870 lines
26 KiB
Rust
870 lines
26 KiB
Rust
use crate::{instruction::{InstructionEmitter, InstructionConsumer, TimedInstruction}, zeroes::zeroes2};
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#[derive(Debug)]
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pub enum PhysicsInstruction {
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CollisionStart(RelativeCollision),
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CollisionEnd(RelativeCollision),
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SetControlDir(glam::Vec3),
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StrafeTick,
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Jump,
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SetWalkTargetVelocity(glam::Vec3),
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RefreshWalkTarget,
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ReachWalkTargetVelocity,
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// Water,
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// Spawn(
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// Option<SpawnId>,
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// bool,//true = Trigger; false = teleport
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// bool,//true = Force
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// )
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//temp
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SetPosition(glam::Vec3),
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}
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pub struct Body {
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position: glam::Vec3,//I64 where 2^32 = 1 u
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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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}
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trait MyHash{
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fn hash(&self) -> u64;
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}
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impl MyHash for Body {
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fn hash(&self) -> u64 {
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let mut hasher=std::collections::hash_map::DefaultHasher::new();
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for &el in self.position.as_ref().iter() {
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std::hash::Hasher::write(&mut hasher, el.to_ne_bytes().as_slice());
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}
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for &el in self.velocity.as_ref().iter() {
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std::hash::Hasher::write(&mut hasher, el.to_ne_bytes().as_slice());
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}
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for &el in self.acceleration.as_ref().iter() {
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std::hash::Hasher::write(&mut hasher, el.to_ne_bytes().as_slice());
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}
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std::hash::Hasher::write(&mut hasher, self.time.to_ne_bytes().as_slice());
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return std::hash::Hasher::finish(&hasher);//hash check to see if walk target is valid
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}
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}
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pub enum MoveRestriction {
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Air,
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Water,
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Ground,
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Ladder,//multiple ladders how
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}
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enum MouseInterpolation {
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First,//just checks the last value
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Lerp,//lerps between
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}
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enum InputInstruction {
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MoveMouse(glam::IVec2),
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Jump(bool),
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}
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struct InputState {
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controls: u32,
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mouse_interpolation: MouseInterpolation,
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time: TIME,
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}
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impl InputState {
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pub fn get_control(&self,control:u32) -> bool {
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self.controls&control!=0
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}
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pub fn process_instruction(&mut self,ins:InputInstruction){
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match ins {
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InputInstruction::MoveMouse(m) => todo!("set mouse_interpolation"),
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InputInstruction::Jump(b) => todo!("how does info about style modifiers get here"),
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}
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}
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}
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pub struct MouseInterpolationState {
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interpolation: MouseInterpolation,
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time0: TIME,
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time1: TIME,
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mouse0: glam::IVec2,
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mouse1: glam::IVec2,
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}
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impl MouseInterpolationState {
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pub fn move_mouse(&mut self,time:TIME,pos:glam::IVec2){
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self.time0=self.time1;
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self.mouse0=self.mouse1;
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self.time1=time;
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self.mouse1=pos;
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}
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pub fn interpolated_position(&self,time:TIME) -> glam::IVec2 {
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match self.interpolation {
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MouseInterpolation::First => self.mouse0,
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MouseInterpolation::Lerp => {
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let m0=self.mouse0.as_i64vec2();
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let m1=self.mouse1.as_i64vec2();
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//these are deltas
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let t1t=(self.time1-time) as i64;
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let tt0=(time-self.time0) as i64;
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let dt=(self.time1-self.time0) as i64;
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((m0*t1t+m1*tt0)/dt).as_ivec2()
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}
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}
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}
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}
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pub enum WalkEnum{
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Reached,
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Transient,
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Invalid,
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}
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pub struct WalkState {
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pub target_velocity: glam::Vec3,
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pub target_time: TIME,
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pub state: WalkEnum,
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}
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impl WalkState {
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pub fn new() -> Self {
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Self{
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target_velocity:glam::Vec3::ZERO,
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target_time:0,
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state:WalkEnum::Invalid,
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}
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}
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}
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pub struct PhysicsState {
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pub body: Body,
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pub hitbox_halfsize: glam::Vec3,
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pub contacts: std::collections::HashSet::<RelativeCollision>,
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//pub intersections: Vec<ModelId>,
