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1 Commits
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strafe-sta
| Author | SHA1 | Date | |
|---|---|---|---|
eb40c1a0d0
|
324
Cargo.lock
generated
324
Cargo.lock
generated
@@ -48,9 +48,9 @@ dependencies = [
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||||
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||||
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|
||||
@@ -5579,18 +5593,18 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy"
|
||||
version = "0.8.31"
|
||||
version = "0.8.30"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "fd74ec98b9250adb3ca554bdde269adf631549f51d8a8f8f0a10b50f1cb298c3"
|
||||
checksum = "4ea879c944afe8a2b25fef16bb4ba234f47c694565e97383b36f3a878219065c"
|
||||
dependencies = [
|
||||
"zerocopy-derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy-derive"
|
||||
version = "0.8.31"
|
||||
version = "0.8.30"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d8a8d209fdf45cf5138cbb5a506f6b52522a25afccc534d1475dad8e31105c6a"
|
||||
checksum = "cf955aa904d6040f70dc8e9384444cb1030aed272ba3cb09bbc4ab9e7c1f34f5"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
@@ -5729,9 +5743,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "zune-jpeg"
|
||||
version = "0.5.7"
|
||||
version = "0.5.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "51d915729b0e7d5fe35c2f294c5dc10b30207cc637920e5b59077bfa3da63f28"
|
||||
checksum = "dc6fb7703e32e9a07fb3f757360338b3a567a5054f21b5f52a666752e333d58e"
|
||||
dependencies = [
|
||||
"zune-core 0.5.0",
|
||||
]
|
||||
|
||||
@@ -11,7 +11,7 @@ id = { version = "0.1.0", registry = "strafesnet" }
|
||||
strafesnet_common = { path = "../../lib/common", registry = "strafesnet" }
|
||||
strafesnet_session = { path = "../session", registry = "strafesnet" }
|
||||
strafesnet_settings = { path = "../settings", registry = "strafesnet" }
|
||||
wgpu = "28.0.0"
|
||||
wgpu = "27.0.0"
|
||||
|
||||
[lints]
|
||||
workspace = true
|
||||
|
||||
@@ -616,7 +616,7 @@ impl GraphicsState{
|
||||
address_mode_w:wgpu::AddressMode::ClampToEdge,
|
||||
mag_filter:wgpu::FilterMode::Linear,
|
||||
min_filter:wgpu::FilterMode::Linear,
|
||||
mipmap_filter:wgpu::MipmapFilterMode::Linear,
|
||||
mipmap_filter:wgpu::FilterMode::Linear,
|
||||
..Default::default()
|
||||
});
|
||||
let repeat_sampler=device.create_sampler(&wgpu::SamplerDescriptor{
|
||||
@@ -626,7 +626,7 @@ impl GraphicsState{
|
||||
address_mode_w:wgpu::AddressMode::Repeat,
|
||||
mag_filter:wgpu::FilterMode::Linear,
|
||||
min_filter:wgpu::FilterMode::Linear,
|
||||
mipmap_filter:wgpu::MipmapFilterMode::Linear,
|
||||
mipmap_filter:wgpu::FilterMode::Linear,
|
||||
anisotropy_clamp:16,
|
||||
..Default::default()
|
||||
});
|
||||
@@ -754,7 +754,7 @@ impl GraphicsState{
|
||||
&skybox_texture_bind_group_layout,
|
||||
&model_bind_group_layout,
|
||||
],
|
||||
immediate_size:0,
|
||||
push_constant_ranges:&[],
|
||||
});
|
||||
let sky_pipeline_layout=device.create_pipeline_layout(&wgpu::PipelineLayoutDescriptor{
|
||||
label:None,
|
||||
@@ -762,7 +762,7 @@ impl GraphicsState{
|
||||
&camera_bind_group_layout,
|
||||
&skybox_texture_bind_group_layout,
|
||||
],
|
||||
immediate_size:0,
|
||||
push_constant_ranges:&[],
|
||||
});
|
||||
|
||||
// Create the render pipelines
|
||||
@@ -793,7 +793,7 @@ impl GraphicsState{
|
||||
bias:wgpu::DepthBiasState::default(),
|
||||
}),
|
||||
multisample:wgpu::MultisampleState::default(),
|
||||
multiview_mask:None,
|
||||
multiview:None,
|
||||
cache:None,
|
||||
});
|
||||
let model_pipeline=device.create_render_pipeline(&wgpu::RenderPipelineDescriptor{
|
||||
@@ -828,7 +828,7 @@ impl GraphicsState{
|
||||
bias:wgpu::DepthBiasState::default(),
|
||||
}),
|
||||
multisample:wgpu::MultisampleState::default(),
|
||||
multiview_mask:None,
|
||||
multiview:None,
|
||||
cache:None,
|
||||
});
|
||||
|
||||
@@ -880,7 +880,7 @@ impl GraphicsState{
|
||||
camera_buf,
|
||||
models:Vec::new(),
|
||||
depth_view,
|
||||
staging_belt:wgpu::util::StagingBelt::new(device.clone(),0x100),
|
||||
staging_belt:wgpu::util::StagingBelt::new(0x100),
|
||||
bind_group_layouts:GraphicsBindGroupLayouts{model:model_bind_group_layout},
|
||||
samplers:GraphicsSamplers{repeat:repeat_sampler},
|
||||
temp_squid_texture_view:squid_texture_view,
|
||||
@@ -918,6 +918,7 @@ impl GraphicsState{
|
||||
&self.camera_buf,
|
||||
0,
|
||||
wgpu::BufferSize::new((camera_uniforms.len() * 4) as wgpu::BufferAddress).unwrap(),
|
||||
device,
|
||||
)
|
||||
.copy_from_slice(bytemuck::cast_slice(&camera_uniforms));
|
||||
//This code only needs to run when the uniforms change
|
||||
@@ -964,7 +965,6 @@ impl GraphicsState{
|
||||
}),
|
||||
timestamp_writes:Default::default(),
|
||||
occlusion_query_set:Default::default(),
|
||||
multiview_mask:None,
|
||||
});
|
||||
|
||||
rpass.set_bind_group(0,&self.bind_groups.camera,&[]);
|
||||
|
||||
@@ -21,6 +21,12 @@ impl<M:MeshQuery> CrawlResult<M>{
|
||||
CrawlResult::Hit(face,time)=>Some((face,time)),
|
||||
}
|
||||
}
|
||||
pub fn miss(self)->Option<FEV<M>>{
|
||||
match self{
|
||||
CrawlResult::Miss(fev)=>Some(fev),
|
||||
CrawlResult::Hit(_,_)=>None,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: move predict_collision_face_out algorithm in here or something
|
||||
|
||||
@@ -1,8 +1,7 @@
|
||||
mod body;
|
||||
mod push_solve;
|
||||
mod face_crawler;
|
||||
mod model;
|
||||
mod push_solve;
|
||||
mod minimum_difference;
|
||||
|
||||
pub mod physics;
|
||||
|
||||
|
||||
@@ -1,913 +0,0 @@
|
||||
use strafesnet_common::integer::vec3;
|
||||
use strafesnet_common::integer::vec3::Vector3;
|
||||
use strafesnet_common::integer::{Fixed,Planar64,Planar64Vec3};
|
||||
|
||||
use crate::model::{DirectedEdge,FEV,MeshQuery};
|
||||
// TODO: remove mesh invert
|
||||
use crate::model::{MinkowskiMesh,MinkowskiVert};
|
||||
|
||||
// This algorithm is based on Lua code
|
||||
// written by Trey Reynolds in 2021
|
||||
|
||||
type Simplex<const N:usize,Vert>=[Vert;N];
|
||||
#[derive(Clone,Copy)]
|
||||
enum Simplex1_3<Vert>{
|
||||
Simplex1(Simplex<1,Vert>),
|
||||
Simplex2(Simplex<2,Vert>),
|
||||
Simplex3(Simplex<3,Vert>),
|
||||
}
|
||||
impl<Vert> Simplex1_3<Vert>{
|
||||
fn push_front(self,v:Vert)->Simplex2_4<Vert>{
|
||||
match self{
|
||||
Simplex1_3::Simplex1([v0])=>Simplex2_4::Simplex2([v,v0]),
|
||||
Simplex1_3::Simplex2([v0,v1])=>Simplex2_4::Simplex3([v,v0,v1]),
|
||||
Simplex1_3::Simplex3([v0,v1,v2])=>Simplex2_4::Simplex4([v,v0,v1,v2]),
|
||||
}
|
||||
}
|
||||
}
|
||||
#[derive(Clone,Copy)]
|
||||
enum Simplex2_4<Vert>{
|
||||
Simplex2(Simplex<2,Vert>),
|
||||
Simplex3(Simplex<3,Vert>),
|
||||
Simplex4(Simplex<4,Vert>),
|
||||
}
|
||||
|
||||
/*
|
||||
local function absDet(r, u, v, w)
|
||||
if w then
|
||||
return math.abs((u - r):Cross(v - r):Dot(w - r))
|
||||
elseif v then
|
||||
return (u - r):Cross(v - r).magnitude
|
||||
elseif u then
|
||||
return (u - r).magnitude
|
||||
else
|
||||
return 1
|
||||
end
|
||||
end
|
||||
*/
|
||||
impl<Vert> Simplex2_4<Vert>{
|
||||
fn det_is_zero<M:MeshQuery<Vert=Vert>>(self,mesh:&M)->bool{
|
||||
match self{
|
||||
Self::Simplex4([p0,p1,p2,p3])=>{
|
||||
let p0=mesh.vert(p0);
|
||||
let p1=mesh.vert(p1);
|
||||
let p2=mesh.vert(p2);
|
||||
