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Initial pass for gravity and air resistance for more stable physics

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This commit is contained in:
Joshua Barretto
2021-03-13 19:40:00 +00:00
committed by Avi Weinstock
parent 71c07734f7
commit b8a27f493c
1 changed files with 54 additions and 34 deletions
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88
common/sys/src/phys.rs
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@ -377,10 +377,59 @@ impl<'a> PhysicsData<'a> {
span!(guard, "Apply movement and terrain collision"); span!(guard, "Apply movement and terrain collision");
let (positions, velocities, previous_phys_cache, orientations) = ( let (positions, velocities, previous_phys_cache, orientations) = (
&write.positions, &write.positions,
&write.velocities, &mut write.velocities,
&write.previous_phys_cache, &write.previous_phys_cache,
&write.orientations, &write.orientations,
); );
// First pass: update velocity using air resistance and gravity for each entity.
// We do this in a first pass because it helps keep things more stable for
// entities that are anchored to other entities (such as airships).
(
&read.entities,
positions,
velocities,
&write.physics_states,
!&read.mountings,
)
.par_join()
.for_each(|(entity, pos, vel, physics_state, _)| {
let in_loaded_chunk = read
.terrain
.get_key(read.terrain.pos_key(pos.0.map(|e| e.floor() as i32)))
.is_some();
// Integrate forces
// Friction is assumed to be a constant dependent on location
let friction = if physics_state.on_ground { 0.0 } else { FRIC_AIR }
// .max(if physics_state.on_ground {
// FRIC_GROUND
// } else {
// 0.0
// })
.max(if physics_state.in_liquid.is_some() {
FRIC_FLUID
} else {
0.0
});
let downward_force =
if !in_loaded_chunk {
0.0 // No gravity in unloaded chunks
} else if physics_state
.in_liquid
.map(|depth| depth > 0.75)
.unwrap_or(false)
{
(1.0 - BOUYANCY) * GRAVITY
} else {
GRAVITY
} * read.gravities.get(entity).map(|g| g.0).unwrap_or_default();
vel.0 = integrate_forces(read.dt.0, vel.0, downward_force, friction);
});
let velocities = &write.velocities;
// Second pass: resolve collisions
let (pos_writes, vel_writes, land_on_grounds) = ( let (pos_writes, vel_writes, land_on_grounds) = (
&read.entities, &read.entities,
read.scales.maybe(), read.scales.maybe(),
@ -409,9 +458,10 @@ impl<'a> PhysicsData<'a> {
_previous_cache, _previous_cache,
_, _,
)| { )| {
// defer the writes of positions to allow an inner loop over terrain-like // defer the writes of positions and velocities to allow an inner loop over
// entities // terrain-like entities
let mut vel = *vel; let mut vel = *vel;
let old_vel = vel;
if sticky.is_some() && physics_state.on_surface().is_some() { if sticky.is_some() && physics_state.on_surface().is_some() {
vel.0 = physics_state.ground_vel; vel.0 = physics_state.ground_vel;
return (pos_writes, vel_writes, land_on_grounds); return (pos_writes, vel_writes, land_on_grounds);
@ -425,44 +475,14 @@ impl<'a> PhysicsData<'a> {
1.0 1.0
}; };
let old_vel = vel;
// Integrate forces
// Friction is assumed to be a constant dependent on location
let friction = if physics_state.on_ground { 0.0 } else { FRIC_AIR }
// .max(if physics_state.on_ground {
// FRIC_GROUND
// } else {
// 0.0
// })
.max(if physics_state.in_liquid.is_some() {
FRIC_FLUID
} else {
0.0
});
let in_loaded_chunk = read let in_loaded_chunk = read
.terrain .terrain
.get_key(read.terrain.pos_key(pos.0.map(|e| e.floor() as i32))) .get_key(read.terrain.pos_key(pos.0.map(|e| e.floor() as i32)))
.is_some(); .is_some();
let downward_force =
if !in_loaded_chunk {
0.0 // No gravity in unloaded chunks
} else if physics_state
.in_liquid
.map(|depth| depth > 0.75)
.unwrap_or(false)
{
(1.0 - BOUYANCY) * GRAVITY
} else {
GRAVITY
} * read.gravities.get(entity).map(|g| g.0).unwrap_or_default();
vel.0 = integrate_forces(read.dt.0, vel.0, downward_force, friction);
// Don't move if we're not in a loaded chunk // Don't move if we're not in a loaded chunk
let pos_delta = if in_loaded_chunk { let pos_delta = if in_loaded_chunk {
// this is an approximation that allows most framerates to vel.0 * read.dt.0
// behave in a similar manner.
let dt_lerp = 0.2;
(vel.0 * dt_lerp + old_vel.0 * (1.0 - dt_lerp)) * read.dt.0
} else { } else {
Vec3::zero() Vec3::zero()
}; };