forked from StrafesNET/strafe-client
1882 lines
70 KiB
Rust
1882 lines
70 KiB
Rust
use std::collections::{HashMap,HashSet};
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use crate::model_physics::{self,PhysicsMesh,PhysicsMeshTransform,TransformedMesh,MeshQuery,PhysicsMeshId,PhysicsSubmeshId};
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use strafesnet_common::bvh;
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use strafesnet_common::map;
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use strafesnet_common::run;
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use strafesnet_common::aabb;
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use strafesnet_common::model::{MeshId,ModelId};
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use strafesnet_common::gameplay_attributes::{self,CollisionAttributesId};
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use strafesnet_common::gameplay_modes::{self,StageId};
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use strafesnet_common::gameplay_style::{self,StyleModifiers};
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use strafesnet_common::controls_bitflag::Controls;
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use strafesnet_common::instruction::{self,InstructionEmitter,InstructionConsumer,TimedInstruction};
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use strafesnet_common::integer::{self,Time,Planar64,Planar64Vec3,Planar64Mat3,Angle32,Ratio64Vec2};
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use gameplay::ModeState;
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//internal influence
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//when the physics asks itself what happens next, this is how it's represented
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#[derive(Debug)]
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enum PhysicsInternalInstruction{
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CollisionStart(Collision),
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CollisionEnd(Collision),
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StrafeTick,
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ReachWalkTargetVelocity,
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// Water,
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// Spawn(
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// Option<SpawnId>,
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// bool,//true = Trigger; false = teleport
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// bool,//true = Force
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// )
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}
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//external influence
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//this is how you influence the physics from outside
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#[derive(Debug)]
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pub enum PhysicsInputInstruction{
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ReplaceMouse(MouseState,MouseState),
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SetNextMouse(MouseState),
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SetMoveRight(bool),
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SetMoveUp(bool),
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SetMoveBack(bool),
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SetMoveLeft(bool),
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SetMoveDown(bool),
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SetMoveForward(bool),
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SetJump(bool),
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SetZoom(bool),
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Restart,
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Spawn(gameplay_modes::ModeId,StageId),
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Idle,
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//Idle: there were no input events, but the simulation is safe to advance to this timestep
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//for interpolation / networking / playback reasons, most playback heads will always want
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//to be 1 instruction ahead to generate the next state for interpolation.
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PracticeFly,
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SetSensitivity(Ratio64Vec2),
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}
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#[derive(Debug)]
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enum PhysicsInstruction{
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Internal(PhysicsInternalInstruction),
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//InputInstructions conditionally activate RefreshWalkTarget
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//(by doing what SetWalkTargetVelocity used to do and then flagging it)
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Input(PhysicsInputInstruction),
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}
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#[derive(Clone,Copy,Debug,Default,Hash)]
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pub struct Body{
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pub position:Planar64Vec3,//I64 where 2^32 = 1 u
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pub velocity:Planar64Vec3,//I64 where 2^32 = 1 u/s
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pub acceleration:Planar64Vec3,//I64 where 2^32 = 1 u/s/s
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pub time:Time,//nanoseconds x xxxxD!
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}
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impl std::ops::Neg for Body{
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type Output=Self;
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fn neg(self)->Self::Output{
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Self{
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position:self.position,
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velocity:-self.velocity,
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acceleration:self.acceleration,
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time:-self.time,
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}
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}
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}
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//hey dumbass just use a delta
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#[derive(Clone,Debug)]
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pub struct MouseState {
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pub pos: glam::IVec2,
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pub time:Time,
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}
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impl Default for MouseState{
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fn default() -> Self {
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Self {
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time:Time::ZERO,
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pos:glam::IVec2::ZERO,
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}
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}
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}
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impl MouseState {
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pub fn lerp(&self,target:&MouseState,time:Time)->glam::IVec2 {
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let m0=self.pos.as_i64vec2();
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let m1=target.pos.as_i64vec2();
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//these are deltas
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let t1t=(target.time-time).nanos();
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let tt0=(time-self.time).nanos();
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let dt=(target.time-self.time).nanos();
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((m0*t1t+m1*tt0)/dt).as_ivec2()
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}
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}
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#[derive(Clone,Debug,Default)]
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pub struct InputState{
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mouse:MouseState,
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next_mouse:MouseState,
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controls:strafesnet_common::controls_bitflag::Controls,
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}
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impl InputState{
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pub const fn get_next_mouse(&self)->&MouseState{
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&self.next_mouse
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}
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fn set_next_mouse(&mut self,next_mouse:MouseState){
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//I like your functions magic language
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self.mouse=std::mem::replace(&mut self.next_mouse,next_mouse);
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//equivalently:
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//(self.next_mouse,self.mouse)=(next_mouse,self.next_mouse.clone());
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}
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fn replace_mouse(&mut self,mouse:MouseState,next_mouse:MouseState){
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(self.next_mouse,self.mouse)=(next_mouse,mouse);
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}
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fn set_control(&mut self,control:Controls,state:bool){
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self.controls.set(control,state)
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}
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fn time_delta(&self)->Time{
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self.next_mouse.time-self.mouse.time
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}
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fn mouse_delta(&self)->glam::IVec2{
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self.next_mouse.pos-self.mouse.pos
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}
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fn lerp_delta(&self,time:Time)->glam::IVec2{
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//these are deltas
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let dm=self.mouse_delta().as_i64vec2();
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let t=(time-self.mouse.time).nanos();
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let dt=self.time_delta().nanos();
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((dm*t)/dt).as_ivec2()
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}
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}
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#[derive(Clone,Debug)]
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enum JumpDirection{
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Exactly(Planar64Vec3),
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FromContactNormal,
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}
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impl JumpDirection{
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fn direction(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,contact:&ContactCollision)->Planar64Vec3{
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match self{
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JumpDirection::FromContactNormal=>contact_normal(models,hitbox_mesh,contact),
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&JumpDirection::Exactly(dir)=>dir,
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}
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}
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}
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#[derive(Clone,Debug)]
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enum TransientAcceleration{
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Reached,
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Reachable{
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acceleration:Planar64Vec3,
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time:Time,
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},
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//walk target will never be reached
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Unreachable{
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acceleration:Planar64Vec3,
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}
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}
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#[derive(Clone,Debug)]
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struct ContactMoveState{
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jump_direction:JumpDirection,
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contact:ContactCollision,
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target:TransientAcceleration,
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}
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impl TransientAcceleration{
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fn with_target_diff(target_diff:Planar64Vec3,accel:Planar64,time:Time)->Self{
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if target_diff==Planar64Vec3::ZERO{
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TransientAcceleration::Reached
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}else{
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//normal friction acceleration is clippedAcceleration.dot(normal)*friction
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TransientAcceleration::Reachable{
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acceleration:target_diff.with_length(accel),
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time:time+Time::from(target_diff.length()/accel)
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}
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}
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}
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fn ground(walk_settings:&gameplay_style::WalkSettings,body:&Body,gravity:Planar64Vec3,target_velocity:Planar64Vec3)->Self{
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let target_diff=target_velocity-body.velocity;
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//precalculate accel
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let accel=walk_settings.accel(target_diff,gravity);
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Self::with_target_diff(target_diff,accel,body.time)
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}
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fn ladder(ladder_settings:&gameplay_style::LadderSettings,body:&Body,gravity:Planar64Vec3,target_velocity:Planar64Vec3)->Self{
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let target_diff=target_velocity-body.velocity;
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let accel=ladder_settings.accel(target_diff,gravity);
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Self::with_target_diff(target_diff,accel,body.time)
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}
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fn acceleration(&self)->Planar64Vec3{
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match self{
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TransientAcceleration::Reached=>Planar64Vec3::ZERO,
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&TransientAcceleration::Reachable{acceleration,time:_}=>acceleration,
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&TransientAcceleration::Unreachable{acceleration}=>acceleration,
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}
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}
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}
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impl ContactMoveState{
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fn ground(walk_settings:&gameplay_style::WalkSettings,body:&Body,gravity:Planar64Vec3,target_velocity:Planar64Vec3,contact:ContactCollision)->Self{
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Self{
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target:TransientAcceleration::ground(walk_settings,body,gravity,target_velocity),
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contact,
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jump_direction:JumpDirection::Exactly(Planar64Vec3::Y),
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}
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}
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fn ladder(ladder_settings:&gameplay_style::LadderSettings,body:&Body,gravity:Planar64Vec3,target_velocity:Planar64Vec3,contact:ContactCollision)->Self{
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Self{//,style,velocity,normal,style.ladder_speed,style.ladder_accel
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target:TransientAcceleration::ladder(ladder_settings,body,gravity,target_velocity),
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contact,
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jump_direction:JumpDirection::FromContactNormal,
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}
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}
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}
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fn ground_things(walk_settings:&gameplay_style::WalkSettings,contact:&ContactCollision,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->(Planar64Vec3,Planar64Vec3){
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let normal=contact_normal(models,hitbox_mesh,contact);
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let gravity=touching.base_acceleration(models,style,camera,input_state);
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let control_dir=style.get_y_control_dir(camera,input_state.controls);
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let mut target_velocity=walk_settings.get_walk_target_velocity(control_dir,normal);
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touching.constrain_velocity(models,hitbox_mesh,&mut target_velocity);
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(gravity,target_velocity)
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}
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fn ladder_things(ladder_settings:&gameplay_style::LadderSettings,contact:&ContactCollision,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->(Planar64Vec3,Planar64Vec3){
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let normal=contact_normal(models,hitbox_mesh,contact);
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let gravity=touching.base_acceleration(models,style,camera,input_state);
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let control_dir=style.get_y_control_dir(camera,input_state.controls);
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let mut target_velocity=ladder_settings.get_ladder_target_velocity(control_dir,normal);
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touching.constrain_velocity(models,hitbox_mesh,&mut target_velocity);
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(gravity,target_velocity)
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}
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#[derive(Default)]
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struct PhysicsModels{
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meshes:HashMap<PhysicsMeshId,PhysicsMesh>,
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models:HashMap<PhysicsModelId,PhysicsModel>,
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//separate models into Contacting and Intersecting?
