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Merge branch 'zesterer/small-fixes' into 'master'

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Fixed handling of orientation changes for airships

See merge request veloren/veloren!2640
This commit is contained in:
Joshua Barretto 2021-07-18 08:29:50 +00:00
commit 1501f0467e
4 changed files with 66 additions and 45 deletions
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2
common/src/comp/mod.rs
View File

@ -84,7 +84,7 @@ pub use self::{
misc::Object,
ori::Ori,
phys::{
Collider, Density, ForceUpdate, Mass, PhysicsState, Pos, PosVelDefer, PreviousPhysCache,
Collider, Density, ForceUpdate, Mass, PhysicsState, Pos, PosVelOriDefer, PreviousPhysCache,
Scale, Sticky, Vel,
},
player::DisconnectReason,

7
common/src/comp/phys.rs
View File

@ -1,4 +1,4 @@
use super::Fluid;
use super::{Fluid, Ori};
use crate::{consts::WATER_DENSITY, terrain::Block, uid::Uid};
use hashbrown::HashSet;
use serde::{Deserialize, Serialize};
@ -31,12 +31,13 @@ impl Component for Vel {
/// Used to defer writes to Pos/Vel in nested join loops
#[derive(Copy, Clone, Debug)]
pub struct PosVelDefer {
pub struct PosVelOriDefer {
pub pos: Option<Pos>,
pub vel: Option<Vel>,
pub ori: Option<Ori>,
}
impl Component for PosVelDefer {
impl Component for PosVelOriDefer {
// TODO: why not regular vec storage????
type Storage = IdvStorage<Self>;
}

2
common/state/src/state.rs
View File

@ -166,7 +166,7 @@ impl State {
// Register common unsynced components
ecs.register::<comp::PreviousPhysCache>();
ecs.register::<comp::PosVelDefer>();
ecs.register::<comp::PosVelOriDefer>();
// Register client-local components
// TODO: only register on the client

