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Fixed airship collisions under rotation, added position increment for velocity when on ground
This commit is contained in:
Joshua Barretto
Avi Weinstock
parent
e9aab63a04
commit
e1e6403c63
@ -169,7 +169,7 @@ impl Body {
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quadruped_low::Species::Lavadrake => 4.0,
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_ => 6.0,
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},
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Body::Ship(_) => 10.0,
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Body::Ship(_) => 1.0,
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}
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}
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@ -375,14 +375,14 @@ impl<'a> PhysicsSystemData<'a> {
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} = self;
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// Apply movement inputs
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span!(guard, "Apply movement and terrain collision");
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let (positions, previous_phys_cache, orientations) = (&psdw.positions, &psdw.previous_phys_cache, &psdw.orientations);
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let (pos_writes, land_on_grounds) = (
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let (positions, velocities, previous_phys_cache, orientations) = (&psdw.positions, &psdw.velocities, &psdw.previous_phys_cache, &psdw.orientations);
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let (pos_writes, vel_writes, land_on_grounds) = (
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&psdr.entities,
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psdr.scales.maybe(),
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psdr.stickies.maybe(),
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&psdr.colliders,
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positions,
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&mut psdw.velocities,
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velocities,
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orientations,
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&mut psdw.physics_states,
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previous_phys_cache,
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@ -390,15 +390,15 @@ impl<'a> PhysicsSystemData<'a> {
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)
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.par_join()
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.fold(
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|| (Vec::new(), Vec::new()),
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|(mut pos_writes, mut land_on_grounds),
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|| (Vec::new(), Vec::new(), Vec::new()),
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|(mut pos_writes, mut vel_writes, mut land_on_grounds),
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(
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entity,
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scale,
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sticky,
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collider,
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pos,
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mut vel,
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vel,
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_ori,
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mut physics_state,
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previous_cache,
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@ -408,9 +408,10 @@ impl<'a> PhysicsSystemData<'a> {
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// entities
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let old_pos = *pos;
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let mut pos = *pos;
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let mut vel = *vel;
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if sticky.is_some() && physics_state.on_surface().is_some() {
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vel.0 = Vec3::zero();
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return (pos_writes, land_on_grounds);
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return (pos_writes, vel_writes, land_on_grounds);
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}
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let scale = if let Collider::Voxel { .. } = collider {
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@ -421,7 +422,7 @@ impl<'a> PhysicsSystemData<'a> {
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1.0
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};
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let old_vel = *vel;
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let old_vel = vel;
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// Integrate forces
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// Friction is assumed to be a constant dependent on location
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let friction = FRIC_AIR
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@ -477,9 +478,9 @@ impl<'a> PhysicsSystemData<'a> {
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entity,
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&mut pos,
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pos_delta,
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vel,
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&mut vel,
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&mut physics_state,
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&mut land_on_grounds,
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|entity, vel| land_on_grounds.push((entity, vel)),
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);
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},
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Collider::Box {
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@ -499,9 +500,9 @@ impl<'a> PhysicsSystemData<'a> {
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entity,
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&mut pos,
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pos_delta,
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vel,
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&mut vel,
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&mut physics_state,
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&mut land_on_grounds,
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|entity, vel| land_on_grounds.push((entity, vel)),
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);
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},
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Collider::Point => {
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@ -556,6 +557,7 @@ impl<'a> PhysicsSystemData<'a> {
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entity_other,
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other,
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pos_other,
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vel_other,
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previous_cache_other,
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mass_other,
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collider_other,
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@ -569,6 +571,7 @@ impl<'a> PhysicsSystemData<'a> {
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&psdr.entities,
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&psdr.uids,
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positions,
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velocities,
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previous_phys_cache,
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psdr.masses.maybe(),
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&psdr.colliders,
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@ -606,39 +609,32 @@ impl<'a> PhysicsSystemData<'a> {
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if let Some(voxel_collider) = VOXEL_COLLIDER_MANIFEST.read().colliders.get(id) {