let p3=mesh.vert(p3);
|
||||
(p1-p0).cross(p2-p0).dot(p3-p0)==Fixed::ZERO
|
||||
},
|
||||
Self::Simplex3([p0,p1,p2])=>{
|
||||
let p0=mesh.vert(p0);
|
||||
let p1=mesh.vert(p1);
|
||||
let p2=mesh.vert(p2);
|
||||
(p1-p0).cross(p2-p0)==vec3::zero()
|
||||
},
|
||||
Self::Simplex2([p0,p1])=>{
|
||||
let p0=mesh.vert(p0);
|
||||
let p1=mesh.vert(p1);
|
||||
p1-p0==vec3::zero()
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
local function choosePerpendicularDirection(d)
|
||||
local x, y, z = d.x, d.y, d.z
|
||||
local best = math.min(x*x, y*y, z*z)
|
||||
if x*x == best then
|
||||
return Vector3.new(y*y + z*z, -x*y, -x*z)
|
||||
elseif y*y == best then
|
||||
return Vector3.new(-x*y, x*x + z*z, -y*z)
|
||||
else
|
||||
return Vector3.new(-x*z, -y*z, x*x + y*y)
|
||||
end
|
||||
end
|
||||
*/
|
||||
fn choose_perpendicular_direction(d:Planar64Vec3)->Planar64Vec3{
|
||||
let x=d.x.abs();
|
||||
let y=d.y.abs();
|
||||
let z=d.z.abs();
|
||||
if x<y&&x<z{
|
||||
Vector3::new([Fixed::ZERO,-d.z,d.y])
|
||||
}else if y<z{
|
||||
Vector3::new([d.z,Fixed::ZERO,-d.x])
|
||||
}else{
|
||||
Vector3::new([-d.y,d.x,Fixed::ZERO])
|
||||
}
|
||||
}
|
||||
|
||||
const fn choose_any_direction()->Planar64Vec3{
|
||||
vec3::X
|
||||
}
|
||||
|
||||
fn narrow_dir2(dir:Vector3<Fixed<2,64>>)->Planar64Vec3{
|
||||
if dir==vec3::zero(){
|
||||
return dir.narrow_1().unwrap();
|
||||
}
|
||||
let x=dir.x.as_bits().unsigned_abs().bits();
|
||||
let y=dir.y.as_bits().unsigned_abs().bits();
|
||||
let z=dir.z.as_bits().unsigned_abs().bits();
|
||||
let big=x.max(y).max(z);
|
||||
const MAX_BITS:u32=64+31;
|
||||
if MAX_BITS<big{
|
||||
dir>>(big-MAX_BITS)
|
||||
}else{
|
||||
dir
|
||||
}.narrow_1().unwrap()
|
||||
}
|
||||
fn narrow_dir3(dir:Vector3<Fixed<3,96>>)->Planar64Vec3{
|
||||
if dir==vec3::zero(){
|
||||
return dir.narrow_1().unwrap();
|
||||
}
|
||||
let x=dir.x.as_bits().unsigned_abs().bits();
|
||||
let y=dir.y.as_bits().unsigned_abs().bits();
|
||||
let z=dir.z.as_bits().unsigned_abs().bits();
|
||||
let big=x.max(y).max(z);
|
||||
const MAX_BITS:u32=96+31;
|
||||
if MAX_BITS<big{
|
||||
dir>>(big-MAX_BITS)
|
||||
}else{
|
||||
dir
|
||||
}.narrow_1().unwrap()
|
||||
}
|
||||
|
||||
fn reduce1<M:MeshQuery>(
|
||||
[v0]:Simplex<1,M::Vert>,
|
||||
mesh:&M,
|
||||
point:Planar64Vec3,
|
||||
)->Reduced<M::Vert>{
|
||||
// --debug.profilebegin("reduceSimplex0")
|
||||
// local a = a1 - a0
|
||||
let p0=mesh.vert(v0);
|
||||
|
||||
// local p = -a
|
||||
let p=-(p0+point);
|
||||
|
||||
// local direction = p
|
||||
let mut dir=p;
|
||||
|
||||
// if direction.magnitude == 0 then
|
||||
// direction = chooseAnyDirection()
|
||||
if dir==vec3::zero(){
|
||||
dir=choose_any_direction();
|
||||
}
|
||||
|
||||
// return direction, a0, a1
|
||||
Reduced{
|
||||
dir,
|
||||
simplex:Simplex1_3::Simplex1([v0]),
|
||||
}
|
||||
}
|
||||
|
||||
// local function reduceSimplex1(a0, a1, b0, b1)
|
||||
fn reduce2<M:MeshQuery>(
|
||||
[v0,v1]:Simplex<2,M::Vert>,
|
||||
mesh:&M,
|
||||
point:Planar64Vec3,
|
||||
)->Reduced<M::Vert>{
|
||||
// --debug.profilebegin("reduceSimplex1")
|
||||
// local a = a1 - a0
|
||||
// local b = b1 - b0
|
||||
let p0=mesh.vert(v0);
|
||||
let p1=mesh.vert(v1);
|
||||
|
||||
// local p = -a
|
||||
// local u = b - a
|
||||
let p=-(p0+point);
|
||||
let u=p1-p0;
|
||||
|
||||
// -- modify to take into account the radiuses
|
||||
// local p_u = p:Dot(u)
|
||||
let p_u=p.dot(u);
|
||||
|
||||
// if p_u >= 0 then
|
||||
if !p_u.is_negative(){
|
||||
// local direction = u:Cross(p):Cross(u)
|
||||
let direction=u.cross(p).cross(u);
|
||||
|
||||
// if direction.magnitude == 0 then
|
||||
if direction==vec3::zero(){
|
||||
return Reduced{
|
||||
dir:choose_perpendicular_direction(u),
|
||||
simplex:Simplex1_3::Simplex2([v0,v1]),
|
||||
};
|
||||
}
|
||||
|
||||
// -- modify the direction to take into account a0R and b0R
|
||||
// return direction, a0, a1, b0, b1
|
||||
return Reduced{
|
||||
dir:narrow_dir3(direction),
|
||||
simplex:Simplex1_3::Simplex2([v0,v1]),
|
||||
};
|
||||
}
|
||||
|
||||
// local direction = p
|
||||
let mut dir=p;
|
||||
|
||||
// if direction.magnitude == 0 then
|
||||
if dir==vec3::zero(){
|
||||
dir=choose_perpendicular_direction(u);
|
||||
}
|
||||
|
||||
// return direction, a0, a1
|
||||
Reduced{
|
||||
dir,
|
||||
simplex:Simplex1_3::Simplex1([v0]),
|
||||
}
|
||||
}
|
||||
|
||||
// local function reduceSimplex2(a0, a1, b0, b1, c0, c1)
|
||||
fn reduce3<M:MeshQuery>(
|
||||
[v0,mut v1,v2]:Simplex<3,M::Vert>,
|
||||
mesh:&M,
|
||||
point:Planar64Vec3,
|
||||
)->Reduced<M::Vert>{
|
||||
// --debug.profilebegin("reduceSimplex2")
|
||||
// local a = a1 - a0
|
||||
// local b = b1 - b0
|
||||
// local c = c1 - c0
|
||||
let p0=mesh.vert(v0);
|
||||
let p1=mesh.vert(v1);
|
||||
let p2=mesh.vert(v2);
|
||||
|
||||
// local p = -a
|
||||
// local u = b - a
|
||||
// local v = c - a
|
||||
let p=-(p0+point);
|
||||
let mut u=p1-p0;
|
||||
let v=p2-p0;
|
||||
|
||||
// local uv = u:Cross(v)
|
||||
// local up = u:Cross(p)
|
||||
// local pv = p:Cross(v)
|
||||
// local uv_up = uv:Dot(up)
|
||||
// local uv_pv = uv:Dot(pv)
|
||||
let mut uv=u.cross(v);
|
||||
let mut up=u.cross(p);
|
||||
let pv=p.cross(v);
|
||||
let uv_up=uv.dot(up);
|
||||
let uv_pv=uv.dot(pv);
|
||||
|
||||
// if uv_up >= 0 and uv_pv >= 0 then
|
||||
if !uv_up.is_negative()&&!uv_pv.is_negative(){
|
||||
// local uvp = uv:Dot(p)
|
||||
let uvp=uv.dot(p);
|
||||
|
||||
// local direction = uvp < 0 and -uv or uv
|
||||
let direction=if uvp.is_negative(){
|
||||
-uv
|
||||
}else{
|
||||
uv
|
||||
};
|
||||
|
||||
// return direction, a0, a1, b0, b1, c0, c1
|
||||
return Reduced{
|
||||
dir:narrow_dir2(direction),
|
||||
simplex:Simplex1_3::Simplex3([v0,v1,v2]),
|
||||
};
|
||||
}
|
||||
|
||||
// local u_u = u:Dot(u)
|
||||
// local v_v = v:Dot(v)
|
||||
// local uDist = uv_up/(u_u*v.magnitude)
|
||||
// local vDist = uv_pv/(v_v*u.magnitude)
|
||||
// local minDist2 = math.min(uDist, vDist)
|
||||
let u_dist=uv_up*v.length();
|
||||
let v_dist=uv_pv*u.length();
|
||||
|
||||
// if vDist == minDist2 then
|
||||
if v_dist<u_dist{
|
||||
u=v;
|
||||
up=-pv;
|
||||
uv=-uv;
|
||||
// b0 = c0
|
||||
// b1 = c1
|
||||
v1=v2;
|
||||
}
|
||||
|
||||
// local p_u = p:Dot(u)
|
||||
let p_u=p.dot(u);
|
||||
|
||||
// if p_u >= 0 then
|
||||
if !p_u.is_negative(){
|
||||
// local direction = up:Cross(u)
|
||||
let direction=up.cross(u);
|
||||
// if direction.magnitude == 0 then
|
||||
if direction==vec3::zero(){
|
||||
// direction = uv
|
||||
return Reduced{
|
||||
dir:narrow_dir2(uv),
|
||||
simplex:Simplex1_3::Simplex2([v0,v1]),
|
||||
};
|
||||
}
|
||||
|
||||
// return direction, a0, a1, b0, b1
|
||||
return Reduced{
|
||||
dir:narrow_dir3(direction),
|
||||
simplex:Simplex1_3::Simplex2([v0,v1]),
|
||||
};
|
||||
}
|
||||
|
||||
// local direction = p
|
||||
let dir=p;
|
||||
// if direction.magnitude == 0 then
|
||||
if dir==vec3::zero(){
|
||||
// direction = uv
|
||||
return Reduced{
|
||||
dir:narrow_dir2(uv),
|
||||
simplex:Simplex1_3::Simplex1([v0]),
|
||||
};
|
||||
}
|
||||
// return direction, a0, a0
|
||||
Reduced{
|
||||
dir,
|
||||
simplex:Simplex1_3::Simplex1([v0]),
|
||||
}
|
||||
}
|
||||
|
||||
// local function reduceSimplex3(a0, a1, b0, b1, c0, c1, d0, d1)
