mirror of
https://gitlab.com/veloren/veloren.git
synced 2024-08-30 18:12:32 +00:00
1113 lines
44 KiB
Rust
1113 lines
44 KiB
Rust
use common::{
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comp::{
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body::ship::figuredata::VOXEL_COLLIDER_MANIFEST, BeamSegment, CharacterState, Collider,
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Gravity, Mass, Mounting, Ori, PhysicsState, Pos, PreviousPhysCache, Projectile, Scale,
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Shockwave, Sticky, Vel,
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},
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consts::{FRIC_GROUND, GRAVITY},
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event::{EventBus, ServerEvent},
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resources::DeltaTime,
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terrain::{Block, TerrainGrid},
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uid::Uid,
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vol::{BaseVol, ReadVol},
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};
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use common_base::{prof_span, span};
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use common_ecs::{Job, Origin, ParMode, Phase, PhysicsMetrics, System};
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use hashbrown::HashMap;
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use rayon::iter::ParallelIterator;
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use specs::{
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shred::{ResourceId, World},
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Entities, Entity, Join, ParJoin, Read, ReadExpect, ReadStorage, SystemData, WriteExpect,
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WriteStorage,
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};
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use std::ops::Range;
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use vek::*;
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pub const BOUYANCY: f32 = 1.0;
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// Friction values used for linear damping. They are unitless quantities. The
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// value of these quantities must be between zero and one. They represent the
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// amount an object will slow down within 1/60th of a second. Eg. if the
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// friction is 0.01, and the speed is 1.0, then after 1/60th of a second the
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// speed will be 0.99. after 1 second the speed will be 0.54, which is 0.99 ^
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// 60.
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pub const FRIC_AIR: f32 = 0.0025;
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pub const FRIC_FLUID: f32 = 0.4;
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// Integrates forces, calculates the new velocity based off of the old velocity
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// dt = delta time
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// lv = linear velocity
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// damp = linear damping
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// Friction is a type of damping.
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fn integrate_forces(dt: f32, mut lv: Vec3<f32>, grav: f32, damp: f32) -> Vec3<f32> {
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// this is not linear damping, because it is proportional to the original
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// velocity this "linear" damping in in fact, quite exponential. and thus
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// must be interpolated accordingly
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let linear_damp = (1.0 - damp.min(1.0)).powf(dt * 60.0);
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// TODO: investigate if we can have air friction provide the neccessary limits
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// here
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lv.z = (lv.z - grav * dt).max(-80.0).min(lv.z);
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lv * linear_damp
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}
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fn calc_z_limit(
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char_state_maybe: Option<&CharacterState>,
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collider: Option<&Collider>,
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) -> (f32, f32) {
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let modifier = if char_state_maybe.map_or(false, |c_s| c_s.is_dodge()) {
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0.5
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} else {
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1.0
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};
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collider
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.map(|c| c.get_z_limits(modifier))
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.unwrap_or((-0.5 * modifier, 0.5 * modifier))
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}
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/// This system applies forces and calculates new positions and velocities.