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let mut physics_state_delta = physics_state.clone();
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//let ori_2d = ori_other.look_dir().xy();
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//let ori_2d_quat = Quaternion::rotation_z(ori_2d.y.atan2(ori_2d.x));
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//let ori_2d_quat = Quaternion::from_xyzw(ori_2d.x, ori_2d.y, 0.0, 1.0).normalized();
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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 t1 = Mat4::from(Transform {
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position: pos_other.0 + voxel_collider.translation,
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orientation: Quaternion::identity(),
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scale: Vec3::broadcast(1.0),
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});
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let t2 = Mat4::from(Transform {
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position: Vec3::zero(),
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orientation: ori_other.0.normalized(),
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scale: Vec3::broadcast(1.0),
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});
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//let transform = t2 * t1;
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let transform = t1;
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pos.0 = transform.inverted().mul_point(pos.0);
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//vel.0 = t2.inverted().mul_point(pos.0);
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let transform_from = 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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let transform_to = transform_from.inverted();
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pos.0 = transform_to.mul_point(pos.0);
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vel.0 = transform_to.mul_direction(vel.0);
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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 pos,
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pos_delta,
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vel,
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transform_to.mul_direction(pos_delta),
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&mut vel,
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&mut physics_state_delta,
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&mut land_on_grounds,
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|entity, vel| land_on_grounds.push((entity, Vel(transform_from.mul_direction(vel.0)))),
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);
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pos.0 = transform.mul_point(pos.0);
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//vel.0 = t2.mul_point(vel.0);
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pos.0 = transform_from.mul_point(pos.0);
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vel.0 = transform_from.mul_direction(vel.0);
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if physics_state_delta.on_ground {
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pos.0 += vel_other.0 * psdr.dt.0;
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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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@ -662,27 +658,36 @@ impl<'a> PhysicsSystemData<'a> {
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if pos != old_pos {
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pos_writes.push((entity, pos));
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}
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if vel != old_vel {
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vel_writes.push((entity, vel));
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}
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(pos_writes, land_on_grounds)
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(pos_writes, vel_writes, land_on_grounds)
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},
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)
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.reduce(
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|| (Vec::new(), Vec::new()),
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|(mut pos_writes_a, mut land_on_grounds_a),
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(mut pos_writes_b, mut land_on_grounds_b)| {
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|| (Vec::new(), Vec::new(), Vec::new()),
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|(mut pos_writes_a, mut vel_writes_a, mut land_on_grounds_a),
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(mut pos_writes_b, mut vel_writes_b, mut land_on_grounds_b)| {
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pos_writes_a.append(&mut pos_writes_b);
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vel_writes_a.append(&mut vel_writes_b);
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land_on_grounds_a.append(&mut land_on_grounds_b);
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(pos_writes_a, land_on_grounds_a)
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(pos_writes_a, vel_writes_a, land_on_grounds_a)
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},
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);
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drop(guard);
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job.cpu_stats.measure(ParMode::Single);
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let pos_writes: HashMap<Entity, Pos> = pos_writes.into_iter().collect();
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for (entity, pos) in (&psdr.entities, &mut psdw.positions).join() {
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let vel_writes: HashMap<Entity, Vel> = vel_writes.into_iter().collect();
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for (entity, pos, vel) in (&psdr.entities, &mut psdw.positions, &mut psdw.velocities).join() {
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if let Some(new_pos) = pos_writes.get(&entity) {
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*pos = *new_pos;
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}
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if let Some(new_vel) = vel_writes.get(&entity) {
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*vel = *new_vel;
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}
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}
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let mut event_emitter = psdr.event_bus.emitter();
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@ -732,7 +737,7 @@ fn cylinder_voxel_collision<'a, T: BaseVol<Vox = Block> + ReadVol>(
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mut pos_delta: Vec3<f32>,
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vel: &mut Vel,
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physics_state: &mut PhysicsState,
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land_on_grounds: &mut Vec<(Entity, Vel)>,
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mut land_on_ground: impl FnMut(Entity, Vel),
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) {
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let (radius, z_min, z_max) = cylinder;
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@ -898,7 +903,7 @@ fn cylinder_voxel_collision<'a, T: BaseVol<Vox = Block> + ReadVol>(
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on_ground = true;
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if !was_on_ground {
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land_on_grounds.push((entity, *vel));
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land_on_ground(entity, *vel);
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}
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} else if resolve_dir.z < 0.0 && vel.0.z >= 0.0 {
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on_ceiling = true;
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