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Quaternions 2024-02-21 01:32:03 -08:00
parent dbd08729d7
commit fb47b09925
1 changed files with 99 additions and 89 deletions
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188
src/physics.rs
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@ -138,7 +138,7 @@ impl JumpDirection{
}
}
}
enum WalkTarget{
enum TransientAcceleration{
Reached,
Reachable{
acceleration:Planar64Vec3,
@ -149,47 +149,53 @@ enum WalkTarget{
acceleration:Planar64Vec3,
}
}
struct WalkState{
struct ContactMoveState{
jump_direction:JumpDirection,
contact:ContactCollision,
target:WalkTarget,
target:TransientAcceleration,
}
impl WalkTarget{
impl TransientAcceleration{
fn with_target_diff(target_diff:Planar64Vec3,accel:Planar64,time:Time)->Self{
if target_diff==Planar64Vec3::ZERO{
WalkTarget::Reached
TransientAcceleration::Reached
}else{
//normal friction acceleration is clippedAcceleration.dot(normal)*friction
WalkTarget::Reachable{
TransientAcceleration::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,walk_settings:&gameplay_style::WalkSettings,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:Planar64Vec3)->Self{
fn ground(walk_settings:&gameplay_style::WalkSettings,body:&Body,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::with_target_diff(target_diff,accel,body.time)
}
fn ladder(ladder_settings:&gameplay_style::LadderSettings,body:&Body,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:Planar64Vec3)->Self{
let target_diff=velocity-body.velocity;
let accel=ladder_settings.accel(target_diff,gravity);
Self::with_target_diff(target_diff,accel,body.time)
}
fn acceleration(&self)->Planar64Vec3{
match self{
TransientAcceleration::Reached=>Planar64Vec3::ZERO,
&TransientAcceleration::Reachable{acceleration,time:_}=>acceleration,
&TransientAcceleration::Unreachable{acceleration}=>acceleration,
}
}
}
impl ContactMoveState{
fn ground(walk_settings:&gameplay_style::WalkSettings,body:&Body,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:Planar64Vec3)->Self{
Self{
target:WalkTarget::with_target_diff(target_diff,accel,body.time),
target:TransientAcceleration::ground(walk_settings,body,gravity,velocity,contact,normal),
contact,
jump_direction:JumpDirection::Exactly(Planar64Vec3::Y),
}
}
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);
fn ladder(ladder_settings:&gameplay_style::LadderSettings,body:&Body,gravity:Planar64Vec3,velocity:Planar64Vec3,contact:ContactCollision,normal:Planar64Vec3)->Self{
Self{//,style,velocity,normal,style.ladder_speed,style.ladder_accel
target:WalkTarget::with_target_diff(target_diff,accel,body.time),
target:TransientAcceleration::ladder(ladder_settings,body,gravity,velocity,contact,normal),
contact,
jump_direction:JumpDirection::FromContactNormal,
}
@ -455,17 +461,17 @@ impl StyleHelper for StyleModifiers{
enum MoveState{
Air,
Walk(WalkState),
Walk(ContactMoveState),
Water,
Ladder(WalkState),
Ladder(ContactMoveState),
Fly,
}
impl MoveState{
fn apply_to_body(&self,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&mut Body){
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=>{
//calculate base acceleration
let mut a=touching.base_acceleration(models, style, camera, input_state);
let mut a=touching.base_acceleration(models,style,camera,input_state);
//clip according to contacts
touching.constrain_acceleration(models,hitbox_mesh,&mut a);
//something
@ -483,34 +489,30 @@ impl MoveState{
},
}
}
/// Returns whether the MoveState was changed
fn apply_input(&mut self,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&mut Body){
/// changes the move state and then applies it to body
fn apply_input(&mut self,body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState){
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::Air|MoveState::Water=>(),
MoveState::Walk(ContactMoveState{target,contact,jump_direction:_})=>{
if let Some(walk_settings)=&style.walk{
*target=TransientAcceleration::ground();
}else{
panic!("ContactMoveState exists in style which does not allow walking!");
}
},
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
MoveState::Ladder(ContactMoveState{target,contact,jump_direction:_})=>{
if let Some(ladder_settings)=&style.ladder{
*target=TransientAcceleration::ladder();
}else{
panic!("ContactMoveState exists in style which does not allow walking!");
}
},
}
self.apply_to_body(touching,models,hitbox_mesh,body);
//precalculate gravity???