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#[derive(Default)]
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pub struct Sys;
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#[derive(SystemData)]
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pub struct PhysicsRead<'a> {
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entities: Entities<'a>,
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uids: ReadStorage<'a, Uid>,
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terrain: ReadExpect<'a, TerrainGrid>,
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dt: Read<'a, DeltaTime>,
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event_bus: Read<'a, EventBus<ServerEvent>>,
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scales: ReadStorage<'a, Scale>,
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stickies: ReadStorage<'a, Sticky>,
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masses: ReadStorage<'a, Mass>,
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colliders: ReadStorage<'a, Collider>,
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gravities: ReadStorage<'a, Gravity>,
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mountings: ReadStorage<'a, Mounting>,
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projectiles: ReadStorage<'a, Projectile>,
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beams: ReadStorage<'a, BeamSegment>,
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shockwaves: ReadStorage<'a, Shockwave>,
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char_states: ReadStorage<'a, CharacterState>,
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}
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#[derive(SystemData)]
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pub struct PhysicsWrite<'a> {
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physics_metrics: WriteExpect<'a, PhysicsMetrics>,
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physics_states: WriteStorage<'a, PhysicsState>,
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positions: WriteStorage<'a, Pos>,
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velocities: WriteStorage<'a, Vel>,
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orientations: WriteStorage<'a, Ori>,
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previous_phys_cache: WriteStorage<'a, PreviousPhysCache>,
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}
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#[derive(SystemData)]
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pub struct PhysicsData<'a> {
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read: PhysicsRead<'a>,
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write: PhysicsWrite<'a>,
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}
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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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for (entity, _, _, _, _) in (
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&self.read.entities,
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&self.read.colliders,
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&self.write.positions,
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&self.write.velocities,
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&self.write.orientations,
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)
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.join()
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{
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let _ = self
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.write
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.physics_states
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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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//Add PreviousPhysCache for all relevant entities
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for entity in (
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&self.read.entities,
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&self.write.velocities,
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&self.write.positions,
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!&self.write.previous_phys_cache,
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!&self.read.mountings,
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!&self.read.beams,
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!&self.read.shockwaves,
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)
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.join()
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.map(|(e, _, _, _, _, _, _)| e)
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.collect::<Vec<_>>()
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{
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let _ = self
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.write
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.previous_phys_cache
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.insert(entity, PreviousPhysCache {
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velocity_dt: Vec3::zero(),
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center: Vec3::zero(),
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collision_boundary: 0.0,
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scale: 0.0,
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scaled_radius: 0.0,
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});
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}
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//Update PreviousPhysCache
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for (_, vel, position, mut phys_cache, collider, scale, cs, _, _, _) in (
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&self.read.entities,
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&self.write.velocities,
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&self.write.positions,
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&mut self.write.previous_phys_cache,
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self.read.colliders.maybe(),
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self.read.scales.maybe(),
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self.read.char_states.maybe(),
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!&self.read.mountings,
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!&self.read.beams,
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!&self.read.shockwaves,
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)
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.join()
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{
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let scale = scale.map(|s| s.0).unwrap_or(1.0);
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let z_limits = calc_z_limit(cs, 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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phys_cache.velocity_dt = vel.0 * self.read.dt.0;
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let entity_center = position.0 + Vec3::new(0.0, z_limits.0 + half_height, 0.0);
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let flat_radius = collider.map(|c| c.get_radius()).unwrap_or(0.5) * scale;
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let radius = (flat_radius.powi(2) + half_height.powi(2)).sqrt();
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// Move center to the middle between OLD and OLD+VEL_DT so that we can reduce
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// the collision_boundary
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phys_cache.center = entity_center + phys_cache.velocity_dt / 2.0;
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phys_cache.collision_boundary = radius + (phys_cache.velocity_dt / 2.0).magnitude();
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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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job.cpu_stats.measure(ParMode::Rayon);
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let PhysicsData {
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ref read,
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ref mut write,
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} = self;
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let (positions, previous_phys_cache) = (&write.positions, &write.previous_phys_cache);
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let metrics = (
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&read.entities,
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positions,
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&mut write.velocities,
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previous_phys_cache,
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read.masses.maybe(),
