use std::collections::HashMap; use std::collections::HashSet; use crate::model_physics::{self,PhysicsMesh,TransformedMesh,MeshQuery}; use strafesnet_common::bvh; use strafesnet_common::aabb; use strafesnet_common::gameplay_attributes; use strafesnet_common::gameplay_modes; use strafesnet_common::map; use strafesnet_common::model; use strafesnet_common::gameplay_style::{self,StyleModifiers}; use strafesnet_common::instruction::{self,InstructionEmitter,InstructionConsumer,TimedInstruction}; use strafesnet_common::integer::{self,Time,Planar64,Planar64Vec3,Planar64Mat3,Angle32,Ratio64Vec2}; use strafesnet_common::model::ModelId; #[derive(Debug)] pub enum PhysicsInstruction { CollisionStart(Collision), CollisionEnd(Collision), StrafeTick, ReachWalkTargetVelocity, // Water, // Spawn( // Option, // bool,//true = Trigger; false = teleport // bool,//true = Force // ) //InputInstructions conditionally activate RefreshWalkTarget (by doing what SetWalkTargetVelocity used to do and then flagging it) Input(PhysicsInputInstruction), } #[derive(Debug)] pub enum PhysicsInputInstruction { ReplaceMouse(MouseState,MouseState), SetNextMouse(MouseState), SetMoveRight(bool), SetMoveUp(bool), SetMoveBack(bool), SetMoveLeft(bool), SetMoveDown(bool), SetMoveForward(bool), SetJump(bool), SetZoom(bool), Reset, Idle, //Idle: there were no input events, but the simulation is safe to advance to this timestep //for interpolation / networking / playback reasons, most playback heads will always want //to be 1 instruction ahead to generate the next state for interpolation. } #[derive(Clone,Hash,Default)] pub struct Body{ pub position:Planar64Vec3,//I64 where 2^32 = 1 u pub velocity:Planar64Vec3,//I64 where 2^32 = 1 u/s pub acceleration:Planar64Vec3,//I64 where 2^32 = 1 u/s/s pub time:Time,//nanoseconds x xxxxD! } impl std::ops::Neg for Body{ type Output=Self; fn neg(self)->Self::Output{ Self{ position:self.position, velocity:-self.velocity, acceleration:self.acceleration, time:-self.time, } } } //hey dumbass just use a delta #[derive(Clone,Debug)] pub struct MouseState { pub pos: glam::IVec2, pub time:Time, } impl Default for MouseState{ fn default() -> Self { Self { time:Time::ZERO, pos:glam::IVec2::ZERO, } } } impl MouseState { pub fn lerp(&self,target:&MouseState,time:Time)->glam::IVec2 { let m0=self.pos.as_i64vec2(); let m1=target.pos.as_i64vec2(); //these are deltas let t1t=(target.time-time).nanos(); let tt0=(time-self.time).nanos(); let dt=(target.time-self.time).nanos(); ((m0*t1t+m1*tt0)/dt).as_ivec2() } } enum JumpDirection{ Exactly(Planar64Vec3), FromContactNormal, } enum WalkEnum{ Reached, Transient(WalkTarget), } struct WalkTarget{ velocity:Planar64Vec3, time:Time, } struct WalkState{ jump_direction:JumpDirection, contact:ContactCollision, state:WalkEnum, } 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())); if target_diff==Planar64Vec3::ZERO{ (WalkEnum::Reached,Planar64Vec3::ZERO) }else{ //normal friction acceleration is clippedAcceleration.dot(normal)*friction let diff_len=target_diff.length(); let friction=if diff_len(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, 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, contact, jump_direction:JumpDirection::FromContactNormal, },a) } } #[derive(Default)] struct PhysicsModels{ meshes:Vec, models:Vec, //separate models into Contacting and Intersecting? //wrap model id with ContactingModelId and IntersectingModelId //attributes can be split into contacting and intersecting (this also saves a bit of memory) //can go even further and deduplicate General attributes separately, reconstructing it when queried attributes:Vec, } impl PhysicsModels{ fn clear(&mut self){ self.meshes.clear(); self.models.clear(); self.attributes.clear(); } //TODO: "statically" verify the maps don't refer to any nonexistant data, if they do delete the references. //then I can make these getter functions unchecked. fn mesh(&self,model_id:ModelId)->TransformedMesh{ let idx=model_id.get() as usize; let mesh_id=self.models[idx].mesh_id; TransformedMesh::new( &self.meshes[mesh_id.model_id.get() as usize].groups[mesh_id.group_id.get() as usize], &self.models[idx].transform, &self.models[idx].normal_transform, self.models[idx].transform_det, ) } fn model(&self,model_id:ModelId)->&PhysicsModel{ &self.models[model_id] } fn attr(&self,model_id:ModelId)->&PhysicsCollisionAttributes{ &self.attributes[self.models[model_id].attr_id] } fn push_mesh(&mut self,mesh:PhysicsMesh){ self.meshes.push(mesh); } fn push_model(&mut self,model:PhysicsModel)->ModelId{ let model_id=self.models.len(); self.models.push(model); model_id } fn push_attr(&mut self,attr:PhysicsCollisionAttributes)->PhysicsAttributesId{ let attr_id=self.attributes.len(); self.attributes.push(attr); attr_id } } #[derive(Clone)] pub struct PhysicsCamera{ //punch: Planar64Vec3, //punch_velocity: Planar64Vec3, sensitivity:Ratio64Vec2,//dots to Angle32 ratios mouse:MouseState,//last seen absolute mouse pos clamped_mouse_pos:glam::IVec2,//angles are calculated from this cumulative value angle_pitch_lower_limit:Angle32, angle_pitch_upper_limit:Angle32, //angle limits could be an enum + struct that defines whether it's limited and selects clamp or wrap depending // enum AngleLimit{ // Unlimited, // Limited{lower:Angle32,upper:Angle32}, // } //pitch_limit:AngleLimit, //yaw_limit:AngleLimit, } impl