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SetControlDir + contact constrain + walk.state enum instead of hash

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Quaternions 2023-09-18 23:36:14 -07:00
parent 1dc98d9c2d
commit 17e71d884f
2 changed files with 110 additions and 35 deletions
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136
src/body.rs
View File

@ -4,9 +4,11 @@ use crate::{instruction::{InstructionEmitter, InstructionConsumer, TimedInstruct
pub enum PhysicsInstruction {
CollisionStart(RelativeCollision),
CollisionEnd(RelativeCollision),
SetControlDir(glam::Vec3),
StrafeTick,
Jump,
SetWalkTargetVelocity(glam::Vec3),
RefreshWalkTarget,
ReachWalkTargetVelocity,
// Water,
// Spawn(
@ -108,17 +110,22 @@ impl MouseInterpolationState {
}
}
pub enum WalkEnum{
Reached,
Transient,
Invalid,
}
pub struct WalkState {
pub target_velocity: glam::Vec3,
pub target_time: TIME,
pub body_hash: u64,
pub state: WalkEnum,
}
impl WalkState {
pub fn new() -> Self {
Self{
target_velocity:glam::Vec3::ZERO,
target_time:0,
body_hash:0,//oh no, hash collisions
state:WalkEnum::Invalid,
}
}
}
@ -359,6 +366,25 @@ impl PhysicsState {
self.time=time;
}
fn contact_constrain_velocity(&self,velocity:&mut glam::Vec3){
for contact in self.contacts.iter() {
let n=contact.normal(&self.models_cringe_clone);
let d=velocity.dot(n);
if d<0f32{
(*velocity)-=d/n.length_squared()*n;
}
}
}
fn contact_constrain_acceleration(&self,acceleration:&mut glam::Vec3){
for contact in self.contacts.iter() {
let n=contact.normal(&self.models_cringe_clone);
let d=acceleration.dot(n);
if d<0f32{
(*acceleration)-=d/n.length_squared()*n;
}
}
}
fn next_strafe_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,
@ -400,11 +426,18 @@ impl PhysicsState {
fn next_walk_instruction(&self) -> Option<TimedInstruction<PhysicsInstruction>> {
//check if you have a valid walk state and create an instruction
if self.grounded&&self.walk.body_hash==self.body.hash(){
Some(TimedInstruction{
time:self.walk.target_time,
instruction:PhysicsInstruction::ReachWalkTargetVelocity
})
if self.grounded{
match self.walk.state{
WalkEnum::Transient=>Some(TimedInstruction{
time:self.walk.target_time,
instruction:PhysicsInstruction::ReachWalkTargetVelocity
}),
WalkEnum::Invalid=>Some(TimedInstruction{
time:self.time,
instruction:PhysicsInstruction::RefreshWalkTarget,
}),
WalkEnum::Reached=>None,
}
}else{
return None;
}
@ -704,70 +737,107 @@ impl crate::instruction::InstructionEmitter<PhysicsInstruction> for PhysicsState
impl crate::instruction::InstructionConsumer<PhysicsInstruction> for PhysicsState {
fn process_instruction(&mut self, ins:TimedInstruction<PhysicsInstruction>) {
//mutate position and velocity and time
self.advance_time(ins.time);//should this be in run?
match &ins.instruction {
PhysicsInstruction::StrafeTick => (),
_=>println!("{:?}",ins),
}
//selectively update body
match &ins.instruction {
PhysicsInstruction::SetWalkTargetVelocity(_) => (),//TODO: queue instructions and do self.time=ins.time,
PhysicsInstruction::RefreshWalkTarget
|PhysicsInstruction::ReachWalkTargetVelocity
|PhysicsInstruction::CollisionStart(_)
|PhysicsInstruction::CollisionEnd(_)
|PhysicsInstruction::StrafeTick
|PhysicsInstruction::SetControlDir(_)
|PhysicsInstruction::Jump => self.advance_time(ins.time),
}
match ins.instruction {
PhysicsInstruction::CollisionStart(c) => {
//flatten v
let n=c.normal(&self.models_cringe_clone);
let d=self.body.velocity.dot(n)/n.length_squared();
self.body.velocity-=d*n;
//check ground
match c.face {
match &c.face {
AabbFace::Top => {
//ground
self.grounded=true;
self.body.acceleration=glam::Vec3::ZERO;
},
_ => (),
}
self.contacts.insert(c);
//flatten v
let mut v=self.body.velocity;
self.contact_constrain_velocity(&mut v);
self.body.velocity=v;
self.walk.state=WalkEnum::Invalid;
},
PhysicsInstruction::CollisionEnd(c) => {
self.contacts.remove(&c);//remove contact before calling contact_constrain_acceleration
let mut a=self.gravity;