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read.colliders.maybe(),
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!&read.mountings,
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read.stickies.maybe(),
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&mut write.physics_states,
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// TODO: if we need to avoid collisions for other things consider moving whether it
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// should interact into the collider component or into a separate component
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read.projectiles.maybe(),
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read.char_states.maybe(),
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)
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.par_join()
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.filter(|(_, _, _, _, _, _, _, sticky, physics, _, _)| {
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sticky.is_none() || (physics.on_wall.is_none() && !physics.on_ground)
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})
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.map(|(e, p, v, vd, m, c, _, _, ph, pr, c_s)| (e, p, v, vd, m, c, ph, pr, c_s))
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.map_init(
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|| {
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prof_span!(guard, "physics e<>e rayon job");
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guard
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},
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|_guard,
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(
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entity,
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pos,
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vel,
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previous_cache,
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mass,
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collider,
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physics,
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projectile,
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char_state_maybe,
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)| {
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let z_limits = calc_z_limit(char_state_maybe, collider);
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let mass = mass.map(|m| m.0).unwrap_or(previous_cache.scale);
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// Resets touch_entities in physics
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physics.touch_entities.clear();
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let is_projectile = projectile.is_some();
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let mut vel_delta = Vec3::zero();
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let mut entity_entity_collision_checks = 0;
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let mut entity_entity_collisions = 0;
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for (
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entity_other,
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other,
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pos_other,
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previous_cache_other,
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mass_other,
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collider_other,
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_,
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_,
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_,
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_,
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char_state_other_maybe,
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) in (
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&read.entities,
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&read.uids,
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positions,
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previous_phys_cache,
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read.masses.maybe(),
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read.colliders.maybe(),
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!&read.projectiles,
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!&read.mountings,
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!&read.beams,
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!&read.shockwaves,
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read.char_states.maybe(),
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)
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.join()
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{
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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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|| entity == entity_other
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{
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continue;
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}
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let collision_dist =
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previous_cache.scaled_radius + previous_cache_other.scaled_radius;
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let z_limits_other = calc_z_limit(char_state_other_maybe, collider_other);
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let mass_other = mass_other
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.map(|m| m.0)
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.unwrap_or(previous_cache_other.scale);
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//This check after the pos check, as we currently don't have that many
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// massless entites [citation needed]
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if mass_other == 0.0 {
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continue;
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}
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entity_entity_collision_checks += 1;
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const MIN_COLLISION_DIST: f32 = 0.3;
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let increments = ((previous_cache.velocity_dt
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- previous_cache_other.velocity_dt)
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.magnitude()
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/ MIN_COLLISION_DIST)
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.max(1.0)
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.ceil() as usize;
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let step_delta = 1.0 / increments as f32;
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let mut collided = false;
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for i in 0..increments {
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let factor = i as f32 * step_delta;
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let pos = pos.0 + previous_cache.velocity_dt * factor;
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let pos_other = pos_other.0 + previous_cache_other.velocity_dt * factor;
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let diff = pos.xy() - pos_other.xy();
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if diff.magnitude_squared() <= collision_dist.powi(2)
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&& pos.z + z_limits.1 * previous_cache.scale
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>= pos_other.z + z_limits_other.0 * previous_cache_other.scale
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&& pos.z + z_limits.0 * previous_cache.scale
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<= pos_other.z + z_limits_other.1 * previous_cache_other.scale
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{
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if !collided {
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physics.touch_entities.push(*other);
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entity_entity_collisions += 1;
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}
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// Don't apply repulsive force to projectiles or if we're colliding
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// with a terrain-like entity, or if we are a terrain-like entity
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if diff.magnitude_squared() > 0.0
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&& !is_projectile
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&& !matches!(collider_other, Some(Collider::Voxel { .. }))
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&& !matches!(collider, Some(Collider::Voxel { .. }))
