mirror of
https://gitlab.com/veloren/veloren.git
synced 2024-08-30 18:12:32 +00:00
Remove extra instrumentation and the old voxel collider loop
This commit is contained in:
Imbris
parent
e70f097738
commit
198cc7e75a
1
Cargo.lock
generated
1
Cargo.lock
generated
@ -5634,7 +5634,6 @@ dependencies = [
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"bincode",
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"hashbrown",
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"indexmap",
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"inline_tweak",
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"rand 0.8.3",
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"rayon",
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"scopeguard",
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@ -42,4 +42,4 @@ bincode = { version = "1.3.1", optional = true }
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plugin-api = { package = "veloren-plugin-api", path = "../../plugin/api", optional = true }
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# Tweak running code
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inline_tweak = { version = "1.0.8", features = ["release_tweak"] }
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#inline_tweak = { version = "1.0.8", features = ["release_tweak"] }
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@ -451,8 +451,6 @@ impl<'a> PhysicsData<'a> {
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ref read,
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ref write,
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} = self;
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// NOTE: assumes that entity max radius * 2 + max velocity per tick is less than
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// half a chunk (16 blocks)
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// NOTE: i32 places certain constraints on how far out collision works
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// NOTE: uses the radius of the entity and their current position rather than
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// the radius of their bounding sphere for the current frame of movement
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@ -624,7 +622,6 @@ impl<'a> PhysicsData<'a> {
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_previous_cache,
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_,
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)| {
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prof_span!(_guard, "entity");
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let mut land_on_ground = None;
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// Defer the writes of positions and velocities to allow an inner loop over
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// terrain-like entities
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@ -784,329 +781,185 @@ impl<'a> PhysicsData<'a> {
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},
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}
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let use_grid = inline_tweak::release_tweak!(true);
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common_base::plot!("use new version", if use_grid { 1.0 } else { 0.0 });
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if use_grid {
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// Compute center and radius of tick path bounding sphere for the entity
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// for broad checks of whether it will collide with a voxel collider
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let path_sphere = {
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// TODO: duplicated with maintain_pushback_cache, make a common function
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// to call to compute all this info?
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let z_limits = calc_z_limit(character_state, Some(collider));
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let z_limits = (z_limits.0 * scale, z_limits.1 * scale);
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let half_height = (z_limits.1 - z_limits.0) / 2.0;
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// Compute center and radius of tick path bounding sphere for the entity
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// for broad checks of whether it will collide with a voxel collider
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let path_sphere = {
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// TODO: duplicated with maintain_pushback_cache, make a common function
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// to call to compute all this info?
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let z_limits = calc_z_limit(character_state, Some(collider));
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let z_limits = (z_limits.0 * scale, z_limits.1 * scale);
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let half_height = (z_limits.1 - z_limits.0) / 2.0;
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let entity_center = pos.0 + (z_limits.0 + half_height) * Vec3::unit_z();
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let path_center = entity_center + pos_delta / 2.0;
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let entity_center = pos.0 + (z_limits.0 + half_height) * Vec3::unit_z();
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let path_center = entity_center + pos_delta / 2.0;
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let flat_radius = collider.get_radius() * scale;
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let radius = (flat_radius.powi(2) + half_height.powi(2)).sqrt();
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let path_bounding_radius = radius + (pos_delta / 2.0).magnitude();
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let flat_radius = collider.get_radius() * scale;
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let radius = (flat_radius.powi(2) + half_height.powi(2)).sqrt();
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let path_bounding_radius = radius + (pos_delta / 2.0).magnitude();
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Sphere {
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center: path_center,
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radius: path_bounding_radius,
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}
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};
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// Collide with terrain-like entities
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let aabr = {
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let center = path_sphere.center.xy().map(|e| e as i32);
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let radius = path_sphere.radius.ceil() as i32;
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// From conversion of center above
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const CENTER_TRUNCATION_ERROR: i32 = 1;
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let max_dist = radius + CENTER_TRUNCATION_ERROR;
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Sphere {
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center: path_center,
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radius: path_bounding_radius,
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}
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};
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// Collide with terrain-like entities
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let aabr = {
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let center = path_sphere.center.xy().map(|e| e as i32);
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let radius = path_sphere.radius.ceil() as i32;
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// From conversion of center above
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const CENTER_TRUNCATION_ERROR: i32 = 1;
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let max_dist = radius + CENTER_TRUNCATION_ERROR;
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Aabr {
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min: center - max_dist,
