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Quaternions 2024-02-21 00:31:44 -08:00
parent c895a66ad6
commit dbd08729d7
1 changed files with 102 additions and 104 deletions
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206
src/physics.rs
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@ -138,59 +138,61 @@ impl JumpDirection{
}
}
}
enum WalkEnum{
enum WalkTarget{
Reached,
Transient(WalkTarget),
}
struct WalkTarget{
velocity:Planar64Vec3,
time:Time,
Reachable{
acceleration:Planar64Vec3,
time:Time,
},
//walk target will never be reached
Unreachable{
acceleration:Planar64Vec3,
}
}
struct WalkState{
jump_direction:JumpDirection,
contact:ContactCollision,
state:WalkEnum,
target:WalkTarget,
}
impl WalkEnum{
//args going crazy
//(walk_enum,body.acceleration)=with_target_velocity();
fn with_target_velocity(body:&Body,style:&StyleModifiers,velocity:Planar64Vec3,normal:&Planar64Vec3,speed:Planar64,normal_accel:Planar64)->(WalkEnum,Planar64Vec3){
let mut target_diff=velocity-body.velocity;
//remove normal component
target_diff-=normal.clone()*(normal.dot(target_diff)/normal.dot(normal.clone()));
impl WalkTarget{
fn with_target_diff(target_diff:Planar64Vec3,accel:Planar64,time:Time)->Self{
if target_diff==Planar64Vec3::ZERO{
(WalkEnum::Reached,Planar64Vec3::ZERO)
WalkTarget::Reached
}else{
//normal friction acceleration is clippedAcceleration.dot(normal)*friction
let diff_len=target_diff.length();
let friction=if diff_len<speed{
style.static_friction
}else{
style.kinetic_friction
};
let accel=style.walk_accel.min(normal_accel*friction);
let time_delta=diff_len/accel;
let a=target_diff.with_length(accel);
(WalkEnum::Transient(WalkTarget{velocity,time:body.time+Time::from(time_delta)}),a)
WalkTarget::Reachable{
acceleration:target_diff.with_length(accel),
time:time+Time::from(target_diff.length()/accel)
}
}
}
fn acceleration(&self)->Planar64Vec3{
match self{
WalkTarget::Reached=>Planar64Vec3::ZERO,
&WalkTarget::Reachable{acceleration,time:_}=>acceleration,
&WalkTarget::Unreachable{acceleration}=>acceleration,
}
}
}
impl WalkState{
fn ground(body:&Body,style:&StyleModifiers,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:&Planar64Vec3)->(Self,Planar64Vec3){
let (walk_enum,a)=WalkEnum::with_target_velocity(body,style,velocity,&Planar64Vec3::Y,style.walk_speed,-normal.dot(gravity));
(Self{
state:walk_enum,
fn ground(body:&Body,walk_settings:&gameplay_style::WalkSettings,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:Planar64Vec3)->Self{
let target_diff=velocity-body.velocity;
//precalculate accel
let accel=walk_settings.accel(target_diff,gravity);
Self{
target:WalkTarget::with_target_diff(target_diff,accel,body.time),
contact,
jump_direction:JumpDirection::Exactly(Planar64Vec3::Y),
},a)
}
}
fn ladder(body:&Body,style:&StyleModifiers,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:&Planar64Vec3)->(Self,Planar64Vec3){
let (walk_enum,a)=WalkEnum::with_target_velocity(body,style,velocity,normal,style.ladder_speed,style.ladder_accel);
(Self{
state:walk_enum,
fn ladder(body:&Body,ladder_settings:&gameplay_style::LadderSettings,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:Planar64Vec3)->Self{
let target_diff=velocity-body.velocity;
let accel=ladder_settings.accel(target_diff,gravity);
