1883 lines
67 KiB
Rust
1883 lines
67 KiB
Rust
use crate::instruction::{InstructionEmitter,InstructionConsumer,TimedInstruction};
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use crate::integer::{Time,Planar64,Planar64Vec3,Planar64Mat3,Angle32,Ratio64,Ratio64Vec2};
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use crate::model_physics::{PhysicsMesh,TransformedMesh,MeshQuery};
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#[derive(Debug)]
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pub enum PhysicsInstruction {
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CollisionStart(Collision),
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CollisionEnd(Collision),
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StrafeTick,
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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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//InputInstructions conditionally activate RefreshWalkTarget (by doing what SetWalkTargetVelocity used to do and then flagging it)
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Input(PhysicsInputInstruction),
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}
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#[derive(Debug)]
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pub enum PhysicsInputInstruction {
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ReplaceMouse(MouseState,MouseState),
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SetNextMouse(MouseState),
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SetMoveRight(bool),
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SetMoveUp(bool),
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SetMoveBack(bool),
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SetMoveLeft(bool),
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SetMoveDown(bool),
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SetMoveForward(bool),
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SetJump(bool),
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SetZoom(bool),
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Reset,
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Idle,
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//Idle: there were no input events, but the simulation is safe to advance to this timestep
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//for interpolation / networking / playback reasons, most playback heads will always want
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//to be 1 instruction ahead to generate the next state for interpolation.
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}
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#[derive(Clone,Hash,Default)]
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pub struct Body{
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pub position:Planar64Vec3,//I64 where 2^32 = 1 u
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pub velocity:Planar64Vec3,//I64 where 2^32 = 1 u/s
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pub acceleration:Planar64Vec3,//I64 where 2^32 = 1 u/s/s
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pub time:Time,//nanoseconds x xxxxD!
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}
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impl std::ops::Neg for Body{
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type Output=Self;
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fn neg(self)->Self::Output{
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Self{
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position:self.position,
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velocity:-self.velocity,
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acceleration:self.acceleration,
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time:-self.time,
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}
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}
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}
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//hey dumbass just use a delta
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#[derive(Clone,Debug)]
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pub struct MouseState {
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pub pos: glam::IVec2,
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pub time:Time,
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}
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impl Default for MouseState{
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fn default() -> Self {
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Self {
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time:Time::ZERO,
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pos:glam::IVec2::ZERO,
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}
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}
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}
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impl MouseState {
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pub fn lerp(&self,target:&MouseState,time:Time)->glam::IVec2 {
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let m0=self.pos.as_i64vec2();
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let m1=target.pos.as_i64vec2();
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//these are deltas
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let t1t=(target.time-time).nanos();
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let tt0=(time-self.time).nanos();
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let dt=(target.time-self.time).nanos();
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((m0*t1t+m1*tt0)/dt).as_ivec2()
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}
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}
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enum JumpDirection{
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Exactly(Planar64Vec3),
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FromContactNormal,
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}
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enum WalkEnum{
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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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time:Time,
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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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}
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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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if target_diff==Planar64Vec3::ZERO{
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(WalkEnum::Reached,Planar64Vec3::ZERO)
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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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}
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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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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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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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struct Modes{
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modes:Vec<crate::model::ModeDescription>,
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mode_from_mode_id:std::collections::HashMap::<u32,usize>,
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}
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impl Modes{
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fn clear(&mut self){
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self.modes.clear();
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self.mode_from_mode_id.clear();
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}
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fn get_mode(&self,mode_id:u32)->Option<&crate::model::ModeDescription>{
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self.modes.get(*self.mode_from_mode_id.get(&mode_id)?)
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}
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fn insert(&mut self,temp_map_mode_id:u32,mode:crate::model::ModeDescription){
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let mode_id=self.modes.len();
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self.mode_from_mode_id.insert(temp_map_mode_id,mode_id);
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self.modes.push(mode);
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}
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}
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impl Default for Modes{
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fn default() -> Self {
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Self{
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modes:Vec::new(),
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mode_from_mode_id:std::collections::HashMap::new(),
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}
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}
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}
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#[derive(Default)]
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struct PhysicsModels{
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meshes:Vec<PhysicsMesh>,
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models:Vec<PhysicsModel>,
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//separate models into Contacting and Intersecting?
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//wrap model id with ContactingModelId and IntersectingModelId
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//attributes can be split into contacting and intersecting (this also saves a bit of memory)
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//can go even further and deduplicate General attributes separately, reconstructing it when queried
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attributes:Vec<PhysicsCollisionAttributes>,
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model_id_from_wormhole_id:std::collections::HashMap::<u32,usize>,
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}
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impl PhysicsModels{
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fn clear(&mut self){
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self.meshes.clear();
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self.models.clear();
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self.attributes.clear();
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self.model_id_from_wormhole_id.clear();
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}
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fn aabb_list(&self)->Vec<crate::aabb::Aabb>{
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self.models.iter().map(|model|{
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let mut aabb=crate::aabb::Aabb::default();
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for pos in self.meshes[model.mesh_id].verts(){
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aabb.grow(model.transform.transform_point3(pos));
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}
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aabb
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}).collect()
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}
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//TODO: "statically" verify the maps don't refer to any nonexistant data, if they do delete the references.
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//then I can make these getter functions unchecked.
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fn mesh(&self,model_id:usize)->TransformedMesh{
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TransformedMesh::new(
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&self.meshes[self.models[model_id].mesh_id],
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&self.models[model_id].transform,
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&self.models[model_id].normal_transform,
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)
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}
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fn model(&self,model_id:usize)->&PhysicsModel{
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&self.models[model_id]
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}
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fn attr(&self,model_id:usize)->&PhysicsCollisionAttributes{
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&self.attributes[self.models[model_id].attr_id]
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}
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fn get_wormhole_model(&self,wormhole_id:u32)->Option<&PhysicsModel>{
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self.models.get(*self.model_id_from_wormhole_id.get(&wormhole_id)?)
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}
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fn push_mesh(&mut self,mesh:PhysicsMesh){
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self.meshes.push(mesh);
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}
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fn push_model(&mut self,model:PhysicsModel)->usize{
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let model_id=self.models.len();
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self.models.push(model);
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model_id
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}
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fn push_attr(&mut self,attr:PhysicsCollisionAttributes)->usize{
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let attr_id=self.attributes.len();
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self.attributes.push(attr);
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attr_id
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}
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}
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#[derive(Clone)]
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pub struct PhysicsCamera{
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//punch: Planar64Vec3,
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//punch_velocity: Planar64Vec3,
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sensitivity:Ratio64Vec2,//dots to Angle32 ratios
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mouse:MouseState,//last seen absolute mouse pos
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clamped_mouse_pos:glam::IVec2,//angles are calculated from this cumulative value
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angle_pitch_lower_limit:Angle32,
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angle_pitch_upper_limit:Angle32,
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//angle limits could be an enum + struct that defines whether it's limited and selects clamp or wrap depending
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// enum AngleLimit{
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// Unlimited,
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// Limited{lower:Angle32,upper:Angle32},
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// }
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//pitch_limit:AngleLimit,
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//yaw_limit:AngleLimit,
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}
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impl PhysicsCamera {
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pub fn move_mouse(&mut self,mouse_pos:glam::IVec2){
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let mut unclamped_mouse_pos=self.clamped_mouse_pos+mouse_pos-self.mouse.pos;
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unclamped_mouse_pos.y=unclamped_mouse_pos.y.clamp(
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self.sensitivity.y.rhs_div_int(self.angle_pitch_lower_limit.get() as i64) as i32,
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self.sensitivity.y.rhs_div_int(self.angle_pitch_upper_limit.get() as i64) as i32,
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);
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self.clamped_mouse_pos=unclamped_mouse_pos;
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}
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pub fn simulate_move_angles(&self,mouse_pos:glam::IVec2)->glam::Vec2 {
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let a=-self.sensitivity.mul_int((mouse_pos-self.mouse.pos+self.clamped_mouse_pos).as_i64vec2());
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let ax=Angle32::wrap_from_i64(a.x);
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let ay=Angle32::clamp_from_i64(a.y)
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//clamp to actual vertical cam limit
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.clamp(self.angle_pitch_lower_limit,self.angle_pitch_upper_limit);
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return glam::vec2(ax.into(),ay.into());
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}
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fn simulate_move_rotation(&self,mouse_pos:glam::IVec2)->Planar64Mat3{