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max: center + max_dist,
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}
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};
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voxel_collider_spatial_grid
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.in_aabr(aabr)
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.filter_map(|entity| {
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positions
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.get(entity)
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.zip(velocities.get(entity))
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.zip(previous_phys_cache.get(entity))
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.zip(read.colliders.get(entity))
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.zip(orientations.get(entity))
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.map(|((((pos, vel), previous_cache), collider), ori)| {
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(entity, pos, vel, previous_cache, collider, ori)
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})
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})
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.for_each(
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|(
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entity_other,
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pos_other,
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vel_other,
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previous_cache_other,
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collider_other,
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ori_other,
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)| {
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if entity == entity_other {
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Aabr {
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min: center - max_dist,
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max: center + max_dist,
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}
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};
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voxel_collider_spatial_grid
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.in_aabr(aabr)
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.filter_map(|entity| {
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positions
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.get(entity)
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.zip(velocities.get(entity))
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.zip(previous_phys_cache.get(entity))
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.zip(read.colliders.get(entity))
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.zip(orientations.get(entity))
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.map(|((((pos, vel), previous_cache), collider), ori)| {
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(entity, pos, vel, previous_cache, collider, ori)
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})
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})
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.for_each(
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|(
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entity_other,
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pos_other,
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vel_other,
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previous_cache_other,
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collider_other,
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ori_other,
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)| {
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if entity == entity_other {
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return;
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}
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let voxel_id = if let Collider::Voxel { id } = collider_other {
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id
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} else {
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return;
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};
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// use bounding cylinder regardless of our collider
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// TODO: extract point-terrain collision above to its own
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// function
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let radius = collider.get_radius();
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let (z_min, z_max) = collider.get_z_limits(1.0);
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let radius = radius.min(0.45) * scale;
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let z_min = z_min * scale;
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let z_max = z_max.clamped(1.2, 1.95) * scale;
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if let Some(voxel_collider) =
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VOXEL_COLLIDER_MANIFEST.read().colliders.get(voxel_id)
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{
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// TODO: cache/precompute sphere?
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let voxel_sphere = voxel_collider_bounding_sphere(
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voxel_collider,
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pos_other,
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ori_other,
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);
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// Early check
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if voxel_sphere.center.distance_squared(path_sphere.center)
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> (voxel_sphere.radius + path_sphere.radius).powi(2)
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{
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return;
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}
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let voxel_id = if let Collider::Voxel { id } = collider_other {
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id
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} else {
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return;
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};
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let mut physics_state_delta = physics_state.clone();
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// deliberately don't use scale yet here, because the
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// 11.0/0.8 thing is
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// in the comp::Scale for visual reasons
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let mut cpos = *pos;
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let wpos = cpos.0;
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// use bounding cylinder regardless of our collider
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// TODO: extract point-terrain collision above to its own
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// function
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let radius = collider.get_radius();
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let (z_min, z_max) = collider.get_z_limits(1.0);
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// TODO: Cache the matrices here to avoid recomputing
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let radius = radius.min(0.45) * scale;
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let z_min = z_min * scale;
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let z_max = z_max.clamped(1.2, 1.95) * scale;
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if let Some(voxel_collider) =
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VOXEL_COLLIDER_MANIFEST.read().colliders.get(voxel_id)
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{
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prof_span!(_guard, "collide with voxel");
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// TODO: cache/precompute sphere?