Self{//,style,velocity,normal,style.ladder_speed,style.ladder_accel
target:WalkTarget::with_target_diff(target_diff,accel,body.time),
contact,
jump_direction:JumpDirection::FromContactNormal,
},a)
}
}
}
@ -481,6 +483,59 @@ impl MoveState{
},
}
}
/// Returns whether the MoveState was changed
fn apply_input(&mut self,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&mut Body){
match self{
MoveState::Fly=>(),
MoveState::Air|MoveState::Water=>s.touching.base_acceleration(models,&s.style,&s.camera,&s.input_state),
MoveState::Walk(WalkState{target: state,contact,jump_direction:_})=>{
let n=contact_normal(models,hitbox_mesh,contact);
let gravity=s.touching.base_acceleration(models,&s.style,&s.camera,&s.input_state);
let a;
let mut v=s.style.get_walk_target_velocity(&s.camera,&s.input_state,&n);
s.touching.constrain_velocity(models,hitbox_mesh,&mut v);
let normal_accel=-n.dot(gravity)/n.length();
(*state,a)=WalkTarget::with_target_velocity(&s.body,&s.style,v,&n,s.style.walk_speed,normal_accel);
a
},
MoveState::Ladder(WalkState{target: state,contact,jump_direction:_})=>{
let n=contact_normal(models,hitbox_mesh,contact);
//let gravity=s.touching.base_acceleration(&data.models,&s.style,&s.camera,s.controls,&s.next_mouse,s.time);
let a;
let mut v=s.style.get_ladder_target_velocity(&s.camera,&s.input_state,&n);
s.touching.constrain_velocity(models,hitbox_mesh,&mut v);
(*state,a)=WalkTarget::with_target_velocity(&s.body,&s.style,v,&n,s.style.ladder_speed,s.style.ladder_accel);
a
},
}
self.apply_to_body(touching,models,hitbox_mesh,body);
}
fn get_walk_state(&self)->Option<&WalkState>{
match self{
MoveState::Walk(walk_state)
|MoveState::Ladder(walk_state)
=>Some(walk_state),
MoveState::Air
|MoveState::Water
|MoveState::Fly
=>None,
}
}
fn next_move_instruction(&self)->Option<TimedInstruction<PhysicsInstruction>>{
//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{
WalkTarget::Reachable(walk_target)=>Some(TimedInstruction{
time:walk_target.time,
instruction:PhysicsInstruction::ReachWalkTargetVelocity
}),
WalkTarget::Reached=>None,
}
MoveState::Air=>self.next_strafe_instruction(),
MoveState::Water=>None,//TODO
MoveState::Fly=>None,
}
}
}
#[derive(Clone,Default)]
@ -620,9 +675,7 @@ impl TouchingState{
fn base_acceleration(&self,models:&PhysicsModels,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->Planar64Vec3{
let mut a=style.gravity;
if let Some(rocket_settings)=style.rocket{
if rocket_settings.activates(input_state.controls){
a+=rocket_settings.acceleration(style.get_propulsion_control_dir(camera,input_state));
}
a+=rocket_settings.acceleration(style.get_propulsion_control_dir(camera,input_state.controls));
}
//add accelerators
for contact in &self.contacts{
@ -647,7 +700,7 @@ impl TouchingState{
_=>panic!("impossible touching state"),
}
}
//add water../?
//TODO: add water
a
}
fn constrain_velocity(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,velocity:&mut Planar64Vec3){
@ -954,23 +1007,8 @@ impl PhysicsState {
// instruction:PhysicsInstruction::Water
// });
// }
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
MoveState::Fly=>None,
}
}
}
#[derive(Default)]
pub struct PhysicsContext{
pub state:PhysicsState,//this captures the entire state of the physics.