|
||||
fn reduce4<M:MeshQuery>(
|
||||
[v0,mut v1,mut v2,v3]:Simplex<4,M::Vert>,
|
||||
mesh:&M,
|
||||
point:Planar64Vec3,
|
||||
)->Reduce<M::Vert>{
|
||||
// --debug.profilebegin("reduceSimplex3")
|
||||
// local a = a1 - a0
|
||||
// local b = b1 - b0
|
||||
// local c = c1 - c0
|
||||
// local d = d1 - d0
|
||||
let p0=mesh.vert(v0);
|
||||
let p1=mesh.vert(v1);
|
||||
let p2=mesh.vert(v2);
|
||||
let p3=mesh.vert(v3);
|
||||
|
||||
// local p = -a
|
||||
// local u = b - a
|
||||
// local v = c - a
|
||||
// local w = d - a
|
||||
let p=-(p0+point);
|
||||
let mut u=p1-p0;
|
||||
let mut v=p2-p0;
|
||||
let w=p3-p0;
|
||||
|
||||
// local uv = u:Cross(v)
|
||||
// local vw = v:Cross(w)
|
||||
// local wu = w:Cross(u)
|
||||
// local uvw = uv:Dot(w)
|
||||
// local pvw = vw:Dot(p)
|
||||
// local upw = wu:Dot(p)
|
||||
// local uvp = uv:Dot(p)
|
||||
let mut uv=u.cross(v);
|
||||
let vw=v.cross(w);
|
||||
let wu=w.cross(u);
|
||||
let uv_w=uv.dot(w);
|
||||
let pv_w=vw.dot(p);
|
||||
let up_w=wu.dot(p);
|
||||
let uv_p=uv.dot(p);
|
||||
|
||||
// if pvw/uvw >= 0 and upw/uvw >= 0 and uvp/uvw >= 0 then
|
||||
if !pv_w.div_sign(uv_w).is_negative()
|
||||
||!up_w.div_sign(uv_w).is_negative()
|
||||
||!uv_p.div_sign(uv_w).is_negative(){
|
||||
// origin is contained, this is a positive detection
|
||||
// local direction = Vector3.new(0, 0, 0)
|
||||
// return direction, a0, a1, b0, b1, c0, c1, d0, d1
|
||||
return Reduce::Escape([v0,v1,v2,v3]);
|
||||
}
|
||||
|
||||
// local uvwSign = uvw < 0 and -1 or uvw > 0 and 1 or 0
|
||||
// local uvDist = uvp*uvwSign/uv.magnitude
|
||||
// local vwDist = pvw*uvwSign/vw.magnitude
|
||||
// local wuDist = upw*uvwSign/wu.magnitude
|
||||
// local minDist3 = math.min(uvDist, vwDist, wuDist)
|
||||
let uv_dist=uv_p.mul_sign(uv_w);
|
||||
let vw_dist=pv_w.mul_sign(uv_w);
|
||||
let wu_dist=up_w.mul_sign(uv_w);
|
||||
let wu_len=wu.length();
|
||||
let uv_len=uv.length();
|
||||
let vw_len=vw.length();
|
||||
|
||||
if vw_dist*wu_len<wu_dist*vw_len{
|
||||
// if vwDist == minDist3 then
|
||||
if vw_dist*uv_len<uv_dist*vw_len{
|
||||
(u,v)=(v,w);
|
||||
uv=vw;
|
||||
// uv_p=pv_w; // unused
|
||||
// b0, c0 = c0, d0
|
||||
// b1, c1 = c1, d1
|
||||
(v1,v2)=(v2,v3);
|
||||
}else{
|
||||
v2=v3;
|
||||
}
|
||||
}else{
|
||||
// elseif wuDist == minDist3 then
|
||||
if wu_dist*uv_len<uv_dist*wu_len{
|
||||
(u,v)=(w,u);
|
||||
uv=wu;
|
||||
// uv_p=up_w; // unused
|
||||
// b0, c0 = d0, b0
|
||||
// b1, c1 = d1, b1
|
||||
// before [a,b,c,d]
|
||||
(v1,v2)=(v3,v1);
|
||||
// after [a,d,b]
|
||||
}else{
|
||||
v2=v3;
|
||||
}
|
||||
}
|
||||
|
||||
// local up = u:Cross(p)
|
||||
// local pv = p:Cross(v)
|
||||
// local uv_up = uv:Dot(up)
|
||||
// local uv_pv = uv:Dot(pv)
|
||||
let mut up=u.cross(p);
|
||||
let pv=p.cross(v);
|
||||
let uv_up=uv.dot(up);
|
||||
let uv_pv=uv.dot(pv);
|
||||
|
||||
// if uv_up >= 0 and uv_pv >= 0 then
|
||||
if !uv_up.is_negative()&&!uv_pv.is_negative(){
|
||||
// local direction = uvw < 0 and uv or -uv
|
||||
// return direction, a0, a1, b0, b1, c0, c1
|
||||
if uv_w.is_negative(){
|
||||
return Reduce::Reduced(Reduced{
|
||||
dir:narrow_dir2(uv),
|
||||
simplex:Simplex1_3::Simplex3([v0,v1,v2]),
|
||||
});
|
||||
}else{
|
||||
return Reduce::Reduced(Reduced{
|
||||
dir:narrow_dir2(-uv),
|
||||
simplex:Simplex1_3::Simplex3([v0,v1,v2]),
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
// local u_u = u:Dot(u)
|
||||
// local v_v = v:Dot(v)
|
||||
// local uDist = uv_up/(u_u*v.magnitude)
|
||||
// local vDist = uv_pv/(v_v*u.magnitude)
|
||||
// local minDist2 = math.min(uDist, vDist)
|
||||
let u_dist=uv_up*v.length();
|
||||
let v_dist=uv_pv*u.length();
|
||||
|
||||
// if vDist == minDist2 then
|
||||
if v_dist<u_dist{
|
||||
u=v;
|
||||
up=-pv;
|
||||
uv=-uv;
|
||||
// b0 = c0
|
||||
// b1 = c1
|
||||
v1=v2;
|
||||
}
|
||||
|
||||
// local p_u = p:Dot(u)
|
||||
let p_u=p.dot(u);
|
||||
|
||||
// if p_u >= 0 then
|
||||
if !p_u.is_negative(){
|
||||
// local direction = up:Cross(u)
|
||||
let direction=up.cross(u);
|
||||
// if direction.magnitude == 0 then
|
||||
if direction==vec3::zero(){
|
||||
// direction = uvw < 0 and uv or -uv
|
||||
// return direction, a0, a1, b0, b1
|
||||
if uv_w.is_negative(){
|
||||
return Reduce::Reduced(Reduced{
|
||||
dir:narrow_dir2(uv),
|
||||
simplex:Simplex1_3::Simplex2([v0,v1]),
|
||||
});
|
||||
}else{
|
||||
return Reduce::Reduced(Reduced{
|
||||
dir:narrow_dir2(-uv),
|
||||
simplex:Simplex1_3::Simplex2([v0,v1]),
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
// return direction, a0, a1, b0, b1
|
||||
return Reduce::Reduced(Reduced{
|
||||
dir:narrow_dir3(direction),
|
||||
simplex:Simplex1_3::Simplex2([v0,v1]),
|
||||
});
|
||||
}
|
||||
|
||||
// local direction = p
|
||||
let dir=p;
|
||||
// if direction.magnitude == 0 then
|
||||
if dir==vec3::zero(){
|
||||
// direction = uvw < 0 and uv or -uv
|
||||
if uv_w.is_negative(){
|
||||
return Reduce::Reduced(Reduced{
|
||||
dir:narrow_dir2(uv),
|
||||
simplex:Simplex1_3::Simplex1([v0]),
|
||||
});
|
||||
}else{
|
||||
return Reduce::Reduced(Reduced{
|
||||
dir:narrow_dir2(-uv),
|
||||
simplex:Simplex1_3::Simplex1([v0]),
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
// return direction, a0, a1
|
||||
Reduce::Reduced(Reduced{
|
||||
dir,
|
||||
simplex:Simplex1_3::Simplex1([v0]),
|
||||
})
|
||||
}
|
||||
|
||||
struct Reduced<Vert>{
|
||||
dir:Planar64Vec3,
|
||||
simplex:Simplex1_3<Vert>,
|
||||
}
|
||||
|
||||
enum Reduce<Vert>{
|
||||
Escape(Simplex<4,Vert>),
|
||||
Reduced(Reduced<Vert>),
|
||||
}
|
||||
|
||||
impl<Vert> Simplex2_4<Vert>{
|
||||
fn reduce<M:MeshQuery<Vert=Vert>>(self,mesh:&M,point:Planar64Vec3)->Reduce<Vert>{
|
||||
match self{
|
||||
Self::Simplex2(simplex)=>Reduce::Reduced(reduce2(simplex,mesh,point)),
|
||||
Self::Simplex3(simplex)=>Reduce::Reduced(reduce3(simplex,mesh,point)),
|
||||
Self::Simplex4(simplex)=>reduce4(simplex,mesh,point),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn contains_point(mesh:&MinkowskiMesh<'_>,point:Planar64Vec3)->bool{
|
||||
const ENABLE_FAST_FAIL:bool=true;
|
||||
// TODO: remove mesh negation
|
||||
minimum_difference::<ENABLE_FAST_FAIL,_,_>(&-mesh,point,
|
||||
// on_exact
|
||||
|is_intersecting,_simplex|{
|
||||
is_intersecting
|
||||
},
|
||||
// on_escape
|
||||
|_simplex|{
|
||||
// intersection is guaranteed at this point
|
||||
true
|
||||
},
|
||||
// fast_fail value
|
||||
||false
|
||||
)
|
||||
}
|
||||
|
||||
//infinity fev algorithm state transition
|
||||
#[derive(Debug)]
|
||||
enum Transition<Vert>{
|
||||
Done,//found closest vert, no edges are better
|
||||
Vert(Vert),//transition to vert
|
||||
}
|
||||
enum EV<M:MeshQuery>{
|
||||
Vert(M::Vert),
|
||||
Edge(<M::Edge as DirectedEdge>::UndirectedEdge),
|
||||
}
|
||||
impl<M:MeshQuery> From<EV<M>> for FEV<M>{
|
||||
fn from(value:EV<M>)->Self{
|
||||
match value{
|
||||
EV::Vert(minkowski_vert)=>FEV::Vert(minkowski_vert),
|
||||
EV::Edge(minkowski_edge)=>FEV::Edge(minkowski_edge),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
trait Contains{
|
||||
fn contains(&self,point:Planar64Vec3)->bool;
|
||||
}
|
||||
|
||||
// convenience type to check if a point is within some threshold of a plane.