self.apply_to_body(body,touching,models,hitbox_mesh,style,camera,input_state);
}
fn get_walk_state(&self)->Option<&WalkState>{
fn get_walk_state(&self)->Option<&ContactMoveState>{
match self{
MoveState::Walk(walk_state)
|MoveState::Ladder(walk_state)
@ -521,17 +523,25 @@ impl MoveState{
=>None,
}
}
fn next_move_instruction(&self)->Option<TimedInstruction<PhysicsInstruction>>{
fn next_move_instruction(&self,strafe:&Option<gameplay_style::StrafeSettings>,time:Time)->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,
&TransientAcceleration::Reachable{acceleration:_,time}=>Some(TimedInstruction{
time,
instruction:PhysicsInstruction::ReachWalkTargetVelocity
}),
WalkTarget::Reached=>None,
TransientAcceleration::Unreachable{acceleration:_}
|TransientAcceleration::Reached
=>None,
}
MoveState::Air=>self.next_strafe_instruction(),
MoveState::Air=>strafe.as_ref().map(|strafe|{
TimedInstruction{
time:strafe.next_tick(time),
//only poll the physics if there is a before and after mouse event
instruction:PhysicsInstruction::StrafeTick
}
}),
MoveState::Water=>None,//TODO
MoveState::Fly=>None,
}
@ -723,6 +733,7 @@ impl TouchingState{
}
}
}
//TODO: delete this or make it a constructor of MoveState
fn get_move_state(&self,body:&Body,models:&PhysicsModels,style:&StyleModifiers,hitbox_mesh:&HitboxMesh,camera:&PhysicsCamera,input_state:&InputState,time:Time)->(MoveState,Planar64Vec3){
//check current move conditions and use heuristics to determine
//which ladder to climb on, which ground to walk on, etc
@ -740,7 +751,7 @@ impl TouchingState{
let control_dir=style.get_propulsion_control_dir(camera,input_state.controls);
let mut target_velocity=ladder_settings.get_ladder_target_velocity(control_dir,normal);
self.constrain_velocity(models,hitbox_mesh,&mut target_velocity);
let (walk_state,mut acceleration)=WalkState::ladder(body,style,gravity,target_velocity,contact.clone(),&normal);
let (walk_state,mut acceleration)=ContactMoveState::ladder(body,style,gravity,target_velocity,contact.clone(),&normal);
move_state=MoveState::Ladder(walk_state);
self.constrain_acceleration(models,hitbox_mesh,&mut acceleration);
a=acceleration;
@ -751,7 +762,7 @@ impl TouchingState{
let control_dir=style.get_y_control_dir(camera,input_state.controls);
let mut target_velocity=walk_settings.get_walk_target_velocity(control_dir,normal);
self.constrain_velocity(models,hitbox_mesh,&mut target_velocity);
let (walk_state,mut acceleration)=WalkState::ground(body,style,gravity,target_velocity,contact.clone(),&normal);
let (walk_state,mut acceleration)=ContactMoveState::ground(style,gravity,body,target_velocity,contact.clone(),&normal);
move_state=MoveState::Walk(walk_state);
self.constrain_acceleration(models,hitbox_mesh,&mut acceleration);
a=acceleration;
@ -966,15 +977,8 @@ impl PhysicsState {
pub const fn get_next_mouse(&self)->&MouseState{
self.input_state.get_next_mouse()
}
fn next_strafe_instruction(&self)->Option<TimedInstruction<PhysicsInstruction>>{
self.style.strafe.as_ref().map(|strafe|{
TimedInstruction{
time:strafe.next_tick(self.time),
//only poll the physics if there is a before and after mouse event
instruction:PhysicsInstruction::StrafeTick
}
})
fn next_move_instruction(&self)->Option<TimedInstruction<PhysicsInstruction>>{
self.move_state.next_move_instruction(&self.style.strafe,self.time)
}
//state mutated on collision:
@ -1304,7 +1308,8 @@ fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models
let d=normal.dot(v)*(Planar64::ONE+Planar64::raw(elasticity as i64+1));
v+=normal*(d/normal.dot(normal));
},
Some(gameplay_attributes::ContactingBehaviour::Ladder(contacting_ladder))=>{
Some(gameplay_attributes::ContactingBehaviour::Ladder(contacting_ladder))=>
if let Some(ladder_settings)=&state.style.ladder{
if contacting_ladder.sticky{
//kill v
//actually you could do this with a booster attribute :thinking:
@ -1312,21 +1317,25 @@ fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models
}
//ladder walkstate
let gravity=state.touching.base_acceleration(&data.models,&state.style,&state.camera,&state.input_state);
let mut target_velocity=state.style.get_ladder_target_velocity(&state.camera,&state.input_state,&normal);
let control_dir=state.style.get_y_control_dir(&state.camera,state.input_state.controls);
let mut target_velocity=ladder_settings.get_ladder_target_velocity(control_dir,normal);