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let voxel_sphere = voxel_collider_bounding_sphere(
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voxel_collider,
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pos_other,
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ori_other,
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);
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// Early check
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if voxel_sphere.center.distance_squared(path_sphere.center)
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> (voxel_sphere.radius + path_sphere.radius).powi(2)
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{
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return;
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}
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let mut physics_state_delta = physics_state.clone();
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// deliberately don't use scale yet here, because the
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// 11.0/0.8 thing is
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// in the comp::Scale for visual reasons
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let mut cpos = *pos;
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let wpos = cpos.0;
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// TODO: Cache the matrices here to avoid recomputing
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let transform_from =
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Mat4::<f32>::translation_3d(pos_other.0 - wpos)
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* Mat4::from(ori_other.to_quat())
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* Mat4::<f32>::translation_3d(
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voxel_collider.translation,
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);
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let transform_to = transform_from.inverted();
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let ori_from = Mat4::from(ori_other.to_quat());
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let ori_to = ori_from.inverted();
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// The velocity of the collider, taking into account
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// orientation.
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let wpos_rel = (Mat4::<f32>::translation_3d(pos_other.0)
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let transform_from =
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Mat4::<f32>::translation_3d(pos_other.0 - wpos)
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* Mat4::from(ori_other.to_quat())
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* Mat4::<f32>::translation_3d(
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voxel_collider.translation,
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))
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.inverted()
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.mul_point(wpos);
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let wpos_last = (Mat4::<f32>::translation_3d(pos_other.0)
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* Mat4::from(previous_cache_other.ori)
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* Mat4::<f32>::translation_3d(
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voxel_collider.translation,
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))
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.mul_point(wpos_rel);
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let vel_other =
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vel_other.0 + (wpos - wpos_last) / read.dt.0;
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);
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let transform_to = transform_from.inverted();
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let ori_from = Mat4::from(ori_other.to_quat());
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let ori_to = ori_from.inverted();
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cpos.0 = transform_to.mul_point(Vec3::zero());
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vel.0 = ori_to.mul_direction(vel.0 - vel_other);
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let cylinder = (radius, z_min, z_max);
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box_voxel_collision(
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cylinder,
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&voxel_collider.dyna,
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entity,
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&mut cpos,
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transform_to.mul_point(tgt_pos - wpos),
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&mut vel,
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&mut physics_state_delta,
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ori_to.mul_direction(vel_other),
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&read.dt,
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was_on_ground,
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block_snap,
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climbing,
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|entity, vel| {
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land_on_ground = Some((
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entity,
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Vel(ori_from.mul_direction(vel.0)),
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));
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},
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);
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cpos.0 = transform_from.mul_point(cpos.0) + wpos;
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vel.0 = ori_from.mul_direction(vel.0) + vel_other;
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tgt_pos = cpos.0;
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// union in the state updates, so that the state isn't just
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// based on the most
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// recent terrain that collision was attempted with
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if physics_state_delta.on_ground {
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physics_state.ground_vel = vel_other;
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}
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physics_state.on_ground |= physics_state_delta.on_ground;
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physics_state.on_ceiling |= physics_state_delta.on_ceiling;