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//wrap model id with ContactingModelId and IntersectingModelId
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//attributes can be split into contacting and intersecting (this also saves a bit of memory)
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//can go even further and deduplicate General attributes separately, reconstructing it when queried
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attributes:HashMap<PhysicsAttributesId,PhysicsCollisionAttributes>,
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}
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impl PhysicsModels{
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fn clear(&mut self){
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self.meshes.clear();
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self.models.clear();
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self.attributes.clear();
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}
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//TODO: "statically" verify the maps don't refer to any nonexistant data, if they do delete the references.
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//then I can make these getter functions unchecked.
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fn mesh(&self,convex_mesh_id:ConvexMeshId)->TransformedMesh{
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let model=&self.models[&convex_mesh_id.model_id];
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TransformedMesh::new(
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self.meshes[&model.mesh_id].submesh_view(convex_mesh_id.submesh_id),
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&model.transform
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)
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}
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fn model(&self,model_id:PhysicsModelId)->&PhysicsModel{
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&self.models[&model_id]
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}
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fn attr(&self,model_id:PhysicsModelId)->&PhysicsCollisionAttributes{
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&self.attributes[&self.models[&model_id].attr_id]
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}
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}
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#[derive(Clone,Copy,Debug)]
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pub struct PhysicsCamera{
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//punch: Planar64Vec3,
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//punch_velocity: Planar64Vec3,
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sensitivity:Ratio64Vec2,//dots to Angle32 ratios
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clamped_mouse_pos:glam::IVec2,//angles are calculated from this cumulative value
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//angle limits could be an enum + struct that defines whether it's limited and selects clamp or wrap depending
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// enum AngleLimit{
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// Unlimited,
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// Limited{lower:Angle32,upper:Angle32},
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// }
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//pitch_limit:AngleLimit,
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//yaw_limit:AngleLimit,
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}
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impl PhysicsCamera{
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const ANGLE_PITCH_LOWER_LIMIT:Angle32=Angle32::NEG_FRAC_PI_2;
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const ANGLE_PITCH_UPPER_LIMIT:Angle32=Angle32::FRAC_PI_2;
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pub fn move_mouse(&mut self,mouse_delta:glam::IVec2){
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let mut unclamped_mouse_pos=self.clamped_mouse_pos+mouse_delta;
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unclamped_mouse_pos.y=unclamped_mouse_pos.y.clamp(
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self.sensitivity.y.rhs_div_int(Self::ANGLE_PITCH_LOWER_LIMIT.get() as i64) as i32,
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self.sensitivity.y.rhs_div_int(Self::ANGLE_PITCH_UPPER_LIMIT.get() as i64) as i32,
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);
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self.clamped_mouse_pos=unclamped_mouse_pos;
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}
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pub fn simulate_move_angles(&self,mouse_delta:glam::IVec2)->glam::Vec2 {
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let a=-self.sensitivity.mul_int((self.clamped_mouse_pos+mouse_delta).as_i64vec2());
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let ax=Angle32::wrap_from_i64(a.x);
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let ay=Angle32::clamp_from_i64(a.y)
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//clamp to actual vertical cam limit
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.clamp(Self::ANGLE_PITCH_LOWER_LIMIT,Self::ANGLE_PITCH_UPPER_LIMIT);
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return glam::vec2(ax.into(),ay.into());
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}
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#[inline]
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fn get_rotation(&self,mouse_pos:glam::IVec2)->Planar64Mat3{
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let a=-self.sensitivity.mul_int(mouse_pos.as_i64vec2());
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let ax=Angle32::wrap_from_i64(a.x);
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let ay=Angle32::clamp_from_i64(a.y)
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//clamp to actual vertical cam limit
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.clamp(Self::ANGLE_PITCH_LOWER_LIMIT,Self::ANGLE_PITCH_UPPER_LIMIT);
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Planar64Mat3::from_rotation_yx(ax,ay)
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}
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fn rotation(&self)->Planar64Mat3{
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self.get_rotation(self.clamped_mouse_pos)
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}
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fn simulate_move_rotation(&self,mouse_delta:glam::IVec2)->Planar64Mat3{
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self.get_rotation(self.clamped_mouse_pos+mouse_delta)
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}
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fn get_rotation_y(&self,mouse_pos_x:i32)->Planar64Mat3{
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let ax=-self.sensitivity.x.mul_int(mouse_pos_x as i64);
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Planar64Mat3::from_rotation_y(Angle32::wrap_from_i64(ax))
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}
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fn rotation_y(&self)->Planar64Mat3{
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self.get_rotation_y(self.clamped_mouse_pos.x)
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}
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fn simulate_move_rotation_y(&self,mouse_delta_x:i32)->Planar64Mat3{
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self.get_rotation_y(self.clamped_mouse_pos.x+mouse_delta_x)
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}
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}
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impl std::default::Default for PhysicsCamera{
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fn default()->Self{
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Self{
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sensitivity:Ratio64Vec2::ONE*200_000,
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clamped_mouse_pos:glam::IVec2::ZERO,
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}
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}
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}
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mod gameplay{
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use super::{gameplay_modes,HashSet,HashMap,ModelId};
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#[derive(Clone,Debug)]
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pub struct ModeState{
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mode_id:gameplay_modes::ModeId,
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stage_id:gameplay_modes::StageId,
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next_ordered_checkpoint_id:gameplay_modes::CheckpointId,//which OrderedCheckpoint model_id you must pass next (if 0 you haven't passed OrderedCheckpoint0)
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unordered_checkpoints:HashSet<ModelId>,
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jump_counts:HashMap<ModelId,u32>,//model_id -> jump count
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}
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impl ModeState{
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pub const fn get_mode_id(&self)->gameplay_modes::ModeId{
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self.mode_id
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}
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pub const fn get_stage_id(&self)->gameplay_modes::StageId{
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self.stage_id
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}
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pub const fn get_next_ordered_checkpoint_id(&self)->gameplay_modes::CheckpointId{
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self.next_ordered_checkpoint_id
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}
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pub fn get_jump_count(&self,model_id:ModelId)->Option<u32>{
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self.jump_counts.get(&model_id).copied()
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}
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pub const fn ordered_checkpoint_count(&self)->u32{
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self.next_ordered_checkpoint_id.get()
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}
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pub fn unordered_checkpoint_count(&self)->u32{
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self.unordered_checkpoints.len() as u32
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}