|
||||
struct ThickPlane{
|
||||
point:Planar64Vec3,
|
||||
normal:Vector3<Fixed<2,64>>,
|
||||
epsilon:Fixed<3,96>,
|
||||
}
|
||||
impl ThickPlane{
|
||||
fn new<M:MeshQuery>(mesh:&M,[v0,v1,v2]:Simplex<3,M::Vert>)->Self{
|
||||
let p0=mesh.vert(v0);
|
||||
let p1=mesh.vert(v1);
|
||||
let p2=mesh.vert(v2);
|
||||
let point=p0;
|
||||
let normal=(p1-p0).cross(p2-p0);
|
||||
// Allow ~ 2*sqrt(3) units of thickness on the plane
|
||||
// This is to account for the variance of two voxels across the longest diagonal
|
||||
let epsilon=(normal.length()*(Planar64::EPSILON*3)).wrap_3();
|
||||
Self{point,normal,epsilon}
|
||||
}
|
||||
}
|
||||
impl Contains for ThickPlane{
|
||||
fn contains(&self,point:Planar64Vec3)->bool{
|
||||
(point-self.point).dot(self.normal).abs()<=self.epsilon
|
||||
}
|
||||
}
|
||||
|
||||
struct ThickLine{
|
||||
point:Planar64Vec3,
|
||||
dir:Planar64Vec3,
|
||||
epsilon:Fixed<4,128>,
|
||||
}
|
||||
impl ThickLine{
|
||||
fn new<M:MeshQuery>(mesh:&M,[v0,v1]:Simplex<2,M::Vert>)->Self{
|
||||
let p0=mesh.vert(v0);
|
||||
let p1=mesh.vert(v1);
|
||||
let point=p0;
|
||||
let dir=p1-p0;
|
||||
// Allow ~ 2*sqrt(3) units of thickness on the plane
|
||||
// This is to account for the variance of two voxels across the longest diagonal
|
||||
let epsilon=(dir.length_squared()*(Planar64::EPSILON*3)).widen_4();
|
||||
Self{point,dir,epsilon}
|
||||
}
|
||||
}
|
||||
impl Contains for ThickLine{
|
||||
fn contains(&self,point:Planar64Vec3)->bool{
|
||||
(point-self.point).cross(self.dir).length_squared()<=self.epsilon
|
||||
}
|
||||
}
|
||||
|
||||
struct EVFinder<'a,M,C>{
|
||||
mesh:&'a M,
|
||||
constraint:C,
|
||||
best_distance_squared:Fixed<2,64>,
|
||||
}
|
||||
|
||||
impl<M:MeshQuery,C:Contains> EVFinder<'_,M,C>{
|
||||
fn next_transition_vert(&mut self,vert_id:M::Vert,point:Planar64Vec3)->Transition<M::Vert>{
|
||||
let mut best_transition=Transition::Done;
|
||||
for &directed_edge_id in self.mesh.vert_edges(vert_id).as_ref(){
|
||||
//test if this edge's opposite vertex closer
|
||||
let edge_verts=self.mesh.edge_verts(directed_edge_id.as_undirected());
|
||||
//select opposite vertex
|
||||
let test_vert_id=edge_verts.as_ref()[directed_edge_id.parity() as usize];
|
||||
let test_pos=self.mesh.vert(test_vert_id);
|
||||
let diff=point-test_pos;
|
||||
let distance_squared=diff.dot(diff);
|
||||
// ensure test_vert_id is coplanar to simplex
|
||||
if distance_squared<self.best_distance_squared&&self.constraint.contains(test_pos){
|
||||
best_transition=Transition::Vert(test_vert_id);
|
||||
self.best_distance_squared=distance_squared;
|
||||
}
|
||||
}
|
||||
best_transition
|
||||
}
|
||||
fn final_ev(&mut self,vert_id:M::Vert,point:Planar64Vec3)->EV<M>{
|
||||
let mut best_transition=EV::Vert(vert_id);
|
||||
let vert_pos=self.mesh.vert(vert_id);
|
||||
let diff=point-vert_pos;
|
||||
for &directed_edge_id in self.mesh.vert_edges(vert_id).as_ref(){
|
||||
//test if this edge is closer
|
||||
let edge_verts=self.mesh.edge_verts(directed_edge_id.as_undirected());
|
||||
let test_vert_id=edge_verts.as_ref()[directed_edge_id.parity() as usize];
|
||||
let test_pos=self.mesh.vert(test_vert_id);
|
||||
let edge_n=test_pos-vert_pos;
|
||||
let d=edge_n.dot(diff);
|
||||
//test the edge
|
||||
let edge_nn=edge_n.dot(edge_n);
|
||||
// ensure edge contains closest point and directed_edge_id is coplanar to simplex
|
||||
if !d.is_negative()&&d<=edge_nn&&self.constraint.contains(test_pos){
|
||||
let distance_squared={
|
||||
let c=diff.cross(edge_n);
|
||||
//wrap for speed
|
||||
(c.dot(c)/edge_nn).divide().wrap_2()
|
||||
};
|
||||
if distance_squared<=self.best_distance_squared{
|
||||
best_transition=EV::Edge(directed_edge_id.as_undirected());
|
||||
self.best_distance_squared=distance_squared;
|
||||
}
|
||||
}
|
||||
}
|
||||
best_transition
|
||||
}
|
||||
fn crawl_boundaries(&mut self,mut vert_id:M::Vert,point:Planar64Vec3)->EV<M>{
|
||||
loop{
|
||||
match self.next_transition_vert(vert_id,point){
|
||||
Transition::Done=>return self.final_ev(vert_id,point),
|
||||
Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
|
||||
fn crawl_to_closest_ev<M:MeshQuery>(mesh:&M,simplex:Simplex<2,M::Vert>,point:Planar64Vec3)->EV<M>{
|
||||
// naively start at the closest vertex
|
||||
// the closest vertex is not necessarily the one with the fewest boundary hops
|
||||
// but it doesn't matter, we will get there regardless.
|
||||
let (vert_id,best_distance_squared)=simplex.into_iter().map(|vert_id|{
|
||||
let diff=point-mesh.vert(vert_id);
|
||||
(vert_id,diff.dot(diff))
|
||||
}).min_by_key(|&(_,d)|d).unwrap();
|
||||
|
||||
let constraint=ThickLine::new(mesh,simplex);
|
||||
let mut finder=EVFinder{constraint,mesh,best_distance_squared};
|
||||
//start on any vertex
|
||||
//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
|
||||
//cross edge-face boundary if it's uncrossable
|
||||
finder.crawl_boundaries(vert_id,point)
|
||||
}
|
||||
|
||||
/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
|
||||
fn crawl_to_closest_fev<'a>(mesh:&MinkowskiMesh<'a>,simplex:Simplex<3,MinkowskiVert>,point:Planar64Vec3)->FEV::<MinkowskiMesh<'a>>{
|
||||
// naively start at the closest vertex
|
||||
// the closest vertex is not necessarily the one with the fewest boundary hops
|
||||
// but it doesn't matter, we will get there regardless.
|
||||
let (vert_id,best_distance_squared)=simplex.into_iter().map(|vert_id|{
|
||||
let diff=point-mesh.vert(vert_id);
|
||||
(vert_id,diff.dot(diff))
|
||||
}).min_by_key(|&(_,d)|d).unwrap();
|
||||
|
||||
let constraint=ThickPlane::new(mesh,simplex);
|
||||
let mut finder=EVFinder{constraint,mesh,best_distance_squared};
|
||||
//start on any vertex
|
||||
//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
|
||||
//cross edge-face boundary if it's uncrossable
|
||||
match finder.crawl_boundaries(vert_id,point){
|
||||
//if a vert is returned, it is the closest point to the infinity point
|
||||
EV::Vert(vert_id)=>FEV::Vert(vert_id),
|
||||
EV::Edge(edge_id)=>{
|
||||
//cross to face if we are on the wrong side
|
||||
let edge_n=mesh.edge_n(edge_id);
|
||||
// point is multiplied by two because vert_sum sums two vertices.
|
||||
let delta_pos=point*2-{
|
||||
let &[v0,v1]=mesh.edge_verts(edge_id).as_ref();
|
||||
mesh.vert(v0)+mesh.vert(v1)
|
||||
};
|
||||
for (i,&face_id) in mesh.edge_faces(edge_id).as_ref().iter().enumerate(){
|
||||
//test if this face is closer
|
||||
let (face_n,d)=mesh.face_nd(face_id);
|
||||
//if test point is behind face, the face is invalid
|
||||
// TODO: find out why I thought of this backwards
|
||||
if !(face_n.dot(point)-d).is_positive(){
|
||||
continue;
|
||||
}
|
||||
//edge-face boundary nd, n facing out of the face towards the edge
|
||||
let boundary_n=face_n.cross(edge_n)*(i as i64*2-1);
|
||||
let boundary_d=boundary_n.dot(delta_pos);
|
||||
//is test point behind edge, i.e. contained in the face
|
||||
if !boundary_d.is_positive(){
|
||||
//both faces cannot pass this condition, return early if one does.
|
||||
return FEV::Face(face_id);
|
||||
}
|
||||
}
|
||||
FEV::Edge(edge_id)
|
||||
},
|
||||
}
|
||||
}
|
||||
|
||||
pub fn closest_fev_not_inside<'a>(mesh:&MinkowskiMesh<'a>,point:Planar64Vec3)->Option<FEV<MinkowskiMesh<'a>>>{
|
||||
const ENABLE_FAST_FAIL:bool=false;
|
||||
// TODO: remove mesh negation
|
||||
minimum_difference::<ENABLE_FAST_FAIL,_,_>(&-mesh,point,
|
||||
// on_exact
|
||||
|is_intersecting,simplex|{
|
||||
if is_intersecting{
|
||||
return None;
|
||||
}
|
||||
// Convert simplex to FEV
|
||||
// Vertices must be inverted since the mesh is inverted
|
||||
Some(match simplex{
|
||||
Simplex1_3::Simplex1([v0])=>FEV::Vert(-v0),
|
||||
Simplex1_3::Simplex2([v0,v1])=>{
|
||||
// invert
|
||||
let (v0,v1)=(-v0,-v1);
|
||||
let ev=crawl_to_closest_ev(mesh,[v0,v1],point);
|
||||
if !matches!(ev,EV::Edge(_)){
|
||||
println!("I can't believe it's not an edge!");
|
||||
}
|
||||
ev.into()
|
||||
},
|
||||
Simplex1_3::Simplex3([v0,v1,v2])=>{
|
||||
// invert
|
||||
let (v0,v1,v2)=(-v0,-v1,-v2);
|
||||
// Shimmy to the side until you find a face that contains the closest point
|
||||
// it's ALWAYS representable as a face, but this algorithm may
|
||||
// return E or V in edge cases but I don't think that will break the face crawler
|
||||
let fev=crawl_to_closest_fev(mesh,[v0,v1,v2],point);
|
||||
if !matches!(fev,FEV::Face(_)){
|
||||
println!("I can't believe it's not a face!");
|
||||
}
|
||||
fev
|
||||
},
|
||||
})
|
||||
},
|
||||
// on_escape
|
||||
|_simplex|{
|
||||
// intersection is guaranteed at this point
|
||||
// local norm, dist, u0, u1, v0, v1, w0, w1 = expand(queryP, queryQ, a0, a1, b0, b1, c0, c1, d0, d1, 1e-5)
|
||||
// let simplex=refine_to_exact(mesh,simplex);
|
||||
None
|
||||
},
|
||||
// fast_fail value is irrelevant and will never be returned!
