mirror of
https://gitlab.com/veloren/veloren.git
synced 2024-08-30 18:12:32 +00:00
Address Imbris's MR 1888 comments, and add changelog entry.
- Use Ori::{new,to_quat} and make the field private.
- Update/capitalize/add various comments.
- Implicitly drop scope guards where applicable.
- Take !Copy colliders by reference instead of cloning.
- s/cylinder_voxel_collision/box_voxel_collision/
- Unindent some physics code with a continue.
This commit is contained in:
Avi Weinstock
@ -108,7 +108,7 @@ pub struct PhysicsData<'a> {
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impl<'a> PhysicsData<'a> {
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/// Add/reset physics state components
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fn reset(&mut self) {
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span!(guard, "Add/reset physics state components");
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span!(_guard, "Add/reset physics state components");
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for (entity, _, _, _, _) in (
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&self.read.entities,
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&self.read.colliders,
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@ -124,11 +124,10 @@ impl<'a> PhysicsData<'a> {
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.entry(entity)
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.map(|e| e.or_insert_with(Default::default));
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}
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drop(guard);
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}
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fn maintain_pushback_cache(&mut self) {
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span!(guard, "Maintain pushback cache");
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span!(_guard, "Maintain pushback cache");
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//Add PreviousPhysCache for all relevant entities
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for entity in (
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&self.read.entities,
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@ -188,11 +187,10 @@ impl<'a> PhysicsData<'a> {
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phys_cache.scale = scale;
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phys_cache.scaled_radius = flat_radius;
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}
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drop(guard);
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}
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fn apply_pushback(&mut self, job: &mut Job<Sys>) {
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span!(guard, "Apply pushback");
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span!(_guard, "Apply pushback");
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job.cpu_stats.measure(ParMode::Rayon);
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let PhysicsData {
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ref read,
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@ -368,7 +366,6 @@ impl<'a> PhysicsData<'a> {
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write.physics_metrics.entity_entity_collision_checks =
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metrics.entity_entity_collision_checks;
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write.physics_metrics.entity_entity_collisions = metrics.entity_entity_collisions;
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drop(guard);
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}
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fn handle_movement_and_terrain(&mut self, job: &mut Job<Sys>) {
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@ -465,7 +462,7 @@ impl<'a> PhysicsData<'a> {
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_previous_cache,
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_,
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)| {
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// defer the writes of positions and velocities to allow an inner loop over
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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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let mut vel = *vel;
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let old_vel = vel;
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@ -525,7 +522,7 @@ impl<'a> PhysicsData<'a> {
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let mut cpos = *pos;
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let cylinder = (radius, z_min, z_max);
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cylinder_voxel_collision(
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box_voxel_collision(
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cylinder,
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&*read.terrain,
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entity,
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@ -554,7 +551,7 @@ impl<'a> PhysicsData<'a> {
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let cylinder = (radius, z_min, z_max);
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let mut cpos = *pos;
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cylinder_voxel_collision(
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box_voxel_collision(
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cylinder,
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&*read.terrain,
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entity,
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@ -668,99 +665,99 @@ impl<'a> PhysicsData<'a> {
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continue;
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}
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if let Collider::Voxel { id } = collider_other {
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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 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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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(&*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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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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// 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.0)
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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.0);
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let ori_to = ori_from.inverted();
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let transform_from = 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(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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// 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.0)
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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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cylinder_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_grounds
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.push((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,
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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_grounds
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.push((entity, Vel(ori_from.mul_direction(vel.0))))
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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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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 based on
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// the most 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 = 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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// union in the state updates, so that the state isn't just based on
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// the most 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 = 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 =
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match (physics_state.in_liquid, physics_state_delta.in_liquid) {
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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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@ -804,7 +801,7 @@ impl<'a> PhysicsData<'a> {
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for (ori, previous_phys_cache) in
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(&write.orientations, &mut write.previous_phys_cache).join()
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{
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previous_phys_cache.ori = ori.0;
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previous_phys_cache.ori = ori.to_quat();
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}
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let mut event_emitter = read.event_bus.emitter();
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@ -845,7 +842,7 @@ impl<'a> System<'a> for Sys {
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}
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#[allow(clippy::too_many_arguments)]
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fn cylinder_voxel_collision<'a, T: BaseVol<Vox = Block> + ReadVol>(
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fn box_voxel_collision<'a, T: BaseVol<Vox = Block> + ReadVol>(
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cylinder: (f32, f32, f32),
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terrain: &'a T,
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entity: Entity,
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