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pub fn set_mode_id(&mut self,mode_id:gameplay_modes::ModeId){
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self.clear();
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self.mode_id=mode_id;
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}
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pub fn set_stage_id(&mut self,stage_id:gameplay_modes::StageId){
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self.clear_checkpoints();
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self.stage_id=stage_id;
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}
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pub fn accumulate_ordered_checkpoint(&mut self,stage:&gameplay_modes::Stage,model_id:ModelId){
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if stage.is_next_ordered_checkpoint(self.get_next_ordered_checkpoint_id(),model_id){
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self.next_ordered_checkpoint_id=gameplay_modes::CheckpointId::new(self.next_ordered_checkpoint_id.get()+1);
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}
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}
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pub fn accumulate_unordered_checkpoint(&mut self,stage:&gameplay_modes::Stage,model_id:ModelId){
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if stage.is_unordered_checkpoint(model_id){
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self.unordered_checkpoints.insert(model_id);
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}
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}
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pub fn clear(&mut self){
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self.clear_jump_counts();
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self.clear_checkpoints();
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}
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pub fn clear_jump_counts(&mut self){
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self.jump_counts.clear();
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}
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pub fn clear_checkpoints(&mut self){
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self.next_ordered_checkpoint_id=gameplay_modes::CheckpointId::FIRST;
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self.unordered_checkpoints.clear();
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}
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}
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impl std::default::Default for ModeState{
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fn default()->Self{
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Self{
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mode_id:gameplay_modes::ModeId::MAIN,
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stage_id:gameplay_modes::StageId::FIRST,
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next_ordered_checkpoint_id:gameplay_modes::CheckpointId::FIRST,
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unordered_checkpoints:HashSet::new(),
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jump_counts:HashMap::new(),
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}
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}
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}
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}
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#[derive(Clone,Debug)]
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struct WorldState{}
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struct HitboxMesh{
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halfsize:Planar64Vec3,
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mesh:PhysicsMesh,
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transform:PhysicsMeshTransform,
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}
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impl HitboxMesh{
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fn new(mesh:PhysicsMesh,transform:integer::Planar64Affine3)->Self{
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//calculate extents
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let mut aabb=aabb::Aabb::default();
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let transform=PhysicsMeshTransform::new(transform);
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let transformed_mesh=TransformedMesh::new(mesh.complete_mesh_view(),&transform);
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for vert in transformed_mesh.verts(){
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aabb.grow(vert);
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}
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Self{
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halfsize:aabb.size()/2,
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mesh,
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transform,
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}
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}
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#[inline]
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fn transformed_mesh(&self)->TransformedMesh{
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TransformedMesh::new(self.mesh.complete_mesh_view(),&self.transform)
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}
|
|
}
|
|
|
|
trait StyleHelper{
|
|
fn get_control(&self,control:Controls,controls:Controls)->bool;
|
|
fn get_control_dir(&self,controls:Controls)->Planar64Vec3;
|
|
fn get_y_control_dir(&self,camera:&PhysicsCamera,controls:Controls)->Planar64Vec3;
|
|
fn get_propulsion_control_dir(&self,camera:&PhysicsCamera,controls:Controls)->Planar64Vec3;
|
|
fn calculate_mesh(&self)->HitboxMesh;
|
|
}
|
|
impl StyleHelper for StyleModifiers{
|
|
fn get_control(&self,control:Controls,controls:Controls)->bool{
|
|
controls.intersection(self.controls_mask).contains(control)
|
|
}
|
|
|
|
fn get_control_dir(&self,controls:Controls)->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.intersection(self.controls_mask);
|
|
if controls.contains(Controls::MoveForward){
|
|
control_dir+=Self::FORWARD_DIR;
|
|
}
|
|
if controls.contains(Controls::MoveBackward){
|
|
control_dir-=Self::FORWARD_DIR;
|
|
}
|
|
if controls.contains(Controls::MoveLeft){
|
|
control_dir-=Self::RIGHT_DIR;
|
|
}
|
|
if controls.contains(Controls::MoveRight){
|
|
control_dir+=Self::RIGHT_DIR;
|
|
}
|
|
if controls.contains(Controls::MoveUp){
|
|
control_dir+=Self::UP_DIR;
|
|
}
|
|
if controls.contains(Controls::MoveDown){
|
|
control_dir-=Self::UP_DIR;
|
|
}
|
|
return control_dir
|
|
}
|
|
|
|
fn get_y_control_dir(&self,camera:&PhysicsCamera,controls:Controls)->Planar64Vec3{
|
|
camera.rotation_y()*self.get_control_dir(controls)
|
|
}
|
|
|
|
fn get_propulsion_control_dir(&self,camera:&PhysicsCamera,controls:Controls)->Planar64Vec3{
|
|
//don't interpolate this! discrete mouse movement, constant acceleration
|
|
camera.rotation()*self.get_control_dir(controls)
|
|
}
|
|
fn calculate_mesh(&self)->HitboxMesh{
|
|
let mesh=match self.hitbox.mesh{
|
|
gameplay_style::HitboxMesh::Box=>PhysicsMesh::unit_cube(),
|
|
gameplay_style::HitboxMesh::Cylinder=>PhysicsMesh::unit_cylinder(),
|
|
};
|
|
let transform=integer::Planar64Affine3::new(Planar64Mat3::from_diagonal(self.hitbox.halfsize),Planar64Vec3::ZERO);
|
|
HitboxMesh::new(mesh,transform)
|
|
}
|
|
}
|
|
#[derive(Clone,Debug)]
|
|
enum MoveState{
|
|
Air,
|
|
Walk(ContactMoveState),
|
|
Ladder(ContactMoveState),
|
|
Water,
|
|
Fly,
|
|
}
|
|
impl MoveState{
|
|
//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=Planar64Vec3::ZERO,
|
|
MoveState::Air=>{
|
|
//calculate base acceleration
|
|
let a=touching.base_acceleration(models,style,camera,input_state);
|
|
//set_acceleration clips according to contacts
|
|
set_acceleration(body,touching,models,hitbox_mesh,a);
|
|
},
|
|
_=>(),
|
|
}
|
|
}
|
|
//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::Water=>(),
|
|
MoveState::Fly=>{
|
|
//set velocity according to current control state
|
|
let v=style.get_propulsion_control_dir(camera,input_state.controls)*80;
|
|
//set_velocity clips velocity according to current touching state
|
|
set_velocity(body,touching,models,hitbox_mesh,v);
|
|
},
|
|
MoveState::Walk(walk_state)
|
|
|MoveState::Ladder(walk_state)
|
|
=>{
|
|
//accelerate towards walk target or do nothing
|
|
let a=walk_state.target.acceleration();
|
|
set_acceleration(body,touching,models,hitbox_mesh,a);
|
|
},
|
|
}
|
|
}
|
|
/// changes the move state
|
|
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::Water=>(),
|
|
MoveState::Walk(ContactMoveState{target,contact,jump_direction:_})=>{
|
|
if let Some(walk_settings)=&style.walk{
|
|
let (gravity,target_velocity)=ground_things(walk_settings,contact,touching,models,hitbox_mesh,style,camera,input_state);
|
|
*target=TransientAcceleration::ground(walk_settings,body,gravity,target_velocity);
|
|
}else{
|
|
panic!("ContactMoveState exists in style which does not allow walking!");
|
|
}
|
|
},
|
|
MoveState::Ladder(ContactMoveState{target,contact,jump_direction:_})=>{
|
|
if let Some(ladder_settings)=&style.ladder{
|
|
let (gravity,target_velocity)=ladder_things(ladder_settings,contact,touching,models,hitbox_mesh,style,camera,input_state);
|
|
*target=TransientAcceleration::ladder(ladder_settings,body,gravity,target_velocity);
|
|
}else{
|
|
panic!("ContactMoveState exists in style which does not allow walking!");
|
|
}
|
|
},
|
|
}
|
|
}
|
|
fn get_walk_state(&self)->Option<&ContactMoveState>{
|
|
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,strafe:&Option<gameplay_style::StrafeSettings>,time:Time)->Option<TimedInstruction<PhysicsInternalInstruction>>{
|
|
//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{
|
|
&TransientAcceleration::Reachable{acceleration:_,time}=>Some(TimedInstruction{
|
|
time,
|
|
instruction:PhysicsInternalInstruction::ReachWalkTargetVelocity
|
|
}),
|
|
TransientAcceleration::Unreachable{acceleration:_}
|
|
|TransientAcceleration::Reached
|
|
=>None,
|
|
}
|
|
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:PhysicsInternalInstruction::StrafeTick
|
|
}
|
|
}),
|
|
MoveState::Water=>None,//TODO
|
|
MoveState::Fly=>None,
|
|
}
|
|
}
|
|
}
|
|
|
|
#[derive(Clone,Default)]
|
|
pub struct PhysicsOutputState{
|
|
body:Body,
|
|
camera:PhysicsCamera,
|
|
camera_offset:Planar64Vec3,
|
|
mouse_pos:glam::IVec2,
|
|
}
|
|
impl PhysicsOutputState{
|
|
pub fn extrapolate(&self,mouse:MouseState)->(glam::Vec3,glam::Vec2){
|
|
((self.body.extrapolated_position(mouse.time)+self.camera_offset).into(),self.camera.simulate_move_angles(mouse.pos-self.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<Self,Self::Error>{
|
|
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()}),
|
|
}
|
|
}
|
|
}
|
|