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pub models: Vec<ModelPhysics>,
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//temp
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pub temp_control_dir: glam::Vec3,
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//camera must exist in state because wormholes modify the camera, also camera punch
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//pub camera: Camera,
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//pub mouse_interpolation: MouseInterpolationState,
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pub time: TIME,
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pub strafe_tick_num: TIME,
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pub strafe_tick_den: TIME,
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pub tick: u32,
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pub mv: f32,
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pub walk: WalkState,
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pub walkspeed: f32,
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pub friction: f32,
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pub walk_accel: f32,
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pub gravity: glam::Vec3,
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pub grounded: bool,
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pub jump_trying: bool,
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}
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#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
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pub enum AabbFace{
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Right,//+X
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Top,
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Back,
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Left,
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Bottom,
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Front,
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}
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pub struct Aabb {
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min: glam::Vec3,
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max: glam::Vec3,
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}
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impl Aabb {
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// const FACE_DATA: [[f32; 3]; 6] = [
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// [0.0f32, 0., 1.],
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// [0.0f32, 0., -1.],
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// [1.0f32, 0., 0.],
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// [-1.0f32, 0., 0.],
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// [0.0f32, 1., 0.],
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// [0.0f32, -1., 0.],
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// ];
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const VERTEX_DATA: [glam::Vec3; 8] = [
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glam::vec3(1., -1., -1.),
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glam::vec3(1., 1., -1.),
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glam::vec3(1., 1., 1.),
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glam::vec3(1., -1., 1.),
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glam::vec3(-1., -1., 1.),
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glam::vec3(-1., 1., 1.),
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glam::vec3(-1., 1., -1.),
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glam::vec3(-1., -1., -1.),
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];
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const VERTEX_DATA_RIGHT: [glam::Vec3; 4] = [
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glam::vec3(1., -1., -1.),
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glam::vec3(1., 1., -1.),
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glam::vec3(1., 1., 1.),
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glam::vec3(1., -1., 1.),
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];
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const VERTEX_DATA_TOP: [glam::Vec3; 4] = [
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glam::vec3(1., 1., -1.),
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glam::vec3(-1., 1., -1.),
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glam::vec3(-1., 1., 1.),
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glam::vec3(1., 1., 1.),
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];
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const VERTEX_DATA_BACK: [glam::Vec3; 4] = [
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glam::vec3(-1., -1., 1.),
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glam::vec3(1., -1., 1.),
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glam::vec3(1., 1., 1.),
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glam::vec3(-1., 1., 1.),
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];
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const VERTEX_DATA_LEFT: [glam::Vec3; 4] = [
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glam::vec3(-1., -1., 1.),
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glam::vec3(-1., 1., 1.),
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glam::vec3(-1., 1., -1.),
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glam::vec3(-1., -1., -1.),
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];
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const VERTEX_DATA_BOTTOM: [glam::Vec3; 4] = [
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glam::vec3(1., -1., 1.),
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glam::vec3(-1., -1., 1.),
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glam::vec3(-1., -1., -1.),
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glam::vec3(1., -1., -1.),
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];
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const VERTEX_DATA_FRONT: [glam::Vec3; 4] = [
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glam::vec3(-1., 1., -1.),
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glam::vec3(1., 1., -1.),
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glam::vec3(1., -1., -1.),
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glam::vec3(-1., -1., -1.),
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];
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pub fn new() -> Self {
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Self {min: glam::Vec3::INFINITY,max: glam::Vec3::NEG_INFINITY}
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}
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pub fn grow(&mut self, point:glam::Vec3){
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self.min=self.min.min(point);
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self.max=self.max.max(point);
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}
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pub fn normal(face:AabbFace) -> glam::Vec3 {
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match face {
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AabbFace::Right => glam::vec3(1.,0.,0.),
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AabbFace::Top => glam::vec3(0.,1.,0.),
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AabbFace::Back => glam::vec3(0.,0.,1.),
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AabbFace::Left => glam::vec3(-1.,0.,0.),
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AabbFace::Bottom => glam::vec3(0.,-1.,0.),
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AabbFace::Front => glam::vec3(0.,0.,-1.),
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}
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}
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pub fn unit_vertices() -> [glam::Vec3;8] {
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return Self::VERTEX_DATA;
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}
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pub fn unit_face_vertices(face:AabbFace) -> [glam::Vec3;4] {
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match face {
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AabbFace::Right => Self::VERTEX_DATA_RIGHT,
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AabbFace::Top => Self::VERTEX_DATA_TOP,
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AabbFace::Back => Self::VERTEX_DATA_BACK,
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AabbFace::Left => Self::VERTEX_DATA_LEFT,
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AabbFace::Bottom => Self::VERTEX_DATA_BOTTOM,
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AabbFace::Front => Self::VERTEX_DATA_FRONT,
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}
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}
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}
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//pretend to be using what we want to eventually do
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type TreyMeshFace = AabbFace;
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type TreyMesh = Aabb;
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pub struct ModelPhysics {
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//A model is a thing that has a hitbox. can be represented by a list of TreyMesh-es
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//in this iteration, all it needs is extents.