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{
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let force =
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400.0 * (collision_dist - diff.magnitude()) * mass_other
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/ (mass + mass_other);
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vel_delta += Vec3::from(diff.normalized()) * force * step_delta;
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}
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collided = true;
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}
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}
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}
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// Change velocity
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vel.0 += vel_delta * read.dt.0;
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// Metrics
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PhysicsMetrics {
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entity_entity_collision_checks,
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entity_entity_collisions,
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}
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},
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)
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.reduce(PhysicsMetrics::default, |old, new| PhysicsMetrics {
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entity_entity_collision_checks: old.entity_entity_collision_checks
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+ new.entity_entity_collision_checks,
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entity_entity_collisions: old.entity_entity_collisions
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+ new.entity_entity_collisions,
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});
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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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let PhysicsData {
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ref read,
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ref mut write,
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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, velocities, previous_phys_cache, orientations) = (
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&write.positions,
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&write.velocities,
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&write.previous_phys_cache,
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&write.orientations,
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);
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let (pos_writes, vel_writes, land_on_grounds) = (
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&read.entities,
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read.scales.maybe(),
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read.stickies.maybe(),
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&read.colliders,
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positions,
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velocities,
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orientations,
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&mut write.physics_states,
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previous_phys_cache,
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!&read.mountings,
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)
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.par_join()
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.fold(
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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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vel,
|
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_ori,
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mut physics_state,
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_previous_cache,
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_,
|
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)| {
|
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// defer the writes of positions to allow an inner loop over terrain-like
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// entities
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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 = physics_state.ground_vel;
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return (pos_writes, vel_writes, land_on_grounds);
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}
|
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|
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let scale = if let Collider::Voxel { .. } = collider {
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scale.map(|s| s.0).unwrap_or(1.0)
|
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} else {
|
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// TODO: Use scale & actual proportions when pathfinding is good
|
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// enough to manage irregular entity sizes
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1.0
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};
|
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|
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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 = if physics_state.on_ground { 0.0 } else { FRIC_AIR }
|
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// .max(if physics_state.on_ground {
|
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// FRIC_GROUND
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// } else {
|
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// 0.0
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// })
|
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.max(if physics_state.in_liquid.is_some() {
|
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FRIC_FLUID
|
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} else {
|
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0.0
|
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});
|
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let in_loaded_chunk = read
|
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.terrain
|
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.get_key(read.terrain.pos_key(pos.0.map(|e| e.floor() as i32)))
|
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.is_some();
|
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let downward_force =
|
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if !in_loaded_chunk {
|
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0.0 // No gravity in unloaded chunks
|
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} else if physics_state
|
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.in_liquid
|
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.map(|depth| depth > 0.75)
|
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.unwrap_or(false)
|
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{
|
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(1.0 - BOUYANCY) * GRAVITY
|
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} else {
|
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GRAVITY
|
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} * read.gravities.get(entity).map(|g| g.0).unwrap_or_default();
|
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vel.0 = integrate_forces(read.dt.0, vel.0, downward_force, friction);
|
|
|
|
// Don't move if we're not in a loaded chunk
|
|
let pos_delta = if in_loaded_chunk {
|
|
// this is an approximation that allows most framerates to
|
|
// behave in a similar manner.
|
|
let dt_lerp = 0.2;
|
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(vel.0 * dt_lerp + old_vel.0 * (1.0 - dt_lerp)) * read.dt.0
|
|
} else {
|
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Vec3::zero()
|
|
};
|
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|
|
// What's going on here? Because collisions need to be resolved against multiple
|
|
// colliders, this code takes the current position and
|
|
// propagates it forward according to velocity to find a
|
|
// 'target' position. This is where we'd ideally end up at the end of the tick,
|
|
// assuming no collisions. Then, we refine this target by
|
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// stepping from the original position to the target for
|
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// every obstacle, refining the target position as we go. It's not perfect, but
|
|
// it works pretty well in practice. Oddities can occur on
|
|
// the intersection between multiple colliders, but it's not
|
|
// like any game physics system resolves these sort of things well anyway. At
|
|
// the very least, we don't do things that result in glitchy
|
|
// velocities or entirely broken position snapping.