#[derive(Clone,Copy,Hash,id::Id,Eq,PartialEq)]
|
|
struct PhysicsAttributesId(u32);
|
|
impl Into<CollisionAttributesId> for PhysicsAttributesId{
|
|
fn into(self)->CollisionAttributesId{
|
|
CollisionAttributesId::new(self.0)
|
|
}
|
|
}
|
|
impl From<CollisionAttributesId> for PhysicsAttributesId{
|
|
fn from(value:CollisionAttributesId)->Self{
|
|
Self::new(value.get())
|
|
}
|
|
}
|
|
//unique physics meshes indexed by this
|
|
#[derive(Debug,Default,Clone,Copy,Eq,Hash,PartialEq)]
|
|
struct ConvexMeshId{
|
|
model_id:PhysicsModelId,
|
|
submesh_id:PhysicsSubmeshId,
|
|
}
|
|
#[derive(Debug,Default,Clone,Copy,Hash,id::Id,Eq,PartialEq)]
|
|
struct PhysicsModelId(u32);
|
|
impl Into<ModelId> for PhysicsModelId{
|
|
fn into(self)->ModelId{
|
|
ModelId::new(self.0)
|
|
}
|
|
}
|
|
impl From<ModelId> for PhysicsModelId{
|
|
fn from(value:ModelId)->Self{
|
|
Self::new(value.get())
|
|
}
|
|
}
|
|
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:PhysicsMeshId,
|
|
//put these up on the Model (data normalization)
|
|
attr_id:PhysicsAttributesId,
|
|
transform:PhysicsMeshTransform,
|
|
}
|
|
|
|
impl PhysicsModel{
|
|
const fn new(mesh_id:PhysicsMeshId,attr_id:PhysicsAttributesId,transform:PhysicsMeshTransform)->Self{
|
|
Self{
|
|
mesh_id,
|
|
attr_id,
|
|
transform,
|
|
}
|
|
}
|
|
}
|
|
|
|
#[derive(Debug,Clone,Copy,Eq,Hash,PartialEq)]
|
|
pub struct ContactCollision{
|
|
face_id:model_physics::MinkowskiFace,
|
|
convex_mesh_id:ConvexMeshId,
|
|
}
|
|
#[derive(Debug,Clone,Eq,Hash,PartialEq)]
|
|
pub struct IntersectCollision{
|
|
convex_mesh_id:ConvexMeshId,
|
|
}
|
|
#[derive(Debug,Clone,Eq,Hash,PartialEq)]
|
|
pub enum Collision{
|
|
Contact(ContactCollision),
|
|
Intersect(IntersectCollision),
|
|
}
|
|
impl Collision{
|
|
const fn convex_mesh_id(&self)->ConvexMeshId{
|
|
match self{
|
|
&Collision::Contact(ContactCollision{convex_mesh_id,face_id:_})
|
|
|&Collision::Intersect(IntersectCollision{convex_mesh_id})=>convex_mesh_id,
|
|
}
|
|
}
|
|
const fn face_id(&self)->Option<model_physics::MinkowskiFace>{
|
|
match self{
|
|
&Collision::Contact(ContactCollision{convex_mesh_id:_,face_id})=>Some(face_id),
|
|
&Collision::Intersect(IntersectCollision{convex_mesh_id:_})=>None,
|
|
}
|
|
}
|
|
}
|
|
#[derive(Clone,Debug,Default)]
|
|
struct TouchingState{
|
|
contacts:HashSet::<ContactCollision>,
|
|
intersects:HashSet::<IntersectCollision>,
|
|
}
|
|
impl TouchingState{
|
|
fn clear(&mut self){
|
|
self.contacts.clear();
|
|
self.intersects.clear();
|
|
}
|
|
fn insert(&mut self,collision:Collision)->bool{
|
|
match collision{
|
|
Collision::Contact(collision)=>self.contacts.insert(collision),
|
|
Collision::Intersect(collision)=>self.intersects.insert(collision),
|
|
}
|
|
}
|
|
fn remove(&mut self,collision:&Collision)->bool{
|
|
match collision{
|
|
Collision::Contact(collision)=>self.contacts.remove(collision),
|
|
Collision::Intersect(collision)=>self.intersects.remove(collision),
|
|
}
|
|
}
|
|
fn base_acceleration(&self,models:&PhysicsModels,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->Planar64Vec3{
|
|
let mut a=style.gravity;
|
|
if let Some(rocket_settings)=&style.rocket{
|
|
a+=rocket_settings.acceleration(style.get_propulsion_control_dir(camera,input_state.controls));
|
|
}
|
|
//add accelerators
|
|
for contact in &self.contacts{
|
|
match models.attr(contact.convex_mesh_id.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.convex_mesh_id.model_id){
|
|
PhysicsCollisionAttributes::Intersect{intersecting:_,general}=>{
|
|
match &general.accelerator{
|
|
Some(accelerator)=>a+=accelerator.acceleration,
|
|
None=>(),
|
|
}
|
|
},
|
|
_=>panic!("impossible touching state"),
|
|
}
|
|
}
|
|
//TODO: add water
|
|
a
|
|
}
|
|
fn constrain_velocity(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,velocity:&mut Planar64Vec3){
|
|
//TODO: trey push solve
|
|
for contact in &self.contacts{
|
|
let n=contact_normal(models,hitbox_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,hitbox_mesh:&HitboxMesh,acceleration:&mut Planar64Vec3){
|
|
//TODO: trey push solve
|
|
for contact in &self.contacts{
|
|
let n=contact_normal(models,hitbox_mesh,contact);
|
|
let d=n.dot128(*acceleration);
|
|
if d<0{
|
|
*acceleration-=n*Planar64::raw(((d<<32)/n.dot128(n)) as i64);
|
|
}
|
|
}
|
|
}
|
|
fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector<PhysicsInternalInstruction>,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,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.convex_mesh_id);
|
|
let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
|
|
collector.collect(minkowski.predict_collision_face_out(&relative_body,collector.time(),contact.face_id).map(|(_face,time)|{
|
|
TimedInstruction{
|
|
time,
|
|
instruction:PhysicsInternalInstruction::CollisionEnd(
|
|
Collision::Contact(ContactCollision{convex_mesh_id:contact.convex_mesh_id,face_id:contact.face_id})
|
|
),
|
|
}
|
|
}));
|
|
}
|
|
for intersect in &self.intersects{
|
|
//detect model collision in reverse
|
|
let model_mesh=models.mesh(intersect.convex_mesh_id);
|
|
let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
|
|
collector.collect(minkowski.predict_collision_out(&relative_body,collector.time()).map(|(_face,time)|{
|
|
TimedInstruction{
|
|
time,
|
|
instruction:PhysicsInternalInstruction::CollisionEnd(
|
|
Collision::Intersect(IntersectCollision{convex_mesh_id:intersect.convex_mesh_id})
|
|
),
|
|
}
|
|
}));
|
|
}
|
|
}
|
|
}
|
|
|
|
impl Body{
|
|
pub const fn new(position:Planar64Vec3,velocity:Planar64Vec3,acceleration:Planar64Vec3,time:Time)->Self{
|
|
Self{
|
|
position,
|
|
velocity,
|
|
acceleration,
|
|
time,
|
|
}
|
|
}
|
|
pub fn extrapolated_position(&self,time:Time)->Planar64Vec3{
|
|
let dt=time-self.time;
|
|
self.position+self.velocity*dt+self.acceleration*(dt*dt/2)
|
|
}
|
|
pub fn extrapolated_velocity(&self,time:Time)->Planar64Vec3{
|
|
let dt=time-self.time;
|
|
self.velocity+self.acceleration*dt
|
|
}
|
|
pub fn advance_time(&mut self,time:Time){
|
|
self.position=self.extrapolated_position(time);
|
|
self.velocity=self.extrapolated_velocity(time);
|
|
self.time=time;
|
|
}
|
|
pub fn infinity_dir(&self)->Option<Planar64Vec3>{
|
|
if self.velocity==Planar64Vec3::ZERO{
|
|
if self.acceleration==Planar64Vec3::ZERO{
|
|
None
|
|
}else{
|
|
Some(self.acceleration)
|
|
}
|
|
}else{
|
|
Some(self.velocity)
|
|
}
|
|
}
|
|
pub fn grow_aabb(&self,aabb:&mut aabb::Aabb,t0:Time,t1:Time){
|
|
aabb.grow(self.extrapolated_position(t0));
|
|
aabb.grow(self.extrapolated_position(t1));
|
|
//v+a*t==0
|
|
//goober code
|
|
if self.acceleration.x()!=Planar64::ZERO{
|
|
let t=Time::from(-self.velocity.x()/self.acceleration.x());
|
|
if t0<t&&t<t1{
|
|
aabb.grow(self.extrapolated_position(t));
|
|
}
|
|
}
|
|
if self.acceleration.y()!=Planar64::ZERO{
|
|
let t=Time::from(-self.velocity.y()/self.acceleration.y());
|
|
if t0<t&&t<t1{
|
|
aabb.grow(self.extrapolated_position(t));
|
|
}
|
|
}
|
|
if self.acceleration.z()!=Planar64::ZERO{
|
|
let t=Time::from(-self.velocity.z()/self.acceleration.z());
|
|
if t0<t&&t<t1{
|
|
aabb.grow(self.extrapolated_position(t));
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
impl std::fmt::Display for Body{
|
|
fn fmt(&self,f:&mut std::fmt::Formatter<'_>)->std::fmt::Result{
|
|
write!(f,"p({}) v({}) a({}) t({})",self.position,self.velocity,self.acceleration,self.time)
|
|
}
|
|
}
|
|
|
|
struct VirtualBody<'a>{
|
|
body0:&'a Body,
|
|
body1:&'a Body,
|
|
}
|
|
impl VirtualBody<'_>{
|
|
const 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)
|
|
}
|
|
}
|
|
|
|
#[derive(Clone,Debug)]
|
|
pub struct PhysicsState{
|
|
time:Time,
|
|
body:Body,
|
|
world:WorldState,//currently there is only one state the world can be in
|
|
touching:TouchingState,
|
|
//camera must exist in state because wormholes modify the camera, also camera punch
|
|
camera:PhysicsCamera,
|
|
//input_state
|
|
input_state:InputState,
|
|
//style
|
|
style:StyleModifiers,//mode style with custom style updates applied
|
|
//gameplay_state
|
|
mode_state:ModeState,
|
|
move_state:MoveState,
|
|
//run is non optional: when you spawn in a run is created
|
|
//the run cannot be finished unless you start it by visiting
|
|
//a start zone. If you change mode, a new run is created.
|
|
run:run::Run,
|
|
}
|
|
//random collection of contextual data that doesn't belong in PhysicsState
|
|
pub struct PhysicsData{
|
|
//permanent map data
|
|
bvh:bvh::BvhNode<ConvexMeshId>,
|
|
//transient map/environment data (open world loads/unloads parts of this data)
|
|
models:PhysicsModels,
|
|
//semi-transient data
|
|
modes:gameplay_modes::Modes,
|
|
//cached calculations
|
|
hitbox_mesh:HitboxMesh,
|
|
}
|
|
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(),
|
|
input_state:InputState::default(),
|
|
world:WorldState{},
|
|
mode_state:ModeState::default(),
|
|
run:run::Run::new(),
|
|
}
|
|
}
|
|
}
|
|
impl Default for PhysicsData{
|
|
fn default()->Self{
|
|
Self{
|
|
bvh:bvh::BvhNode::default(),
|
|
models:Default::default(),
|
|
modes:Default::default(),
|
|
hitbox_mesh:StyleModifiers::default().calculate_mesh(),
|
|
}
|
|
}
|
|
}
|
|
|
|
impl PhysicsState{
|
|
fn clear(&mut self){
|
|
self.touching.clear();
|
|
}
|
|
fn reset_to_default(&mut self){
|
|
let mut new_state=Self::default();
|
|
new_state.camera.sensitivity=self.camera.sensitivity;
|
|
*self=new_state;
|
|
}
|
|
fn next_move_instruction(&self)->Option<TimedInstruction<PhysicsInternalInstruction>>{
|
|
self.move_state.next_move_instruction(&self.style.strafe,self.time)
|
|
}
|
|
//lmao idk this is convenient
|
|
fn apply_enum_and_input_and_body(&mut self,data:&PhysicsData){
|
|
self.move_state.apply_enum(&mut self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
|
|
self.move_state.apply_input(&self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
|
|
self.move_state.apply_to_body(&mut self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
|
|
}
|
|
fn apply_enum_and_body(&mut self,data:&PhysicsData){
|
|
self.move_state.apply_enum(&mut self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
|
|
self.move_state.apply_to_body(&mut self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
|
|
}
|
|
fn apply_input_and_body(&mut self,data:&PhysicsData){
|
|
self.move_state.apply_input(&self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
|
|
self.move_state.apply_to_body(&mut self.body,&self.touching,&data.models,&data.hitbox_mesh,&self.style,&self.camera,&self.input_state);
|
|
}
|
|
fn set_move_state(&mut self,data:&PhysicsData,move_state:MoveState){
|
|
self.move_state=move_state;
|
|
//this function call reads the above state that was just set
|
|
self.apply_enum_and_body(data);
|
|
}
|
|
fn cull_velocity(&mut self,data:&PhysicsData,velocity:Planar64Vec3){
|
|
//TODO: be more precise about contacts
|
|
if set_velocity_cull(&mut self.body,&mut self.touching,&data.models,&data.hitbox_mesh,velocity){
|
|
//TODO do better
|
|
match self.move_state.get_walk_state(){
|
|
//did you stop touching the thing you were walking on?