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let a=-self.sensitivity.mul_int((mouse_pos-self.mouse.pos+self.clamped_mouse_pos).as_i64vec2());
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let ax=Angle32::wrap_from_i64(a.x);
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let ay=Angle32::clamp_from_i64(a.y)
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//clamp to actual vertical cam limit
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.clamp(self.angle_pitch_lower_limit,self.angle_pitch_upper_limit);
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Planar64Mat3::from_rotation_yx(ax,ay)
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}
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fn simulate_move_rotation_y(&self,mouse_pos_x:i32)->Planar64Mat3{
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let ax=-self.sensitivity.x.mul_int((mouse_pos_x-self.mouse.pos.x+self.clamped_mouse_pos.x) as i64);
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Planar64Mat3::from_rotation_y(Angle32::wrap_from_i64(ax))
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}
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}
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impl std::default::Default for PhysicsCamera{
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fn default()->Self{
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Self{
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sensitivity:Ratio64Vec2::ONE*200_000,
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mouse:MouseState::default(),//t=0 does not cause divide by zero because it's immediately replaced
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clamped_mouse_pos:glam::IVec2::ZERO,
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angle_pitch_lower_limit:-Angle32::FRAC_PI_2,
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angle_pitch_upper_limit:Angle32::FRAC_PI_2,
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}
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}
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}
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pub struct GameMechanicsState{
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stage_id:u32,
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jump_counts:std::collections::HashMap<usize,u32>,//model_id -> jump count
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next_ordered_checkpoint_id:u32,//which OrderedCheckpoint model_id you must pass next (if 0 you haven't passed OrderedCheckpoint0)
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unordered_checkpoints:std::collections::HashSet<usize>,//hashset of UnorderedCheckpoint model ids
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}
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impl std::default::Default for GameMechanicsState{
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fn default()->Self{
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Self{
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stage_id:0,
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next_ordered_checkpoint_id:0,
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unordered_checkpoints:std::collections::HashSet::new(),
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jump_counts:std::collections::HashMap::new(),
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}
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}
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}
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struct WorldState{}
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enum JumpCalculation{
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Capped,//roblox
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Energy,//new
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Linear,//source
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}
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enum JumpImpulse{
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FromTime(Time),//jump time is invariant across mass and gravity changes
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FromHeight(Planar64),//jump height is invariant across mass and gravity changes
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FromDeltaV(Planar64),//jump velocity is invariant across mass and gravity changes
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FromEnergy(Planar64),// :)
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}
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//Jumping acts on dot(walks_state.normal,body.velocity)
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//Capped means it increases the dot to the cap
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//Energy means it adds energy
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//Linear means it linearly adds on
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enum EnableStrafe{
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Always,
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MaskAny(u32),//hsw, shsw
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MaskAll(u32),
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//Function(Box<dyn Fn(u32)->bool>),
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}
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struct StrafeSettings{
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enable:EnableStrafe,
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air_accel_limit:Option<Planar64>,
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tick_rate:Ratio64,
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}
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struct Hitbox{
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halfsize:Planar64Vec3,
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mesh:PhysicsMesh,
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transform:crate::integer::Planar64Affine3,
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normal_transform:Planar64Mat3,
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}
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impl Hitbox{
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fn new(mesh:PhysicsMesh,transform:crate::integer::Planar64Affine3)->Self{
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//calculate extents
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let normal_transform=transform.matrix3.inverse().transpose();
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let mut aabb=crate::aabb::Aabb::default();
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for vert in mesh.verts(){
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aabb.grow(transform.transform_point3(vert));
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}
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Self{
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halfsize:aabb.size()/2,
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mesh,
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transform,
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normal_transform,
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}
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}
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fn from_mesh_scale(mesh:PhysicsMesh,scale:Planar64Vec3)->Self{
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Self{
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halfsize:scale,
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mesh,
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transform:crate::integer::Planar64Affine3::new(Planar64Mat3::from_diagonal(scale),Planar64Vec3::ZERO),
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normal_transform:Planar64Mat3::from_diagonal(scale).inverse().transpose(),
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}
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}
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fn from_mesh_scale_offset(mesh:PhysicsMesh,scale:Planar64Vec3,offset:Planar64Vec3)->Self{
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Self{
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halfsize:scale,
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mesh,
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transform:crate::integer::Planar64Affine3::new(Planar64Mat3::from_diagonal(scale),offset),
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normal_transform:Planar64Mat3::from_diagonal(scale).inverse().transpose(),
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}
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}
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fn roblox()->Self{
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Self::from_mesh_scale(PhysicsMesh::from(&crate::primitives::unit_cylinder()),Planar64Vec3::int(2,5,2)/2)
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}
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fn source()->Self{
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Self::from_mesh_scale(PhysicsMesh::from(&crate::primitives::unit_cube()),Planar64Vec3::raw(33<<28,73<<28,33<<28)/2)
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}
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#[inline]
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fn transformed_mesh(&self)->TransformedMesh{
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TransformedMesh::new(&self.mesh,&self.transform,&self.normal_transform)
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}
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}
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struct StyleModifiers{
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controls_used:u32,//controls which are allowed to pass into gameplay
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controls_mask:u32,//controls which are masked from control state (e.g. jump in scroll style)
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strafe:Option<StrafeSettings>,
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jump_impulse:JumpImpulse,
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jump_calculation:JumpCalculation,
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static_friction:Planar64,
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kinetic_friction:Planar64,
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walk_speed:Planar64,
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walk_accel:Planar64,
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ladder_speed:Planar64,
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ladder_accel:Planar64,
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ladder_dot:Planar64,
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swim_speed:Planar64,
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mass:Planar64,
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mv:Planar64,
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surf_slope:Option<Planar64>,
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rocket_force:Option<Planar64>,
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gravity:Planar64Vec3,
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hitbox:Hitbox,
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camera_offset:Planar64Vec3,
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}
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impl std::default::Default for StyleModifiers{
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fn default()->Self{
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Self::roblox_bhop()
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}
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}
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impl StyleModifiers{
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const CONTROL_MOVEFORWARD:u32=0b00000001;
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const CONTROL_MOVEBACK:u32=0b00000010;
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const CONTROL_MOVERIGHT:u32=0b00000100;
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const CONTROL_MOVELEFT:u32=0b00001000;
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const CONTROL_MOVEUP:u32=0b00010000;
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const CONTROL_MOVEDOWN:u32=0b00100000;
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const CONTROL_JUMP:u32=0b01000000;
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const CONTROL_ZOOM:u32=0b10000000;
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const RIGHT_DIR:Planar64Vec3=Planar64Vec3::X;
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const UP_DIR:Planar64Vec3=Planar64Vec3::Y;
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const FORWARD_DIR:Planar64Vec3=Planar64Vec3::NEG_Z;
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fn neo()->Self{
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Self{
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controls_used:!0,
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controls_mask:!0,//&!(Self::CONTROL_MOVEUP|Self::CONTROL_MOVEDOWN),
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strafe:Some(StrafeSettings{
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enable:EnableStrafe::Always,
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air_accel_limit:None,
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tick_rate:Ratio64::new(64,Time::ONE_SECOND.nanos() as u64).unwrap(),
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}),
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jump_impulse:JumpImpulse::FromEnergy(Planar64::int(512)),
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jump_calculation:JumpCalculation::Energy,
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gravity:Planar64Vec3::int(0,-80,0),
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static_friction:Planar64::int(2),
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kinetic_friction:Planar64::int(3),//unrealistic: kinetic friction is typically lower than static
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mass:Planar64::int(1),
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mv:Planar64::int(3),
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rocket_force:None,
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walk_speed:Planar64::int(16),
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walk_accel:Planar64::int(80),
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ladder_speed:Planar64::int(16),
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ladder_accel:Planar64::int(160),
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ladder_dot:(Planar64::int(1)/2).sqrt(),
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swim_speed:Planar64::int(12),
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surf_slope:Some(Planar64::raw(7)/8),
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hitbox:Hitbox::roblox(),
|
|
camera_offset:Planar64Vec3::int(0,2,0),//4.5-2.5=2
|
|
}
|
|
}
|
|
|
|
fn roblox_bhop()->Self{
|
|
Self{
|
|
controls_used:!0,
|
|
controls_mask:!0,//&!(Self::CONTROL_MOVEUP|Self::CONTROL_MOVEDOWN),
|
|
strafe:Some(StrafeSettings{
|
|
enable:EnableStrafe::Always,
|
|
air_accel_limit:None,
|
|
tick_rate:Ratio64::new(100,Time::ONE_SECOND.nanos() as u64).unwrap(),
|
|
}),
|
|
jump_impulse:JumpImpulse::FromTime(Time::from_micros(715_588)),
|
|
jump_calculation:JumpCalculation::Capped,
|
|
gravity:Planar64Vec3::int(0,-100,0),
|
|
static_friction:Planar64::int(2),
|
|
kinetic_friction:Planar64::int(3),//unrealistic: kinetic friction is typically lower than static
|
|
mass:Planar64::int(1),
|
|
mv:Planar64::int(27)/10,
|
|
rocket_force:None,
|
|
walk_speed:Planar64::int(18),
|
|
walk_accel:Planar64::int(90),
|
|
ladder_speed:Planar64::int(18),
|
|
ladder_accel:Planar64::int(180),
|
|
ladder_dot:(Planar64::int(1)/2).sqrt(),
|
|
swim_speed:Planar64::int(12),
|
|
surf_slope:Some(Planar64::raw(3787805118)),// normal.y=0.75
|
|
hitbox:Hitbox::roblox(),
|
|
camera_offset:Planar64Vec3::int(0,2,0),//4.5-2.5=2
|
|
}
|
|
}
|
|
fn roblox_surf()->Self{
|
|
Self{
|
|
controls_used:!0,
|
|
controls_mask:!0,//&!(Self::CONTROL_MOVEUP|Self::CONTROL_MOVEDOWN),
|
|
strafe:Some(StrafeSettings{
|
|
enable:EnableStrafe::Always,
|
|
air_accel_limit:None,
|
|
tick_rate:Ratio64::new(100,Time::ONE_SECOND.nanos() as u64).unwrap(),
|
|
}),
|
|
jump_impulse:JumpImpulse::FromTime(Time::from_micros(715_588)),
|
|
jump_calculation:JumpCalculation::Capped,
|
|
gravity:Planar64Vec3::int(0,-50,0),
|
|
static_friction:Planar64::int(2),
|
|
kinetic_friction:Planar64::int(3),//unrealistic: kinetic friction is typically lower than static
|
|
mass:Planar64::int(1),
|
|
mv:Planar64::int(27)/10,
|
|
rocket_force:None,
|
|
walk_speed:Planar64::int(18),
|
|
walk_accel:Planar64::int(90),
|
|
ladder_speed:Planar64::int(18),
|
|
ladder_accel:Planar64::int(180),
|
|
ladder_dot:(Planar64::int(1)/2).sqrt(),
|
|
swim_speed:Planar64::int(12),
|
|
surf_slope:Some(Planar64::raw(3787805118)),// normal.y=0.75
|
|
hitbox:Hitbox::roblox(),
|
|
camera_offset:Planar64Vec3::int(0,2,0),//4.5-2.5=2
|
|
}
|
|
}
|
|
|
|
fn source_bhop()->Self{
|
|
Self{
|
|
controls_used:!0,
|
|
controls_mask:!0,//&!(Self::CONTROL_MOVEUP|Self::CONTROL_MOVEDOWN),
|
|
strafe:Some(StrafeSettings{
|
|
enable:EnableStrafe::Always,
|
|
air_accel_limit:Some(Planar64::raw(150<<28)*66),
|
|
tick_rate:Ratio64::new(100,Time::ONE_SECOND.nanos() as u64).unwrap(),
|
|
}),
|
|
jump_impulse:JumpImpulse::FromHeight(Planar64::raw(52<<28)),
|
|
jump_calculation:JumpCalculation::Linear,
|
|
gravity:Planar64Vec3::raw(0,-800<<28,0),
|
|
static_friction:Planar64::int(2),//?