PhysicsCamera { pub fn move_mouse(&mut self,mouse_pos:glam::IVec2){ let mut unclamped_mouse_pos=self.clamped_mouse_pos+mouse_pos-self.mouse.pos; unclamped_mouse_pos.y=unclamped_mouse_pos.y.clamp( self.sensitivity.y.rhs_div_int(self.angle_pitch_lower_limit.get() as i64) as i32, self.sensitivity.y.rhs_div_int(self.angle_pitch_upper_limit.get() as i64) as i32, ); self.clamped_mouse_pos=unclamped_mouse_pos; } pub fn simulate_move_angles(&self,mouse_pos:glam::IVec2)->glam::Vec2 { let a=-self.sensitivity.mul_int((mouse_pos-self.mouse.pos+self.clamped_mouse_pos).as_i64vec2()); let ax=Angle32::wrap_from_i64(a.x); let ay=Angle32::clamp_from_i64(a.y) //clamp to actual vertical cam limit .clamp(self.angle_pitch_lower_limit,self.angle_pitch_upper_limit); return glam::vec2(ax.into(),ay.into()); } fn simulate_move_rotation(&self,mouse_pos:glam::IVec2)->Planar64Mat3{ let a=-self.sensitivity.mul_int((mouse_pos-self.mouse.pos+self.clamped_mouse_pos).as_i64vec2()); let ax=Angle32::wrap_from_i64(a.x); let ay=Angle32::clamp_from_i64(a.y) //clamp to actual vertical cam limit .clamp(self.angle_pitch_lower_limit,self.angle_pitch_upper_limit); Planar64Mat3::from_rotation_yx(ax,ay) } fn simulate_move_rotation_y(&self,mouse_pos_x:i32)->Planar64Mat3{ let ax=-self.sensitivity.x.mul_int((mouse_pos_x-self.mouse.pos.x+self.clamped_mouse_pos.x) as i64); Planar64Mat3::from_rotation_y(Angle32::wrap_from_i64(ax)) } } impl std::default::Default for PhysicsCamera{ fn default()->Self{ Self{ sensitivity:Ratio64Vec2::ONE*200_000, mouse:MouseState::default(),//t=0 does not cause divide by zero because it's immediately replaced clamped_mouse_pos:glam::IVec2::ZERO, angle_pitch_lower_limit:-Angle32::FRAC_PI_2, angle_pitch_upper_limit:Angle32::FRAC_PI_2, } } } pub struct ModeState{ stage_id:gameplay_modes::StageId, jump_counts:HashMap,//model_id -> jump count next_ordered_checkpoint_id:gameplay_modes::CheckpointId,//which OrderedCheckpoint model_id you must pass next (if 0 you haven't passed OrderedCheckpoint0) unordered_checkpoints:HashSet, } impl std::default::Default for ModeState{ fn default()->Self{ Self{ stage_id:gameplay_modes::StageId::id(0), next_ordered_checkpoint_id:gameplay_modes::CheckpointId::id(0), unordered_checkpoints:HashSet::new(), jump_counts:HashMap::new(), } } } struct WorldState{} trait HitboxMeshPresets{ fn roblox()->Self; fn source()->Self; } impl HitboxMeshPresets for gameplay_style::Hitbox{ fn roblox()->Self{ Self::from_mesh_scale(PhysicsMesh::from(&crate::primitives::unit_cylinder()),Planar64Vec3::int(2,5,2)/2) } fn source()->Self{ Self::from_mesh_scale(PhysicsMesh::from(&crate::primitives::unit_cube()),Planar64Vec3::raw(33<<28,73<<28,33<<28)/2) } } trait StyleHelper{ fn get_control(&self,control:u32,controls:u32)->bool; fn allow_strafe(&self,controls:u32)->bool; fn get_control_dir(&self,controls:u32)->Planar64Vec3; //fn get_jump_time(&self)->Planar64; //fn get_jump_height(&self)->Planar64; //fn get_jump_energy(&self)->Planar64; fn get_jump_deltav(&self)->Planar64; fn get_walk_target_velocity(&self,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time,normal:&Planar64Vec3)->Planar64Vec3; fn get_ladder_target_velocity(&self,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time,normal:&Planar64Vec3)->Planar64Vec3; fn get_propulsion_control_dir(&self,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time)->Planar64Vec3; fn mesh(&self)->TransformedMesh; } impl StyleHelper for StyleModifiers{ fn get_control(&self,control:u32,controls:u32)->bool{ controls&self.controls_mask&control==control } fn allow_strafe(&self,controls:u32)->bool{ //disable strafing according to strafe settings self.strafe.is_some_and(|s|s.mask(controls)) } fn get_control_dir(&self,controls:u32)->Planar64Vec3{ //don't get fancy just do it let mut control_dir:Planar64Vec3 = Planar64Vec3::ZERO; //Apply mask after held check so you can require non-allowed keys to be held for some reason let controls=controls&self.controls_mask; if controls & Self::CONTROL_MOVEFORWARD == Self::CONTROL_MOVEFORWARD { control_dir+=Self::FORWARD_DIR; } if controls & Self::CONTROL_MOVEBACK == Self::CONTROL_MOVEBACK { control_dir-=Self::FORWARD_DIR; } if controls & Self::CONTROL_MOVELEFT == Self::CONTROL_MOVELEFT { control_dir-=Self::RIGHT_DIR; } if controls & Self::CONTROL_MOVERIGHT == Self::CONTROL_MOVERIGHT { control_dir+=Self::RIGHT_DIR; } if controls & Self::CONTROL_MOVEUP == Self::CONTROL_MOVEUP { control_dir+=Self::UP_DIR; } if controls & Self::CONTROL_MOVEDOWN == Self::CONTROL_MOVEDOWN { control_dir-=Self::UP_DIR; } return control_dir } //fn get_jump_time(&self)->Planar64 //fn get_jump_height(&self)->Planar64 //fn get_jump_energy(&self)->Planar64 fn get_jump_deltav(&self)->Planar64{ match &self.jump_impulse{ &gameplay_style::JumpImpulse::FromTime(time)=>self.gravity.length()*(time/2), &gameplay_style::JumpImpulse::FromHeight(height)=>(self.gravity.length()*height*2).sqrt(), &gameplay_style::JumpImpulse::FromDeltaV(deltav)=>deltav, &gameplay_style::JumpImpulse::FromEnergy(energy)=>(energy*2/self.mass).sqrt(), } } fn get_walk_target_velocity(&self,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time,normal:&Planar64Vec3)->Planar64Vec3{ let mut control_dir=self.get_control_dir(controls); if control_dir==Planar64Vec3::ZERO{ return control_dir; } let