|
|
Some(walk_state)=>if !self.touching.contacts.contains(&walk_state.contact){
|
|
self.set_move_state(data,MoveState::Air);
|
|
},
|
|
None=>self.apply_enum_and_body(data),
|
|
}
|
|
}
|
|
}
|
|
|
|
//state mutated on collision:
|
|
//Accelerator
|
|
//stair step-up
|
|
|
|
//state mutated on instruction
|
|
//change fly acceleration (fly_sustain)
|
|
//change fly velocity
|
|
|
|
//generic event emmiters
|
|
//PlatformStandTime
|
|
//walk/swim/air/ladder sounds
|
|
//VState?
|
|
|
|
//falling under the map
|
|
// fn next_respawn_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
|
|
// if self.body.position<self.world.min_y {
|
|
// return Some(TimedInstruction{
|
|
// time:self.time,
|
|
// instruction:PhysicsInstruction::Trigger(None)
|
|
// });
|
|
// }
|
|
// }
|
|
|
|
// fn next_water_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
|
|
// return Some(TimedInstruction{
|
|
// time:(self.time*self.strafe_tick_num/self.strafe_tick_den+1)*self.strafe_tick_den/self.strafe_tick_num,
|
|
// //only poll the physics if there is a before and after mouse event
|
|
// instruction:PhysicsInstruction::Water
|
|
// });
|
|
// }
|
|
}
|
|
|
|
#[derive(Default)]
|
|
pub struct PhysicsContext{
|
|
state:PhysicsState,//this captures the entire state of the physics.
|
|
data:PhysicsData,//data currently loaded into memory which is needded for physics to run, but is not part of the state.
|
|
}
|
|
//the physics consumes the generic PhysicsInstruction, but can only emit the more narrow PhysicsInternalInstruction
|
|
impl instruction::InstructionConsumer<PhysicsInstruction> for PhysicsContext{
|
|
fn process_instruction(&mut self,ins:TimedInstruction<PhysicsInstruction>){
|
|
atomic_state_update(&mut self.state,&self.data,ins)
|
|
}
|
|
}
|
|
impl instruction::InstructionEmitter<PhysicsInternalInstruction> for PhysicsContext{
|
|
//this little next instruction function can cache its return value and invalidate the cached value by watching the State.
|
|
fn next_instruction(&self,time_limit:Time)->Option<TimedInstruction<PhysicsInternalInstruction>>{
|
|
next_instruction_internal(&self.state,&self.data,time_limit)
|
|
}
|
|
}
|
|
impl PhysicsContext{
|
|
pub fn clear(&mut self){
|
|
self.state.clear();
|
|
}
|
|
//TODO: remove non-standard interfaces to process_instruction
|
|
pub fn load_user_settings(&mut self,user_settings:&crate::settings::UserSettings){
|
|
self.run_input_instruction(TimedInstruction{
|
|
time:self.state.time,
|
|
instruction:PhysicsInputInstruction::SetSensitivity(user_settings.calculate_sensitivity()),
|
|
});
|
|
}
|
|
pub fn restart(&mut self){
|
|
self.run_input_instruction(TimedInstruction{
|
|
time:self.state.time,
|
|
instruction:PhysicsInputInstruction::Restart,
|
|
});
|
|
}
|
|
pub fn spawn(&mut self){
|
|
self.run_input_instruction(TimedInstruction{
|
|
time:self.state.time,
|
|
instruction:PhysicsInputInstruction::Spawn(gameplay_modes::ModeId::MAIN,StageId::FIRST),
|
|
});
|
|
}
|
|
pub const fn output(&self)->PhysicsOutputState{
|
|
PhysicsOutputState{
|
|
body:self.state.body,
|
|
camera:self.state.camera,
|
|
camera_offset:self.state.style.camera_offset,
|
|
mouse_pos:self.state.input_state.mouse.pos,
|
|
}
|
|
}
|
|
pub const fn get_next_mouse(&self)->&MouseState{
|
|
self.state.input_state.get_next_mouse()
|
|
}
|
|
pub fn generate_models(&mut self,map:&map::CompleteMap){
|
|
self.data.modes=map.modes.clone();
|
|
for mode in &mut self.data.modes.modes{
|
|
mode.denormalize_data();
|
|
}
|
|
let mut used_attributes=Vec::new();
|
|
let mut physics_attr_id_from_model_attr_id=HashMap::<CollisionAttributesId,PhysicsAttributesId>::new();
|
|
let mut used_meshes=Vec::new();
|
|
let mut physics_mesh_id_from_model_mesh_id=HashMap::<MeshId,PhysicsMeshId>::new();
|
|
self.data.models.models=map.models.iter().enumerate().filter_map(|(model_id,model)|{
|
|
//TODO: use .entry().or_insert_with(||{
|
|
let attr_id=if let Some(&attr_id)=physics_attr_id_from_model_attr_id.get(&model.attributes){
|
|
attr_id
|
|
}else{
|
|
//check if it's real
|
|
match map.attributes.get(model.attributes.get() as usize).and_then(|m_attr|{
|
|
PhysicsCollisionAttributes::try_from(m_attr).map_or(None,|p_attr|{
|
|
let attr_id=PhysicsAttributesId::new(used_attributes.len() as u32);
|
|
used_attributes.push(p_attr);
|
|
physics_attr_id_from_model_attr_id.insert(model.attributes,attr_id);
|
|
Some(attr_id)
|
|
})
|
|
}){
|
|
Some(attr_id)=>attr_id,
|
|
None=>return None,
|
|
}
|
|
};
|
|
let mesh_id=if let Some(&mesh_id)=physics_mesh_id_from_model_mesh_id.get(&model.mesh){
|
|
mesh_id
|
|
}else{
|
|
match map.meshes.get(model.mesh.get() as usize).and_then(|mesh|{
|
|
match PhysicsMesh::try_from(mesh){
|
|
Ok(physics_mesh)=>{
|
|
let mesh_id=PhysicsMeshId::new(used_meshes.len() as u32);
|
|
used_meshes.push(physics_mesh);
|
|
physics_mesh_id_from_model_mesh_id.insert(model.mesh,mesh_id);
|
|
Some(mesh_id)
|
|
},
|
|
Err(e)=>{
|
|
println!("Failed to build PhysicsMesh: {e}");
|
|
None
|
|
}
|
|
}
|
|
}){
|
|
Some(mesh_id)=>mesh_id,
|
|
None=>return None,
|
|
}
|
|
};
|
|
Some((PhysicsModelId::new(model_id as u32),PhysicsModel::new(mesh_id,attr_id,PhysicsMeshTransform::new(model.transform))))
|
|
}).collect();
|
|
self.data.models.attributes=used_attributes.into_iter().enumerate().map(|(attr_id,attr)|(PhysicsAttributesId::new(attr_id as u32),attr)).collect();
|
|
self.data.models.meshes=used_meshes.into_iter().enumerate().map(|(mesh_id,mesh)|(PhysicsMeshId::new(mesh_id as u32),mesh)).collect();
|
|
let convex_mesh_aabb_list=self.data.models.models.iter()
|
|
.flat_map(|(&model_id,model)|{
|
|
self.data.models.meshes[&model.mesh_id].submesh_views()
|
|
.enumerate().map(move|(submesh_id,view)|{
|
|
let mut aabb=aabb::Aabb::default();
|
|
let transformed_mesh=TransformedMesh::new(view,&model.transform);
|
|
for v in transformed_mesh.verts(){
|
|
aabb.grow(v);
|
|
}
|
|
(ConvexMeshId{
|
|
model_id,
|
|
submesh_id:PhysicsSubmeshId::new(submesh_id as u32),
|
|
},aabb)
|
|
})
|
|
}).collect();
|
|
self.data.bvh=bvh::generate_bvh(convex_mesh_aabb_list);
|
|
println!("Physics Objects: {}",self.data.models.models.len());
|
|
}
|
|
|
|
//tickless gaming
|
|
fn run_internal_exhaustive(&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(TimedInstruction{
|
|
time:instruction.time,
|
|
instruction:PhysicsInstruction::Internal(instruction.instruction),
|
|
});
|
|
//write hash lol
|
|
}
|
|
}
|
|
pub fn run_input_instruction(&mut self,instruction:TimedInstruction<PhysicsInputInstruction>){
|
|
self.run_internal_exhaustive(instruction.time);
|
|
self.process_instruction(TimedInstruction{
|
|
time:instruction.time,
|
|
instruction:PhysicsInstruction::Input(instruction.instruction),
|
|
});
|
|
}
|
|
}
|
|
|
|
//this is the one who asks
|
|
fn next_instruction_internal(state:&PhysicsState,data:&PhysicsData,time_limit:Time)->Option<TimedInstruction<PhysicsInternalInstruction>>{
|
|
//JUST POLLING!!! NO MUTATION
|
|
let mut collector = instruction::InstructionCollector::new(time_limit);
|
|
|
|
collector.collect(state.next_move_instruction());
|
|
|
|
//check for collision ends
|
|
state.touching.predict_collision_end(&mut collector,&data.models,&data.hitbox_mesh,&state.body,state.time);
|
|
//check for collision starts
|
|
let mut aabb=aabb::Aabb::default();
|
|
state.body.grow_aabb(&mut aabb,state.time,collector.time());
|
|
aabb.inflate(data.hitbox_mesh.halfsize);
|
|
//common body
|
|
let relative_body=VirtualBody::relative(&Body::default(),&state.body).body(state.time);
|
|
data.bvh.the_tester(&aabb,&mut |&convex_mesh_id|{
|
|
//no checks are needed because of the time limits.