|
|
kinetic_friction:Planar64::int(3),//?
|
|
mass:Planar64::int(1),
|
|
mv:Planar64::raw(30<<28),
|
|
rocket_force:None,
|
|
walk_speed:Planar64::int(18),//?
|
|
walk_accel:Planar64::int(90),//?
|
|
ladder_speed:Planar64::int(18),//?
|
|
ladder_accel:Planar64::int(180),//?
|
|
ladder_dot:(Planar64::int(1)/2).sqrt(),//?
|
|
swim_speed:Planar64::int(12),//?
|
|
surf_slope:Some(Planar64::raw(3787805118)),// normal.y=0.75
|
|
hitbox:Hitbox::source(),
|
|
camera_offset:Planar64Vec3::raw(0,(64<<28)-(73<<27),0),
|
|
}
|
|
}
|
|
fn source_surf()->Self{
|
|
Self{
|
|
controls_used:!0,
|
|
controls_mask:!0,//&!(Self::CONTROL_MOVEUP|Self::CONTROL_MOVEDOWN),
|
|
strafe:Some(StrafeSettings{
|
|
enable:EnableStrafe::Always,
|
|
air_accel_limit:Some(Planar64::raw(150<<28)*66),
|
|
tick_rate:Ratio64::new(66,Time::ONE_SECOND.nanos() as u64).unwrap(),
|
|
}),
|
|
jump_impulse:JumpImpulse::FromHeight(Planar64::raw(52<<28)),
|
|
jump_calculation:JumpCalculation::Linear,
|
|
gravity:Planar64Vec3::raw(0,-800<<28,0),
|
|
static_friction:Planar64::int(2),//?
|
|
kinetic_friction:Planar64::int(3),//?
|
|
mass:Planar64::int(1),
|
|
mv:Planar64::raw(30<<28),
|
|
rocket_force:None,
|
|
walk_speed:Planar64::int(18),//?
|
|
walk_accel:Planar64::int(90),//?
|
|
ladder_speed:Planar64::int(18),//?
|
|
ladder_accel:Planar64::int(180),//?
|
|
ladder_dot:(Planar64::int(1)/2).sqrt(),//?
|
|
swim_speed:Planar64::int(12),//?
|
|
surf_slope:Some(Planar64::raw(3787805118)),// normal.y=0.75
|
|
hitbox:Hitbox::source(),
|
|
camera_offset:Planar64Vec3::raw(0,(64<<28)-(73<<27),0),
|
|
}
|
|
}
|
|
fn roblox_rocket()->Self{
|
|
Self{
|
|
controls_used:!0,
|
|
controls_mask:!0,
|
|
strafe:None,
|
|
jump_impulse:JumpImpulse::FromTime(Time::from_micros(715_588)),
|
|
jump_calculation:JumpCalculation::Capped,
|
|
gravity:Planar64Vec3::int(0,-100,0),
|
|
static_friction:Planar64::int(2),
|
|
kinetic_friction:Planar64::int(3),//unrealistic: kinetic friction is typically lower than static
|
|
mass:Planar64::int(1),
|
|
mv:Planar64::int(27)/10,
|
|
rocket_force:Some(Planar64::int(200)),
|
|
walk_speed:Planar64::int(18),
|
|
walk_accel:Planar64::int(90),
|
|
ladder_speed:Planar64::int(18),
|
|
ladder_accel:Planar64::int(180),
|
|
ladder_dot:(Planar64::int(1)/2).sqrt(),
|
|
swim_speed:Planar64::int(12),
|
|
surf_slope:Some(Planar64::raw(3787805118)),// normal.y=0.75
|
|
hitbox:Hitbox::roblox(),
|
|
camera_offset:Planar64Vec3::int(0,2,0),//4.5-2.5=2
|
|
}
|
|
}
|
|
|
|
fn get_control(&self,control:u32,controls:u32)->bool{
|
|
controls&self.controls_mask&control==control
|
|
}
|
|
|
|
fn allow_strafe(&self,controls:u32)->bool{
|
|
//disable strafing according to strafe settings
|
|
match &self.strafe{
|
|
Some(StrafeSettings{enable:EnableStrafe::Always,air_accel_limit:_,tick_rate:_})=>true,
|
|
&Some(StrafeSettings{enable:EnableStrafe::MaskAny(mask),air_accel_limit:_,tick_rate:_})=>mask&controls!=0,
|
|
&Some(StrafeSettings{enable:EnableStrafe::MaskAll(mask),air_accel_limit:_,tick_rate:_})=>mask&controls==mask,
|
|
None=>false,
|
|
}
|
|
}
|
|
|
|
fn get_control_dir(&self,controls:u32)->Planar64Vec3{
|
|
//don't get fancy just do it
|
|
let mut control_dir:Planar64Vec3 = Planar64Vec3::ZERO;
|
|
//Apply mask after held check so you can require non-allowed keys to be held for some reason
|
|
let controls=controls&self.controls_mask;
|
|
if controls & Self::CONTROL_MOVEFORWARD == Self::CONTROL_MOVEFORWARD {
|
|
control_dir+=Self::FORWARD_DIR;
|
|
}
|
|
if controls & Self::CONTROL_MOVEBACK == Self::CONTROL_MOVEBACK {
|
|
control_dir-=Self::FORWARD_DIR;
|
|
}
|
|
if controls & Self::CONTROL_MOVELEFT == Self::CONTROL_MOVELEFT {
|
|
control_dir-=Self::RIGHT_DIR;
|
|
}
|
|
if controls & Self::CONTROL_MOVERIGHT == Self::CONTROL_MOVERIGHT {
|
|
control_dir+=Self::RIGHT_DIR;
|
|
}
|
|
if controls & Self::CONTROL_MOVEUP == Self::CONTROL_MOVEUP {
|
|
control_dir+=Self::UP_DIR;
|
|
}
|
|
if controls & Self::CONTROL_MOVEDOWN == Self::CONTROL_MOVEDOWN {
|
|
control_dir-=Self::UP_DIR;
|
|
}
|
|
return control_dir
|
|
}
|
|
|
|
//fn get_jump_time(&self)->Planar64
|
|
//fn get_jump_height(&self)->Planar64
|
|
//fn get_jump_energy(&self)->Planar64
|
|
fn get_jump_deltav(&self)->Planar64{
|
|
match &self.jump_impulse{
|
|
&JumpImpulse::FromTime(time)=>self.gravity.length()*(time/2),
|
|
&JumpImpulse::FromHeight(height)=>(self.gravity.length()*height*2).sqrt(),
|
|
&JumpImpulse::FromDeltaV(deltav)=>deltav,
|
|
&JumpImpulse::FromEnergy(energy)=>(energy*2/self.mass).sqrt(),
|
|
}
|
|
}
|
|
|
|
fn get_walk_target_velocity(&self,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time,normal:&Planar64Vec3)->Planar64Vec3{
|
|
let mut control_dir=self.get_control_dir(controls);
|
|
if control_dir==Planar64Vec3::ZERO{
|
|
return control_dir;
|
|
}
|
|
let camera_mat=camera.simulate_move_rotation_y(camera.mouse.lerp(&next_mouse,time).x);
|
|
control_dir=camera_mat*control_dir;
|
|
let n=normal.length();
|
|
let m=control_dir.length();
|
|
let d=normal.dot(control_dir)/m;
|
|
if d<n{
|
|
let cr=normal.cross(control_dir);
|
|
if cr==Planar64Vec3::ZERO{
|
|
Planar64Vec3::ZERO
|
|
}else{
|
|
cr.cross(*normal)*(self.walk_speed/(n*(n*n-d*d).sqrt()*m))
|
|
}
|
|
}else{
|
|
Planar64Vec3::ZERO
|
|
}
|
|
}
|
|
fn get_ladder_target_velocity(&self,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time,normal:&Planar64Vec3)->Planar64Vec3{
|
|
let mut control_dir=self.get_control_dir(controls);
|
|
if control_dir==Planar64Vec3::ZERO{
|
|
return control_dir;
|
|
}
|
|
let camera_mat=camera.simulate_move_rotation(camera.mouse.lerp(&next_mouse,time));
|
|
control_dir=camera_mat*control_dir;
|
|
let n=normal.length();
|
|
let m=control_dir.length();
|
|
let mut d=normal.dot(control_dir)/m;
|
|
if d< -self.ladder_dot*n{
|
|
control_dir=Planar64Vec3::Y*m;
|
|
d=normal.y();
|
|
}else if self.ladder_dot*n<d{
|
|
control_dir=Planar64Vec3::NEG_Y*m;
|
|
d=-normal.y();
|
|
}
|
|
//n=d if you are standing on top of a ladder and press E.
|
|
//two fixes:
|
|
//- ladder movement is not allowed on walkable surfaces
|
|
//- fix the underlying issue
|
|
if d.get().unsigned_abs()<n.get().unsigned_abs(){
|
|
let cr=normal.cross(control_dir);
|
|
if cr==Planar64Vec3::ZERO{
|
|
Planar64Vec3::ZERO
|
|
}else{
|
|
cr.cross(*normal)*(self.ladder_speed/(n*(n*n-d*d).sqrt()))
|
|
}
|
|
}else{
|
|
Planar64Vec3::ZERO
|
|
}
|
|
}
|
|
fn get_propulsion_control_dir(&self,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time)->Planar64Vec3{
|
|
let camera_mat=camera.simulate_move_rotation(camera.mouse.lerp(&next_mouse,time));
|
|
camera_mat*self.get_control_dir(controls)
|
|
}
|
|
#[inline]
|
|
fn mesh(&self)->TransformedMesh{
|
|
self.hitbox.transformed_mesh()
|
|
}
|
|
}
|
|
|
|
enum MoveState{
|
|
Air,
|
|
Walk(WalkState),
|
|
Water,
|
|
Ladder(WalkState),
|
|
}
|
|
|
|
pub struct PhysicsState{
|
|
time:Time,
|
|
body:Body,
|
|
world:WorldState,//currently there is only one state the world can be in
|
|
game:GameMechanicsState,
|
|
style:StyleModifiers,
|
|
touching:TouchingState,
|
|
//camera must exist in state because wormholes modify the camera, also camera punch
|
|
camera:PhysicsCamera,
|
|
pub next_mouse:MouseState,//Where is the mouse headed next
|
|
controls:u32,
|
|
move_state:MoveState,
|
|
models:PhysicsModels,
|
|
bvh:crate::bvh::BvhNode,
|
|
|
|
modes:Modes,
|
|
//the spawn point is where you spawn when you load into the map.