camera_mat=camera.simulate_move_rotation_y(camera.mouse.lerp(&next_mouse,time).x); control_dir=camera_mat*control_dir; let n=normal.length(); let m=control_dir.length(); let d=normal.dot(control_dir)/m; if dPlanar64Vec3{ let mut control_dir=self.get_control_dir(controls); if control_dir==Planar64Vec3::ZERO{ return control_dir; } let camera_mat=camera.simulate_move_rotation(camera.mouse.lerp(&next_mouse,time)); control_dir=camera_mat*control_dir; let n=normal.length(); let m=control_dir.length(); let mut d=normal.dot(control_dir)/m; if d< -self.ladder_dot*n{ control_dir=Planar64Vec3::Y*m; d=normal.y(); }else if self.ladder_dot*nPlanar64Vec3{ let camera_mat=camera.simulate_move_rotation(camera.mouse.lerp(&next_mouse,time)); camera_mat*self.get_control_dir(controls) } #[inline] fn mesh(&self)->TransformedMesh{ self.hitbox.transformed_mesh() } } enum MoveState{ Air, Walk(WalkState), Water, Ladder(WalkState), } #[derive(Clone,Default)] pub struct PhysicsOutputState{ body:Body, camera:PhysicsCamera, camera_offset:Planar64Vec3, } impl PhysicsOutputState{ pub fn extrapolate(&self,mouse_pos:glam::IVec2,time:Time)->(glam::Vec3,glam::Vec2){ ((self.body.extrapolated_position(time)+self.camera_offset).into(),self.camera.simulate_move_angles(mouse_pos)) } } #[derive(Clone,Hash,Eq,PartialEq)] enum PhysicsCollisionAttributes{ Contact{//track whether you are contacting the object contacting:gameplay_attributes::ContactingAttributes, general:gameplay_attributes::GeneralAttributes, }, Intersect{//track whether you are intersecting the object intersecting:gameplay_attributes::IntersectingAttributes, general:gameplay_attributes::GeneralAttributes, }, } struct NonPhysicsError; impl TryFrom<&gameplay_attributes::CollisionAttributes> for PhysicsCollisionAttributes{ type Error=NonPhysicsError; fn try_from(value:&gameplay_attributes::CollisionAttributes)->Result{ match value{ gameplay_attributes::CollisionAttributes::Decoration=>Err(NonPhysicsError), gameplay_attributes::CollisionAttributes::Contact{contacting,general}=>Ok(Self::Contact{contacting:contacting.clone(),general:general.clone()}), gameplay_attributes::CollisionAttributes::Intersect{intersecting,general}=>Ok(Self::Intersect{intersecting:intersecting.clone(),general:general.clone()}), } } } struct GeneralAttributesId(u32); struct ContactAttributesId(u32); struct IntersectAttributesId(u32); enum PhysicsAttributesId{ Contact(ContactAttributesId), Intersect(IntersectAttributesId) } //id assigned to deindexed IndexedPhysicsGroup struct PhysicsModelId(u32); struct PhysicsGroupId(u32); //unique physics meshes indexed by this struct ConvexMeshId{ model_id:PhysicsModelId,// = IndexedModelId group_id:PhysicsGroupId,// group in model } pub struct PhysicsModel{ //A model is a thing that has a hitbox. can be represented by a list of TreyMesh-es //in this iteration, all it needs is extents. mesh_id:ConvexMeshId, //put these up on the Model (data normalization) general_attributes:GeneralAttributesId, collision_attributes:PhysicsAttributesId, transform:integer::Planar64Affine3, normal_transform:integer::Planar64Mat3, transform_det:Planar64, } impl PhysicsModel{ pub fn new(mesh_id:ConvexMeshId,attr_id:PhysicsAttributesId,transform:integer::Planar64Affine3)->Self{ Self{ mesh_id, attr_id, transform, normal_transform:transform.matrix3.inverse_times_det().transpose(), transform_det:transform.matrix3.determinant(), } } } #[derive(Debug,Clone,Eq,Hash,PartialEq)] struct ContactCollision{ face_id:model_physics::MinkowskiFace, model_id:ModelId,//using id to avoid lifetimes } #[derive(Debug,Clone,Eq,Hash,PartialEq)] struct IntersectCollision{ model_id:ModelId, } #[derive(Debug,Clone,Eq,Hash,PartialEq)] enum Collision{ Contact(ContactCollision), Intersect(IntersectCollision), } impl Collision{ fn model_id(&self)->ModelId{ match self{ &Collision::Contact(ContactCollision{model_id,face_id:_}) |&Collision::Intersect(IntersectCollision{model_id})=>model_id, } } fn face_id(&self)->Option{ match self{ &Collision::Contact(ContactCollision{model_id:_,face_id})=>Some(face_id), &Collision::Intersect(IntersectCollision{model_id:_})=>None, } } } #[derive(Default)] struct TouchingState{ contacts:HashSet::, intersects:HashSet::, } impl TouchingState{ fn clear(&mut self){ self.contacts.clear(); self.intersects.clear(); } fn insert(&mut self,collision:Collision)->bool{ match collision{ Collision::Contact(collision)=>self.contacts.insert(collision), Collision::Intersect(collision)=>self.intersects.insert(collision), } } fn remove(&mut self,collision:&Collision)->bool{ match collision{ Collision::Contact(collision)=>self.contacts.remove(collision), Collision::Intersect(collision)=>self.intersects.remove(collision), } } fn base_acceleration(&self,models:&PhysicsModels,style:&StyleModifiers,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time)->Planar64Vec3{ let mut a=style.gravity; if let Some(rocket_force)=style.rocket_force{ a+=style.get_propulsion_control_dir(camera,controls,next_mouse,time)*rocket_force; } //add accelerators for contact in &self.contacts{ match models.attr(contact.model_id){ PhysicsCollisionAttributes::Contact{contacting,general}=>{ match &general.accelerator{ Some(accelerator)=>a+=accelerator.acceleration, None=>(), } }, _=>panic!("impossible touching state"), } } for intersect in &self.intersects{ match models.attr(intersect.model_id){ PhysicsCollisionAttributes::Intersect{intersecting,general}=>{ match &general.accelerator{ Some(accelerator)=>a+=accelerator.acceleration, None=>(), } }, _=>panic!