|
|
let model_mesh=data.models.mesh(convex_mesh_id);
|
|
let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,data.hitbox_mesh.transformed_mesh());
|
|
collector.collect(minkowski.predict_collision_in(&relative_body,collector.time())
|
|
//temp (?) code to avoid collision loops
|
|
.map_or(None,|(face,time)|if time==state.time{None}else{Some((face,time))})
|
|
.map(|(face,time)|{
|
|
TimedInstruction{time,instruction:PhysicsInternalInstruction::CollisionStart(match data.models.attr(convex_mesh_id.model_id){
|
|
PhysicsCollisionAttributes::Contact{contacting:_,general:_}=>Collision::Contact(ContactCollision{convex_mesh_id,face_id:face}),
|
|
PhysicsCollisionAttributes::Intersect{intersecting:_,general:_}=>Collision::Intersect(IntersectCollision{convex_mesh_id}),
|
|
})}
|
|
}));
|
|
});
|
|
collector.instruction()
|
|
}
|
|
|
|
|
|
fn contact_normal(models:&PhysicsModels,hitbox_mesh:&HitboxMesh,contact:&ContactCollision)->Planar64Vec3{
|
|
let model_mesh=models.mesh(contact.convex_mesh_id);
|
|
let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_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,hitbox_mesh:&HitboxMesh,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,hitbox_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,hitbox_mesh,v);
|
|
culled
|
|
}
|
|
fn set_velocity(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,mut v:Planar64Vec3){
|
|
touching.constrain_velocity(models,hitbox_mesh,&mut v);
|
|
body.velocity=v;
|
|
}
|
|
fn set_acceleration_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,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,hitbox_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,hitbox_mesh,a);
|
|
culled
|
|
}
|
|
fn set_acceleration(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,mut a:Planar64Vec3){
|
|
touching.constrain_acceleration(models,hitbox_mesh,&mut a);
|
|
body.acceleration=a;
|
|
}
|
|
|
|
fn teleport(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,style:&StyleModifiers,hitbox_mesh:&HitboxMesh,point:Planar64Vec3)->MoveState{
|
|
set_position(body,touching,point);
|
|
set_acceleration(body,touching,models,hitbox_mesh,style.gravity);
|
|
MoveState::Air
|
|
}
|
|
fn teleport_to_spawn(body:&mut Body,touching:&mut TouchingState,style:&StyleModifiers,hitbox_mesh:&HitboxMesh,mode:&gameplay_modes::Mode,models:&PhysicsModels,stage_id:gameplay_modes::StageId)->Option<MoveState>{
|
|
let model=models.model(mode.get_spawn_model_id(stage_id)?.into());
|
|
let point=model.transform.vertex.transform_point3(Planar64Vec3::Y)+Planar64Vec3::Y*(style.hitbox.halfsize.y()+Planar64::ONE/16);
|
|
Some(teleport(body,touching,models,style,hitbox_mesh,point))
|
|
}
|
|
|
|
fn run_teleport_behaviour(wormhole:&Option<gameplay_attributes::Wormhole>,models:&PhysicsModels,mode:&gameplay_modes::Mode,style:&StyleModifiers,hitbox_mesh:&HitboxMesh,mode_state:&mut ModeState,touching:&mut TouchingState,body:&mut Body,convex_mesh_id:ConvexMeshId)->Option<MoveState>{
|
|
//TODO: jump count and checkpoints are always reset on teleport.
|
|
//Map makers are expected to use tools to prevent
|
|
//multi-boosting on JumpLimit boosters such as spawning into a SetVelocity
|
|
if let Some(stage_element)=mode.get_element(convex_mesh_id.model_id.into()){
|
|
if let Some(stage)=mode.get_stage(stage_element.stage_id()){
|
|
if mode_state.get_stage_id()<stage_element.stage_id(){
|
|
//checkpoint check
|
|
//check if current stage is complete
|
|
if let Some(current_stage)=mode.get_stage(mode_state.get_stage_id()){
|
|
if !current_stage.is_complete(mode_state.ordered_checkpoint_count(),mode_state.unordered_checkpoint_count()){
|
|
//do the stage checkpoints have to be reset?
|
|
return teleport_to_spawn(body,touching,style,hitbox_mesh,mode,models,mode_state.get_stage_id());
|
|
}
|
|
}
|
|
//check if all between stages have no checkpoints required to pass them
|
|
for stage_id in mode_state.get_stage_id().get()+1..stage_element.stage_id().get(){
|
|
let stage_id=StageId::new(stage_id);
|
|
//check if none of the between stages has checkpoints, if they do teleport back to that stage
|
|
if !mode.get_stage(stage_id)?.is_empty(){
|
|
mode_state.set_stage_id(stage_id);
|
|
return teleport_to_spawn(body,touching,style,hitbox_mesh,mode,models,stage_id);
|
|
}
|
|
}
|
|
//notably you do not get teleported for touching ordered checkpoints in the wrong order within the same stage.
|
|
mode_state.set_stage_id(stage_element.stage_id());
|
|
}else if stage_element.force(){
|
|
//forced stage_element will set the stage_id even if the stage has already been passed
|
|
mode_state.set_stage_id(stage_element.stage_id());
|
|
}
|
|
match stage_element.behaviour(){
|
|
gameplay_modes::StageElementBehaviour::SpawnAt=>(),
|
|
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,hitbox_mesh,mode,models,mode_state.get_stage_id());
|
|
},
|
|
gameplay_modes::StageElementBehaviour::Platform=>(),
|
|
gameplay_modes::StageElementBehaviour::Check=>(),//this is to run the checkpoint check behaviour without any other side effects
|
|
gameplay_modes::StageElementBehaviour::Checkpoint=>{
|
|
//each of these checks if the model is actually a valid respective checkpoint object
|
|
//accumulate sequential ordered checkpoints
|
|
mode_state.accumulate_ordered_checkpoint(&stage,convex_mesh_id.model_id.into());
|
|
//insert model id in accumulated unordered checkpoints
|
|
mode_state.accumulate_unordered_checkpoint(&stage,convex_mesh_id.model_id.into());
|
|
},
|
|
}
|
|
}
|
|
}
|
|
match wormhole{
|
|
&Some(gameplay_attributes::Wormhole{destination_model})=>{
|
|
let origin_model=models.model(convex_mesh_id.model_id);
|
|
let destination_model=models.model(destination_model.into());
|
|
//ignore the transform for now
|
|
Some(teleport(body,touching,models,style,hitbox_mesh,body.position-origin_model.transform.vertex.translation+destination_model.transform.vertex.translation))
|
|
}
|
|
None=>None,
|
|
}
|
|
}
|
|
|
|
fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedInstruction<PhysicsInternalInstruction>){
|
|
let should_advance_body=match ins.instruction{
|
|
PhysicsInternalInstruction::CollisionStart(_)
|
|
|PhysicsInternalInstruction::CollisionEnd(_)
|
|
|PhysicsInternalInstruction::StrafeTick
|
|
|PhysicsInternalInstruction::ReachWalkTargetVelocity=>true,
|
|
};
|
|
if should_advance_body{
|
|
state.body.advance_time(state.time);
|
|
}
|
|
match ins.instruction{
|
|
PhysicsInternalInstruction::CollisionStart(collision)=>{
|
|
let convex_mesh_id=collision.convex_mesh_id();
|
|
match (data.models.attr(convex_mesh_id.model_id),&collision){
|
|
(PhysicsCollisionAttributes::Contact{contacting,general},&Collision::Contact(contact))=>{
|
|
let incident_velocity=state.body.velocity;
|
|
//add to touching
|
|
state.touching.insert(collision);
|
|
//clip v
|
|
set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,incident_velocity);
|
|
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))=>{
|
|