|
|
//This is not the same as Reset which teleports you to Spawn0
|
|
spawn_point:Planar64Vec3,
|
|
}
|
|
#[derive(Clone,Default)]
|
|
pub struct PhysicsOutputState{
|
|
body:Body,
|
|
camera:PhysicsCamera,
|
|
camera_offset:Planar64Vec3,
|
|
}
|
|
impl PhysicsOutputState{
|
|
pub fn extrapolate(&self,mouse_pos:glam::IVec2,time:Time)->(glam::Vec3,glam::Vec2){
|
|
((self.body.extrapolated_position(time)+self.camera_offset).into(),self.camera.simulate_move_angles(mouse_pos))
|
|
}
|
|
}
|
|
|
|
#[derive(Clone,Hash,Eq,PartialEq)]
|
|
enum PhysicsCollisionAttributes{
|
|
Contact{//track whether you are contacting the object
|
|
contacting:crate::model::ContactingAttributes,
|
|
general:crate::model::GameMechanicAttributes,
|
|
},
|
|
Intersect{//track whether you are intersecting the object
|
|
intersecting:crate::model::IntersectingAttributes,
|
|
general:crate::model::GameMechanicAttributes,
|
|
},
|
|
}
|
|
struct NonPhysicsError;
|
|
impl TryFrom<&crate::model::CollisionAttributes> for PhysicsCollisionAttributes{
|
|
type Error=NonPhysicsError;
|
|
fn try_from(value:&crate::model::CollisionAttributes)->Result<Self,Self::Error>{
|
|
match value{
|
|
crate::model::CollisionAttributes::Decoration=>Err(NonPhysicsError),
|
|
crate::model::CollisionAttributes::Contact{contacting,general}=>Ok(Self::Contact{contacting:contacting.clone(),general:general.clone()}),
|
|
crate::model::CollisionAttributes::Intersect{intersecting,general}=>Ok(Self::Intersect{intersecting:intersecting.clone(),general:general.clone()}),
|
|
}
|
|
}
|
|
}
|
|
|
|
pub struct PhysicsModel{
|
|
//A model is a thing that has a hitbox. can be represented by a list of TreyMesh-es
|
|
//in this iteration, all it needs is extents.
|
|
mesh_id:usize,
|
|
attr_id:usize,
|
|
transform:crate::integer::Planar64Affine3,
|
|
normal_transform:crate::integer::Planar64Mat3,
|
|
}
|
|
|
|
impl PhysicsModel{
|
|
pub fn new(mesh_id:usize,attr_id:usize,transform:crate::integer::Planar64Affine3)->Self{
|
|
let normal_transform=transform.matrix3.inverse().transpose();
|
|
Self{
|
|
mesh_id,
|
|
attr_id,
|
|
transform,
|
|
normal_transform,
|
|
}
|
|
}
|
|
}
|
|
|
|
#[derive(Debug,Clone,Eq,Hash,PartialEq)]
|
|
struct ContactCollision{
|
|
face_id:crate::model_physics::MinkowskiFace,
|
|
model_id:usize,//using id to avoid lifetimes
|
|
}
|
|
#[derive(Debug,Clone,Eq,Hash,PartialEq)]
|
|
struct IntersectCollision{
|
|
model_id:usize,
|
|
}
|
|
#[derive(Debug,Clone,Eq,Hash,PartialEq)]
|
|
enum Collision{
|
|
Contact(ContactCollision),
|
|
Intersect(IntersectCollision),
|
|
}
|
|
impl Collision{
|
|
fn model_id(&self)->usize{
|
|
match self{
|
|
&Collision::Contact(ContactCollision{model_id,face_id:_})
|
|
|&Collision::Intersect(IntersectCollision{model_id})=>model_id,
|
|
}
|
|
}
|
|
fn face_id(&self)->Option<crate::model_physics::MinkowskiFace>{
|
|
match self{
|
|
&Collision::Contact(ContactCollision{model_id:_,face_id})=>Some(face_id),
|
|
&Collision::Intersect(IntersectCollision{model_id:_})=>None,
|
|
}
|
|
}
|
|
}
|
|
#[derive(Default)]
|
|
struct TouchingState{
|
|
contacts:std::collections::HashSet::<ContactCollision>,
|
|
intersects:std::collections::HashSet::<IntersectCollision>,
|
|
}
|
|
impl TouchingState{
|
|
fn clear(&mut self){
|
|
self.contacts.clear();
|
|
self.intersects.clear();
|
|
}
|
|
fn insert(&mut self,collision:Collision)->bool{
|
|
match collision{
|
|
Collision::Contact(collision)=>self.contacts.insert(collision),
|
|
Collision::Intersect(collision)=>self.intersects.insert(collision),
|
|
}
|
|
}
|
|
fn remove(&mut self,collision:&Collision)->bool{
|
|
match collision{
|
|
Collision::Contact(collision)=>self.contacts.remove(collision),
|
|
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,style_mesh:&TransformedMesh,velocity:&mut Planar64Vec3){
|
|
//TODO: trey push solve
|
|
for contact in &self.contacts{
|
|
let n=contact_normal(models,style_mesh,contact);
|
|
let d=n.dot128(*velocity);
|
|
if d<0{
|
|
*velocity-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64);
|
|
}
|
|
}
|
|
}
|
|
fn constrain_acceleration(&self,models:&PhysicsModels,style_mesh:&TransformedMesh,acceleration:&mut Planar64Vec3){
|
|
//TODO: trey push solve
|
|
for contact in &self.contacts{
|
|
let n=contact_normal(models,style_mesh,contact);
|
|
let d=n.dot128(*acceleration);
|
|
if d<0{
|
|
*acceleration-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64);
|
|
}
|
|
}
|
|
}
|
|
fn get_move_state(&self,body:&Body,models:&PhysicsModels,style:&StyleModifiers,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time)->(MoveState,Planar64Vec3){
|
|
//check current move conditions and use heuristics to determine
|
|
//which ladder to climb on, which ground to walk on, etc
|
|
//collect move state affecting objects from contacts (accelerator,water,ladder,ground)
|
|
let style_mesh=style.mesh();
|
|
let gravity=self.base_acceleration(models,style,camera,controls,next_mouse,time);
|
|
let mut move_state=MoveState::Air;
|
|
let mut a=gravity;
|
|
for contact in &self.contacts{
|
|
match models.attr(contact.model_id){
|
|
PhysicsCollisionAttributes::Contact{contacting,general}=>{
|
|
let normal=contact_normal(models,&style_mesh,contact);
|
|
match &contacting.contact_behaviour{
|
|
Some(crate::model::ContactingBehaviour::Ladder(_))=>{
|
|
//ladder walkstate
|
|
let mut target_velocity=style.get_ladder_target_velocity(camera,controls,next_mouse,time,&normal);
|
|
self.constrain_velocity(models,&style_mesh,&mut target_velocity);
|
|
let (walk_state,mut acceleration)=WalkState::ladder(body,style,gravity,target_velocity,contact.clone(),&normal);
|
|
move_state=MoveState::Ladder(walk_state);
|
|
self.constrain_acceleration(models,&style_mesh,&mut acceleration);
|
|
a=acceleration;
|
|
},
|
|
None=>if style.surf_slope.map_or(true,|s|normal.walkable(s,Planar64Vec3::Y)){
|
|
//check ground
|
|
let mut target_velocity=style.get_walk_target_velocity(camera,controls,next_mouse,time,&normal);
|
|
self.constrain_velocity(models,&style_mesh,&mut target_velocity);
|
|
let (walk_state,mut acceleration)=WalkState::ground(body,style,gravity,target_velocity,contact.clone(),&normal);
|
|
move_state=MoveState::Walk(walk_state);
|
|
self.constrain_acceleration(models,&style_mesh,&mut acceleration);
|
|
a=acceleration;
|
|
},
|
|
_=>(),
|
|
}
|
|
},
|
|
_=>panic!("impossible touching state"),
|
|
}
|
|
}
|
|
for intersect in &self.intersects{
|
|
//water
|
|
}
|
|
self.constrain_acceleration(models,&style_mesh,&mut a);
|
|
(move_state,a)
|
|
}
|
|
fn predict_collision_end(&self,collector:&mut crate::instruction::InstructionCollector<PhysicsInstruction>,models:&PhysicsModels,style_mesh:&TransformedMesh,body:&Body,time:Time){
|
|
let relative_body=VirtualBody::relative(&Body::default(),body).body(time);
|
|
for contact in &self.contacts{
|
|
//detect face slide off
|
|
let model_mesh=models.mesh(contact.model_id);
|
|
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,&style_mesh);
|
|
collector.collect(minkowski.predict_collision_face_out(&relative_body,collector.time(),contact.face_id).map(|(face,time)|{
|
|
TimedInstruction{
|
|
time,
|
|
instruction:PhysicsInstruction::CollisionEnd(
|
|
Collision::Contact(ContactCollision{model_id:contact.model_id,face_id:contact.face_id})
|
|
),
|
|
}
|
|
}));
|
|
}
|
|
for intersect in &self.intersects{
|
|
//detect model collision in reverse
|
|
let model_mesh=models.mesh(intersect.model_id);