("impossible touching state"), } } //add water../? a } fn constrain_velocity(&self,models:&PhysicsModels,style_mesh:&TransformedMesh,velocity:&mut Planar64Vec3){ //TODO: trey push solve for contact in &self.contacts{ let n=contact_normal(models,style_mesh,contact); let d=n.dot128(*velocity); if d<0{ *velocity-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64); } } } fn constrain_acceleration(&self,models:&PhysicsModels,style_mesh:&TransformedMesh,acceleration:&mut Planar64Vec3){ //TODO: trey push solve for contact in &self.contacts{ let n=contact_normal(models,style_mesh,contact); let d=n.dot128(*acceleration); if d<0{ *acceleration-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64); } } } fn get_move_state(&self,body:&Body,models:&PhysicsModels,style:&StyleModifiers,camera:&PhysicsCamera,controls:u32,next_mouse:&MouseState,time:Time)->(MoveState,Planar64Vec3){ //check current move conditions and use heuristics to determine //which ladder to climb on, which ground to walk on, etc //collect move state affecting objects from contacts (accelerator,water,ladder,ground) let style_mesh=style.mesh(); let gravity=self.base_acceleration(models,style,camera,controls,next_mouse,time); let mut move_state=MoveState::Air; let mut a=gravity; for contact in &self.contacts{ match models.attr(contact.model_id){ PhysicsCollisionAttributes::Contact{contacting,general}=>{ let normal=contact_normal(models,&style_mesh,contact); match &contacting.contact_behaviour{ Some(gameplay_attributes::ContactingBehaviour::Ladder(_))=>{ //ladder walkstate let mut target_velocity=style.get_ladder_target_velocity(camera,controls,next_mouse,time,&normal); self.constrain_velocity(models,&style_mesh,&mut target_velocity); let (walk_state,mut acceleration)=WalkState::ladder(body,style,gravity,target_velocity,contact.clone(),&normal); move_state=MoveState::Ladder(walk_state); self.constrain_acceleration(models,&style_mesh,&mut acceleration); a=acceleration; }, None=>if style.surf_slope.map_or(true,|s|normal.walkable(s,Planar64Vec3::Y)){ //check ground let mut target_velocity=style.get_walk_target_velocity(camera,controls,next_mouse,time,&normal); self.constrain_velocity(models,&style_mesh,&mut target_velocity); let (walk_state,mut acceleration)=WalkState::ground(body,style,gravity,target_velocity,contact.clone(),&normal); move_state=MoveState::Walk(walk_state); self.constrain_acceleration(models,&style_mesh,&mut acceleration); a=acceleration; }, _=>(), } }, _=>panic!("impossible touching state"), } } for intersect in &self.intersects{ //water } self.constrain_acceleration(models,&style_mesh,&mut a); (move_state,a) } fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector,models:&PhysicsModels,style_mesh:&TransformedMesh,body:&Body,time:Time){ let relative_body=VirtualBody::relative(&Body::default(),body).body(time); for contact in &self.contacts{ //detect face slide off let model_mesh=models.mesh(contact.model_id); let minkowski=model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,&style_mesh); collector.collect(minkowski.predict_collision_face_out(&relative_body,collector.time(),contact.face_id).map(|(face,time)|{ TimedInstruction{ time, instruction:PhysicsInstruction::CollisionEnd( Collision::Contact(ContactCollision{model_id:contact.model_id,face_id:contact.face_id}) ), } })); } for intersect in &self.intersects{ //detect model collision in reverse let model_mesh=models.mesh(intersect.model_id); let minkowski=model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,&style_mesh); collector.collect(minkowski.predict_collision_out(&relative_body,collector.time()).map(|(face,time)|{ TimedInstruction{ time, instruction:PhysicsInstruction::CollisionEnd( Collision::Intersect(IntersectCollision{model_id:intersect.model_id}) ), } })); } } } impl Body{ pub fn new(position:Planar64Vec3,velocity:Planar64Vec3,acceleration:Planar64Vec3,time:Time)->Self{ Self{ position, velocity, acceleration, time, } } pub fn extrapolated_position(&self,time:Time)->Planar64Vec3{ let dt=time-self.time; self.position+self.velocity*dt+self.acceleration*(dt*dt/2) } pub fn extrapolated_velocity(&self,time:Time)->Planar64Vec3{ let dt=time-self.time; self.velocity+self.acceleration*dt } pub fn advance_time(&mut self,time:Time){ self.position=self.extrapolated_position(time); self.velocity=self.extrapolated_velocity(time); self.time=time; } pub fn infinity_dir(&self)->Option{ if self.velocity==Planar64Vec3::ZERO{ if self.acceleration==Planar64Vec3::ZERO{ None }else{ Some(self.acceleration) } }else{ Some(self.velocity) } } pub fn grow_aabb(&self,aabb:&mut aabb::Aabb,t0:Time,t1:Time){ aabb.grow(self.extrapolated_position(t0)); aabb.grow(self.extrapolated_position(t1)); //v+a*t==0 //goober code if self.acceleration.x()!=Planar64::ZERO{ let t=Time::from(-self.velocity.x()/self.acceleration.x()); if t0)->std::fmt::Result{ write!