|
||||
||unreachable!()
|
||||
)
|
||||
}
|
||||
|
||||
// local function minimumDifference(
|
||||
// queryP, radiusP,
|
||||
// queryQ, radiusQ,
|
||||
// exitRadius, testIntersection
|
||||
// )
|
||||
fn minimum_difference<const ENABLE_FAST_FAIL:bool,T,M:MeshQuery>(
|
||||
mesh:&M,
|
||||
point:Planar64Vec3,
|
||||
on_exact:impl FnOnce(bool,Simplex1_3<M::Vert>)->T,
|
||||
on_escape:impl FnOnce(Simplex<4,M::Vert>)->T,
|
||||
on_fast_fail:impl FnOnce()->T,
|
||||
)->T{
|
||||
// local initialAxis = queryQ() - queryP()
|
||||
// local new_point_p = queryP(initialAxis)
|
||||
// local new_point_q = queryQ(-initialAxis)
|
||||
// local direction, a0, a1, b0, b1, c0, c1, d0, d1
|
||||
let mut initial_axis=mesh.hint_point()+point;
|
||||
// degenerate case
|
||||
if initial_axis==vec3::zero(){
|
||||
initial_axis=choose_any_direction();
|
||||
}
|
||||
let last_point=mesh.farthest_vert(-initial_axis);
|
||||
// this represents the 'a' value in the commented code
|
||||
let mut last_pos=mesh.vert(last_point);
|
||||
let Reduced{dir:mut direction,simplex:mut simplex_small}=reduce1([last_point],mesh,point);
|
||||
|
||||
// exitRadius = testIntersection and 0 or exitRadius or 1/0
|
||||
// for _ = 1, 100 do
|
||||
loop{
|
||||
// new_point_p = queryP(-direction)
|
||||
// new_point_q = queryQ(direction)
|
||||
// local next_point = new_point_q - new_point_p
|
||||
let next_point=mesh.farthest_vert(direction);
|
||||
let next_pos=mesh.vert(next_point);
|
||||
|
||||
// if -direction:Dot(next_point) > (exitRadius + radiusP + radiusQ)*direction.magnitude then
|
||||
if ENABLE_FAST_FAIL&&direction.dot(next_pos+point).is_negative(){
|
||||
return on_fast_fail();
|
||||
}
|
||||
|
||||
let simplex_big=simplex_small.push_front(next_point);
|
||||
|
||||
// if
|
||||
// direction:Dot(next_point - a) <= 0 or
|
||||
// absDet(next_point, a, b, c) < 1e-6
|
||||
if !direction.dot(next_pos-last_pos).is_positive()
|
||||
||simplex_big.det_is_zero(mesh){
|
||||
// Found enough information to compute the exact closest point.
|
||||
// local norm = direction.unit
|
||||
// local dist = a:Dot(norm)
|
||||
// local hits = -dist < radiusP + radiusQ
|
||||
let is_intersecting=(last_pos+point).dot(direction).is_positive();
|
||||
return on_exact(is_intersecting,simplex_small);
|
||||
}
|
||||
|
||||
// direction, a0, a1, b0, b1, c0, c1, d0, d1 = reduceSimplex(new_point_p, new_point_q, a0, a1, b0, b1, c0, c1)
|
||||
match simplex_big.reduce(mesh,point){
|
||||
// if a and b and c and d then
|
||||
Reduce::Escape(simplex)=>{
|
||||
// Enough information to conclude that the meshes are intersecting.
|
||||
// Topology information is computed if needed.
|
||||
return on_escape(simplex);
|
||||
},
|
||||
Reduce::Reduced(reduced)=>{
|
||||
direction=reduced.dir;
|
||||
simplex_small=reduced.simplex;
|
||||
},
|
||||
}
|
||||
|
||||
// next loop this will be a
|
||||
last_pos=next_pos;
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod test{
|
||||
use super::*;
|
||||
use crate::model::{PhysicsMesh,PhysicsMeshView};
|
||||
|
||||
fn mesh_contains_point(mesh:PhysicsMeshView<'_>,point:Planar64Vec3)->bool{
|
||||
const ENABLE_FAST_FAIL:bool=true;
|
||||
// TODO: remove mesh negation
|
||||
minimum_difference::<ENABLE_FAST_FAIL,_,_>(&mesh,point,
|
||||
// on_exact
|
||||
|is_intersecting,_simplex|{
|
||||
is_intersecting
|
||||
},
|
||||
// on_escape
|
||||
|_simplex|{
|
||||
// intersection is guaranteed at this point
|
||||
true
|
||||
},
|
||||
// fast_fail value
|
||||
||false
|
||||
)
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_cube_points(){
|
||||
let mesh=PhysicsMesh::unit_cube();
|
||||
let mesh_view=mesh.complete_mesh_view();
|
||||
for x in -2..=2{
|
||||
for y in -2..=2{
|
||||
for z in -2..=2{
|
||||
let point=vec3::int(x,y,z)>>1;
|
||||
assert!(mesh_contains_point(mesh_view,point),"Mesh did not contain point {point}");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -91,8 +91,8 @@ pub trait MeshQuery{
|
||||
(self.vert(v1)-self.vert(v0))*((directed_edge_id.parity() as i64)*2-1)
|
||||
}
|
||||
/// This must return a point inside the mesh.
|
||||
#[expect(dead_code)]
|
||||
fn hint_point(&self)->Planar64Vec3;
|
||||
fn farthest_vert(&self,dir:Planar64Vec3)->Self::Vert;
|
||||
fn vert(&self,vert_id:Self::Vert)->Planar64Vec3;
|
||||
fn face_nd(&self,face_id:Self::Face)->(Self::Normal,Self::Offset);
|
||||
fn face_edges(&self,face_id:Self::Face)->impl AsRef<[Self::Edge]>;
|
||||
@@ -103,21 +103,17 @@ pub trait MeshQuery{
|
||||
}
|
||||
#[derive(Debug)]
|
||||
struct FaceRefs{
|
||||
// I didn't write it down, but I assume the edges are directed
|
||||
// clockwise when looking towards the face normal, i.e. right hand rule.
|
||||
edges:Vec<SubmeshDirectedEdgeId>,
|
||||
//verts are redundant, use edge[i].verts[0]
|
||||
//verts:Vec<VertId>,
|
||||
}
|
||||
#[derive(Debug)]
|
||||
struct EdgeRefs{
|
||||
faces:[SubmeshFaceId;2],//left, right
|
||||
verts:[SubmeshVertId;2],//start, end
|
||||
verts:[SubmeshVertId;2],//bottom, top
|
||||
}
|
||||
#[derive(Debug)]
|
||||
struct VertRefs{
|
||||
faces:Vec<SubmeshFaceId>,
|
||||
// edges are always directed away from the vert
|
||||
edges:Vec<SubmeshDirectedEdgeId>,
|
||||
}
|
||||
#[derive(Debug)]
|
||||
@@ -439,7 +435,7 @@ impl TryFrom<&model::Mesh> for PhysicsMesh{
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug,Clone,Copy)]
|
||||
#[derive(Debug)]
|
||||
pub struct PhysicsMeshView<'a>{
|
||||
data:&'a PhysicsMeshData,
|
||||
topology:&'a PhysicsMeshTopology,
|
||||
@@ -458,18 +454,6 @@ impl MeshQuery for PhysicsMeshView<'_>{
|
||||
// invariant: meshes always encompass the origin
|
||||
vec3::zero()
|
||||
}
|
||||
fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
|
||||
//this happens to be well-defined. there are no virtual virtices
|
||||
SubmeshVertId::new(
|
||||
self.topology.verts.iter()
|
||||
.enumerate()
|
||||
.max_by_key(|&(_,&vert_id)|
|
||||
dir.dot(self.data.verts[vert_id.get() as usize].0)
|
||||
)
|
||||
//assume there is more than zero vertices.
|
||||
.unwrap().0 as u32
|
||||
)
|
||||
}
|
||||
//ideally I never calculate the vertex position, but I have to for the graphical meshes...
|
||||
fn vert(&self,vert_id:SubmeshVertId)->Planar64Vec3{
|
||||
let vert_idx=self.topology.verts[vert_id.get() as usize].get() as usize;
|
||||
@@ -508,7 +492,7 @@ impl PhysicsMeshTransform{
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug,Clone,Copy)]
|
||||
#[derive(Debug)]
|
||||
pub struct TransformedMesh<'a>{
|
||||
view:PhysicsMeshView<'a>,
|
||||
transform:&'a PhysicsMeshTransform,
|
||||
@@ -526,6 +510,18 @@ impl TransformedMesh<'_>{
|
||||
pub fn verts<'a>(&'a self)->impl Iterator<Item=Vector3<Fixed<2,64>>>+'a{
|
||||
self.view.data.verts.iter().map(|&Vert(pos)|self.transform.vertex.transform_point3(pos))
|
||||
}
|
||||
fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
|
||||
//this happens to be well-defined. there are no virtual virtices
|
||||
SubmeshVertId::new(
|
||||
self.view.topology.verts.iter()
|
||||
.enumerate()
|
||||
.max_by_key(|&(_,&vert_id)|
|
||||
dir.dot(self.transform.vertex.transform_point3(self.view.data.verts[vert_id.get() as usize].0))
|
||||
)
|
||||
//assume there is more than zero vertices.
|
||||
.unwrap().0 as u32
|
||||
)
|
||||
}
|
||||
}
|
||||
impl MeshQuery for TransformedMesh<'_>{
|
||||
type Face=SubmeshFaceId;
|
||||
@@ -546,18 +542,6 @@ impl MeshQuery for TransformedMesh<'_>{
|
||||
fn hint_point(&self)->Planar64Vec3{
|
||||
self.transform.vertex.translation
|
||||
}
|
||||
fn farthest_vert(&self,dir:Planar64Vec3)->SubmeshVertId{
|
||||
//this happens to be well-defined. there are no virtual virtices
|
||||
SubmeshVertId::new(
|
||||
self.view.topology.verts.iter()
|
||||
.enumerate()
|
||||
.max_by_key(|&(_,&vert_id)|
|
||||
dir.dot(self.transform.vertex.transform_point3(self.view.data.verts[vert_id.get() as usize].0))
|
||||
)
|
||||
//assume there is more than zero vertices.