|
|
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,&style_mesh);
|
|
collector.collect(minkowski.predict_collision_out(&relative_body,collector.time()).map(|(face,time)|{
|
|
TimedInstruction{
|
|
time,
|
|
instruction:PhysicsInstruction::CollisionEnd(
|
|
Collision::Intersect(IntersectCollision{model_id:intersect.model_id})
|
|
),
|
|
}
|
|
}));
|
|
}
|
|
}
|
|
}
|
|
|
|
impl Body{
|
|
pub fn new(position:Planar64Vec3,velocity:Planar64Vec3,acceleration:Planar64Vec3,time:Time)->Self{
|
|
Self{
|
|
position,
|
|
velocity,
|
|
acceleration,
|
|
time,
|
|
}
|
|
}
|
|
pub fn extrapolated_position(&self,time:Time)->Planar64Vec3{
|
|
let dt=time-self.time;
|
|
self.position+self.velocity*dt+self.acceleration*(dt*dt/2)
|
|
}
|
|
pub fn extrapolated_velocity(&self,time:Time)->Planar64Vec3{
|
|
let dt=time-self.time;
|
|
self.velocity+self.acceleration*dt
|
|
}
|
|
pub fn advance_time(&mut self,time:Time){
|
|
self.position=self.extrapolated_position(time);
|
|
self.velocity=self.extrapolated_velocity(time);
|
|
self.time=time;
|
|
}
|
|
pub fn infinity_dir(&self)->Option<Planar64Vec3>{
|
|
if self.velocity==Planar64Vec3::ZERO{
|
|
if self.acceleration==Planar64Vec3::ZERO{
|
|
None
|
|
}else{
|
|
Some(self.acceleration)
|
|
}
|
|
}else{
|
|
Some(self.velocity)
|
|
}
|
|
}
|
|
pub fn grow_aabb(&self,aabb:&mut crate::aabb::Aabb,t0:Time,t1:Time){
|
|
aabb.grow(self.extrapolated_position(t0));
|
|
aabb.grow(self.extrapolated_position(t1));
|
|
//v+a*t==0
|
|
//goober code
|
|
if self.acceleration.x()!=Planar64::ZERO{
|
|
let t=Time::from(-self.velocity.x()/self.acceleration.x());
|
|
if t0<t&&t<t1{
|
|
aabb.grow(self.extrapolated_position(t));
|
|
}
|
|
}
|
|
if self.acceleration.y()!=Planar64::ZERO{
|
|
let t=Time::from(-self.velocity.y()/self.acceleration.y());
|
|
if t0<t&&t<t1{
|
|
aabb.grow(self.extrapolated_position(t));
|
|
}
|
|
}
|
|
if self.acceleration.z()!=Planar64::ZERO{
|
|
let t=Time::from(-self.velocity.z()/self.acceleration.z());
|
|
if t0<t&&t<t1{
|
|
aabb.grow(self.extrapolated_position(t));
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
impl std::fmt::Display for Body{
|
|
fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
|
|
write!(f,"p({}) v({}) a({}) t({})",self.position,self.velocity,self.acceleration,self.time)
|
|
}
|
|
}
|
|
|
|
struct VirtualBody<'a>{
|
|
body0:&'a Body,
|
|
body1:&'a Body,
|
|
}
|
|
impl VirtualBody<'_>{
|
|
fn relative<'a>(body0:&'a Body,body1:&'a Body)->VirtualBody<'a>{
|
|
//(p0,v0,a0,t0)
|
|
//(p1,v1,a1,t1)
|
|
VirtualBody{
|
|
body0,
|
|
body1,
|
|
}
|
|
}
|
|
fn extrapolated_position(&self,time:Time)->Planar64Vec3{
|
|
self.body1.extrapolated_position(time)-self.body0.extrapolated_position(time)
|
|
}
|
|
fn extrapolated_velocity(&self,time:Time)->Planar64Vec3{
|
|
self.body1.extrapolated_velocity(time)-self.body0.extrapolated_velocity(time)
|
|
}
|
|
fn acceleration(&self)->Planar64Vec3{
|
|
self.body1.acceleration-self.body0.acceleration
|
|
}
|
|
fn body(&self,time:Time)->Body{
|
|
Body::new(self.extrapolated_position(time),self.extrapolated_velocity(time),self.acceleration(),time)
|
|
}
|
|
}
|
|
|
|
impl Default for PhysicsState{
|
|
fn default()->Self{
|
|
Self{
|
|
spawn_point:Planar64Vec3::int(0,50,0),
|
|
body:Body::new(Planar64Vec3::int(0,50,0),Planar64Vec3::int(0,0,0),Planar64Vec3::int(0,-100,0),Time::ZERO),
|
|
time:Time::ZERO,
|
|
style:StyleModifiers::default(),
|
|
touching:TouchingState::default(),
|
|
models:PhysicsModels::default(),
|
|
bvh:crate::bvh::BvhNode::default(),
|
|
move_state: MoveState::Air,
|
|
camera:PhysicsCamera::default(),
|
|
next_mouse:MouseState::default(),
|
|
controls:0,
|
|
world:WorldState{},
|
|
game:GameMechanicsState::default(),
|
|
modes:Modes::default(),
|
|
}
|
|
}
|
|
}
|
|
|
|
impl PhysicsState {
|
|
pub fn clear(&mut self){
|
|
self.models.clear();
|
|
self.modes.clear();
|
|
self.touching.clear();
|
|
self.bvh=crate::bvh::BvhNode::default();
|
|
}
|
|
|
|
pub fn output(&self)->PhysicsOutputState{
|
|
PhysicsOutputState{
|
|
body:self.body.clone(),
|
|
camera:self.camera.clone(),
|
|
camera_offset:self.style.camera_offset.clone(),
|
|
}
|
|
}
|
|
|
|
pub fn spawn(&mut self,spawn_point:Planar64Vec3){
|
|
self.game.stage_id=0;
|
|
self.spawn_point=spawn_point;
|
|
self.process_instruction(crate::instruction::TimedInstruction{
|
|
time:self.time,
|
|
instruction: PhysicsInstruction::Input(PhysicsInputInstruction::Reset),
|
|
});
|
|
}
|
|
|
|
pub fn generate_models(&mut self,indexed_models:&crate::model::IndexedModelInstances){
|
|
let mut starts=Vec::new();
|
|
let mut spawns=Vec::new();
|
|
let mut attr_hash=std::collections::HashMap::new();
|
|
for model in &indexed_models.models{
|
|
let mesh_id=self.models.meshes.len();
|
|
let mut make_mesh=false;
|
|
for model_instance in &model.instances{
|
|
if let Ok(physics_attributes)=PhysicsCollisionAttributes::try_from(&model_instance.attributes){
|
|
let attr_id=if let Some(&attr_id)=attr_hash.get(&physics_attributes){
|
|
attr_id
|
|
}else{
|
|
let attr_id=self.models.push_attr(physics_attributes.clone());
|
|
attr_hash.insert(physics_attributes,attr_id);
|
|
attr_id
|
|
};
|
|
let model_physics=PhysicsModel::new(mesh_id,attr_id,model_instance.transform);
|
|
make_mesh=true;
|
|
let model_id=self.models.push_model(model_physics);
|
|
for attr in &model_instance.temp_indexing{
|
|
match attr{
|
|
crate::model::TempIndexedAttributes::Start(s)=>starts.push((model_id,s.clone())),
|
|
crate::model::TempIndexedAttributes::Spawn(s)=>spawns.push((model_id,s.clone())),
|
|
crate::model::TempIndexedAttributes::Wormhole(s)=>{self.models.model_id_from_wormhole_id.insert(s.wormhole_id,model_id);},
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if make_mesh{
|
|
self.models.push_mesh(PhysicsMesh::from(model));
|
|
}
|
|
}
|
|
self.bvh=crate::bvh::generate_bvh(self.models.aabb_list());
|
|
//I don't wanna write structs for temporary structures
|
|
//this code builds ModeDescriptions from the unsorted lists at the top of the function
|
|
starts.sort_by_key(|tup|tup.1.mode_id);
|
|
let mut mode_id_from_map_mode_id=std::collections::HashMap::new();
|
|
let mut modedatas:Vec<(usize,Vec<(u32,usize)>,u32)>=starts.into_iter().enumerate().map(|(i,(model_id,s))|{
|
|
mode_id_from_map_mode_id.insert(s.mode_id,i);
|
|
(model_id,Vec::new(),s.mode_id)
|
|
}).collect();
|
|
for (model_id,s) in spawns{
|
|
if let Some(mode_id)=mode_id_from_map_mode_id.get(&s.mode_id){
|
|
if let Some(modedata)=modedatas.get_mut(*mode_id){
|
|
modedata.1.push((s.stage_id,model_id));
|
|
}
|
|
}
|
|
}
|
|
for mut tup in modedatas.into_iter(){
|
|
tup.1.sort_by_key(|tup|tup.0);
|
|
let mut eshmep1=std::collections::HashMap::new();
|
|
let mut eshmep2=std::collections::HashMap::new();
|
|
self.modes.insert(tup.2,crate::model::ModeDescription{
|
|
start:tup.0,
|
|
spawns:tup.1.into_iter().enumerate().map(|(i,tup)|{eshmep1.insert(tup.0,i);tup.1}).collect(),
|
|
spawn_from_stage_id:eshmep1,
|
|
ordered_checkpoint_from_checkpoint_id:eshmep2,
|
|
});
|
|
}
|
|
println!("Physics Objects: {}",self.models.models.len());
|
|
}
|
|
|
|
pub fn load_user_settings(&mut self,user_settings:&crate::settings::UserSettings){
|
|
self.camera.sensitivity=user_settings.calculate_sensitivity();
|
|
}
|
|
|
|
//tickless gaming
|
|
pub fn run(&mut self, time_limit:Time){
|
|
//prepare is ommitted - everything is done via instructions.