let reflected_velocity=state.body.velocity+(state.body.velocity-incident_velocity)*Planar64::raw(elasticity as i64+1);
|
|
set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,reflected_velocity);
|
|
},
|
|
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:
|
|
//it's a little bit different because maybe you want to chain ladders together
|
|
set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,Planar64Vec3::ZERO);//model.velocity
|
|
}
|
|
//ladder walkstate
|
|
let (gravity,target_velocity)=ladder_things(ladder_settings,&contact,&state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state);
|
|
let walk_state=ContactMoveState::ladder(ladder_settings,&state.body,gravity,target_velocity,contact);
|
|
state.set_move_state(data,MoveState::Ladder(walk_state));
|
|
},
|
|
Some(gameplay_attributes::ContactingBehaviour::NoJump)=>todo!("nyi"),
|
|
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,target_velocity)=ground_things(walk_settings,&contact,&state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state);
|
|
let walk_state=ContactMoveState::ground(walk_settings,&state.body,gravity,target_velocity,contact);
|
|
state.set_move_state(data,MoveState::Walk(walk_state));
|
|
}
|
|
},
|
|
}
|
|
//I love making functions with 10 arguments to dodge the borrow checker
|
|
if let Some(mode)=data.modes.get_mode(state.mode_state.get_mode_id()){
|
|
run_teleport_behaviour(&general.wormhole,&data.models,mode,&state.style,&data.hitbox_mesh,&mut state.mode_state,&mut state.touching,&mut state.body,convex_mesh_id);
|
|
}
|
|
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)=>{
|
|
let boosted_velocity=state.body.velocity+velocity;
|
|
//fall through boosters
|
|
state.cull_velocity(data,boosted_velocity);
|
|
},
|
|
&gameplay_attributes::Booster::Energy{direction: _,energy: _}=>todo!(),
|
|
}
|
|
},
|
|
None=>(),
|
|
}
|
|
if state.style.get_control(Controls::Jump,state.input_state.controls){
|
|
if let (Some(jump_settings),Some(walk_state))=(&state.style.jump,state.move_state.get_walk_state()){
|
|
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);
|
|
state.cull_velocity(data,jumped_velocity);
|
|
}
|
|
}
|
|
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)=>{
|
|
state.cull_velocity(data,velocity);
|
|
},
|
|
gameplay_attributes::SetTrajectory::DotVelocity { direction: _, dot: _ }=>todo!(),
|
|
}
|
|
},
|
|
None=>(),
|
|
}
|
|
//doing enum to set the acceleration when surfing
|
|
//doing input_and_body to refresh the walk state if you hit a wall while accelerating
|
|
state.apply_enum_and_input_and_body(data);
|
|
},
|
|
(PhysicsCollisionAttributes::Intersect{intersecting:_,general},Collision::Intersect(_intersect))=>{
|
|
//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
|
|
state.touching.insert(collision);
|
|
if let Some(mode)=data.modes.get_mode(state.mode_state.get_mode_id()){
|
|
let zone=mode.get_zone(convex_mesh_id.model_id.into());
|
|
match zone{
|
|
Some(gameplay_modes::Zone::Start)=>{
|
|
println!("@@@@ Starting new run!");
|
|
state.run=run::Run::new();
|
|
},
|
|
Some(gameplay_modes::Zone::Finish)=>{
|
|
match state.run.finish(state.time){
|
|
Ok(())=>println!("@@@@ Finished run time={}",state.run.time(state.time)),
|
|
Err(e)=>println!("@@@@ Run Finish error:{e:?}"),
|
|
}
|
|
},
|
|
Some(gameplay_modes::Zone::Anticheat)=>state.run.flag(run::FlagReason::Anticheat),
|
|
None=>(),
|
|
}
|
|
run_teleport_behaviour(&general.wormhole,&data.models,mode,&state.style,&data.hitbox_mesh,&mut state.mode_state,&mut state.touching,&mut state.body,convex_mesh_id);
|
|
}
|
|
},
|
|
_=>panic!("invalid pair"),
|
|
}
|
|
},
|
|
PhysicsInternalInstruction::CollisionEnd(collision)=>{
|
|
match (data.models.attr(collision.convex_mesh_id().model_id),&collision){
|
|
(PhysicsCollisionAttributes::Contact{contacting:_,general:_},&Collision::Contact(contact))=>{
|
|
state.touching.remove(&collision);//remove contact before calling contact_constrain_acceleration
|
|
//check ground
|
|
//TODO do better
|
|
//this is inner code from state.cull_velocity
|
|
match state.move_state.get_walk_state(){
|
|
//did you stop touching the thing you were walking on?
|
|
Some(walk_state)=>if walk_state.contact==contact{
|
|
state.set_move_state(data,MoveState::Air);
|
|
},
|
|
None=>state.apply_enum_and_body(data),
|
|
}
|
|
},
|
|
(PhysicsCollisionAttributes::Intersect{intersecting: _,general:_},Collision::Intersect(_))=>{
|
|
state.touching.remove(&collision);
|
|
if let Some(mode)=data.modes.get_mode(state.mode_state.get_mode_id()){
|
|
let zone=mode.get_zone(collision.convex_mesh_id().model_id.into());
|
|
match zone{
|
|
Some(gameplay_modes::Zone::Start)=>{
|
|
match state.run.start(state.time){
|
|
Ok(())=>println!("@@@@ Started run"),
|
|
Err(e)=>println!("@@@@ Run Start error:{e:?}"),
|
|
}
|
|
},
|
|
_=>(),
|
|
}
|
|
}
|
|
},
|
|
_=>panic!("invalid pair"),
|
|
}
|
|
},
|
|
PhysicsInternalInstruction::StrafeTick=>{
|
|
//TODO make this less huge
|
|
if let Some(strafe_settings)=&state.style.strafe{
|
|
let controls=state.input_state.controls;
|
|
if strafe_settings.activates(controls){
|
|
let masked_controls=strafe_settings.mask(controls);
|
|
let control_dir=state.style.get_control_dir(masked_controls);
|
|
if control_dir!=Planar64Vec3::ZERO{
|
|
let camera_mat=state.camera.simulate_move_rotation_y(state.input_state.lerp_delta(state.time).x);
|
|
if let Some(ticked_velocity)=strafe_settings.tick_velocity(state.body.velocity,(camera_mat*control_dir).with_length(Planar64::ONE)){
|
|
//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);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
PhysicsInternalInstruction::ReachWalkTargetVelocity=>{
|
|
match &mut state.move_state{
|
|
MoveState::Air
|
|
|MoveState::Water
|
|
|MoveState::Fly
|
|
=>println!("ReachWalkTargetVelocity fired for non-walking MoveState"),
|
|
MoveState::Walk(walk_state)|MoveState::Ladder(walk_state)=>{
|
|
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!(),
|
|
}
|
|
}
|
|
}
|
|
},
|
|
}
|
|
}
|
|
|
|
fn atomic_input_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:TimedInstruction<PhysicsInputInstruction>){
|
|
let should_advance_body=match ins.instruction{
|
|
//the body may as well be a quantum wave function
|
|
//as far as these instruction are concerned (they don't care where it is)
|
|
PhysicsInputInstruction::SetSensitivity(..)
|
|
|PhysicsInputInstruction::Restart
|
|
|PhysicsInputInstruction::Spawn(..)
|
|
|PhysicsInputInstruction::SetZoom(..)
|
|
|PhysicsInputInstruction::Idle=>false,
|
|
//these controls only update the body if you are on the ground
|
|
PhysicsInputInstruction::SetNextMouse(..)
|
|
|PhysicsInputInstruction::ReplaceMouse(..)
|
|
|PhysicsInputInstruction::SetMoveForward(..)
|
|
|PhysicsInputInstruction::SetMoveLeft(..)
|
|
|PhysicsInputInstruction::SetMoveBack(..)
|
|
|PhysicsInputInstruction::SetMoveRight(..)
|
|
|PhysicsInputInstruction::SetMoveUp(..)
|
|
|PhysicsInputInstruction::SetMoveDown(..)