|
|
let mut tgt_pos = pos.0 + pos_delta;
|
|
|
|
let was_on_ground = physics_state.on_ground;
|
|
|
|
match &collider {
|
|
Collider::Voxel { .. } => {
|
|
// for now, treat entities with voxel colliders as their bounding
|
|
// cylinders for the purposes of colliding them with terrain
|
|
|
|
// Additionally, multiply radius by 0.1 to make the cylinder smaller to
|
|
// avoid lag
|
|
let radius = collider.get_radius() * scale * 0.1;
|
|
let (z_min, z_max) = collider.get_z_limits(scale);
|
|
|
|
let mut cpos = *pos;
|
|
let cylinder = (radius, z_min, z_max);
|
|
cylinder_voxel_collision(
|
|
cylinder,
|
|
&*read.terrain,
|
|
entity,
|
|
&mut cpos,
|
|
tgt_pos,
|
|
&mut vel,
|
|
&mut physics_state,
|
|
Vec3::zero(),
|
|
&read.dt,
|
|
was_on_ground,
|
|
|entity, vel| land_on_grounds.push((entity, vel)),
|
|
);
|
|
tgt_pos = cpos.0;
|
|
},
|
|
Collider::Box {
|
|
radius,
|
|
z_min,
|
|
z_max,
|
|
} => {
|
|
// Scale collider
|
|
let radius = radius.min(0.45) * scale;
|
|
let z_min = *z_min * scale;
|
|
let z_max = z_max.clamped(1.2, 1.95) * scale;
|
|
|
|
let cylinder = (radius, z_min, z_max);
|
|
let mut cpos = *pos;
|
|
cylinder_voxel_collision(
|
|
cylinder,
|
|
&*read.terrain,
|
|
entity,
|
|
&mut cpos,
|
|
tgt_pos,
|
|
&mut vel,
|
|
&mut physics_state,
|
|
Vec3::zero(),
|
|
&read.dt,
|
|
was_on_ground,
|
|
|entity, vel| land_on_grounds.push((entity, vel)),
|
|
);
|
|
tgt_pos = cpos.0;
|
|
},
|
|
Collider::Point => {
|
|
let mut pos = *pos;
|
|
|
|
let (dist, block) = read
|
|
.terrain
|
|
.ray(pos.0, pos.0 + pos_delta)
|
|
.until(|block: &Block| block.is_filled())
|
|
.ignore_error()
|
|
.cast();
|
|
|
|
pos.0 += pos_delta.try_normalized().unwrap_or_else(Vec3::zero) * dist;
|
|
|
|
// Can't fail since we do ignore_error above
|
|
if block.unwrap().is_some() {
|
|
let block_center = pos.0.map(|e| e.floor()) + 0.5;
|
|
let block_rpos = (pos.0 - block_center)
|
|
.try_normalized()
|
|
.unwrap_or_else(Vec3::zero);
|
|
|
|
// See whether we're on the top/bottom of a block, or the side
|
|
if block_rpos.z.abs()
|
|
> block_rpos.xy().map(|e| e.abs()).reduce_partial_max()
|
|
{
|
|
if block_rpos.z > 0.0 {
|
|
physics_state.on_ground = true;
|
|
} else {
|
|
physics_state.on_ceiling = true;
|
|
}
|
|
vel.0.z = 0.0;
|
|
} else {
|
|
physics_state.on_wall =
|
|
Some(if block_rpos.x.abs() > block_rpos.y.abs() {
|
|
vel.0.x = 0.0;
|
|
Vec3::unit_x() * -block_rpos.x.signum()
|
|
} else {
|
|
vel.0.y = 0.0;
|
|
Vec3::unit_y() * -block_rpos.y.signum()
|
|
});
|
|
}
|
|
}
|
|
|
|
physics_state.in_liquid = read
|
|
.terrain
|
|
.get(pos.0.map(|e| e.floor() as i32))
|
|
.ok()
|
|
.and_then(|vox| vox.is_liquid().then_some(1.0));
|
|
|
|
tgt_pos = pos.0;
|
|
},
|
|
}
|
|
|
|
// Collide with terrain-like entities
|
|
for (
|
|
entity_other,
|
|
_other,
|
|
pos_other,
|
|
vel_other,
|
|
_previous_cache_other,
|
|
_mass_other,
|
|
collider_other,
|
|
ori_other,
|
|
_,
|
|
_,
|
|
_,
|
|
_,
|
|
_char_state_other_maybe,
|
|
) in (
|
|
&read.entities,
|
|
&read.uids,
|
|
positions,
|
|
velocities,
|
|
previous_phys_cache,
|
|
read.masses.maybe(),
|