|
|
while let Some(instruction) = self.next_instruction(time_limit) {//collect
|
|
//process
|
|
self.process_instruction(instruction);
|
|
//write hash lol
|
|
}
|
|
}
|
|
|
|
pub fn advance_time(&mut self, time: Time){
|
|
self.body.advance_time(time);
|
|
self.time=time;
|
|
}
|
|
|
|
fn set_control(&mut self,control:u32,state:bool){
|
|
self.controls=if state{self.controls|control}else{self.controls&!control};
|
|
}
|
|
|
|
fn next_strafe_instruction(&self)->Option<TimedInstruction<PhysicsInstruction>>{
|
|
self.style.strafe.as_ref().map(|strafe|{
|
|
TimedInstruction{
|
|
time:Time::from_nanos(strafe.tick_rate.rhs_div_int(strafe.tick_rate.mul_int(self.time.nanos())+1)),
|
|
//only poll the physics if there is a before and after mouse event
|
|
instruction:PhysicsInstruction::StrafeTick
|
|
}
|
|
})
|
|
}
|
|
|
|
//state mutated on collision:
|
|
//Accelerator
|
|
//stair step-up
|
|
|
|
//state mutated on instruction
|
|
//change fly acceleration (fly_sustain)
|
|
//change fly velocity
|
|
|
|
//generic event emmiters
|
|
//PlatformStandTime
|
|
//walk/swim/air/ladder sounds
|
|
//VState?
|
|
|
|
//falling under the map
|
|
// fn next_respawn_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
|
|
// if self.body.position<self.world.min_y {
|
|
// return Some(TimedInstruction{
|
|
// time:self.time,
|
|
// instruction:PhysicsInstruction::Trigger(None)
|
|
// });
|
|
// }
|
|
// }
|
|
|
|
// fn next_water_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
|
|
// return Some(TimedInstruction{
|
|
// time:(self.time*self.strafe_tick_num/self.strafe_tick_den+1)*self.strafe_tick_den/self.strafe_tick_num,
|
|
// //only poll the physics if there is a before and after mouse event
|
|
// instruction:PhysicsInstruction::Water
|
|
// });
|
|
// }
|
|
|
|
fn refresh_walk_target(&mut self)->Planar64Vec3{
|
|
match &mut self.move_state{
|
|
MoveState::Air|MoveState::Water=>self.touching.base_acceleration(&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time),
|
|
MoveState::Walk(WalkState{state,contact,jump_direction:_})=>{
|
|
let style_mesh=self.style.mesh();
|
|
let n=contact_normal(&self.models,&style_mesh,contact);
|
|
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,&n);
|
|
self.touching.constrain_velocity(&self.models,&style_mesh,&mut v);
|
|
let normal_accel=-n.dot(gravity)/n.length();
|
|
(*state,a)=WalkEnum::with_target_velocity(&self.body,&self.style,v,&n,self.style.walk_speed,normal_accel);
|
|
a
|
|
},
|
|
MoveState::Ladder(WalkState{state,contact,jump_direction:_})=>{
|
|
let style_mesh=self.style.mesh();
|
|
let n=contact_normal(&self.models,&style_mesh,contact);
|
|
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,&n);
|
|
self.touching.constrain_velocity(&self.models,&style_mesh,&mut v);
|
|
(*state,a)=WalkEnum::with_target_velocity(&self.body,&self.style,v,&n,self.style.ladder_speed,self.style.ladder_accel);
|
|
a
|
|
},
|
|
}
|
|
}
|
|
fn next_move_instruction(&self)->Option<TimedInstruction<PhysicsInstruction>>{
|
|
//check if you have a valid walk state and create an instruction
|
|
match &self.move_state{
|
|
MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>match &walk_state.state{
|
|
WalkEnum::Transient(walk_target)=>Some(TimedInstruction{
|
|
time:walk_target.time,
|
|
instruction:PhysicsInstruction::ReachWalkTargetVelocity
|
|
}),
|
|
WalkEnum::Reached=>None,
|
|
}
|
|
MoveState::Air=>self.next_strafe_instruction(),
|
|
MoveState::Water=>None,//TODO
|
|
}
|
|
}
|
|
}
|
|
|
|
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);
|
|
|
|
collector.collect(self.next_move_instruction());
|
|
|
|
let style_mesh=self.style.mesh();
|
|
//check for collision ends
|
|
self.touching.predict_collision_end(&mut collector,&self.models,&style_mesh,&self.body,self.time);
|
|
//check for collision starts
|
|
let mut aabb=crate::aabb::Aabb::default();
|
|
self.body.grow_aabb(&mut aabb,self.time,collector.time());
|
|
aabb.inflate(self.style.hitbox.halfsize);
|
|
//common body
|
|
let relative_body=VirtualBody::relative(&Body::default(),&self.body).body(self.time);
|
|
self.bvh.the_tester(&aabb,&mut |id|{
|
|
//no checks are needed because of the time limits.
|
|
let model_mesh=self.models.mesh(id);
|
|
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,&style_mesh);
|
|
collector.collect(minkowski.predict_collision_in(&relative_body,collector.time())
|
|
//temp (?) code to avoid collision loops
|
|
.map_or(None,|(face,time)|if time==self.time{None}else{Some((face,time))})
|
|
.map(|(face,time)|{
|
|
TimedInstruction{time,instruction:PhysicsInstruction::CollisionStart(match self.models.attr(id){
|
|
PhysicsCollisionAttributes::Contact{contacting:_,general:_}=>Collision::Contact(ContactCollision{model_id:id,face_id:face}),
|
|
PhysicsCollisionAttributes::Intersect{intersecting:_,general:_}=>Collision::Intersect(IntersectCollision{model_id:id}),
|
|
})}
|
|
}));
|
|
});
|
|
collector.instruction()
|
|
}
|
|
}
|
|
|
|
fn get_walk_state(move_state:&MoveState)->Option<&WalkState>{
|
|
match move_state{
|
|
MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>Some(walk_state),
|
|
MoveState::Air|MoveState::Water=>None,
|
|
}
|
|
}
|
|
|
|
fn jumped_velocity(models:&PhysicsModels,style:&StyleModifiers,walk_state:&WalkState,v:&mut Planar64Vec3){
|
|
let jump_dir=match &walk_state.jump_direction{
|
|
JumpDirection::FromContactNormal=>contact_normal(models,&style.mesh(),&walk_state.contact),
|
|
&JumpDirection::Exactly(dir)=>dir,
|
|
};
|
|
*v=*v+jump_dir*(style.get_jump_deltav()/jump_dir.length());
|
|
}
|
|
|
|
fn contact_normal(models:&PhysicsModels,style_mesh:&TransformedMesh,contact:&ContactCollision)->Planar64Vec3{
|
|
let model_mesh=models.mesh(contact.model_id);
|
|
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,style_mesh);
|
|
minkowski.face_nd(contact.face_id).0
|
|
}
|
|
|
|
fn set_position(body:&mut Body,touching:&mut TouchingState,point:Planar64Vec3)->Planar64Vec3{
|
|
//test intersections at new position
|
|
//hovering above the surface 0 units is not intersecting. you will fall into it just fine
|
|
body.position=point;
|
|
//manual clear //for c in contacts{process_instruction(CollisionEnd(c))}
|
|
touching.clear();
|
|
//TODO: calculate contacts and determine the actual state
|
|
//touching.recalculate(body);
|
|
point
|
|
}
|
|
fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,style_mesh:&TransformedMesh,v:Planar64Vec3)->bool{
|
|
//This is not correct but is better than what I have
|
|
let mut culled=false;
|
|
touching.contacts.retain(|contact|{
|
|
let n=contact_normal(models,style_mesh,contact);
|
|
let r=n.dot(v)<=Planar64::ZERO;
|
|
if !r{
|
|
culled=true;
|
|
println!("set_velocity_cull contact={:?}",contact);
|
|
}
|
|
r
|
|
});
|
|
set_velocity(body,touching,models,style_mesh,v);
|
|
culled
|
|
}
|
|
fn set_velocity(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,style_mesh:&TransformedMesh,mut v:Planar64Vec3)->Planar64Vec3{
|
|
touching.constrain_velocity(models,style_mesh,&mut v);
|
|
body.velocity=v;
|
|
v
|
|
}
|
|
fn set_acceleration_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,style_mesh:&TransformedMesh,a:Planar64Vec3)->bool{
|
|
//This is not correct but is better than what I have
|
|
let mut culled=false;
|
|
touching.contacts.retain(|contact|{
|
|
let n=contact_normal(models,style_mesh,contact);
|
|
let r=n.dot(a)<=Planar64::ZERO;
|
|
if !r{
|
|
culled=true;
|
|
println!("set_acceleration_cull contact={:?}",contact);
|
|
}
|
|
r
|
|
});
|
|
set_acceleration(body,touching,models,style_mesh,a);
|
|
culled
|
|
}
|
|
fn set_acceleration(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,style_mesh:&TransformedMesh,mut a:Planar64Vec3)->Planar64Vec3{
|
|
touching.constrain_acceleration(models,style_mesh,&mut a);
|
|
body.acceleration=a;
|
|
a
|
|
}
|
|
|
|
fn teleport(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,style:&StyleModifiers,point:Planar64Vec3)->MoveState{
|
|
set_position(body,touching,point);
|
|
set_acceleration(body,touching,models,&style.mesh(),style.gravity);
|
|
MoveState::Air
|
|
}
|
|
fn teleport_to_spawn(body:&mut Body,touching:&mut TouchingState,style:&StyleModifiers,mode:&crate::model::ModeDescription,models:&PhysicsModels,stage_id:u32)->Option<MoveState>{
|
|
let model=models.model(*mode.get_spawn_model_id(stage_id)? as usize);
|
|
let point=model.transform.transform_point3(Planar64Vec3::Y)+Planar64Vec3::Y*(style.hitbox.halfsize.y()+Planar64::ONE/16);
|
|
Some(teleport(body,touching,models,style,point))
|
|
}
|
|
|
|
fn run_teleport_behaviour(teleport_behaviour:&Option<crate::model::TeleportBehaviour>,game:&mut GameMechanicsState,models:&PhysicsModels,modes:&Modes,style:&StyleModifiers,touching:&mut TouchingState,body:&mut Body,model_id:usize)->Option<MoveState>{
|
|
//TODO: jump count and checkpoints are always reset on teleport.