|
|
|PhysicsInputInstruction::SetJump(..)=>{
|
|
//technically this could be refined further
|
|
//and only advance if you are moving relative to the contact
|
|
//but this is good enough for now
|
|
match &state.move_state{
|
|
MoveState::Fly
|
|
|MoveState::Water
|
|
|MoveState::Walk(_)
|
|
|MoveState::Ladder(_)=>true,
|
|
MoveState::Air=>false,
|
|
}
|
|
},
|
|
//the body must be updated unconditionally
|
|
PhysicsInputInstruction::PracticeFly=>true,
|
|
};
|
|
if should_advance_body{
|
|
state.body.advance_time(state.time);
|
|
}
|
|
//TODO: UNTAB
|
|
let mut b_refresh_walk_target=true;
|
|
match ins.instruction{
|
|
PhysicsInputInstruction::SetSensitivity(sensitivity)=>state.camera.sensitivity=sensitivity,
|
|
PhysicsInputInstruction::SetNextMouse(m)=>{
|
|
state.camera.move_mouse(state.input_state.mouse_delta());
|
|
state.input_state.set_next_mouse(m);
|
|
},
|
|
PhysicsInputInstruction::ReplaceMouse(m0,m1)=>{
|
|
state.camera.move_mouse(m0.pos-state.input_state.mouse.pos);
|
|
state.input_state.replace_mouse(m0,m1);
|
|
},
|
|
PhysicsInputInstruction::SetMoveForward(s)=>state.input_state.set_control(Controls::MoveForward,s),
|
|
PhysicsInputInstruction::SetMoveLeft(s)=>state.input_state.set_control(Controls::MoveLeft,s),
|
|
PhysicsInputInstruction::SetMoveBack(s)=>state.input_state.set_control(Controls::MoveBackward,s),
|
|
PhysicsInputInstruction::SetMoveRight(s)=>state.input_state.set_control(Controls::MoveRight,s),
|
|
PhysicsInputInstruction::SetMoveUp(s)=>state.input_state.set_control(Controls::MoveUp,s),
|
|
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)=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);
|
|
state.cull_velocity(&data,jumped_velocity);
|
|
}
|
|
}
|
|
b_refresh_walk_target=false;
|
|
},
|
|
PhysicsInputInstruction::SetZoom(s)=>{
|
|
state.input_state.set_control(Controls::Zoom,s);
|
|
b_refresh_walk_target=false;
|
|
},
|
|
PhysicsInputInstruction::Restart=>{
|
|
//totally reset physics state
|
|
state.reset_to_default();
|
|
//spawn at start zone
|
|
let spawn_point=data.modes.get_mode(state.mode_state.get_mode_id()).map(|mode|
|
|
//TODO: spawn at the bottom of the start zone plus the hitbox size
|
|
//TODO: set camera andles to face the same way as the start zone
|
|
data.models.model(mode.get_start().into()).transform.vertex.translation
|
|
).unwrap_or(Planar64Vec3::ZERO);
|
|
set_position(&mut state.body,&mut state.touching,spawn_point);
|
|
set_velocity(&mut state.body,&state.touching,&data.models,&data.hitbox_mesh,Planar64Vec3::ZERO);
|
|
state.set_move_state(data,MoveState::Air);
|
|
b_refresh_walk_target=false;
|
|
}
|
|
PhysicsInputInstruction::Spawn(mode_id,stage_id)=>{
|
|
//spawn at a particular stage
|
|
if let Some(mode)=data.modes.get_mode(mode_id){
|
|
teleport_to_spawn(&mut state.body,&mut state.touching,&state.style,&data.hitbox_mesh,mode,&data.models,stage_id);
|
|
}
|
|
b_refresh_walk_target=false;
|
|
},
|
|
PhysicsInputInstruction::PracticeFly=>{
|
|
match &state.move_state{
|
|
MoveState::Fly=>{
|
|
state.set_move_state(data,MoveState::Air);
|
|
},
|
|
_=>{
|
|
state.set_move_state(data,MoveState::Fly);
|
|
},
|
|
}
|
|
b_refresh_walk_target=false;
|
|
},
|
|
PhysicsInputInstruction::Idle=>{
|
|
//literally idle!
|
|
b_refresh_walk_target=false;
|
|
},
|
|
}
|
|
if b_refresh_walk_target{
|
|
state.apply_input_and_body(data);
|
|
state.cull_velocity(data,state.body.velocity);
|
|
}
|
|
}
|
|
|
|
fn atomic_state_update(state:&mut PhysicsState,data:&PhysicsData,ins:TimedInstruction<PhysicsInstruction>){
|
|
match &ins.instruction{
|
|
PhysicsInstruction::Input(PhysicsInputInstruction::Idle)
|
|
|PhysicsInstruction::Input(PhysicsInputInstruction::SetNextMouse(_))
|
|
|PhysicsInstruction::Input(PhysicsInputInstruction::ReplaceMouse(_,_))
|
|
|PhysicsInstruction::Internal(PhysicsInternalInstruction::StrafeTick)=>(),
|
|
_=>println!("{}|{:?}",ins.time,ins.instruction),
|
|
}
|
|
state.time=ins.time;
|
|
match ins.instruction{
|
|
PhysicsInstruction::Internal(instruction)=>atomic_internal_instruction(state,data,TimedInstruction{time:ins.time,instruction}),
|
|
PhysicsInstruction::Input(instruction)=>atomic_input_instruction(state,data,TimedInstruction{time:ins.time,instruction}),
|
|
}
|
|
}
|
|
|
|
#[cfg(test)]
|
|
mod test{
|
|
use super::*;
|
|
fn test_collision_axis_aligned(relative_body:Body,expected_collision_time:Option<Time>){
|
|
let h0=HitboxMesh::new(PhysicsMesh::unit_cube(),integer::Planar64Affine3::new(Planar64Mat3::from_diagonal(Planar64Vec3::int(5,1,5)/2),Planar64Vec3::ZERO));
|
|
let h1=StyleModifiers::roblox_bhop().calculate_mesh();
|
|
let hitbox_mesh=h1.transformed_mesh();
|
|
let platform_mesh=h0.transformed_mesh();
|
|
let minkowski=model_physics::MinkowskiMesh::minkowski_sum(platform_mesh,hitbox_mesh);
|
|
let collision=minkowski.predict_collision_in(&relative_body,Time::MAX);
|
|
assert_eq!(collision.map(|tup|tup.1),expected_collision_time,"Incorrect time of collision");
|
|
}
|
|
fn test_collision_rotated(relative_body:Body,expected_collision_time:Option<Time>){
|
|
let h0=HitboxMesh::new(PhysicsMesh::unit_cube(),
|
|
integer::Planar64Affine3::new(
|
|
integer::Planar64Mat3::from_cols(
|
|
Planar64Vec3::int(5,0,1)/2,
|
|
Planar64Vec3::int(0,1,0)/2,
|
|
Planar64Vec3::int(-1,0,5)/2,
|
|
),
|
|
Planar64Vec3::ZERO,
|
|
)
|
|
);
|
|
let h1=StyleModifiers::roblox_bhop().calculate_mesh();
|
|
let hitbox_mesh=h1.transformed_mesh();
|
|
let platform_mesh=h0.transformed_mesh();
|
|
let minkowski=model_physics::MinkowskiMesh::minkowski_sum(platform_mesh,hitbox_mesh);
|
|
let collision=minkowski.predict_collision_in(&relative_body,Time::MAX);
|
|
assert_eq!(collision.map(|tup|tup.1),expected_collision_time,"Incorrect time of collision");
|
|
}
|
|
fn test_collision(relative_body:Body,expected_collision_time:Option<Time>){
|
|
test_collision_axis_aligned(relative_body.clone(),expected_collision_time);
|
|
test_collision_rotated(relative_body,expected_collision_time);
|
|
}
|
|
#[test]
|
|
fn test_collision_degenerate(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(0,5,0),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Planar64Vec3::ZERO,
|
|
Time::ZERO
|
|
),Some(Time::from_secs(2)));
|
|
}
|
|
#[test]
|
|
fn test_collision_degenerate_east(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(3,5,0),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Planar64Vec3::ZERO,
|
|
Time::ZERO
|
|
),Some(Time::from_secs(2)));
|
|
}
|
|
#[test]
|
|
fn test_collision_degenerate_south(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(0,5,3),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Planar64Vec3::ZERO,
|
|
Time::ZERO
|
|
),Some(Time::from_secs(2)));
|
|
}
|
|
#[test]
|
|
fn test_collision_degenerate_west(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(-3,5,0),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Planar64Vec3::ZERO,
|
|
Time::ZERO
|
|
),Some(Time::from_secs(2)));
|
|
}
|
|
#[test]
|
|
fn test_collision_degenerate_north(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(0,5,-3),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Planar64Vec3::ZERO,
|
|
Time::ZERO
|
|
),Some(Time::from_secs(2)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_east_from_west(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(3,3,0),
|
|
Planar64Vec3::int(100,-1,0),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_south_from_north(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(0,3,3),
|
|
Planar64Vec3::int(0,-1,100),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_west_from_east(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(-3,3,0),
|
|
Planar64Vec3::int(-100,-1,0),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_north_from_south(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(0,3,-3),
|
|
Planar64Vec3::int(0,-1,-100),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_north_from_ne(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(0,6,-7)/2,
|
|
Planar64Vec3::int(-10,-1,1),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_north_from_nw(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(0,6,-7)/2,
|
|
Planar64Vec3::int(10,-1,1),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_east_from_se(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(7,6,0)/2,
|
|
Planar64Vec3::int(-1,-1,-10),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_east_from_ne(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(7,6,0)/2,
|
|
Planar64Vec3::int(-1,-1,10),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_south_from_se(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(0,6,7)/2,
|
|
Planar64Vec3::int(-10,-1,-1),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_south_from_sw(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(0,6,7)/2,
|
|
Planar64Vec3::int(10,-1,-1),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_west_from_se(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(-7,6,0)/2,
|
|
Planar64Vec3::int(1,-1,-10),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_parabola_edge_west_from_ne(){
|
|
test_collision(VirtualBody::relative(&Body::default(),&Body::new(
|
|
Planar64Vec3::int(-7,6,0)/2,
|
|
Planar64Vec3::int(1,-1,10),
|
|
Planar64Vec3::int(0,-1,0),
|
|
Time::ZERO
|
|
)).body(Time::from_secs(-1)),Some(Time::from_secs(0)));
|
|
}
|
|
#[test]
|
|
fn test_collision_oblique(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(0,5,0),
|
|
Planar64Vec3::int(1,-64,2)/64,
|
|
Planar64Vec3::ZERO,
|
|
Time::ZERO
|
|
),Some(Time::from_secs(2)));
|
|
}
|
|
#[test]
|
|
fn zoom_hit_nothing(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::int(0,10,0),
|
|
Planar64Vec3::int(1,0,0),
|
|
Planar64Vec3::int(0,1,0),
|
|
Time::ZERO
|
|
),None);
|
|
}
|
|
#[test]
|
|
fn already_inside_hit_nothing(){
|
|
test_collision(Body::new(
|
|
Planar64Vec3::ZERO,
|
|
Planar64Vec3::int(1,0,0),
|
|
Planar64Vec3::int(0,1,0),
|
|
Time::ZERO
|
|
),None);
|
|
}
|
|
}
|