(f,"p({}) v({}) a({}) t({})",self.position,self.velocity,self.acceleration,self.time) } } struct VirtualBody<'a>{ body0:&'a Body, body1:&'a Body, } impl VirtualBody<'_>{ fn relative<'a>(body0:&'a Body,body1:&'a Body)->VirtualBody<'a>{ //(p0,v0,a0,t0) //(p1,v1,a1,t1) VirtualBody{ body0, body1, } } fn extrapolated_position(&self,time:Time)->Planar64Vec3{ self.body1.extrapolated_position(time)-self.body0.extrapolated_position(time) } fn extrapolated_velocity(&self,time:Time)->Planar64Vec3{ self.body1.extrapolated_velocity(time)-self.body0.extrapolated_velocity(time) } fn acceleration(&self)->Planar64Vec3{ self.body1.acceleration-self.body0.acceleration } fn body(&self,time:Time)->Body{ Body::new(self.extrapolated_position(time),self.extrapolated_velocity(time),self.acceleration(),time) } } pub struct PhysicsState{ time:Time, body:Body, world:WorldState,//currently there is only one state the world can be in mode_state:ModeState, style:StyleModifiers,//mode style with custom style updates applied touching:TouchingState, //camera must exist in state because wormholes modify the camera, also camera punch camera:PhysicsCamera, pub next_mouse:MouseState,//Where is the mouse headed next controls:u32,//TODO this should be a struct move_state:MoveState, //does not belong here bvh:bvh::BvhNode, models:PhysicsModels, modes:gameplay_modes::Modes, } impl Default for PhysicsState{ fn default()->Self{ Self{ body:Body::new(Planar64Vec3::int(0,50,0),Planar64Vec3::int(0,0,0),Planar64Vec3::int(0,-100,0),Time::ZERO), time:Time::ZERO, style:StyleModifiers::default(), touching:TouchingState::default(), move_state: MoveState::Air, camera:PhysicsCamera::default(), next_mouse:MouseState::default(), controls:0, world:WorldState{}, mode_state:ModeState::default(), modes:Modes::default(), bvh:bvh::BvhNode::default(), models:PhysicsModels::default(), } } } impl PhysicsState { pub fn clear(&mut self){ self.touching.clear(); } pub fn output(&self)->PhysicsOutputState{ PhysicsOutputState{ body:self.body.clone(), camera:self.camera.clone(), camera_offset:self.style.camera_offset.clone(), } } pub fn spawn(&mut self){ self.mode_state.stage_id=gameplay_modes::StageId::id(0); self.process_instruction(instruction::TimedInstruction{ time:self.time, instruction: PhysicsInstruction::Input(PhysicsInputInstruction::Reset), }); } pub fn generate_models(&mut self,map:&map::Map){ let mut starts=Vec::new(); let mut spawns=Vec::new(); let mut attr_hash=HashMap::new(); for model in &map.models{ let mesh_id=self.models.meshes.len(); let mut make_mesh=false; for model_instance in &model.instances{ if let Ok(physics_attributes)=PhysicsCollisionAttributes::try_from(&model_instance.attributes){ let attr_id=if let Some(&attr_id)=attr_hash.get(&physics_attributes){ attr_id }else{ let attr_id=self.models.push_attr(physics_attributes.clone()); attr_hash.insert(physics_attributes,attr_id); attr_id }; let model_physics=PhysicsModel::new(mesh_id,attr_id,model_instance.transform); make_mesh=true; self.models.push_model(model_physics); } } if make_mesh{ self.models.push_mesh(PhysicsMesh::from(model)); } } self.bvh=bvh::generate_bvh(self.models.aabb_list()); println!("Physics Objects: {}",self.models.models.len()); } pub fn load_user_settings(&mut self,user_settings:&crate::settings::UserSettings){ self.camera.sensitivity=user_settings.calculate_sensitivity(); } //tickless gaming pub fn run(&mut self, time_limit:Time){ //prepare is ommitted - everything is done via instructions. while let Some(instruction) = self.next_instruction(time_limit) {//collect //process self.process_instruction(instruction); //write hash lol } } pub fn advance_time(&mut self, time: Time){ self.body.advance_time(time); self.time=time; } fn set_control(&mut self,control:u32,state:bool){ self.controls=if state{self.controls|control}else{self.controls&!control}; } fn next_strafe_instruction(&self)->Option>{ 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 } }) } //state mutated on collision: //Accelerator //stair step-up //state mutated on instruction //change fly acceleration (fly_sustain) //change fly velocity //generic event emmiters //PlatformStandTime //walk/swim/air/ladder sounds //VState? //falling under the map // fn next_respawn_instruction(&self) -> Option> { // if self.body.position Option> { // return Some(TimedInstruction{ // time:(self.time*self.strafe_tick_num/self.strafe_tick_den+1)*self.strafe_tick_den/self.strafe_tick_num, // //only poll the physics if there is a before and after mouse event // instruction:PhysicsInstruction::Water // }); // } fn refresh_walk_target(&mut self)->Planar64Vec3{ match &mut self.move_state{ MoveState::Air|MoveState::Water=>self.touching.base_acceleration(&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time), MoveState::Walk(WalkState{state,contact,jump_direction:_})=>{ let style_mesh=self.style.mesh(); let n=contact_normal(&self.models,&style_mesh,contact); let gravity=self.touching.base_acceleration(&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time); let mut a; let mut v=self.style.get_walk_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time,&n); self.touching.constrain_velocity(&self.models,&style_mesh,&mut v); let normal_accel=-n.dot(gravity)/n.length(); (*state,a)=WalkEnum::with_target_velocity(&self.body,&self.style,v,&n,self.style.walk_speed,normal_accel); a }, MoveState::Ladder(WalkState{state,contact,jump_direction:_})=>{ let style_mesh=self.style.mesh(); let n=contact_normal(&self.models,&style_mesh,contact); let gravity=self.touching.base_acceleration(&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time); let mut a; let mut v=self.style.get_ladder_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time,&n); self.touching.constrain_velocity(&self.models,&style_mesh,&mut