|
|
//Map makers are expected to use tools to prevent
|
|
//multi-boosting on JumpLimit boosters such as spawning into a SetVelocity
|
|
match teleport_behaviour{
|
|
Some(crate::model::TeleportBehaviour::StageElement(stage_element))=>{
|
|
if stage_element.force||game.stage_id<stage_element.stage_id{
|
|
//TODO: check if all checkpoints are complete up to destination stage id, otherwise set to checkpoint completion stage it
|
|
game.stage_id=stage_element.stage_id;
|
|
}
|
|
match &stage_element.behaviour{
|
|
crate::model::StageElementBehaviour::SpawnAt=>None,
|
|
crate::model::StageElementBehaviour::Trigger
|
|
|crate::model::StageElementBehaviour::Teleport=>{
|
|
//I guess this is correct behaviour when trying to teleport to a non-existent spawn but it's still weird
|
|
teleport_to_spawn(body,touching,style,modes.get_mode(stage_element.mode_id)?,models,game.stage_id)
|
|
},
|
|
crate::model::StageElementBehaviour::Platform=>None,
|
|
&crate::model::StageElementBehaviour::Checkpoint=>{
|
|
// let mode=modes.get_mode(stage_element.mode_id)?;
|
|
// if mode.ordered_checkpoint_id.map_or(true,|id|id<game.next_ordered_checkpoint_id)
|
|
// &&mode.unordered_checkpoint_count<=game.unordered_checkpoints.len() as u32{
|
|
// //pass
|
|
None
|
|
// }else{
|
|
// //fail
|
|
// teleport_to_spawn(body,touching,style,modes.get_mode(stage_element.mode_id)?,models,game.stage_id)
|
|
// }
|
|
},
|
|
&crate::model::StageElementBehaviour::Ordered{checkpoint_id}=>{
|
|
if checkpoint_id<game.next_ordered_checkpoint_id{
|
|
//if you hit a checkpoint you already hit, nothing happens
|
|
None
|
|
}else if game.next_ordered_checkpoint_id==checkpoint_id{
|
|
//if you hit the next number in a sequence of ordered checkpoints
|
|
//increment the current checkpoint id
|
|
game.next_ordered_checkpoint_id+=1;
|
|
None
|
|
}else{
|
|
//If you hit an ordered checkpoint after missing a previous one
|
|
teleport_to_spawn(body,touching,style,modes.get_mode(stage_element.mode_id)?,models,game.stage_id)
|
|
}
|
|
},
|
|
crate::model::StageElementBehaviour::Unordered=>{
|
|
//count model id in accumulated unordered checkpoints
|
|
game.unordered_checkpoints.insert(model_id);
|
|
None
|
|
},
|
|
&crate::model::StageElementBehaviour::JumpLimit(jump_limit)=>{
|
|
//let count=game.jump_counts.get(&model.id);
|
|
//TODO
|
|
None
|
|
},
|
|
}
|
|
},
|
|
Some(crate::model::TeleportBehaviour::Wormhole(wormhole))=>{
|
|
let origin_model=models.model(model_id);
|
|
let destination_model=models.get_wormhole_model(wormhole.destination_model_id)?;
|
|
//ignore the transform for now
|
|
Some(teleport(body,touching,models,style,body.position-origin_model.transform.translation+destination_model.transform.translation))
|
|
}
|
|
None=>None,
|
|
}
|
|
}
|
|
|
|
impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsState {
|
|
fn process_instruction(&mut self, ins:TimedInstruction<PhysicsInstruction>) {
|
|
match &ins.instruction{
|
|
PhysicsInstruction::Input(PhysicsInputInstruction::Idle)
|
|
|PhysicsInstruction::Input(PhysicsInputInstruction::SetNextMouse(_))
|
|
|PhysicsInstruction::Input(PhysicsInputInstruction::ReplaceMouse(_,_))
|
|
|PhysicsInstruction::StrafeTick=>(),
|
|
_=>println!("{}|{:?}",ins.time,ins.instruction),
|
|
}
|
|
//selectively update body
|
|
match &ins.instruction{
|
|
PhysicsInstruction::Input(PhysicsInputInstruction::Idle)=>self.time=ins.time,//idle simply updates time
|
|
PhysicsInstruction::Input(_)
|
|
|PhysicsInstruction::ReachWalkTargetVelocity
|
|
|PhysicsInstruction::CollisionStart(_)
|
|
|PhysicsInstruction::CollisionEnd(_)
|
|
|PhysicsInstruction::StrafeTick=>self.advance_time(ins.time),
|
|
}
|
|
match ins.instruction{
|
|
PhysicsInstruction::CollisionStart(c)=>{
|
|
let style_mesh=self.style.mesh();
|
|
let model_id=c.model_id();
|
|
match (self.models.attr(model_id),&c){
|
|
(PhysicsCollisionAttributes::Contact{contacting,general},Collision::Contact(contact))=>{
|
|
let mut v=self.body.velocity;
|
|
let normal=contact_normal(&self.models,&style_mesh,contact);
|
|
match &contacting.contact_behaviour{
|
|
Some(crate::model::ContactingBehaviour::Surf)=>println!("I'm surfing!"),
|
|
Some(crate::model::ContactingBehaviour::Cling)=>println!("Unimplemented!"),
|
|
&Some(crate::model::ContactingBehaviour::Elastic(elasticity))=>{
|
|
//velocity and normal are facing opposite directions so this is inherently negative.
|
|
let d=normal.dot(v)*(Planar64::ONE+Planar64::raw(elasticity as i64+1));
|
|
v+=normal*(d/normal.dot(normal));
|
|
},
|
|
Some(crate::model::ContactingBehaviour::Ladder(contacting_ladder))=>{
|
|
if contacting_ladder.sticky{
|
|
//kill v
|
|
//actually you could do this with a booster attribute :thinking:
|
|
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,&normal);
|
|
self.touching.constrain_velocity(&self.models,&style_mesh,&mut target_velocity);
|
|
let (walk_state,a)=WalkState::ladder(&self.body,&self.style,gravity,target_velocity,contact.clone(),&normal);
|
|
self.move_state=MoveState::Ladder(walk_state);
|
|
set_acceleration(&mut self.body,&self.touching,&self.models,&style_mesh,a);
|
|
}
|
|
None=>if self.style.surf_slope.map_or(true,|s|contact_normal(&self.models,&style_mesh,contact).walkable(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,&normal);
|
|
self.touching.constrain_velocity(&self.models,&style_mesh,&mut target_velocity);
|
|
let (walk_state,a)=WalkState::ground(&self.body,&self.style,gravity,target_velocity,contact.clone(),&normal);
|
|
self.move_state=MoveState::Walk(walk_state);
|
|
set_acceleration(&mut self.body,&self.touching,&self.models,&style_mesh,a);
|
|
},
|
|
}
|
|
//check ground
|
|
self.touching.insert(c);
|
|
//I love making functions with 10 arguments to dodge the borrow checker
|
|
run_teleport_behaviour(&general.teleport_behaviour,&mut self.game,&self.models,&self.modes,&self.style,&mut self.touching,&mut self.body,model_id);
|
|
//flatten v
|
|
self.touching.constrain_velocity(&self.models,&style_mesh,&mut v);
|
|
match &general.booster{
|
|
Some(booster)=>{
|
|
//DELETE THIS when boosters get converted to height machines
|
|
match booster{
|
|
&crate::model::GameMechanicBooster::Affine(transform)=>v=transform.transform_point3(v),
|
|
&crate::model::GameMechanicBooster::Velocity(velocity)=>v+=velocity,
|
|
&crate::model::GameMechanicBooster::Energy{direction: _,energy: _}=>todo!(),
|
|
}
|
|
},
|
|
None=>(),
|
|
}
|
|
let calc_move=if self.style.get_control(StyleModifiers::CONTROL_JUMP,self.controls){
|
|
if let Some(walk_state)=get_walk_state(&self.move_state){
|
|
jumped_velocity(&self.models,&self.style,walk_state,&mut v);
|
|
set_velocity_cull(&mut self.body,&mut self.touching,&self.models,&style_mesh,v)
|
|
}else{false}
|
|
}else{false};
|
|
match &general.trajectory{
|
|
Some(trajectory)=>{
|
|
match trajectory{
|
|
crate::model::GameMechanicSetTrajectory::AirTime(_) => todo!(),
|
|
crate::model::GameMechanicSetTrajectory::Height(_) => todo!(),
|
|
crate::model::GameMechanicSetTrajectory::TargetPointTime { target_point: _, time: _ } => todo!(),
|
|
crate::model::GameMechanicSetTrajectory::TargetPointSpeed { target_point: _, speed: _, trajectory_choice: _ } => todo!(),
|
|
&crate::model::GameMechanicSetTrajectory::Velocity(velocity)=>v=velocity,
|
|
crate::model::GameMechanicSetTrajectory::DotVelocity { direction: _, dot: _ } => todo!(),
|
|
}
|
|
},
|
|
None=>(),
|
|
}
|
|
set_velocity(&mut self.body,&self.touching,&self.models,&style_mesh,v);
|
|
//not sure if or is correct here
|
|
if calc_move||Planar64::ZERO<normal.dot(v){
|
|
(self.move_state,self.body.acceleration)=self.touching.get_move_state(&self.body,&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
|
|
}
|
|
let a=self.refresh_walk_target();
|
|
set_acceleration(&mut self.body,&self.touching,&self.models,&self.style.mesh(),a);
|
|
},
|
|
(PhysicsCollisionAttributes::Intersect{intersecting: _,general},Collision::Intersect(intersect))=>{
|
|
//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
|
|
self.touching.insert(c);
|
|
run_teleport_behaviour(&general.teleport_behaviour,&mut self.game,&self.models,&self.modes,&self.style,&mut self.touching,&mut self.body,model_id);
|
|
},
|
|
_=>panic!("invalid pair"),
|
|
}
|
|
},
|
|
PhysicsInstruction::CollisionEnd(c) => {
|
|
match self.models.attr(c.model_id()){
|
|
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.body,&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
|
|
},
|
|
PhysicsCollisionAttributes::Intersect{intersecting:_,general:_}=>{
|
|
self.touching.remove(&c);
|
|
},
|
|
}
|
|
},
|
|
PhysicsInstruction::StrafeTick => {
|
|
let control_dir=self.style.get_control_dir(self.controls);
|
|
if control_dir!=Planar64Vec3::ZERO{
|
|
let camera_mat=self.camera.simulate_move_rotation_y(self.camera.mouse.lerp(&self.next_mouse,self.time).x);
|
|
let control_dir=camera_mat*control_dir;
|
|
//normalize but careful for zero
|
|
let d=self.body.velocity.dot(control_dir);
|
|
if d<self.style.mv {
|
|
let v=self.body.velocity+control_dir*(self.style.mv-d);
|
|
//this is wrong but will work ig
|
|
//need to note which push planes activate in push solve and keep those
|
|
if set_velocity_cull(&mut self.body,&mut self.touching,&self.models,&self.style.mesh(),v){
|
|
(self.move_state,self.body.acceleration)=self.touching.get_move_state(&self.body,&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
PhysicsInstruction::ReachWalkTargetVelocity => {
|
|
match &mut self.move_state{
|
|
MoveState::Air|MoveState::Water=>(),
|
|
MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>{
|
|
match &mut walk_state.state{
|
|
WalkEnum::Reached=>(),
|
|
WalkEnum::Transient(walk_target)=>{
|
|
let style_mesh=self.style.mesh();
|
|
//precisely set velocity
|
|
let a=Planar64Vec3::ZERO;//ignore gravity for now.