98
common/systems/src/phys.rs
View File

@ -3,7 +3,7 @@ use common::{
body::ship::figuredata::{VoxelCollider, VOXEL_COLLIDER_MANIFEST},
fluid_dynamics::{Fluid, LiquidKind, Wings},
BeamSegment, Body, CharacterState, Collider, Density, Mass, Mounting, Ori, PhysicsState,
Pos, PosVelDefer, PreviousPhysCache, Projectile, Scale, Shockwave, Stats, Sticky, Vel,
Pos, PosVelOriDefer, PreviousPhysCache, Projectile, Scale, Shockwave, Stats, Sticky, Vel,
},
consts::{AIR_DENSITY, FRIC_GROUND, GRAVITY},
event::{EventBus, ServerEvent},
@ -134,7 +134,7 @@ pub struct PhysicsWrite<'a> {
physics_states: WriteStorage<'a, PhysicsState>,
positions: WriteStorage<'a, Pos>,
velocities: WriteStorage<'a, Vel>,
pos_vel_defers: WriteStorage<'a, PosVelDefer>,
pos_vel_ori_defers: WriteStorage<'a, PosVelOriDefer>,
orientations: WriteStorage<'a, Ori>,
previous_phys_cache: WriteStorage<'a, PreviousPhysCache>,
outcomes: Write<'a, Vec<Outcome>>,
@ -537,27 +537,29 @@ impl<'a> PhysicsData<'a> {
ref mut write,
} = self;
prof_span!(guard, "insert PosVelDefer");
prof_span!(guard, "insert PosVelOriDefer");
// NOTE: keep in sync with join below
(
&read.entities,
read.colliders.mask(),
&write.positions,
&write.velocities,
&write.orientations,
write.orientations.mask(),
write.physics_states.mask(),
!&write.pos_vel_defers, // This is the one we are adding
!&write.pos_vel_ori_defers, // This is the one we are adding
write.previous_phys_cache.mask(),
!&read.mountings,
)
.join()
.map(|t| (t.0, *t.2, *t.3))
.map(|t| (t.0, *t.2, *t.3, *t.4))
.collect::<Vec<_>>()
.into_iter()
.for_each(|(entity, pos, vel)| {
let _ = write.pos_vel_defers.insert(entity, PosVelDefer {
.for_each(|(entity, pos, vel, ori)| {
let _ = write.pos_vel_ori_defers.insert(entity, PosVelOriDefer {
pos: Some(pos),
vel: Some(vel),
ori: Some(ori),
});
});
drop(guard);
@ -658,6 +660,20 @@ impl<'a> PhysicsData<'a> {
// Third pass: resolve collisions for non-terrain-like entities
Self::resolve_et_collision(job, read, write, voxel_collider_spatial_grid, false);
// Update cached 'old' physics values to the current values ready for the next
// tick
prof_span!(guard, "record ori into phys_cache");
for (ori, previous_phys_cache, _) in (
&write.orientations,
&mut write.previous_phys_cache,
&read.colliders,
)
.join()
{
previous_phys_cache.ori = ori.to_quat();
}
drop(guard);
}
fn resolve_et_collision(
@ -686,7 +702,7 @@ impl<'a> PhysicsData<'a> {
read.bodies.maybe(),
read.character_states.maybe(),
&mut write.physics_states,
&mut write.pos_vel_defers,
&mut write.pos_vel_ori_defers,
previous_phys_cache,
!&read.mountings,
)
@ -705,20 +721,22 @@ impl<'a> PhysicsData<'a> {
collider,
pos,
vel,
_ori,
ori,
body,
character_state,
mut physics_state,
pos_vel_defer,
pos_vel_ori_defer,
_previous_cache,
_,
)| {
let mut land_on_ground = None;
let mut outcomes = Vec::new();
// Defer the writes of positions and velocities to allow an inner loop over
// terrain-like entities
// Defer the writes of positions, velocities and orientations to allow an inner
// loop over terrain-like entities
let old_vel = *vel;
let mut vel = *vel;
let old_ori = *ori;
let mut ori = *ori;
let scale = if let Collider::Voxel { .. } = collider {
scale.map(|s| s.0).unwrap_or(1.0)
@ -1028,16 +1046,17 @@ impl<'a> PhysicsData<'a> {
// The velocity of the collider, taking into account
// orientation.
let wpos_rel = (Mat4::<f32>::translation_3d(pos_other.0)
let pos_rel = (Mat4::<f32>::translation_3d(Vec3::zero())
* Mat4::from(ori_other.to_quat())
* Mat4::<f32>::translation_3d(voxel_collider.translation))
.inverted()
.mul_point(wpos);
let wpos_last = (Mat4::<f32>::translation_3d(pos_other.0)
.mul_point(wpos - pos_other.0);
let rpos_last = (Mat4::<f32>::translation_3d(Vec3::zero())
* Mat4::from(previous_cache_other.ori)
* Mat4::<f32>::translation_3d(voxel_collider.translation))
.mul_point(wpos_rel);
let vel_other = vel_other.0 + (wpos - wpos_last) / read.dt.0;
.mul_point(pos_rel);
let vel_other = vel_other.0
+ (wpos - (pos_other.0 + rpos_last)) / read.dt.0;
cpos.0 = transform_to.mul_point(Vec3::zero());
vel.0 = ori_to.mul_direction(vel.0 - vel_other);
@ -1071,6 +1090,12 @@ impl<'a> PhysicsData<'a> {
// recent terrain that collision was attempted with
if physics_state_delta.on_ground.is_some() {
physics_state.ground_vel = vel_other;
// Rotate if on ground
ori = ori.rotated(
ori_other.to_quat()
* previous_cache_other.ori.inverse(),
);
}
physics_state.on_ground =
physics_state.on_ground.or(physics_state_delta.on_ground);
@ -1102,15 +1127,19 @@ impl<'a> PhysicsData<'a> {
);
if tgt_pos != pos.0 {
pos_vel_defer.pos = Some(Pos(tgt_pos));
pos_vel_ori_defer.pos = Some(Pos(tgt_pos));
} else {
pos_vel_defer.pos = None;
pos_vel_ori_defer.pos = None;
}
if vel != old_vel {
pos_vel_defer.vel = Some(vel);
pos_vel_ori_defer.vel = Some(vel);
} else {
pos_vel_defer.vel = None;
pos_vel_ori_defer.vel = None;
}
if ori != old_ori {
pos_vel_ori_defer.ori = Some(ori);
} else {
pos_vel_ori_defer.ori = None;
}
(land_on_ground, outcomes)
@ -1139,35 +1168,26 @@ impl<'a> PhysicsData<'a> {
write.outcomes.append(&mut outcomes);
prof_span!(guard, "write deferred pos and vel");
for (_, pos, vel, pos_vel_defer, _) in (
for (_, pos, vel, ori, pos_vel_ori_defer, _) in (
&read.entities,
&mut write.positions,
&mut write.velocities,
&mut write.pos_vel_defers,
&mut write.orientations,
&mut write.pos_vel_ori_defers,
&read.colliders,
)
.join()
.filter(|tuple| matches!(tuple.4, Collider::Voxel { .. }) == terrain_like_entities)
.filter(|tuple| matches!(tuple.5, Collider::Voxel { .. }) == terrain_like_entities)
{
if let Some(new_pos) = pos_vel_defer.pos.take() {
if let Some(new_pos) = pos_vel_ori_defer.pos.take() {
*pos = new_pos;
}
if let Some(new_vel) = pos_vel_defer.vel.take() {
if let Some(new_vel) = pos_vel_ori_defer.vel.take() {
*vel = new_vel;
}
if let Some(new_ori) = pos_vel_ori_defer.ori.take() {
*ori = new_ori;
}
drop(guard);
prof_span!(guard, "record ori into phys_cache");
for (ori, previous_phys_cache, _) in (
&write.orientations,
&mut write.previous_phys_cache,
&read.colliders,
)
.join()
.filter(|tuple| matches!(tuple.2, Collider::Voxel { .. }) == terrain_like_entities)
{
previous_phys_cache.ori = ori.to_quat();
}
drop(guard);