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transform: glam::Mat4,
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}
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impl ModelPhysics {
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pub fn new(transform:glam::Mat4) -> Self {
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Self{transform}
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}
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pub fn unit_vertices(&self) -> [glam::Vec3;8] {
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Aabb::unit_vertices()
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}
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pub fn mesh(&self) -> TreyMesh {
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let mut aabb=Aabb::new();
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for &vertex in self.unit_vertices().iter() {
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aabb.grow(glam::Vec4Swizzles::xyz(self.transform*vertex.extend(1.0)));
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}
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return aabb;
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}
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pub fn unit_face_vertices(&self,face:TreyMeshFace) -> [glam::Vec3;4] {
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Aabb::unit_face_vertices(face)
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}
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pub fn face_mesh(&self,face:TreyMeshFace) -> TreyMesh {
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let mut aabb=self.mesh();
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//in this implementation face = worldspace aabb face
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match face {
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AabbFace::Right => aabb.min.x=aabb.max.x,
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AabbFace::Top => aabb.min.y=aabb.max.y,
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AabbFace::Back => aabb.min.z=aabb.max.z,
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AabbFace::Left => aabb.max.x=aabb.min.x,
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AabbFace::Bottom => aabb.max.y=aabb.min.y,
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AabbFace::Front => aabb.max.z=aabb.min.z,
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}
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return aabb;
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}
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pub fn face_normal(&self,face:TreyMeshFace) -> glam::Vec3 {
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glam::Vec4Swizzles::xyz(Aabb::normal(face).extend(0.0))//this is wrong for scale
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}
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}
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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(Debug,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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}
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impl RelativeCollision {
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pub fn mesh(&self,models:&Vec<ModelPhysics>) -> TreyMesh {
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return models.get(self.model as usize).unwrap().face_mesh(self.face)
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}
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pub fn normal(&self,models:&Vec<ModelPhysics>) -> glam::Vec3 {
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return models.get(self.model as usize).unwrap().face_normal(self.face)
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}
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}
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pub type TIME = i64;
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impl Body {
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pub fn with_pva(position:glam::Vec3,velocity:glam::Vec3,acceleration:glam::Vec3) -> Self {
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Self{
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position,
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velocity,
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acceleration,
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time: 0,
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}
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}
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pub fn extrapolated_position(&self,time: TIME)->glam::Vec3{
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let dt=(time-self.time) as f64/1_000_000_000f64;
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self.position+self.velocity*(dt as f32)+self.acceleration*((0.5*dt*dt) as f32)
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}
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pub fn extrapolated_velocity(&self,time: TIME)->glam::Vec3{
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let dt=(time-self.time) as f64/1_000_000_000f64;
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self.velocity+self.acceleration*(dt as f32)
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}
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pub fn advance_time(&mut self, time: TIME){
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self.position=self.extrapolated_position(time);
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self.velocity=self.extrapolated_velocity(time);
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self.time=time;
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}
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}
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impl PhysicsState {
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//tickless gaming
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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_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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self.process_instruction(instruction);
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//write hash lol
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}
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}
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pub fn advance_time(&mut self, time: TIME){
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self.body.advance_time(time);
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self.time=time;
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}
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fn contact_constrain_velocity(&self,velocity:&mut glam::Vec3){
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for contact in self.contacts.iter() {
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let n=contact.normal(&self.models);
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let d=velocity.dot(n);
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if d<0f32{
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(*velocity)-=d/n.length_squared()*n;
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}
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}
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}
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fn contact_constrain_acceleration(&self,acceleration:&mut glam::Vec3){
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for contact in self.contacts.iter() {
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let n=contact.normal(&self.models);
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let d=acceleration.dot(n);
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if d<0f32{
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(*acceleration)-=d/n.length_squared()*n;
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}
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}
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}
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fn next_strafe_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
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return Some(TimedInstruction{
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time:(self.time*self.strafe_tick_num/self.strafe_tick_den+1)*self.strafe_tick_den/self.strafe_tick_num,
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//only poll the physics if there is a before and after mouse event
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instruction:PhysicsInstruction::StrafeTick
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});
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}
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//state mutated on collision:
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//Accelerator
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//stair step-up
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//state mutated on instruction
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//change fly acceleration (fly_sustain)
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//change fly velocity
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//generic event emmiters
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//PlatformStandTime
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//walk/swim/air/ladder sounds
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//VState?