v); (*state,a)=WalkEnum::with_target_velocity(&self.body,&self.style,v,&n,self.style.ladder_speed,self.style.ladder_accel); a }, } } fn next_move_instruction(&self)->Option>{ //check if you have a valid walk state and create an instruction match &self.move_state{ MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>match &walk_state.state{ WalkEnum::Transient(walk_target)=>Some(TimedInstruction{ time:walk_target.time, instruction:PhysicsInstruction::ReachWalkTargetVelocity }), WalkEnum::Reached=>None, } MoveState::Air=>self.next_strafe_instruction(), MoveState::Water=>None,//TODO } } } impl instruction::InstructionEmitter for PhysicsState{ //this little next instruction function can cache its return value and invalidate the cached value by watching the State. fn next_instruction(&self,time_limit:Time)->Option>{ //JUST POLLING!!! NO MUTATION let mut collector = instruction::InstructionCollector::new(time_limit); collector.collect(self.next_move_instruction()); let style_mesh=self.style.mesh(); //check for collision ends self.touching.predict_collision_end(&mut collector,&self.models,&style_mesh,&self.body,self.time); //check for collision starts let mut aabb=aabb::Aabb::default(); self.body.grow_aabb(&mut aabb,self.time,collector.time()); aabb.inflate(self.style.hitbox.halfsize); //common body let relative_body=VirtualBody::relative(&Body::default(),&self.body).body(self.time); self.bvh.the_tester(&aabb,&mut |id|{ //no checks are needed because of the time limits. let model_mesh=self.models.mesh(id); let minkowski=model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,&style_mesh); collector.collect(minkowski.predict_collision_in(&relative_body,collector.time()) //temp (?) code to avoid collision loops .map_or(None,|(face,time)|if time==self.time{None}else{Some((face,time))}) .map(|(face,time)|{ TimedInstruction{time,instruction:PhysicsInstruction::CollisionStart(match self.models.attr(id){ PhysicsCollisionAttributes::Contact{contacting:_,general:_}=>Collision::Contact(ContactCollision{model_id:id,face_id:face}), PhysicsCollisionAttributes::Intersect{intersecting:_,general:_}=>Collision::Intersect(IntersectCollision{model_id:id}), })} })); }); collector.instruction() } } fn get_walk_state(move_state:&MoveState)->Option<&WalkState>{ match move_state{ MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>Some(walk_state), MoveState::Air|MoveState::Water=>None, } } fn jumped_velocity(models:&PhysicsModels,style:&StyleModifiers,walk_state:&WalkState,v:&mut Planar64Vec3){ let jump_dir=match &walk_state.jump_direction{ JumpDirection::FromContactNormal=>contact_normal(models,&style.mesh(),&walk_state.contact), &JumpDirection::Exactly(dir)=>dir, }; *v=*v+jump_dir*(style.get_jump_deltav()/jump_dir.length()); } fn contact_normal(models:&PhysicsModels,style_mesh:&TransformedMesh,contact:&ContactCollision)->Planar64Vec3{ let model_mesh=models.mesh(contact.model_id); let minkowski=model_physics::MinkowskiMesh::minkowski_sum(&model_mesh,style_mesh); minkowski.face_nd(contact.face_id).0 } fn set_position(body:&mut Body,touching:&mut TouchingState,point:Planar64Vec3)->Planar64Vec3{ //test intersections at new position //hovering above the surface 0 units is not intersecting. you will fall into it just fine body.position=point; //manual clear //for c in contacts{process_instruction(CollisionEnd(c))} touching.clear(); //TODO: calculate contacts and determine the actual state //touching.recalculate(body); point } fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,style_mesh:&TransformedMesh,v:Planar64Vec3)->bool{ //This is not correct but is better than what I have let mut culled=false; touching.contacts.retain(|contact|{ let n=contact_normal(models,style_mesh,contact); let r=n.dot(v)<=Planar64::ZERO; if !r{ culled=true; println!("set_velocity_cull contact={:?}",contact); } r }); set_velocity(body,touching,models,style_mesh,v); culled } fn set_velocity(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,style_mesh:&TransformedMesh,mut v:Planar64Vec3)->Planar64Vec3{ touching.constrain_velocity(models,style_mesh,&mut v); body.velocity=v; v } fn set_acceleration_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,style_mesh:&TransformedMesh,a:Planar64Vec3)->bool{ //This is not correct but is better than what I have let mut culled=false; touching.contacts.retain(|contact|{ let n=contact_normal(models,style_mesh,contact); let r=n.dot(a)<=Planar64::ZERO; if !r{ culled=true; println!("set_acceleration_cull contact={:?}",contact); } r }); set_acceleration(body,touching,models,style_mesh,a); culled } fn set_acceleration(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,style_mesh:&TransformedMesh,mut a:Planar64Vec3)->Planar64Vec3{ touching.constrain_acceleration(models,style_mesh,&mut a); body.acceleration=a; a } fn teleport(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,style:&StyleModifiers,point:Planar64Vec3)->MoveState{ set_position(body,touching,point); set_acceleration(body,touching,models,&style.mesh(),style.gravity); MoveState::Air } fn teleport_to_spawn(body:&mut Body,touching:&mut TouchingState,style:&StyleModifiers,mode:&gameplay_modes::Mode,models:&PhysicsModels,stage_id:gameplay_modes::StageId)->Option{ let model=models.model(mode.get_spawn_model_id(stage_id)?); let