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physics_state.on_wall =
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physics_state.on_wall.or_else(|| {
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physics_state_delta
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.on_wall
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.map(|dir| ori_from.mul_direction(dir))
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});
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physics_state
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.touch_entities
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.append(&mut physics_state_delta.touch_entities);
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physics_state.in_liquid = match (
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physics_state.in_liquid,
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physics_state_delta.in_liquid,
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) {
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// this match computes `x <|> y <|> liftA2 max x y`
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(Some(x), Some(y)) => Some(x.max(y)),
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(x @ Some(_), _) => x,
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(_, y @ Some(_)) => y,
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_ => None,
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};
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}
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},
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);
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} else {
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for (
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entity_other,
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pos_other,
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vel_other,
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previous_cache_other,
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collider_other,
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ori_other,
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) in (
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&read.entities,
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positions,
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velocities,
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previous_phys_cache,
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&read.colliders,
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orientations,
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)
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.join()
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{
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// TODO: terrain-collider-size aware broadphase
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/*let collision_boundary = previous_cache.collision_boundary
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+ previous_cache_other.collision_boundary;
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if previous_cache
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.center
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.distance_squared(previous_cache_other.center)
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> collision_boundary.powi(2)
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{
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continue;
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}*/
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if entity == entity_other {
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continue;
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}
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let voxel_id = if let Collider::Voxel { id } = collider_other {
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id
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} else {
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continue;
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};
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// use bounding cylinder regardless of our collider
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// TODO: extract point-terrain collision above to its own function
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let radius = collider.get_radius();
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let (z_min, z_max) = collider.get_z_limits(1.0);
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let radius = radius.min(0.45) * scale;
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let z_min = z_min * scale;
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let z_max = z_max.clamped(1.2, 1.95) * scale;
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if let Some(voxel_collider) =
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VOXEL_COLLIDER_MANIFEST.read().colliders.get(voxel_id)
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{
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let mut physics_state_delta = physics_state.clone();
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// deliberately don't use scale yet here, because the 11.0/0.8
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// thing is in the comp::Scale for visual reasons
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let mut cpos = *pos;
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let wpos = cpos.0;
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// TODO: Cache the matrices here to avoid recomputing
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let transform_from =
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Mat4::<f32>::translation_3d(pos_other.0 - wpos)
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// The velocity of the collider, taking into account
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// orientation.
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let wpos_rel = (Mat4::<f32>::translation_3d(pos_other.0)
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* Mat4::from(ori_other.to_quat())
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* Mat4::<f32>::translation_3d(voxel_collider.translation);
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let transform_to = transform_from.inverted();
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let ori_from = Mat4::from(ori_other.to_quat());
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let ori_to = ori_from.inverted();
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* Mat4::<f32>::translation_3d(voxel_collider.translation))