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//falling under the map
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// fn next_respawn_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
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// if self.body.position<self.world.min_y {
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// return Some(TimedInstruction{
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// time:self.time,
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// instruction:PhysicsInstruction::Trigger(None)
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// });
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// }
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// }
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// fn next_water_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
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// return Some(TimedInstruction{
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// time:(self.time*self.strafe_tick_num/self.strafe_tick_den+1)*self.strafe_tick_den/self.strafe_tick_num,
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// //only poll the physics if there is a before and after mouse event
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// instruction:PhysicsInstruction::Water
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// });
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// }
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fn next_walk_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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if self.grounded{
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match self.walk.state{
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WalkEnum::Transient=>Some(TimedInstruction{
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time:self.walk.target_time,
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instruction:PhysicsInstruction::ReachWalkTargetVelocity
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}),
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WalkEnum::Invalid=>Some(TimedInstruction{
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time:self.time,
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instruction:PhysicsInstruction::RefreshWalkTarget,
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}),
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WalkEnum::Reached=>None,
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}
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}else{
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return None;
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}
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}
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fn mesh(&self) -> TreyMesh {
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let mut aabb=Aabb::new();
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for vertex in Aabb::unit_vertices(){
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aabb.grow(self.body.position+self.hitbox_halfsize*vertex);
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}
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aabb
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}
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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_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=self.models.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,0.5*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=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_time=t_time;
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exit_face=Some(TreyMeshFace::Left);
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break;
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}
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}
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for t in zeroes2(mesh0.min.x-mesh1.max.x,v.x,0.5*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
|
|
//must be moving towards surface