|
||||
.unwrap().0 as u32
|
||||
)
|
||||
}
|
||||
#[inline]
|
||||
fn face_edges(&self,face_id:SubmeshFaceId)->impl AsRef<[SubmeshDirectedEdgeId]>{
|
||||
self.view.face_edges(face_id)
|
||||
@@ -584,20 +568,11 @@ impl MeshQuery for TransformedMesh<'_>{
|
||||
//(face,vertex)
|
||||
//(edge,edge)
|
||||
//(vertex,face)
|
||||
#[derive(Clone,Copy,Debug,Eq,PartialEq)]
|
||||
#[derive(Clone,Copy,Debug)]
|
||||
pub enum MinkowskiVert{
|
||||
VertVert(SubmeshVertId,SubmeshVertId),
|
||||
}
|
||||
// TODO: remove this
|
||||
impl core::ops::Neg for MinkowskiVert{
|
||||
type Output=Self;
|
||||
fn neg(self)->Self::Output{
|
||||
match self{
|
||||
MinkowskiVert::VertVert(v0,v1)=>MinkowskiVert::VertVert(v1,v0),
|
||||
}
|
||||
}
|
||||
}
|
||||
#[derive(Clone,Copy,Debug,Eq,PartialEq)]
|
||||
#[derive(Clone,Copy,Debug)]
|
||||
pub enum MinkowskiEdge{
|
||||
VertEdge(SubmeshVertId,SubmeshEdgeId),
|
||||
EdgeVert(SubmeshEdgeId,SubmeshVertId),
|
||||
@@ -612,7 +587,7 @@ impl UndirectedEdge for MinkowskiEdge{
|
||||
}
|
||||
}
|
||||
}
|
||||
#[derive(Clone,Copy,Debug,Eq,PartialEq)]
|
||||
#[derive(Clone,Copy,Debug)]
|
||||
pub enum MinkowskiDirectedEdge{
|
||||
VertEdge(SubmeshVertId,SubmeshDirectedEdgeId),
|
||||
EdgeVert(SubmeshDirectedEdgeId,SubmeshVertId),
|
||||
@@ -633,7 +608,7 @@ impl DirectedEdge for MinkowskiDirectedEdge{
|
||||
}
|
||||
}
|
||||
}
|
||||
#[derive(Clone,Copy,Debug,Hash)]
|
||||
#[derive(Clone,Copy,Debug,Hash,Eq,PartialEq)]
|
||||
pub enum MinkowskiFace{
|
||||
VertFace(SubmeshVertId,SubmeshFaceId),
|
||||
EdgeEdge(SubmeshEdgeId,SubmeshEdgeId,bool),
|
||||
@@ -649,20 +624,23 @@ pub struct MinkowskiMesh<'a>{
|
||||
mesh1:TransformedMesh<'a>,
|
||||
}
|
||||
|
||||
//infinity fev algorithm state transition
|
||||
#[derive(Debug)]
|
||||
enum Transition{
|
||||
Done,//found closest vert, no edges are better
|
||||
Vert(MinkowskiVert),//transition to vert
|
||||
}
|
||||
enum EV{
|
||||
Vert(MinkowskiVert),
|
||||
Edge(MinkowskiEdge),
|
||||
}
|
||||
|
||||
pub type GigaTime=Ratio<Fixed<4,128>,Fixed<4,128>>;
|
||||
pub fn into_giga_time(time:Time,relative_to:Time)->GigaTime{
|
||||
let r=(time-relative_to).to_ratio();
|
||||
Ratio::new(r.num.widen_4(),r.den.widen_4())
|
||||
}
|
||||
|
||||
// TODO: remove this
|
||||
impl<'a> core::ops::Neg for &MinkowskiMesh<'a>{
|
||||
type Output=MinkowskiMesh<'a>;
|
||||
fn neg(self)->Self::Output{
|
||||
MinkowskiMesh::minkowski_sum(self.mesh1,self.mesh0)
|
||||
}
|
||||
}
|
||||
|
||||
impl MinkowskiMesh<'_>{
|
||||
pub fn minkowski_sum<'a>(mesh0:TransformedMesh<'a>,mesh1:TransformedMesh<'a>)->MinkowskiMesh<'a>{
|
||||
MinkowskiMesh{
|
||||
@@ -670,27 +648,140 @@ impl MinkowskiMesh<'_>{
|
||||
mesh1,
|
||||
}
|
||||
}
|
||||
fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
|
||||
MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
|
||||
}
|
||||
fn next_transition_vert(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Fixed<2,64>,infinity_dir:Planar64Vec3,point:Planar64Vec3)->Transition{
|
||||
let mut best_transition=Transition::Done;
|
||||
for &directed_edge_id in self.vert_edges(vert_id).as_ref(){
|
||||
let edge_n=self.directed_edge_n(directed_edge_id);
|
||||
//is boundary uncrossable by a crawl from infinity
|
||||
let edge_verts=self.edge_verts(directed_edge_id.as_undirected());
|
||||
//select opposite vertex
|
||||
let test_vert_id=edge_verts.as_ref()[directed_edge_id.parity() as usize];
|
||||
//test if it's closer
|
||||
let diff=point-self.vert(test_vert_id);
|
||||
if edge_n.dot(infinity_dir).is_zero(){
|
||||
let distance_squared=diff.dot(diff);
|
||||
if distance_squared<*best_distance_squared{
|
||||
best_transition=Transition::Vert(test_vert_id);
|
||||
*best_distance_squared=distance_squared;
|
||||
}
|
||||
}
|
||||
}
|
||||
best_transition
|
||||
}
|
||||
fn final_ev(&self,vert_id:MinkowskiVert,best_distance_squared:&mut Fixed<2,64>,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
|
||||
let mut best_transition=EV::Vert(vert_id);
|
||||
let diff=point-self.vert(vert_id);
|
||||
for &directed_edge_id in self.vert_edges(vert_id).as_ref(){
|
||||
let edge_n=self.directed_edge_n(directed_edge_id);
|
||||
//is boundary uncrossable by a crawl from infinity
|
||||
//check if time of collision is outside Time::MIN..Time::MAX
|
||||
if edge_n.dot(infinity_dir).is_zero(){
|
||||
let d=edge_n.dot(diff);
|
||||
//test the edge
|
||||
let edge_nn=edge_n.dot(edge_n);
|
||||
if !d.is_negative()&&d<=edge_nn{
|
||||
let distance_squared={
|
||||
let c=diff.cross(edge_n);
|
||||
//wrap for speed
|
||||
(c.dot(c)/edge_nn).divide().wrap_2()
|
||||
};
|
||||
if distance_squared<=*best_distance_squared{
|
||||
best_transition=EV::Edge(directed_edge_id.as_undirected());
|
||||
*best_distance_squared=distance_squared;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
best_transition
|
||||
}
|
||||
fn crawl_boundaries(&self,mut vert_id:MinkowskiVert,infinity_dir:Planar64Vec3,point:Planar64Vec3)->EV{
|
||||
let mut best_distance_squared={
|
||||
let diff=point-self.vert(vert_id);
|
||||
diff.dot(diff)
|
||||
};
|
||||
loop{
|
||||
match self.next_transition_vert(vert_id,&mut best_distance_squared,infinity_dir,point){
|
||||
Transition::Done=>return self.final_ev(vert_id,&mut best_distance_squared,infinity_dir,point),
|
||||
Transition::Vert(new_vert_id)=>vert_id=new_vert_id,
|
||||
}
|
||||
}
|
||||
}
|
||||
/// This function drops a vertex down to an edge or a face if the path from infinity did not cross any vertex-edge boundaries but the point is supposed to have already crossed a boundary down from a vertex
|
||||
fn infinity_fev(&self,infinity_dir:Planar64Vec3,point:Planar64Vec3)->FEV::<MinkowskiMesh<'_>>{
|
||||
//start on any vertex
|
||||
//cross uncrossable vertex-edge boundaries until you find the closest vertex or edge
|
||||
//cross edge-face boundary if it's uncrossable
|
||||
match self.crawl_boundaries(self.farthest_vert(infinity_dir),infinity_dir,point){
|
||||
//if a vert is returned, it is the closest point to the infinity point
|
||||
EV::Vert(vert_id)=>FEV::Vert(vert_id),
|
||||
EV::Edge(edge_id)=>{
|
||||
//cross to face if the boundary is not crossable and we are on the wrong side
|
||||
let edge_n=self.edge_n(edge_id);
|
||||
// point is multiplied by two because vert_sum sums two vertices.
|
||||
let delta_pos=point*2-{
|
||||
let &[v0,v1]=self.edge_verts(edge_id).as_ref();
|
||||
self.vert(v0)+self.vert(v1)
|
||||
};
|
||||
for (i,&face_id) in self.edge_faces(edge_id).as_ref().iter().enumerate(){
|
||||
let face_n=self.face_nd(face_id).0;
|
||||
//edge-face boundary nd, n facing out of the face towards the edge
|
||||
let boundary_n=face_n.cross(edge_n)*(i as i64*2-1);
|
||||
let boundary_d=boundary_n.dot(delta_pos);
|
||||
//check if time of collision is outside Time::MIN..Time::MAX
|
||||
//infinity_dir can always be treated as a velocity
|
||||
if !boundary_d.is_positive()&&boundary_n.dot(infinity_dir).is_zero(){
|
||||
//both faces cannot pass this condition, return early if one does.
|
||||
return FEV::Face(face_id);
|
||||
}
|
||||
}
|
||||
FEV::Edge(edge_id)
|
||||
},
|
||||
}
|
||||
}
|
||||
// TODO: fundamentally improve this algorithm.
|
||||
// All it needs to do is find the closest point on the mesh
|
||||
// and return the FEV which the point resides on.
|
||||
//
|
||||
// What it actually does is use the above functions to trace a ray in from infinity,
|
||||
// crawling the closest point along the mesh surface until the ray reaches
|
||||
// the starting point to discover the final FEV.
|
||||
//
|
||||
// The actual collision prediction probably does a single test
|
||||
// and then immediately returns with 0 FEV transitions on average,
|
||||
// because of the strict time_limit constraint.
|
||||
//
|
||||
// Most of the calculation time is just calculating the starting point
|
||||
// for the "actual" crawling algorithm below (predict_collision_{in|out}).
