"),
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}
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}
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//add water../?
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//TODO: add water
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a
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}
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fn constrain_velocity(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,velocity:&mut Planar64Vec3){
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@ -954,23 +1007,8 @@ impl PhysicsState {
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// instruction:PhysicsInstruction::Water
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// });
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// }
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fn next_move_instruction(&self)->Option<TimedInstruction<PhysicsInstruction>>{
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//check if you have a valid walk state and create an instruction
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match &self.move_state{
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MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>match &walk_state.state{
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WalkEnum::Transient(walk_target)=>Some(TimedInstruction{
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time:walk_target.time,
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instruction:PhysicsInstruction::ReachWalkTargetVelocity
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}),
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WalkEnum::Reached=>None,
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}
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MoveState::Air=>self.next_strafe_instruction(),
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MoveState::Water=>None,//TODO
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MoveState::Fly=>None,
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}
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}
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}
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#[derive(Default)]
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pub struct PhysicsContext{
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pub state:PhysicsState,//this captures the entire state of the physics.
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@ -1074,33 +1112,6 @@ impl PhysicsContext{
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}
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}
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//TODO get rid of this trash
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fn refresh_walk_target(s:&mut PhysicsState,data:&PhysicsData)->Planar64Vec3{
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match &mut s.move_state{
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MoveState::Fly=>Planar64Vec3::ZERO,
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MoveState::Air|MoveState::Water=>s.touching.base_acceleration(&data.models,&s.style,&s.camera,&s.input_state),
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MoveState::Walk(WalkState{state,contact,jump_direction:_})=>{
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let n=contact_normal(&data.models,&data.hitbox_mesh,contact);
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let gravity=s.touching.base_acceleration(&data.models,&s.style,&s.camera,&s.input_state);
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let a;
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let mut v=s.style.get_walk_target_velocity(&s.camera,&s.input_state,&n);
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s.touching.constrain_velocity(&data.models,&data.hitbox_mesh,&mut v);
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let normal_accel=-n.dot(gravity)/n.length();
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(*state,a)=WalkEnum::with_target_velocity(&s.body,&s.style,v,&n,s.style.walk_speed,normal_accel);
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a
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},
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MoveState::Ladder(WalkState{state,contact,jump_direction:_})=>{
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let n=contact_normal(&data.models,&data.hitbox_mesh,contact);
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//let gravity=s.touching.base_acceleration(&data.models,&s.style,&s.camera,s.controls,&s.next_mouse,s.time);
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let a;
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let mut v=s.style.get_ladder_target_velocity(&s.camera,&s.input_state,&n);
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s.touching.constrain_velocity(&data.models,&data.hitbox_mesh,&mut v);
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(*state,a)=WalkEnum::with_target_velocity(&s.body,&s.style,v,&n,s.style.ladder_speed,s.style.ladder_accel);
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a
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},
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}
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}
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fn literally_next_instruction_but_with_context(state:&PhysicsState,data:&PhysicsData,time_limit:Time)->Option<TimedInstruction<PhysicsInstruction>>{
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//JUST POLLING!!! NO MUTATION
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let mut collector = instruction::InstructionCollector::new(time_limit);
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@ -1132,17 +1143,6 @@ impl PhysicsContext{
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collector.instruction()
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}
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fn get_walk_state(move_state:&MoveState)->Option<&WalkState>{
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match move_state{
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MoveState::Walk(walk_state)
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|MoveState::Ladder(walk_state)
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=>Some(walk_state),
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MoveState::Air
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|MoveState::Water
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|MoveState::Fly
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=>None,
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}
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}
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fn contact_normal(models:&PhysicsModels,hitbox_mesh:&HitboxMesh,contact:&ContactCollision)->Planar64Vec3{
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let model_mesh=models.mesh(contact.convex_mesh_id);
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@ -1350,7 +1350,7 @@ fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models
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}
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let calc_move=if state.style.get_control(Controls::Jump,state.input_state.controls){
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state.style.jump.is_some_and(|jump_settings|{
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get_walk_state(&state.move_state).is_some_and(|walk_state|{
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state.move_state.get_walk_state().is_some_and(|walk_state|{
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let jump_dir=walk_state.jump_direction.direction(&data.models,&data.hitbox_mesh,&walk_state.contact);
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v=jump_settings.jumped_velocity(&state.style,jump_dir,v);
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set_velocity_cull(&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,v)
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@ -1375,8 +1375,9 @@ fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models
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if calc_move||Planar64::ZERO<normal.dot(v){
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(state.move_state,state.body.acceleration)=state.touching.get_move_state(&state.body,&data.models,&state.style,&data.hitbox_mesh,&state.camera,&state.input_state,state.time);
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}
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let a=refresh_walk_target(state,data);
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set_acceleration(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,a);
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if state.move_state.apply_input(){
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state.move_state.apply_to_body(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,a);
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}
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},
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(PhysicsCollisionAttributes::Intersect{intersecting: _,general},Collision::Intersect(intersect))=>{
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//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
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@ -1427,15 +1428,15 @@ fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models
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|MoveState::Fly
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=>println!("ReachWalkTargetVelocity fired for non-walking MoveState"),
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MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>{
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match &mut walk_state.state{
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WalkEnum::Reached=>(),
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WalkEnum::Transient(walk_target)=>{
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match &mut walk_state.target{
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WalkTarget::Reached=>(),
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WalkTarget::Reachable(walk_target)=>{
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//precisely set velocity
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let a=Planar64Vec3::ZERO;//ignore gravity for now.
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set_acceleration(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,a);
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let v=walk_target.velocity;
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set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,v);
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walk_state.state=WalkEnum::Reached;
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walk_state.target=WalkTarget::Reached;
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},
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}
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}
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@ -1491,10 +1492,7 @@ fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models
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PhysicsInputInstruction::Idle=>{b_refresh_walk_target=false;},//literally idle!
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}
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if b_refresh_walk_target{
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let a=refresh_walk_target(state,data);
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if set_acceleration_cull(&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,a){
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(state.move_state,state.body.acceleration)=state.touching.get_move_state(&state.body,&data.models,&state.style,&data.hitbox_mesh,&state.camera,&state.input_state,state.time);
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}
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state.move_state.apply_input(&mut state.body);
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}
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},
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}
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