|
|
let t_time=self.body.time+((-t as f64)*1_000_000_000f64) as TIME;
|
|
if time<=t_time&&t_time<best_time&&v.x+a.x*-t<0f32{
|
|
//collect valid t
|
|
best_time=t_time;
|
|
exit_face=Some(TreyMeshFace::Right);
|
|
break;
|
|
}
|
|
}
|
|
},
|
|
AabbFace::Left=>{
|
|
//generate event if v.x<0||a.x<0
|
|
if -v.x<0f32{
|
|
best_time=time;
|
|
exit_face=Some(TreyMeshFace::Left);
|
|
}
|
|
},
|
|
AabbFace::Right=>{
|
|
//generate event if 0<v.x||0<a.x
|
|
if 0f32<(-v.x){
|
|
best_time=time;
|
|
exit_face=Some(TreyMeshFace::Right);
|
|
}
|
|
},
|
|
}
|
|
//collect y
|
|
match collision_data.face {
|
|
AabbFace::Left|AabbFace::Back|AabbFace::Right|AabbFace::Front=>{
|
|
for t in zeroes2(mesh0.max.y-mesh1.min.y,v.y,0.5*a.y) {
|
|
//negative t = back in time
|
|
//must be moving towards surface to collide
|
|
//must beat the current soonest collision time
|
|
//must be moving towards surface
|
|
let t_time=self.body.time+((-t as f64)*1_000_000_000f64) as TIME;
|
|
if time<=t_time&&t_time<best_time&&0f32<v.y+a.y*-t{
|
|
//collect valid t
|
|
best_time=t_time;
|
|
exit_face=Some(TreyMeshFace::Bottom);
|
|
break;
|
|
}
|
|
}
|
|
for t in zeroes2(mesh0.min.y-mesh1.max.y,v.y,0.5*a.y) {
|
|
//negative t = back in time
|
|
//must be moving towards surface to collide
|
|
//must beat the current soonest collision time
|
|
//must be moving towards surface
|
|
let t_time=self.body.time+((-t as f64)*1_000_000_000f64) as TIME;
|
|
if time<=t_time&&t_time<best_time&&v.y+a.y*-t<0f32{
|
|
//collect valid t
|
|
best_time=t_time;
|
|
exit_face=Some(TreyMeshFace::Top);
|
|
break;
|
|
}
|
|
}
|
|
},
|
|
AabbFace::Bottom=>{
|
|
//generate event if v.y<0||a.y<0
|
|
if -v.y<0f32{
|
|
best_time=time;
|
|
exit_face=Some(TreyMeshFace::Bottom);
|
|
}
|
|
},
|
|
AabbFace::Top=>{
|
|
//generate event if 0<v.y||0<a.y
|
|
if 0f32<(-v.y){
|
|
best_time=time;
|
|
exit_face=Some(TreyMeshFace::Top);
|
|
}
|
|
},
|
|
}
|
|
//collect z
|
|
match collision_data.face {
|
|
AabbFace::Left|AabbFace::Bottom|AabbFace::Right|AabbFace::Top=>{
|
|
for t in zeroes2(mesh0.max.z-mesh1.min.z,v.z,0.5*a.z) {
|
|
//negative t = back in time
|
|
//must be moving towards surface to collide
|
|
//must beat the current soonest collision time
|
|
//must be moving towards surface
|
|
let t_time=self.body.time+((-t as f64)*1_000_000_000f64) as TIME;
|
|
if time<=t_time&&t_time<best_time&&0f32<v.z+a.z*-t{
|
|
//collect valid t
|
|
best_time=t_time;
|
|
exit_face=Some(TreyMeshFace::Front);
|
|
break;
|
|
}
|
|
}
|
|
for t in zeroes2(mesh0.min.z-mesh1.max.z,v.z,0.5*a.z) {
|
|
//negative t = back in time
|
|
//must be moving towards surface to collide
|
|
//must beat the current soonest collision time
|
|
//must be moving towards surface
|
|
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{
|
|
//collect valid t
|
|
best_time=t_time;
|
|
exit_face=Some(TreyMeshFace::Back);
|
|
break;
|
|
}
|
|
}
|
|
},
|
|
AabbFace::Front=>{
|
|
//generate event if v.z<0||a.z<0
|
|
if -v.z<0f32{
|
|
best_time=time;
|
|
exit_face=Some(TreyMeshFace::Front);
|
|
}
|
|
},
|
|
AabbFace::Back=>{
|
|
//generate event if 0<v.z||0<a.z
|
|
if 0f32<(-v.z){
|
|
best_time=time;
|
|
exit_face=Some(TreyMeshFace::Back);
|
|
}
|
|
},
|
|
}
|
|
//generate instruction
|
|
if let Some(face) = exit_face{
|
|
return Some(TimedInstruction {
|
|
time: best_time,
|
|
instruction: PhysicsInstruction::CollisionEnd(collision_data.clone())
|
|
})
|
|
}
|
|
None
|
|
}
|
|
fn predict_collision_start(&self,time:TIME,time_limit:TIME,model_id:u32) -> Option<TimedInstruction<PhysicsInstruction>> {
|
|
//find best t
|
|
let mut best_time=time_limit;
|
|
let mut best_face:Option<TreyMeshFace>=None;
|
|
let mesh0=self.mesh();
|
|
let mesh1=self.models.get(model_id as usize).unwrap().mesh();
|
|
let (p,v,a)=(self.body.position,self.body.velocity,self.body.acceleration);
|
|
//collect x
|
|
for t in zeroes2(mesh0.max.x-mesh1.min.x,v.x,0.5*a.x) {
|
|
//must collide now or in the future
|
|
//must beat the current soonest collision time
|
|
//must be moving towards surface
|
|