|
&read.colliders,
|
|
orientations,
|
|
!&read.projectiles,
|
|
!&read.mountings,
|
|
!&read.beams,
|
|
!&read.shockwaves,
|
|
read.char_states.maybe(),
|
|
)
|
|
.join()
|
|
{
|
|
// TODO: terrain-collider-size aware broadphase
|
|
/*let collision_boundary = previous_cache.collision_boundary
|
|
+ previous_cache_other.collision_boundary;
|
|
if previous_cache
|
|
.center
|
|
.distance_squared(previous_cache_other.center)
|
|
> collision_boundary.powi(2)
|
|
{
|
|
continue;
|
|
}*/
|
|
if entity == entity_other {
|
|
continue;
|
|
}
|
|
|
|
if let Collider::Voxel { id } = collider_other {
|
|
// use bounding cylinder regardless of our collider
|
|
// TODO: extract point-terrain collision above to its own function
|
|
let radius = collider.get_radius();
|
|
let (z_min, z_max) = collider.get_z_limits(1.0);
|
|
|
|
let radius = radius.min(0.45) * scale;
|
|
let z_min = z_min * scale;
|
|
let z_max = z_max.clamped(1.2, 1.95) * scale;
|
|
|
|
if let Some(voxel_collider) =
|
|
VOXEL_COLLIDER_MANIFEST.read().colliders.get(&*id)
|
|
{
|
|
let mut physics_state_delta = physics_state.clone();
|
|
// deliberately don't use scale yet here, because the 11.0/0.8
|
|
// thing is in the comp::Scale for visual reasons
|
|
let mut cpos = *pos;
|
|
let wpos = cpos.0;
|
|
let transform_from =
|
|
Mat4::<f32>::translation_3d(pos_other.0 - wpos)
|
|
* Mat4::from(ori_other.0)
|
|
* Mat4::<f32>::translation_3d(voxel_collider.translation);
|
|
let transform_to = transform_from.inverted();
|
|
let ori_from = Mat4::from(ori_other.0);
|
|
let ori_to = ori_from.inverted();
|
|
cpos.0 = transform_to.mul_point(Vec3::zero());
|
|
vel.0 = ori_to.mul_direction(vel.0 - vel_other.0);
|
|
let cylinder = (radius, z_min, z_max);
|
|
cylinder_voxel_collision(
|
|
cylinder,
|
|
&voxel_collider.dyna,
|
|
entity,
|
|
&mut cpos,
|
|
transform_to.mul_point(tgt_pos - wpos),
|
|
&mut vel,
|
|
&mut physics_state_delta,
|
|
ori_to.mul_direction(vel_other.0),
|
|
&read.dt,
|
|
was_on_ground,
|
|
|entity, vel| {
|
|
land_on_grounds
|
|
.push((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.0;
|
|
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.0;
|
|
}
|
|
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_writes.push((entity, Pos(tgt_pos)));
|
|
}
|
|
if vel != old_vel {
|
|
vel_writes.push((entity, vel));
|
|
}
|
|
|
|
(pos_writes, vel_writes, land_on_grounds)
|
|
},
|
|
)
|
|
.reduce(
|
|
|| (Vec::new(), Vec::new(), Vec::new()),
|
|
|(mut pos_writes_a, mut vel_writes_a, mut land_on_grounds_a),
|
|
(mut pos_writes_b, mut vel_writes_b, mut land_on_grounds_b)| {
|
|
pos_writes_a.append(&mut pos_writes_b);
|
|
vel_writes_a.append(&mut vel_writes_b);
|
|
land_on_grounds_a.append(&mut land_on_grounds_b);
|
|
(pos_writes_a, vel_writes_a, land_on_grounds_a)
|
|
},
|
|
);
|
|
drop(guard);
|
|
job.cpu_stats.measure(ParMode::Single);
|
|
|
|
let pos_writes: HashMap<Entity, Pos> = pos_writes.into_iter().collect();
|
|
let vel_writes: HashMap<Entity, Vel> = vel_writes.into_iter().collect();
|
|
for (entity, pos, vel) in
|
|
(&read.entities, &mut write.positions, &mut write.velocities).join()