|
|
set_acceleration(&mut self.body,&self.touching,&self.models,&style_mesh,a);
|
|
let v=walk_target.velocity;
|
|
set_velocity(&mut self.body,&self.touching,&self.models,&style_mesh,v);
|
|
walk_state.state=WalkEnum::Reached;
|
|
},
|
|
}
|
|
}
|
|
}
|
|
},
|
|
PhysicsInstruction::Input(input_instruction) => {
|
|
let mut refresh_walk_target=true;
|
|
match input_instruction{
|
|
PhysicsInputInstruction::SetNextMouse(m) => {
|
|
self.camera.move_mouse(self.next_mouse.pos);
|
|
(self.camera.mouse,self.next_mouse)=(self.next_mouse.clone(),m);
|
|
},
|
|
PhysicsInputInstruction::ReplaceMouse(m0,m1) => {
|
|
self.camera.move_mouse(m0.pos);
|
|
(self.camera.mouse,self.next_mouse)=(m0,m1);
|
|
},
|
|
PhysicsInputInstruction::SetMoveForward(s) => self.set_control(StyleModifiers::CONTROL_MOVEFORWARD,s),
|
|
PhysicsInputInstruction::SetMoveLeft(s) => self.set_control(StyleModifiers::CONTROL_MOVELEFT,s),
|
|
PhysicsInputInstruction::SetMoveBack(s) => self.set_control(StyleModifiers::CONTROL_MOVEBACK,s),
|
|
PhysicsInputInstruction::SetMoveRight(s) => self.set_control(StyleModifiers::CONTROL_MOVERIGHT,s),
|
|
PhysicsInputInstruction::SetMoveUp(s) => self.set_control(StyleModifiers::CONTROL_MOVEUP,s),
|
|
PhysicsInputInstruction::SetMoveDown(s) => self.set_control(StyleModifiers::CONTROL_MOVEDOWN,s),
|
|
PhysicsInputInstruction::SetJump(s) => {
|
|
self.set_control(StyleModifiers::CONTROL_JUMP,s);
|
|
if let Some(walk_state)=get_walk_state(&self.move_state){
|
|
let mut v=self.body.velocity;
|
|
jumped_velocity(&self.models,&self.style,walk_state,&mut v);
|
|
if set_velocity_cull(&mut self.body,&mut self.touching,&self.models,&self.style.mesh(),v){
|
|
(self.move_state,self.body.acceleration)=self.touching.get_move_state(&self.body,&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
|
|
}
|
|
}
|
|
refresh_walk_target=false;
|
|
},
|
|
PhysicsInputInstruction::SetZoom(s) => {
|
|
self.set_control(StyleModifiers::CONTROL_ZOOM,s);
|
|
refresh_walk_target=false;
|
|
},
|
|
PhysicsInputInstruction::Reset => {
|
|
//it matters which of these runs first, but I have not thought it through yet as it doesn't matter yet
|
|
set_position(&mut self.body,&mut self.touching,self.spawn_point);
|
|
set_velocity(&mut self.body,&self.touching,&self.models,&self.style.mesh(),Planar64Vec3::ZERO);
|
|
(self.move_state,self.body.acceleration)=self.touching.get_move_state(&self.body,&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
|
|
refresh_walk_target=false;
|
|
},
|
|
PhysicsInputInstruction::Idle => {refresh_walk_target=false;},//literally idle!
|
|
}
|
|
if refresh_walk_target{
|
|
let a=self.refresh_walk_target();
|
|
if set_acceleration_cull(&mut self.body,&mut self.touching,&self.models,&self.style.mesh(),a){
|
|
(self.move_state,self.body.acceleration)=self.touching.get_move_state(&self.body,&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time);
|
|
}
|
|
}
|
|
},
|
|
}
|
|
}
|
|
}
|
|
|
|
#[allow(dead_code)]
|
|
fn test_collision_axis_aligned(relative_body:Body,expected_collision_time:Option<Time>){
|
|
let h0=Hitbox::from_mesh_scale(PhysicsMesh::from(&crate::primitives::unit_cube()),Planar64Vec3::int(5,1,5)/2);
|
|
let h1=Hitbox::roblox();
|
|
let hitbox_mesh=h1.transformed_mesh();
|
|
let platform_mesh=h0.transformed_mesh();
|
|
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&platform_mesh,&hitbox_mesh);
|
|
let collision=minkowski.predict_collision_in(&relative_body,Time::MAX);
|
|
assert_eq!(collision.map(|tup|tup.1),expected_collision_time,"Incorrect time of collision");
|
|
}
|
|
#[allow(dead_code)]
|
|
fn test_collision_rotated(relative_body:Body,expected_collision_time:Option<Time>){
|
|
let h0=Hitbox::new(PhysicsMesh::from(&crate::primitives::unit_cube()),
|
|
crate::integer::Planar64Affine3::new(
|
|
crate::integer::Planar64Mat3::from_cols(
|
|
Planar64Vec3::int(5,0,1)/2,
|
|
Planar64Vec3::int(0,1,0)/2,
|
|
Planar64Vec3::int(-1,0,5)/2,
|
|
),
|
|
Planar64Vec3::ZERO,
|
|
)
|
|
);
|
|
let h1=Hitbox::roblox();
|
|
let hitbox_mesh=h1.transformed_mesh();
|
|
let platform_mesh=h0.transformed_mesh();
|
|
let minkowski=crate::model_physics::MinkowskiMesh::minkowski_sum(&platform_mesh,&hitbox_mesh);
|
|
let collision=minkowski.predict_collision_in(&relative_body,Time::MAX);
|
|
assert_eq!(collision.map(|tup|tup.1),expected_collision_time,"Incorrect time of collision");
|
|
}
|
|
#[allow(dead_code)]
|
|
fn test_collision(relative_body:Body,expected_collision_time:Option<Time>){
|
|
test_collision_axis_aligned(relative_body.clone(),expected_collision_time);
|
|
test_collision_rotated(relative_body,expected_collision_time);
|
|
}
|
|
#[test]
|
|
fn test_collision_degenerate(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(0,5,0),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Planar64Vec3::ZERO,
|
|
Time::ZERO
|
|
),Some(Time::from_secs(2)));
|
|
}
|
|
#[test]
|
|
fn test_collision_degenerate_east(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(3,5,0),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Planar64Vec3::ZERO,
|
|
Time::ZERO
|
|
),Some(Time::from_secs(2)));
|
|
}
|
|
#[test]
|
|
fn test_collision_degenerate_south(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(0,5,3),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Planar64Vec3::ZERO,
|
|
Time::ZERO
|
|
),Some(Time::from_secs(2)));
|
|
}
|
|
#[test]
|
|
fn test_collision_degenerate_west(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(-3,5,0),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Planar64Vec3::ZERO,
|
|
Time::ZERO
|
|
),Some(Time::from_secs(2)));
|
|
}
|
|
#[test]
|
|
fn test_collision_degenerate_north(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(0,5,-3),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Planar64Vec3::ZERO,
|
|
Time::ZERO
|
|
),Some(Time::from_secs(2)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_east_from_west(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(3,3,0),
|
|
Planar64Vec3::int(100,-1,0),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_south_from_north(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(0,3,3),
|
|
Planar64Vec3::int(0,-1,100),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_west_from_east(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(-3,3,0),
|
|
Planar64Vec3::int(-100,-1,0),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_north_from_south(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(0,3,-3),
|
|
Planar64Vec3::int(0,-1,-100),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_north_from_ne(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(0,6,-7)/2,
|
|
Planar64Vec3::int(-10,-1,1),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_north_from_nw(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(0,6,-7)/2,
|
|
Planar64Vec3::int(10,-1,1),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_east_from_se(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(7,6,0)/2,
|
|
Planar64Vec3::int(-1,-1,-10),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_east_from_ne(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(7,6,0)/2,
|
|
Planar64Vec3::int(-1,-1,10),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_south_from_se(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(0,6,7)/2,
|
|
Planar64Vec3::int(-10,-1,-1),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_south_from_sw(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(0,6,7)/2,
|
|
Planar64Vec3::int(10,-1,-1),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_west_from_se(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(-7,6,0)/2,
|
|
Planar64Vec3::int(1,-1,-10),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_west_from_ne(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(-7,6,0)/2,
|
|
Planar64Vec3::int(1,-1,10),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_oblique(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(0,5,0),
|
|
Planar64Vec3::int(1,-64,2)/64,
|
|
Planar64Vec3::ZERO,
|
|
Time::ZERO
|
|
),Some(Time::from_secs(2)));
|
|
}
|
|
#[test]
|
|
fn zoom_hit_nothing(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(0,10,0),
|
|
Planar64Vec3::int(1,0,0),
|
|
Planar64Vec3::int(0,1,0),
|
|
Time::ZERO
|
|
),None);
|
|
}
|
|
#[test]
|
|
fn already_inside_hit_nothing(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::ZERO,
|
|
Planar64Vec3::int(1,0,0),
|
|
Planar64Vec3::int(0,1,0),
|
|
Time::ZERO
|
|
),None);
|
|
} |