let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
|
|
if time<=t_time&&t_time<best_time&&0f32<v.x+a.x*t{
|
|
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.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
|
|
//collect valid t
|
|
best_time=t_time;
|
|
best_face=Some(TreyMeshFace::Left);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
for t in zeroes2(mesh0.min.x-mesh1.max.x,v.x,0.5*a.x) {
|
|
//must collide now or in the future
|
|
//must beat the current soonest collision time
|
|
//must be moving towards surface
|
|
let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
|
|
if time<=t_time&&t_time<best_time&&v.x+a.x*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.z<mesh0.max.z+dp.z&&mesh0.min.z+dp.z<mesh1.max.z {
|
|
//collect valid t
|
|
best_time=t_time;
|
|
best_face=Some(TreyMeshFace::Right);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
//collect y
|
|
for t in zeroes2(mesh0.max.y-mesh1.min.y,v.y,0.5*a.y) {
|
|
//must collide now or in the future
|
|
//must beat the current soonest collision time
|
|
//must be moving towards surface
|
|
let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
|
|
if time<=t_time&&t_time<best_time&&0f32<v.y+a.y*t{
|
|
let dp=self.body.extrapolated_position(t_time)-p;
|
|
//faces must be overlapping
|
|
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 {
|
|
//collect valid t
|
|
best_time=t_time;
|
|
best_face=Some(TreyMeshFace::Bottom);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
for t in zeroes2(mesh0.min.y-mesh1.max.y,v.y,0.5*a.y) {
|
|
//must collide now or in the future
|
|
//must beat the current soonest collision time
|
|
//must be moving towards surface
|
|
let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
|
|
if time<=t_time&&t_time<best_time&&v.y+a.y*t<0f32{
|
|
let dp=self.body.extrapolated_position(t_time)-p;
|
|
//faces must be overlapping
|
|
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 {
|
|
//collect valid t
|
|
best_time=t_time;
|
|
best_face=Some(TreyMeshFace::Top);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
//collect z
|
|
for t in zeroes2(mesh0.max.z-mesh1.min.z,v.z,0.5*a.z) {
|
|
//must collide now or in the future
|
|
//must beat the current soonest collision time
|
|
//must be moving towards surface
|
|
let t_time=self.body.time+((t as f64)*1_000_000_000f64) as TIME;
|
|
if time<=t_time&&t_time<best_time&&0f32<v.z+a.z*t{
|
|
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_time=t_time;
|
|
best_face=Some(TreyMeshFace::Front);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
for t in zeroes2(mesh0.min.z-mesh1.max.z,v.z,0.5*a.z) {
|
|
//must collide now or in the future
|
|
//must beat the current soonest collision time
|
|
//must be moving towards surface
|
|
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_time=t_time;
|
|
best_face=Some(TreyMeshFace::Back);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
//generate instruction
|
|
if let Some(face) = best_face{
|
|
return Some(TimedInstruction {
|
|
time: best_time,
|
|
instruction: PhysicsInstruction::CollisionStart(RelativeCollision {
|
|
face,
|
|
model: model_id
|
|
})
|
|
})
|
|
}
|
|
None
|
|
}
|
|
}
|
|
|
|
impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState {
|
|
//this little next instruction function can cache its return value and invalidate the cached value by watching the State.
|
|
fn next_instruction(&self,time_limit:TIME) -> Option<TimedInstruction<PhysicsInstruction>> {
|
|
//JUST POLLING!!! NO MUTATION
|
|
let mut collector = crate::instruction::InstructionCollector::new(time_limit);
|
|
//check for collision stop instructions with curent contacts
|
|
for collision_data in self.contacts.iter() {
|
|
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 in 0..self.models.len() {
|
|
collector.collect(self.predict_collision_start(self.time,time_limit,i as u32));
|
|
}
|
|
if self.grounded {
|
|
//walk maintenance
|
|
collector.collect(self.next_walk_instruction());
|
|
}else{
|
|
//check to see when the next strafe tick is
|
|
collector.collect(self.next_strafe_instruction());
|