|
||||
fn closest_fev_not_inside(&self,mut infinity_body:Body,start_time:Bound<&Time>)->Option<FEV<MinkowskiMesh<'_>>>{
|
||||
infinity_body.infinity_dir().and_then(|dir|{
|
||||
let infinity_fev=self.infinity_fev(-dir,infinity_body.position);
|
||||
//a line is simpler to solve than a parabola
|
||||
infinity_body.velocity=dir;
|
||||
infinity_body.acceleration=vec3::zero();
|
||||
//crawl in from negative infinity along a tangent line to get the closest fev
|
||||
infinity_fev.crawl(self,&infinity_body,Bound::Unbounded,start_time).miss()
|
||||
})
|
||||
}
|
||||
pub fn predict_collision_in(&self,relative_body:&Body,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
|
||||
let fev=crate::minimum_difference::closest_fev_not_inside(self,relative_body.position)?;
|
||||
//continue forwards along the body parabola
|
||||
fev.crawl(self,relative_body,range.start_bound(),range.end_bound()).hit()
|
||||
self.closest_fev_not_inside(*relative_body,range.start_bound()).and_then(|fev|{
|
||||
//continue forwards along the body parabola
|
||||
fev.crawl(self,relative_body,range.start_bound(),range.end_bound()).hit()
|
||||
})
|
||||
}
|
||||
pub fn predict_collision_out(&self,relative_body:&Body,range:impl RangeBounds<Time>)->Option<(MinkowskiFace,GigaTime)>{
|
||||
let (lower_bound,upper_bound)=(range.start_bound(),range.end_bound());
|
||||
// TODO: handle unbounded collision using infinity fev
|
||||
let time=match upper_bound{
|
||||
Bound::Included(&time)=>time,
|
||||
Bound::Excluded(&time)=>time,
|
||||
Bound::Unbounded=>unimplemented!("unbounded collision out"),
|
||||
};
|
||||
let fev=crate::minimum_difference::closest_fev_not_inside(self,relative_body.extrapolated_position(time))?;
|
||||
// swap and negate bounds to do a time inversion
|
||||
let (lower_bound,upper_bound)=(upper_bound.map(|&t|-t),lower_bound.map(|&t|-t));
|
||||
let infinity_body=-relative_body;
|
||||
//continue backwards along the body parabola
|
||||
fev.crawl(self,&infinity_body,lower_bound.as_ref(),upper_bound.as_ref()).hit()
|
||||
//no need to test -time<time_limit because of the first step
|
||||
.map(|(face,time)|(face,-time))
|
||||
self.closest_fev_not_inside(infinity_body,lower_bound.as_ref()).and_then(|fev|{
|
||||
//continue backwards along the body parabola
|
||||
fev.crawl(self,&infinity_body,lower_bound.as_ref(),upper_bound.as_ref()).hit()
|
||||
//no need to test -time<time_limit because of the first step
|
||||
.map(|(face,time)|(face,-time))
|
||||
})
|
||||
}
|
||||
pub fn predict_collision_face_out(&self,relative_body:&Body,range:impl RangeBounds<Time>,contact_face_id:MinkowskiFace)->Option<(MinkowskiDirectedEdge,GigaTime)>{
|
||||
// TODO: make better
|
||||
@@ -720,8 +811,20 @@ impl MinkowskiMesh<'_>{
|
||||
}
|
||||
best_edge
|
||||
}
|
||||
pub fn contains_point(&self,point:Planar64Vec3)->bool{
|
||||
crate::minimum_difference::contains_point(self,point)
|
||||
fn infinity_in(&self,infinity_body:Body)->Option<(MinkowskiFace,GigaTime)>{
|
||||
let infinity_fev=self.infinity_fev(-infinity_body.velocity,infinity_body.position);
|
||||
// Bound::Included means that the surface of the mesh is included in the mesh
|
||||
infinity_fev.crawl(self,&infinity_body,Bound::Unbounded,Bound::Included(&infinity_body.time)).hit()
|
||||
}
|
||||
pub fn is_point_in_mesh(&self,point:Planar64Vec3)->bool{
|
||||
let infinity_body=Body::new(point,vec3::Y,vec3::zero(),Time::ZERO);
|
||||
//movement must escape the mesh forwards and backwards in time,
|
||||
//otherwise the point is not inside the mesh
|
||||
self.infinity_in(infinity_body)
|
||||
.is_some_and(|_|
|
||||
self.infinity_in(-infinity_body)
|
||||
.is_some()
|
||||
)
|
||||
}
|
||||
}
|
||||
impl MeshQuery for MinkowskiMesh<'_>{
|
||||
@@ -761,10 +864,8 @@ impl MeshQuery for MinkowskiMesh<'_>{
|
||||
}
|
||||
}
|
||||
fn hint_point(&self)->Planar64Vec3{
|
||||
self.mesh0.transform.vertex.translation-self.mesh1.transform.vertex.translation
|
||||
}
|
||||
fn farthest_vert(&self,dir:Planar64Vec3)->MinkowskiVert{
|
||||
MinkowskiVert::VertVert(self.mesh0.farthest_vert(dir),self.mesh1.farthest_vert(-dir))
|
||||
self.mesh1.transform.vertex.translation-
|
||||
self.mesh0.transform.vertex.translation
|
||||
}
|
||||
fn face_edges(&self,face_id:MinkowskiFace)->impl AsRef<[MinkowskiDirectedEdge]>{
|
||||
match face_id{
|
||||
|
||||
@@ -488,8 +488,21 @@ impl StyleHelper for StyleModifiers{
|
||||
}
|
||||
}
|
||||
#[derive(Clone,Debug)]
|
||||
struct StrafeTickState{
|
||||
tick_number:u64,
|
||||
}
|
||||
impl StrafeTickState{
|
||||
fn next_tick(&self,settings:&gameplay_style::StrafeSettings)->Time{
|
||||
let n=self.tick_number as i128;
|
||||
let ticks=settings.tick_rate.num() as i128;
|
||||
let seconds=settings.tick_rate.den() as i128;
|
||||
let time=n*seconds/ticks;
|
||||
Time::from_nanos(time as i64)
|
||||
}
|
||||
}
|
||||
#[derive(Clone,Debug)]
|
||||
enum MoveState{
|
||||
Air,
|
||||
Air(StrafeTickState),
|
||||
Walk(ContactMoveState),
|
||||
Ladder(ContactMoveState),
|
||||
#[expect(dead_code)]
|
||||
@@ -497,11 +510,21 @@ enum MoveState{
|
||||
Fly,
|
||||
}
|
||||
impl MoveState{
|
||||
fn air(time:Time,settings:Option<&gameplay_style::StrafeSettings>)->Self{
|
||||
let tick_number=if let Some(settings)=settings{
|
||||
// let time=n*seconds/ticks;
|
||||
let time=time.nanos() as i128;
|
||||
let ticks=settings.tick_rate.num() as i128;
|
||||
let seconds=settings.tick_rate.den() as i128;
|
||||
(time*ticks/seconds) as u64
|
||||
}else{0};
|
||||
MoveState::Air(StrafeTickState{tick_number})
|
||||
}
|
||||
//call this after state.move_state is changed
|
||||
fn apply_enum(&self,body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
|
||||
match self{
|
||||
MoveState::Fly=>body.acceleration=vec3::zero(),
|
||||
MoveState::Air=>{
|
||||
MoveState::Air(_)=>{
|
||||
//calculate base acceleration
|
||||
let a=touching.base_acceleration(models,style,camera,input_state);
|
||||
//set_acceleration clips according to contacts
|
||||
@@ -513,7 +536,7 @@ impl MoveState{
|
||||
//function to coerce &mut self into &self
|
||||
fn apply_to_body(&self,body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
|
||||
match self{
|
||||
MoveState::Air=>(),
|
||||
MoveState::Air(_)=>(),
|
||||
MoveState::Water=>(),
|
||||
MoveState::Fly=>{
|
||||
//set velocity according to current control state
|
||||
@@ -534,7 +557,7 @@ impl MoveState{
|
||||
fn apply_input(&mut self,body:&Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
|
||||
match self{
|
||||
MoveState::Fly
|
||||
|MoveState::Air
|
||||
|MoveState::Air(_)
|
||||
|MoveState::Water=>(),
|
||||
MoveState::Walk(ContactMoveState{target,contact,jump_direction:_})=>{
|
||||
if let Some(walk_settings)=&style.walk{
|
||||
@@ -559,13 +582,13 @@ impl MoveState{
|
||||
MoveState::Walk(walk_state)
|
||||
|MoveState::Ladder(walk_state)
|
||||
=>Some(walk_state),
|
||||
MoveState::Air
|
||||
MoveState::Air(_)
|
||||
|MoveState::Water
|
||||
|MoveState::Fly
|
||||
=>None,
|
||||
}
|
||||
}
|
||||
fn next_move_instruction(&self,strafe:&Option<gameplay_style::StrafeSettings>,time:Time)->Option<TimedInstruction<InternalInstruction,Time>>{
|
||||
fn next_move_instruction(&self,strafe:Option<&gameplay_style::StrafeSettings>)->Option<TimedInstruction<InternalInstruction,Time>>{
|
||||
//check if you have a valid walk state and create an instruction
|
||||
match self{
|
||||
MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>match &walk_state.target{
|
||||
@@ -577,9 +600,9 @@ impl MoveState{
|
||||
|TransientAcceleration::Reached
|
||||
=>None,
|
||||
}
|
||||
MoveState::Air=>strafe.as_ref().map(|strafe|{
|
||||
MoveState::Air(strafe_tick_state)=>strafe.as_ref().map(|strafe|{
|
||||
TimedInstruction{
|
||||
time:strafe.next_tick(time),
|
||||
time:strafe_tick_state.next_tick(strafe),
|
||||
//only poll the physics if there is a before and after mouse event
|
||||
instruction:InternalInstruction::StrafeTick
|
||||
}
|
||||
@@ -607,7 +630,7 @@ impl MoveState{
|
||||
//this function call reads the above state that was just set
|
||||
self.apply_enum_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
|
||||
}
|
||||
fn cull_velocity(&mut self,velocity:Planar64Vec3,body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
|
||||
fn cull_velocity(&mut self,velocity:Planar64Vec3,body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState,time:Time){
|
||||
//TODO: be more precise about contacts
|
||||
if set_velocity_cull(body,touching,models,hitbox_mesh,velocity){
|
||||
// TODO do better
|
||||
@@ -615,7 +638,7 @@ impl MoveState{
|
||||
match self.get_walk_state(){
|
||||
// did you stop touching the thing you were walking on?
|
||||
Some(walk_state)=>if !touching.contains_contact(&walk_state.contact.convex_mesh_id){
|
||||
self.set_move_state(MoveState::Air,body,touching,models,hitbox_mesh,style,camera,input_state);
|
||||
self.set_move_state(MoveState::air(time,style.strafe.as_ref()),body,touching,models,hitbox_mesh,style,camera,input_state);
|
||||
}else{
|
||||
// stopped touching something else while walking
|
||||
self.apply_enum_and_input_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
|
||||
@@ -729,7 +752,7 @@ struct IntersectModel{
|
||||
transform:PhysicsMeshTransform,
|
||||
}
|
||||
|
||||
#[derive(Debug,Clone,Copy,Hash)]
|
||||
#[derive(Debug,Clone,Copy,Eq,Hash,PartialEq)]
|
||||
pub struct ContactCollision{
|
||||
convex_mesh_id:ConvexMeshId<ContactModelId>,
|
||||
face_id:model_physics::MinkowskiFace,
|
||||
@@ -738,7 +761,7 @@ pub struct ContactCollision{
|
||||
pub struct IntersectCollision{
|
||||
convex_mesh_id:ConvexMeshId<IntersectModelId>,
|
||||
}
|
||||
#[derive(Debug,Clone,Hash)]
|
||||
#[derive(Debug,Clone,Eq,Hash,PartialEq)]
|
||||
pub enum Collision{
|
||||
Contact(ContactCollision),
|
||||
Intersect(IntersectCollision),
|
||||
@@ -890,7 +913,7 @@ impl Default for PhysicsState{
|
||||
time:Time::ZERO,
|
||||
style:StyleModifiers::default(),
|
||||
touching:TouchingState::default(),
|
||||
move_state:MoveState::Air,
|
||||
move_state:MoveState::air(Time::ZERO,None),
|
||||
camera:PhysicsCamera::default(),
|
||||
input_state:InputState::default(),
|
||||
_world:WorldState{},
|
||||
@@ -935,10 +958,10 @@ impl PhysicsState{
|
||||
*self=Self::default();
|
||||
}
|
||||
fn next_move_instruction(&self)->Option<TimedInstruction<InternalInstruction,Time>>{
|
||||
self.move_state.next_move_instruction(&self.style.strafe,self.time)
|
||||
self.move_state.next_move_instruction(self.style.strafe.as_ref())
|
||||
}
|
||||
fn cull_velocity(&mut self,data:&PhysicsData,velocity:Planar64Vec3){
|
||||
self.move_state.cull_velocity(velocity,&mut self.body,&mut self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
|
||||
fn cull_velocity(&mut self,data:&PhysicsData,velocity:Planar64Vec3,time:Time){
|
||||
self.move_state.cull_velocity(velocity,&mut self.body,&mut self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state,time);
|
||||
}
|
||||
fn set_move_state(&mut self,data:&PhysicsData,move_state:MoveState){
|
||||
self.move_state.set_move_state(move_state,&mut self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
|
||||
@@ -1262,7 +1285,7 @@ fn recalculate_touching(
|
||||
//I would have preferred while let Some(contact)=contacts.pop()
|
||||
//but there is no such method
|
||||
while let Some((&convex_mesh_id,_face_id))=touching.contacts.iter().next(){
|
||||
collision_end_contact(move_state,body,touching,models,hitbox_mesh,style,camera,input_state,models.contact_attr(convex_mesh_id.model_id),&convex_mesh_id)
|
||||
collision_end_contact(move_state,body,touching,models,hitbox_mesh,style,camera,input_state,models.contact_attr(convex_mesh_id.model_id),&convex_mesh_id,time)
|
||||
}
|
||||
while let Some(&convex_mesh_id)=touching.intersects.iter().next(){
|
||||
collision_end_intersect(move_state,body,touching,models,hitbox_mesh,style,camera,input_state,mode,run,models.intersect_attr(convex_mesh_id.model_id),&convex_mesh_id,time);
|
||||
@@ -1277,7 +1300,7 @@ fn recalculate_touching(
|
||||
//no checks are needed because of the time limits.