state.touching.constrain_velocity(&data.models,&data.hitbox_mesh,&mut target_velocity);
let (walk_state,a)=WalkState::ladder(&state.body,&state.style,gravity,target_velocity,contact.clone(),&normal);
let walk_state=ContactMoveState::ladder(ladder_settings,&state.body,gravity,target_velocity,contact.clone(),normal);
state.move_state=MoveState::Ladder(walk_state);
set_acceleration(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,a);
state.move_state.apply_to_body(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state);
},
Some(gameplay_attributes::ContactingBehaviour::NoJump)=>todo!("nyi"),
None=>if state.style.surf_slope.map_or(true,|s|contact_normal(&data.models,&data.hitbox_mesh,contact).walkable(s,Planar64Vec3::Y)){
//ground
let gravity=state.touching.base_acceleration(&data.models,&state.style,&state.camera,&state.input_state);
let mut target_velocity=state.style.get_walk_target_velocity(&state.camera,&state.input_state,&normal);
state.touching.constrain_velocity(&data.models,&data.hitbox_mesh,&mut target_velocity);
let (walk_state,a)=WalkState::ground(&state.body,&state.style,gravity,target_velocity,contact.clone(),&normal);
state.move_state=MoveState::Walk(walk_state);
set_acceleration(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,a);
None=>if let Some(walk_settings)=&state.style.walk{
if walk_settings.is_slope_walkable(contact_normal(&data.models,&data.hitbox_mesh,contact),Planar64Vec3::Y){
//ground
let gravity=state.touching.base_acceleration(&data.models,&state.style,&state.camera,&state.input_state);
let control_dir=state.style.get_y_control_dir(&state.camera,state.input_state.controls);
let mut target_velocity=walk_settings.get_walk_target_velocity(control_dir,normal);
state.touching.constrain_velocity(&data.models,&data.hitbox_mesh,&mut target_velocity);
let walk_state=ContactMoveState::ground(walk_settings,&state.body,gravity,target_velocity,contact.clone(),normal);
state.move_state=MoveState::Walk(walk_state);
state.move_state.apply_to_body(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state);
}
},
}
//check ground
@ -1375,9 +1384,7 @@ 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);
}
if state.move_state.apply_input(){
state.move_state.apply_to_body(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,a);
}
state.move_state.apply_input(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state);
},
(PhysicsCollisionAttributes::Intersect{intersecting: _,general},Collision::Intersect(intersect))=>{
//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
@ -1428,16 +1435,19 @@ 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.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.target=WalkTarget::Reached;
match &walk_state.target{
//you are not supposed to reach a walk target which is already reached!
TransientAcceleration::Reached=>unreachable!(),
TransientAcceleration::Reachable{acceleration,time}=>{
//velocity is already handled by advance_time
//we know that the acceleration is precisely zero because the walk target is known to be reachable
//which means that gravity can be fully cancelled
//ignore moving platforms for now
set_acceleration(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,Planar64Vec3::ZERO);
walk_state.target=TransientAcceleration::Reached;
},
//you are not supposed to reach an unreachable walk target!
TransientAcceleration::Unreachable{acceleration:_}=>unreachable!(),
}
}
}
@ -1461,7 +1471,7 @@ fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models
PhysicsInputInstruction::SetMoveDown(s)=>state.input_state.set_control(Controls::MoveDown,s),
PhysicsInputInstruction::SetJump(s)=>{
state.input_state.set_control(Controls::Jump,s);
if let Some(walk_state)=get_walk_state(&state.move_state){
if let Some(walk_state)=state.move_state.get_walk_state(){
if let Some(jump_settings)=&state.style.jump{
let jump_dir=walk_state.jump_direction.direction(&data.models,&data.hitbox_mesh,&walk_state.contact);
let jumped_velocity=jump_settings.jumped_velocity(&state.style,jump_dir,state.body.velocity);
@ -1492,7 +1502,7 @@ fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models
PhysicsInputInstruction::Idle=>{b_refresh_walk_target=false;},//literally idle!
}
if b_refresh_walk_target{
state.move_state.apply_input(&mut state.body);
state.move_state.apply_input(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state);
}
},
}