|
}
|
|
collector.instruction()
|
|
}
|
|
}
|
|
|
|
impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsState {
|
|
fn process_instruction(&mut self, ins:TimedInstruction<PhysicsInstruction>) {
|
|
match &ins.instruction {
|
|
PhysicsInstruction::StrafeTick => (),
|
|
_=>println!("{:?}",ins),
|
|
}
|
|
//selectively update body
|
|
match &ins.instruction {
|
|
PhysicsInstruction::SetWalkTargetVelocity(_)
|
|
|PhysicsInstruction::SetPosition(_)
|
|
|PhysicsInstruction::SetControlDir(_) => self.time=ins.time,//TODO: queue instructions
|
|
PhysicsInstruction::RefreshWalkTarget
|
|
|PhysicsInstruction::ReachWalkTargetVelocity
|
|
|PhysicsInstruction::CollisionStart(_)
|
|
|PhysicsInstruction::CollisionEnd(_)
|
|
|PhysicsInstruction::StrafeTick
|
|
|PhysicsInstruction::Jump => self.advance_time(ins.time),
|
|
}
|
|
match ins.instruction {
|
|
PhysicsInstruction::SetPosition(position)=>{
|
|
//temp
|
|
self.body.position=position;
|
|
//manual clear //for c in self.contacts{process_instruction(CollisionEnd(c))}
|
|
self.contacts.clear();
|
|
self.body.acceleration=self.gravity;
|
|
self.walk.state=WalkEnum::Reached;
|
|
self.grounded=false;
|
|
}
|
|
PhysicsInstruction::CollisionStart(c) => {
|
|
//check ground
|
|
match &c.face {
|
|
AabbFace::Top => {
|
|
//ground
|
|
self.grounded=true;
|
|
},
|
|
_ => (),
|
|
}
|
|
self.contacts.insert(c);
|
|
//flatten v
|
|
let mut v=self.body.velocity;
|
|
self.contact_constrain_velocity(&mut v);
|
|
self.body.velocity=v;
|
|
self.walk.state=WalkEnum::Invalid;
|
|
},
|
|
PhysicsInstruction::CollisionEnd(c) => {
|
|
self.contacts.remove(&c);//remove contact before calling contact_constrain_acceleration
|
|
let mut a=self.gravity;
|
|
self.contact_constrain_acceleration(&mut a);
|
|
self.body.acceleration=a;
|
|
self.walk.state=WalkEnum::Invalid;
|
|
//check ground
|
|
match &c.face {
|
|
AabbFace::Top => {
|
|
self.grounded=false;
|
|
},
|
|
_ => (),
|
|
}
|
|
},
|
|
PhysicsInstruction::SetControlDir(control_dir)=>{
|
|
self.temp_control_dir=control_dir;
|
|
self.walk.state=WalkEnum::Invalid;
|
|
},
|
|
PhysicsInstruction::StrafeTick => {
|
|
//let control_dir=self.get_control_dir();//this should respect your mouse interpolation settings
|
|
let d=self.body.velocity.dot(self.temp_control_dir);
|
|
if d<self.mv {
|
|
let mut v=self.body.velocity+(self.mv-d)*self.temp_control_dir;
|
|
self.contact_constrain_velocity(&mut v);
|
|
self.body.velocity=v;
|
|
}
|
|
}
|
|
PhysicsInstruction::Jump => {
|
|
self.grounded=false;//do I need this?
|
|
let mut v=self.body.velocity+glam::Vec3::new(0.0,0.715588/2.0*100.0,0.0);
|
|
self.contact_constrain_velocity(&mut v);
|
|
self.body.velocity=v;
|
|
self.walk.state=WalkEnum::Invalid;
|
|
},
|
|
PhysicsInstruction::ReachWalkTargetVelocity => {
|
|
//precisely set velocity
|
|
let mut a=glam::Vec3::ZERO;
|
|
self.contact_constrain_acceleration(&mut a);
|
|
self.body.acceleration=a;
|
|
let mut v=self.walk.target_velocity;
|
|
self.contact_constrain_velocity(&mut v);
|
|
self.body.velocity=v;
|
|
self.walk.state=WalkEnum::Reached;
|
|
},
|
|
PhysicsInstruction::RefreshWalkTarget => {
|
|
//calculate acceleration yada yada
|
|
if self.grounded{
|
|
let mut v=self.walk.target_velocity;
|
|
self.contact_constrain_velocity(&mut v);
|
|
let mut target_diff=v-self.body.velocity;
|
|
target_diff.y=0f32;
|
|
if target_diff==glam::Vec3::ZERO{
|
|
let mut a=glam::Vec3::ZERO;
|
|
self.contact_constrain_acceleration(&mut a);
|
|
self.body.acceleration=a;
|
|
self.walk.state=WalkEnum::Reached;
|
|
}else{
|
|
let accel=self.walk_accel.min(self.gravity.length()*self.friction);
|
|
let time_delta=target_diff.length()/accel;
|
|
let mut a=target_diff/time_delta;
|
|
self.contact_constrain_acceleration(&mut a);
|
|
self.body.acceleration=a;
|
|
self.walk.target_time=self.body.time+((time_delta as f64)*1_000_000_000f64) as TIME;
|
|
self.walk.state=WalkEnum::Transient;
|
|
}
|
|
}
|
|
},
|
|
PhysicsInstruction::SetWalkTargetVelocity(v) => {
|
|
self.walk.target_velocity=v;
|
|
self.walk.state=WalkEnum::Invalid;
|
|
},
|
|
}
|
|
}
|
|
}
|