@ -1074,33 +1112,6 @@ impl PhysicsContext{
}
}
//TODO get rid of this trash
fn refresh_walk_target(s:&mut PhysicsState,data:&PhysicsData)->Planar64Vec3{
match &mut s.move_state{
MoveState::Fly=>Planar64Vec3::ZERO,
MoveState::Air|MoveState::Water=>s.touching.base_acceleration(&data.models,&s.style,&s.camera,&s.input_state),
MoveState::Walk(WalkState{state,contact,jump_direction:_})=>{
let n=contact_normal(&data.models,&data.hitbox_mesh,contact);
let gravity=s.touching.base_acceleration(&data.models,&s.style,&s.camera,&s.input_state);
let a;
let mut v=s.style.get_walk_target_velocity(&s.camera,&s.input_state,&n);
s.touching.constrain_velocity(&data.models,&data.hitbox_mesh,&mut v);
let normal_accel=-n.dot(gravity)/n.length();
(*state,a)=WalkEnum::with_target_velocity(&s.body,&s.style,v,&n,s.style.walk_speed,normal_accel);
a
},
MoveState::Ladder(WalkState{state,contact,jump_direction:_})=>{
let n=contact_normal(&data.models,&data.hitbox_mesh,contact);
//let gravity=s.touching.base_acceleration(&data.models,&s.style,&s.camera,s.controls,&s.next_mouse,s.time);
let a;
let mut v=s.style.get_ladder_target_velocity(&s.camera,&s.input_state,&n);
s.touching.constrain_velocity(&data.models,&data.hitbox_mesh,&mut v);
(*state,a)=WalkEnum::with_target_velocity(&s.body,&s.style,v,&n,s.style.ladder_speed,s.style.ladder_accel);
a
},
}
}
fn literally_next_instruction_but_with_context(state:&PhysicsState,data:&PhysicsData,time_limit:Time)->Option<TimedInstruction<PhysicsInstruction>>{
//JUST POLLING!!! NO MUTATION
let mut collector = instruction::InstructionCollector::new(time_limit);
@ -1132,17 +1143,6 @@ impl PhysicsContext{
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
|MoveState::Fly
=>None,
}
}
fn contact_normal(models:&PhysicsModels,hitbox_mesh:&HitboxMesh,contact:&ContactCollision)->Planar64Vec3{
let model_mesh=models.mesh(contact.convex_mesh_id);
@ -1350,7 +1350,7 @@ fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models
}
let calc_move=if state.style.get_control(Controls::Jump,state.input_state.controls){
state.style.jump.is_some_and(|jump_settings|{
get_walk_state(&state.move_state).is_some_and(|walk_state|{
state.move_state.get_walk_state().is_some_and(|walk_state|{
let jump_dir=walk_state.jump_direction.direction(&data.models,&data.hitbox_mesh,&walk_state.contact);
v=jump_settings.jumped_velocity(&state.style,jump_dir,v);
set_velocity_cull(&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,v)
@ -1375,8 +1375,9 @@ fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models
if calc_move||Planar64::ZERO<normal.dot(v){
(state.move_state,state.body.acceleration)=state.touching.get_move_state(&state.body,&data.models,&state.style,&data.hitbox_mesh,&state.camera,&state.input_state,state.time);
}
let a=refresh_walk_target(state,data);
set_acceleration(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,a);
if state.move_state.apply_input(){
state.move_state.apply_to_body(&mut state.body,&state.touching,&data.models,&data.hitbox_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
@ -1427,15 +1428,15 @@ fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models
|MoveState::Fly
=>println!("ReachWalkTargetVelocity fired for non-walking MoveState"),
MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>{
match &mut walk_state.state{
WalkEnum::Reached=>(),
WalkEnum::Transient(walk_target)=>{
match &mut walk_state.target{
WalkTarget::Reached=>(),
WalkTarget::Reachable(walk_target)=>{
//precisely set velocity
let a=Planar64Vec3::ZERO;//ignore gravity for now.
set_acceleration(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,a);
let v=walk_target.velocity;
set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,v);
walk_state.state=WalkEnum::Reached;
walk_state.target=WalkTarget::Reached;
},
}
}
@ -1491,10 +1492,7 @@ fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models
PhysicsInputInstruction::Idle=>{b_refresh_walk_target=false;},//literally idle!
}
if b_refresh_walk_target{
let a=refresh_walk_target(state,data);
if set_acceleration_cull(&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,a){
(state.move_state,state.body.acceleration)=state.touching.get_move_state(&state.body,&data.models,&state.style,&data.hitbox_mesh,&state.camera,&state.input_state,state.time);
}
state.move_state.apply_input(&mut state.body);
}
},
}