point=model.transform.transform_point3(Planar64Vec3::Y)+Planar64Vec3::Y*(style.hitbox.halfsize.y()+Planar64::ONE/16); Some(teleport(body,touching,models,style,point)) } fn run_teleport_behaviour(wormhole:&Option,game:&mut ModeState,models:&PhysicsModels,mode:&gameplay_modes::Mode,style:&StyleModifiers,touching:&mut TouchingState,body:&mut Body,model_id:ModelId)->Option{ //TODO: jump count and checkpoints are always reset on teleport. //Map makers are expected to use tools to prevent //multi-boosting on JumpLimit boosters such as spawning into a SetVelocity if let Some(stage_element)=mode.get_element(model_id){ let stage=mode.get_stage(stage_element.stage_id)?; if stage_element.force||game.stage_id(), gameplay_modes::StageElementBehaviour::Trigger |gameplay_modes::StageElementBehaviour::Teleport=>{ //I guess this is correct behaviour when trying to teleport to a non-existent spawn but it's still weird return teleport_to_spawn(body,touching,style,mode,models,game.stage_id); }, gameplay_modes::StageElementBehaviour::Platform=>(), &gameplay_modes::StageElementBehaviour::Checkpoint=>{ //checkpoint check //TODO: need to check all stages if stage.ordered_checkpoint_id.map_or(true,|id|id{ let origin_model=models.model(model_id); let destination_model=models.model(destination_model); //ignore the transform for now Some(teleport(body,touching,models,style,body.position-origin_model.transform.translation+destination_model.transform.translation)) } None=>None, } } impl instruction::InstructionConsumer for PhysicsState { fn process_instruction(&mut self, ins:TimedInstruction) { match &ins.instruction{ PhysicsInstruction::Input(PhysicsInputInstruction::Idle) |PhysicsInstruction::Input(PhysicsInputInstruction::SetNextMouse(_)) |PhysicsInstruction::Input(PhysicsInputInstruction::ReplaceMouse(_,_)) |PhysicsInstruction::StrafeTick=>(), _=>println!("{}|{:?}",ins.time,ins.instruction), } //selectively update body match &ins.instruction{ PhysicsInstruction::Input(PhysicsInputInstruction::Idle)=>self.time=ins.time,//idle simply updates time PhysicsInstruction::Input(_) |PhysicsInstruction::ReachWalkTargetVelocity |PhysicsInstruction::CollisionStart(_) |PhysicsInstruction::CollisionEnd(_) |PhysicsInstruction::StrafeTick=>self.advance_time(ins.time), } match ins.instruction{ PhysicsInstruction::CollisionStart(c)=>{ let style_mesh=self.style.mesh(); let model_id=c.model_id(); match (self.models.attr(model_id),&c){ (PhysicsCollisionAttributes::Contact{contacting,general},Collision::Contact(contact))=>{ let mut v=self.body.velocity; let normal=contact_normal(&self.models,&style_mesh,contact); match &contacting.contact_behaviour{ Some(gameplay_attributes::ContactingBehaviour::Surf)=>println!("I'm surfing!"), Some(gameplay_attributes::ContactingBehaviour::Cling)=>println!("Unimplemented!"), &Some(gameplay_attributes::ContactingBehaviour::Elastic(elasticity))=>{ //velocity and normal are facing opposite directions so this is inherently negative. let d=normal.dot(v)*(Planar64::ONE+Planar64::raw(elasticity as i64+1)); v+=normal*(d/normal.dot(normal)); }, Some(gameplay_attributes::ContactingBehaviour::Ladder(contacting_ladder))=>{ if contacting_ladder.sticky{ //kill v //actually you could do this with a booster attribute :thinking: v=Planar64Vec3::ZERO;//model.velocity } //ladder walkstate let gravity=self.touching.base_acceleration(&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time); let mut target_velocity=self.style.get_ladder_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time,&normal); self.touching.constrain_velocity(&self.models,&style_mesh,&mut target_velocity); let (walk_state,a)=WalkState::ladder(&self.body,&self.style,gravity,target_velocity,contact.clone(),&normal); self.move_state=MoveState::Ladder(walk_state); set_acceleration(&mut self.body,&self.touching,&self.models,&style_mesh,a); } None=>if self.style.surf_slope.map_or(true,|s|contact_normal(&self.models,&style_mesh,contact).walkable(s,Planar64Vec3::Y)){ //ground let gravity=self.touching.base_acceleration(&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time); let mut target_velocity=self.style.get_walk_target_velocity(&self.camera,self.controls,&self.next_mouse,self.time,&normal); self.touching.constrain_velocity(&self.models,&style_mesh,&mut target_velocity); let (walk_state,a)=WalkState::ground(&self.body,&self.style,gravity,target_velocity,contact.clone(),&normal); self.move_state=MoveState::Walk(walk_state); set_acceleration(&mut self.body,&self.touching,&self.models,&style_mesh,a); }, } //check ground self.touching.insert(c); //I love making functions with 10 arguments to dodge the borrow checker run_teleport_behaviour(&general.wormhole,&mut self.mode_state,&self.models,&self.modes.get_mode(self.mode).unwrap(),&self.style,&mut self.touching,&mut self.body,model_id); //flatten v self.touching.constrain_velocity(&self.models,&style_mesh,&mut v); match &general.booster{ Some(booster)=>{ //DELETE THIS when boosters get converted to height machines match booster{ //&gameplay_attributes::Booster::Affine(transform)=>v=transform.transform_point3(v), &gameplay_attributes::Booster::Velocity(velocity)=>v+=velocity, &gameplay_attributes::Booster::Energy{direction: _,energy: _}=>todo!