|
||||
let model_mesh=models.mesh(convex_mesh_id);
|
||||
let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
|
||||
if minkowski.contains_point(body.position){
|
||||
if minkowski.is_point_in_mesh(body.position){
|
||||
match convex_mesh_id.model_id{
|
||||
//being inside of contact objects is an invalid physics state
|
||||
//but the physics isn't advanced enough to do anything about it yet
|
||||
@@ -1598,7 +1621,7 @@ fn collision_start_contact(
|
||||
gameplay_attributes::SetTrajectory::TargetPointTime{..}=>todo!(),
|
||||
gameplay_attributes::SetTrajectory::TargetPointSpeed{..}=>todo!(),
|
||||
&gameplay_attributes::SetTrajectory::Velocity(velocity)=>{
|
||||
move_state.cull_velocity(velocity,body,touching,models,hitbox_mesh,style,camera,input_state);
|
||||
move_state.cull_velocity(velocity,body,touching,models,hitbox_mesh,style,camera,input_state,time);
|
||||
},
|
||||
gameplay_attributes::SetTrajectory::DotVelocity{..}=>todo!(),
|
||||
}
|
||||
@@ -1628,7 +1651,7 @@ fn collision_start_contact(
|
||||
}else{
|
||||
let jump_dir=walk_state.jump_direction.direction(models,hitbox_mesh,&walk_state.contact);
|
||||
let jumped_velocity=jump_settings.jumped_velocity(style,jump_dir,body.velocity,attr.general.booster.as_ref());
|
||||
move_state.cull_velocity(jumped_velocity,body,touching,models,hitbox_mesh,style,camera,input_state);
|
||||
move_state.cull_velocity(jumped_velocity,body,touching,models,hitbox_mesh,style,camera,input_state,time);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1658,7 +1681,7 @@ fn collision_start_intersect(
|
||||
touching.insert_intersect(intersect);
|
||||
//insta booster!
|
||||
if let Some(booster)=&attr.general.booster{
|
||||
move_state.cull_velocity(booster.boost(body.velocity),body,touching,models,hitbox_mesh,style,camera,input_state);
|
||||
move_state.cull_velocity(booster.boost(body.velocity),body,touching,models,hitbox_mesh,style,camera,input_state,time);
|
||||
}
|
||||
if let Some(mode)=mode{
|
||||
let zone=mode.get_zone(intersect.convex_mesh_id.model_id.into());
|
||||
@@ -1692,6 +1715,7 @@ fn collision_end_contact(
|
||||
input_state:&InputState,
|
||||
_attr:&gameplay_attributes::ContactAttributes,
|
||||
convex_mesh_id:&ConvexMeshId<ContactModelId>,
|
||||
time:Time,
|
||||
){
|
||||
touching.remove_contact(convex_mesh_id);//remove contact before calling contact_constrain_acceleration
|
||||
//check ground
|
||||
@@ -1702,7 +1726,7 @@ fn collision_end_contact(
|
||||
// This does not check the face! Is that a bad thing? It should be
|
||||
// impossible to stop touching a different face than you started touching...
|
||||
Some(walk_state)=>if &walk_state.contact.convex_mesh_id==convex_mesh_id{
|
||||
move_state.set_move_state(MoveState::Air,body,touching,models,hitbox_mesh,style,camera,input_state);
|
||||
move_state.set_move_state(MoveState::air(time,style.strafe.as_ref()),body,touching,models,hitbox_mesh,style,camera,input_state);
|
||||
}else{
|
||||
// stopped touching something else while walking
|
||||
move_state.apply_enum_and_input_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
|
||||
@@ -1781,7 +1805,8 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
|
||||
Collision::Contact(contact)=>collision_end_contact(
|
||||
&mut state.move_state,&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state,
|
||||
data.models.contact_attr(contact.convex_mesh_id.model_id),
|
||||
&contact.convex_mesh_id
|
||||
&contact.convex_mesh_id,
|
||||
state.time,
|
||||
),
|
||||
Collision::Intersect(intersect)=>collision_end_intersect(
|
||||
&mut state.move_state,&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state,
|
||||
@@ -1793,6 +1818,11 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
|
||||
),
|
||||
},
|
||||
InternalInstruction::StrafeTick=>{
|
||||
let strafe_tick_state=match &mut state.move_state{
|
||||
MoveState::Air(strafe_tick_state)=>strafe_tick_state,
|
||||
_=>panic!("StrafeTick fired for non-air MoveState"),
|
||||
};
|
||||
strafe_tick_state.tick_number+=1;
|
||||
//TODO make this less huge
|
||||
if let Some(strafe_settings)=&state.style.strafe{
|
||||
let controls=state.input_state.controls;
|
||||
@@ -1804,7 +1834,7 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
|
||||
if let Some(ticked_velocity)=strafe_settings.tick_velocity(state.body.velocity,(camera_mat*control_dir).with_length(Planar64::ONE).divide().wrap_1()){
|
||||
//this is wrong but will work ig
|
||||
//need to note which push planes activate in push solve and keep those
|
||||
state.cull_velocity(data,ticked_velocity);
|
||||
state.cull_velocity(data,ticked_velocity,state.time);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1812,7 +1842,7 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
|
||||
}
|
||||
InternalInstruction::ReachWalkTargetVelocity=>{
|
||||
match &mut state.move_state{
|
||||
MoveState::Air
|
||||
MoveState::Air(_)
|
||||
|MoveState::Water
|
||||
|MoveState::Fly
|
||||
=>println!("ReachWalkTargetVelocity fired for non-walking MoveState"),
|
||||
@@ -1854,7 +1884,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
|
||||
|MoveState::Water
|
||||
|MoveState::Walk(_)
|
||||
|MoveState::Ladder(_)=>true,
|
||||
MoveState::Air=>false,
|
||||
MoveState::Air(_)=>false,
|
||||
}
|
||||
},
|
||||
//the body must be updated unconditionally
|
||||
@@ -1888,7 +1918,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
|
||||
let jump_dir=walk_state.jump_direction.direction(&data.models,&data.hitbox_mesh,&walk_state.contact);
|
||||
let booster_option=data.models.contact_attr(walk_state.contact.convex_mesh_id.model_id).general.booster.as_ref();
|
||||
let jumped_velocity=jump_settings.jumped_velocity(&state.style,jump_dir,state.body.velocity,booster_option);
|
||||
state.cull_velocity(data,jumped_velocity);
|
||||
state.cull_velocity(data,jumped_velocity,state.time);
|
||||
}
|
||||
}
|
||||
b_refresh_walk_target=false;
|
||||
@@ -1918,7 +1948,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
|
||||
}
|
||||
set_position(spawn_point,&mut state.move_state,&mut state.body,&mut state.touching,&mut state.run,&mut state.mode_state,mode,&data.models,&data.hitbox_mesh,&data.bvh,&state.style,&state.camera,&state.input_state,state.time);
|
||||
set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,vec3::zero());
|
||||
state.set_move_state(data,MoveState::Air);
|
||||
state.set_move_state(data,MoveState::air(state.time,state.style.strafe.as_ref()));
|
||||
b_refresh_walk_target=false;
|
||||
}
|
||||
// Spawn does not necessarily imply reset
|
||||
@@ -1942,7 +1972,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
|
||||
Instruction::Misc(MiscInstruction::PracticeFly)=>{
|
||||
match &state.move_state{
|
||||
MoveState::Fly=>{
|
||||
state.set_move_state(data,MoveState::Air);
|
||||
state.set_move_state(data,MoveState::air(state.time,state.style.strafe.as_ref()));
|
||||
},
|
||||
_=>{
|
||||
state.set_move_state(data,MoveState::Fly);
|
||||
@@ -1957,7 +1987,7 @@ fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedI
|
||||
}
|
||||
if b_refresh_walk_target{
|
||||
state.apply_input_and_body(data);
|
||||
state.cull_velocity(data,state.body.velocity);
|
||||
state.cull_velocity(data,state.body.velocity,state.time);
|
||||
//also check if accelerating away from surface
|
||||
}
|
||||
}
|
||||
|
||||
@@ -2,7 +2,6 @@ const VALVE_SCALE:Planar64=Planar64::raw(1<<28);// 1/16
|
||||
|
||||
use crate::integer::{int,vec3::int as int3,AbsoluteTime,Ratio64,Planar64,Planar64Vec3};
|
||||
use crate::controls_bitflag::Controls;
|
||||
use crate::physics::Time as PhysicsTime;
|
||||
|
||||
#[derive(Clone,Debug)]
|
||||
pub struct StyleModifiers{
|
||||
@@ -273,9 +272,6 @@ impl StrafeSettings{
|
||||
false=>None,
|
||||
}
|
||||
}
|
||||
pub fn next_tick(&self,time:PhysicsTime)->PhysicsTime{
|
||||
PhysicsTime::from_nanos(self.tick_rate.rhs_div_int(self.tick_rate.mul_int(time.nanos())+1))
|
||||
}
|
||||
pub const fn activates(&self,controls:Controls)->bool{
|
||||
self.enable.activates(controls)
|
||||
}
|
||||
|
||||
@@ -28,7 +28,7 @@ strafesnet_rbx_loader = { path = "../lib/rbx_loader", registry = "strafesnet", o
|
||||
strafesnet_session = { path = "../engine/session", registry = "strafesnet" }
|
||||
strafesnet_settings = { path = "../engine/settings", registry = "strafesnet" }
|
||||
strafesnet_snf = { path = "../lib/snf", registry = "strafesnet", optional = true }
|
||||
wgpu = "28.0.0"
|
||||
wgpu = "27.0.0"
|
||||
winit = "0.30.7"
|
||||
|
||||
[profile.dev]
|
||||
|
||||
@@ -52,7 +52,7 @@ impl<'a> SetupContextPartial2<'a>{
|
||||
let required_features=required_features();
|
||||
|
||||
//no helper function smh gotta write it myself
|
||||
let adapters=pollster::block_on(self.instance.enumerate_adapters(self.backends));
|
||||
let adapters=self.instance.enumerate_adapters(self.backends);
|
||||
|
||||
let mut chosen_adapter=None;
|
||||
let mut chosen_adapter_score=0;
|
||||
|
||||
Reference in New Issue
Block a user