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.inverted()
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.mul_point(wpos);
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let wpos_last = (Mat4::<f32>::translation_3d(pos_other.0)
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* Mat4::from(previous_cache_other.ori)
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* Mat4::<f32>::translation_3d(voxel_collider.translation))
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.mul_point(wpos_rel);
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let vel_other = vel_other.0 + (wpos - wpos_last) / read.dt.0;
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// The velocity of the collider, taking into account orientation.
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let wpos_rel = (Mat4::<f32>::translation_3d(pos_other.0)
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* Mat4::from(ori_other.to_quat())
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* Mat4::<f32>::translation_3d(voxel_collider.translation))
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.inverted()
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.mul_point(wpos);
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let wpos_last = (Mat4::<f32>::translation_3d(pos_other.0)
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* Mat4::from(previous_cache_other.ori)
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* Mat4::<f32>::translation_3d(voxel_collider.translation))
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.mul_point(wpos_rel);
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let vel_other = vel_other.0 + (wpos - wpos_last) / read.dt.0;
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cpos.0 = transform_to.mul_point(Vec3::zero());
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vel.0 = ori_to.mul_direction(vel.0 - vel_other);
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let cylinder = (radius, z_min, z_max);
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box_voxel_collision(
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cylinder,
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&voxel_collider.dyna,
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entity,
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&mut cpos,
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transform_to.mul_point(tgt_pos - wpos),
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&mut vel,
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&mut physics_state_delta,
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ori_to.mul_direction(vel_other),
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&read.dt,
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was_on_ground,
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block_snap,
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climbing,
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|entity, vel| {
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land_on_ground =
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Some((entity, Vel(ori_from.mul_direction(vel.0))));
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},
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);
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cpos.0 = transform_to.mul_point(Vec3::zero());
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vel.0 = ori_to.mul_direction(vel.0 - vel_other);
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let cylinder = (radius, z_min, z_max);
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box_voxel_collision(
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cylinder,
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&voxel_collider.dyna,
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entity,
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&mut cpos,
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transform_to.mul_point(tgt_pos - wpos),
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&mut vel,
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&mut physics_state_delta,
|
||||
ori_to.mul_direction(vel_other),
|
||||
&read.dt,
|
||||
was_on_ground,
|
||||
block_snap,
|
||||
climbing,
|
||||
|entity, vel| {
|
||||
land_on_ground =
|
||||
Some((entity, Vel(ori_from.mul_direction(vel.0))));
|
||||
},
|
||||
);
|
||||
cpos.0 = transform_from.mul_point(cpos.0) + wpos;
|
||||
vel.0 = ori_from.mul_direction(vel.0) + vel_other;
|
||||
tgt_pos = cpos.0;
|
||||
|
||||
cpos.0 = transform_from.mul_point(cpos.0) + wpos;
|
||||
vel.0 = ori_from.mul_direction(vel.0) + vel_other;
|
||||
tgt_pos = cpos.0;
|
||||
|
||||
// union in the state updates, so that the state isn't just based on
|
||||
// the most recent terrain that collision was attempted with
|
||||
if physics_state_delta.on_ground {
|
||||
physics_state.ground_vel = vel_other;
|
||||
// union in the state updates, so that the state isn't just
|
||||
// based on the most
|
||||
// recent terrain that collision was attempted with
|
||||
if physics_state_delta.on_ground {
|
||||
physics_state.ground_vel = vel_other;
|
||||
}
|
||||
physics_state.on_ground |= physics_state_delta.on_ground;
|
||||
physics_state.on_ceiling |= physics_state_delta.on_ceiling;
|
||||
physics_state.on_wall = physics_state.on_wall.or_else(|| {
|
||||
physics_state_delta
|
||||
.on_wall
|
||||
.map(|dir| ori_from.mul_direction(dir))
|
||||
});
|
||||
physics_state
|
||||
.touch_entities
|
||||
.append(&mut physics_state_delta.touch_entities);
|
||||
physics_state.in_liquid = match (
|
||||
physics_state.in_liquid,
|
||||
physics_state_delta.in_liquid,
|
||||
) {
|
||||
// this match computes `x <|> y <|> liftA2 max x y`
|
||||
(Some(x), Some(y)) => Some(x.max(y)),
|
||||
(x @ Some(_), _) => x,
|
||||
(_, y @ Some(_)) => y,
|
||||
_ => None,
|
||||
};
|
||||
}
|
||||
physics_state.on_ground |= physics_state_delta.on_ground;
|
||||
physics_state.on_ceiling |= physics_state_delta.on_ceiling;
|
||||
physics_state.on_wall = physics_state.on_wall.or_else(|| {
|
||||
physics_state_delta
|
||||
.on_wall
|
||||
.map(|dir| ori_from.mul_direction(dir))
|
||||
});
|
||||
physics_state
|
||||
.touch_entities
|
||||
.append(&mut physics_state_delta.touch_entities);
|
||||
physics_state.in_liquid = match (
|
||||
physics_state.in_liquid,
|
||||
physics_state_delta.in_liquid,
|
||||
) {
|
||||
// this match computes `x <|> y <|> liftA2 max x y`
|
||||
(Some(x), Some(y)) => Some(x.max(y)),
|
||||
(x @ Some(_), _) => x,
|
||||
(_, y @ Some(_)) => y,
|
||||
_ => None,
|
||||
};
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
);
|
||||
|
||||
if tgt_pos != pos.0 {
|
||||
pos_vel_defer.pos = Some(Pos(tgt_pos));
|
||||
|
||||
Loading…
Reference in New Issue
Block a user