(), } }, None=>(), } let calc_move=if self.style.get_control(StyleModifiers::CONTROL_JUMP,self.controls){ if let Some(walk_state)=get_walk_state(&self.move_state){ jumped_velocity(&self.models,&self.style,walk_state,&mut v); set_velocity_cull(&mut self.body,&mut self.touching,&self.models,&style_mesh,v) }else{false} }else{false}; match &general.trajectory{ Some(trajectory)=>{ match trajectory{ gameplay_attributes::SetTrajectory::AirTime(_) => todo!(), gameplay_attributes::SetTrajectory::Height(_) => todo!(), gameplay_attributes::SetTrajectory::TargetPointTime { target_point: _, time: _ } => todo!(), gameplay_attributes::SetTrajectory::TargetPointSpeed { target_point: _, speed: _, trajectory_choice: _ } => todo!(), &gameplay_attributes::SetTrajectory::Velocity(velocity)=>v=velocity, gameplay_attributes::SetTrajectory::DotVelocity { direction: _, dot: _ } => todo!(), } }, None=>(), } set_velocity(&mut self.body,&self.touching,&self.models,&style_mesh,v); //not sure if or is correct here if calc_move||Planar64::ZERO{ //I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop self.touching.insert(c); run_teleport_behaviour(&general.wormhole,&mut self.mode_state,&self.models,&self.modes.get_mode(self.mode).unwrap(),&self.style,&mut self.touching,&mut self.body,model_id); }, _=>panic!("invalid pair"), } }, PhysicsInstruction::CollisionEnd(c) => { match self.models.attr(c.model_id()){ PhysicsCollisionAttributes::Contact{contacting:_,general:_}=>{ self.touching.remove(&c);//remove contact before calling contact_constrain_acceleration //check ground (self.move_state,self.body.acceleration)=self.touching.get_move_state(&self.body,&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time); }, PhysicsCollisionAttributes::Intersect{intersecting:_,general:_}=>{ self.touching.remove(&c); }, } }, PhysicsInstruction::StrafeTick => { let control_dir=self.style.get_control_dir(self.controls); if control_dir!=Planar64Vec3::ZERO{ let camera_mat=self.camera.simulate_move_rotation_y(self.camera.mouse.lerp(&self.next_mouse,self.time).x); let control_dir=camera_mat*control_dir; //normalize but careful for zero let d=self.body.velocity.dot(control_dir); if d { match &mut self.move_state{ MoveState::Air|MoveState::Water=>(), MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>{ match &mut walk_state.state{ WalkEnum::Reached=>(), WalkEnum::Transient(walk_target)=>{ let style_mesh=self.style.mesh(); //precisely set velocity let a=Planar64Vec3::ZERO;//ignore gravity for now. set_acceleration(&mut self.body,&self.touching,&self.models,&style_mesh,a); let v=walk_target.velocity; set_velocity(&mut self.body,&self.touching,&self.models,&style_mesh,v); walk_state.state=WalkEnum::Reached; }, } } } }, PhysicsInstruction::Input(input_instruction) => { let mut refresh_walk_target=true; match input_instruction{ PhysicsInputInstruction::SetNextMouse(m) => { self.camera.move_mouse(self.next_mouse.pos); (self.camera.mouse,self.next_mouse)=(self.next_mouse.clone(),m); }, PhysicsInputInstruction::ReplaceMouse(m0,m1) => { self.camera.move_mouse(m0.pos); (self.camera.mouse,self.next_mouse)=(m0,m1); }, PhysicsInputInstruction::SetMoveForward(s) => self.set_control(StyleModifiers::CONTROL_MOVEFORWARD,s), PhysicsInputInstruction::SetMoveLeft(s) => self.set_control(StyleModifiers::CONTROL_MOVELEFT,s), PhysicsInputInstruction::SetMoveBack(s) => self.set_control(StyleModifiers::CONTROL_MOVEBACK,s), PhysicsInputInstruction::SetMoveRight(s) => self.set_control(StyleModifiers::CONTROL_MOVERIGHT,s), PhysicsInputInstruction::SetMoveUp(s) => self.set_control(StyleModifiers::CONTROL_MOVEUP,s), PhysicsInputInstruction::SetMoveDown(s) => self.set_control(StyleModifiers::CONTROL_MOVEDOWN,s), PhysicsInputInstruction::SetJump(s) => { self.set_control(StyleModifiers::CONTROL_JUMP,s); if let Some(walk_state)=get_walk_state(&self.move_state){ let mut v=self.body.velocity; jumped_velocity(&self.models,&self.style,walk_state,&mut v); if set_velocity_cull(&mut self.body,&mut self.touching,&self.models,&self.style.mesh(),v){ (self.move_state,self.body.acceleration)=self.touching.get_move_state(&self.body,&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time); } } refresh_walk_target=false; }, PhysicsInputInstruction::SetZoom(s) => { self.set_control(StyleModifiers::CONTROL_ZOOM,s); refresh_walk_target=false; }, PhysicsInputInstruction::Reset => { //it matters which of these runs first, but I have not thought it through yet as it doesn't matter yet let spawn_point={ let mode=self.modes.get_mode(self.mode).unwrap(); let stage=mode.get_stage(gameplay_modes::StageId::FIRST).unwrap(); self.models.model(stage.spawn()).transform.translation }; set_position(&mut self.body,&mut self.touching,spawn_point); set_velocity(&mut self.body,&self.touching,&self.models,&self.style.mesh(),Planar64Vec3::ZERO); (self.move_state,self.body.acceleration)=self.touching.get_move_state(&self.body,&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time); refresh_walk_target=false; }, PhysicsInputInstruction::Idle => {refresh_walk_target=false;},//literally idle! } if refresh_walk_target{ let a=self.refresh_walk_target(); if set_acceleration_cull(&mut self.body,&mut self.touching,&self.models,&self.style.mesh(),a){ (self.move_state,self.body.acceleration)=self.touching.get_move_state(&self.body,&self.models,&self.style,&self.camera,self.controls,&self.next_mouse,self.time); } } }, } } } #[allow(dead_code)] fn test_collision_axis_aligned(relative_body:Body,expected_collision_time:Option