self.contact_constrain_acceleration(&mut a);
self.body.acceleration=a;
self.walk.state=WalkEnum::Invalid;
//check ground
match c.face {
match &c.face {
AabbFace::Top => {
//this needs to be ContactConstrainAcceleration(gravity)
self.body.acceleration=self.gravity;
self.grounded=false;
},
_ => (),
}
self.contacts.remove(&c);
},
PhysicsInstruction::SetControlDir(control_dir)=>{
self.temp_control_dir=control_dir;
self.walk.state=WalkEnum::Invalid;
},
PhysicsInstruction::StrafeTick => {
//let control_dir=self.get_control_dir();//this should respect your mouse interpolation settings
let d=self.body.velocity.dot(self.temp_control_dir);
if d<self.mv {
self.body.velocity+=(self.mv-d)*self.temp_control_dir;
let mut v=self.body.velocity+(self.mv-d)*self.temp_control_dir;
self.contact_constrain_velocity(&mut v);
self.body.velocity=v;
}
}
PhysicsInstruction::Jump => {
self.grounded=false;//do I need this?
self.body.velocity+=glam::Vec3::new(0.0,0.715588/2.0*100.0,0.0);
}
let mut v=self.body.velocity+glam::Vec3::new(0.0,0.715588/2.0*100.0,0.0);
self.contact_constrain_velocity(&mut v);
self.body.velocity=v;
self.walk.state=WalkEnum::Invalid;
},
PhysicsInstruction::ReachWalkTargetVelocity => {
//precisely set velocity
self.body.acceleration=glam::Vec3::ZERO;
self.body.velocity=self.walk.target_velocity;
//what if it's exactly the same, and the time delta is 0?
//the hash will succeed and it will poll the same instruction infinitely...
}
PhysicsInstruction::SetWalkTargetVelocity(v) => {
let mut a=glam::Vec3::ZERO;
self.contact_constrain_acceleration(&mut a);
self.body.acceleration=a;
let mut v=self.walk.target_velocity;
self.contact_constrain_velocity(&mut v);
self.body.velocity=v;
self.walk.state=WalkEnum::Reached;
},
PhysicsInstruction::RefreshWalkTarget => {
//calculate acceleration yada yada
if self.grounded{
let target_diff=v-self.body.velocity;
let mut target_diff=self.walk.target_velocity-self.body.velocity;
target_diff.y=0f32;
if target_diff==glam::Vec3::ZERO{
self.body.acceleration=glam::Vec3::ZERO;
let mut a=glam::Vec3::ZERO;
self.contact_constrain_acceleration(&mut a);
self.body.acceleration=a;
self.walk.state=WalkEnum::Reached;
}else{
let accel=self.walk_accel.min(self.gravity.length()*self.friction);
let time_delta=target_diff.length()/accel;
self.body.acceleration=target_diff/time_delta;
self.walk.target_velocity=v;
let mut a=target_diff/time_delta;
self.contact_constrain_acceleration(&mut a);
self.body.acceleration=a;
self.walk.target_time=self.body.time+((time_delta as f64)*1_000_000_000f64) as TIME;
self.walk.body_hash=self.body.hash();//hash check to see if walk target is valid
self.walk.state=WalkEnum::Transient;
}
}
},
PhysicsInstruction::SetWalkTargetVelocity(v) => {
self.walk.target_velocity=v;
self.walk.state=WalkEnum::Invalid;
},
}
}
}

9
src/main.rs
View File

@ -640,7 +640,7 @@ impl strafe_client::framework::Example for Skybox {
let walk_target_velocity=self.physics.walkspeed*control_dir;
//autohop (already pressing spacebar; the signal to begin trying to jump is different)
if walk_target_velocity!=self.physics.walk.target_velocity {
if self.physics.grounded&&walk_target_velocity!=self.physics.walk.target_velocity {
//scroll will be implemented with InputInstruction::Jump(true) but it blocks setting self.jump_trying=true
strafe_client::instruction::InstructionConsumer::process_instruction(&mut self.physics, strafe_client::instruction::TimedInstruction{
time,//this is in the past when there is no instructions!
@ -648,7 +648,12 @@ impl strafe_client::framework::Example for Skybox {
});
}
self.physics.temp_control_dir=control_dir;
if control_dir!=self.physics.temp_control_dir {
strafe_client::instruction::InstructionConsumer::process_instruction(&mut self.physics, strafe_client::instruction::TimedInstruction{
time,
instruction:strafe_client::body::PhysicsInstruction::SetControlDir(control_dir)
});
}
self.physics.jump_trying=self.camera.controls&CONTROL_JUMP!=0;
self.physics.run(time);