|
|
{
|
|
if let Some(new_pos) = pos_writes.get(&entity) {
|
|
*pos = *new_pos;
|
|
}
|
|
|
|
if let Some(new_vel) = vel_writes.get(&entity) {
|
|
*vel = *new_vel;
|
|
}
|
|
}
|
|
|
|
let mut event_emitter = read.event_bus.emitter();
|
|
land_on_grounds.into_iter().for_each(|(entity, vel)| {
|
|
event_emitter.emit(ServerEvent::LandOnGround { entity, vel: vel.0 });
|
|
});
|
|
}
|
|
}
|
|
|
|
impl<'a> System<'a> for Sys {
|
|
type SystemData = PhysicsData<'a>;
|
|
|
|
const NAME: &'static str = "phys";
|
|
const ORIGIN: Origin = Origin::Common;
|
|
const PHASE: Phase = Phase::Create;
|
|
|
|
fn run(job: &mut Job<Self>, mut psd: Self::SystemData) {
|
|
psd.reset();
|
|
|
|
// Apply pushback
|
|
//
|
|
// Note: We now do this first because we project velocity ahead. This is slighty
|
|
// imperfect and implies that we might get edge-cases where entities
|
|
// standing right next to the edge of a wall may get hit by projectiles
|
|
// fired into the wall very close to them. However, this sort of thing is
|
|
// already possible with poorly-defined hitboxes anyway so it's not too
|
|
// much of a concern.
|
|
//
|
|
// If this situation becomes a problem, this code should be integrated with the
|
|
// terrain collision code below, although that's not trivial to do since
|
|
// it means the step needs to take into account the speeds of both
|
|
// entities.
|
|
psd.maintain_pushback_cache();
|
|
psd.apply_pushback(job);
|
|
|
|
psd.handle_movement_and_terrain(job);
|
|
}
|
|
}
|
|
|
|
#[allow(clippy::too_many_arguments)]
|
|
fn cylinder_voxel_collision<'a, T: BaseVol<Vox = Block> + ReadVol>(
|
|
cylinder: (f32, f32, f32),
|
|
terrain: &'a T,
|
|
entity: Entity,
|
|
pos: &mut Pos,
|
|
tgt_pos: Vec3<f32>,
|
|
vel: &mut Vel,
|
|
physics_state: &mut PhysicsState,
|
|
ground_vel: Vec3<f32>,
|
|
dt: &DeltaTime,
|
|
was_on_ground: bool,
|
|
mut land_on_ground: impl FnMut(Entity, Vel),
|
|
) {
|
|
let (radius, z_min, z_max) = cylinder;
|
|
|
|
// Probe distances
|
|
let hdist = radius.ceil() as i32;
|
|
// Neighbouring blocks iterator
|
|
let near_iter = (-hdist..hdist + 1)
|
|
.map(move |i| {
|
|
(-hdist..hdist + 1).map(move |j| {
|
|
(1 - Block::MAX_HEIGHT.ceil() as i32 + z_min.floor() as i32
|
|
..z_max.ceil() as i32 + 1)
|
|
.map(move |k| (i, j, k))
|
|
})
|
|
})
|
|
.flatten()
|
|
.flatten();
|
|
|
|
// Function for iterating over the blocks the player at a specific position
|
|
// collides with
|
|
fn collision_iter<'a, T: BaseVol<Vox = Block> + ReadVol>(
|
|
pos: Vec3<f32>,
|
|
terrain: &'a T,
|
|
hit: &'a impl Fn(&Block) -> bool,
|
|
height: &'a impl Fn(&Block) -> f32,
|
|
near_iter: impl Iterator<Item = (i32, i32, i32)> + 'a,
|
|
radius: f32,
|
|
z_range: Range<f32>,
|
|
) -> impl Iterator<Item = Aabb<f32>> + 'a {
|
|
near_iter.filter_map(move |(i, j, k)| {
|
|
let block_pos = pos.map(|e| e.floor() as i32) + Vec3::new(i, j, k);
|
|
|
|
if let Some(block) = terrain.get(block_pos).ok().copied().filter(hit) {
|
|
let player_aabb = Aabb {
|
|
min: pos + Vec3::new(-radius, -radius, z_range.start),
|
|
max: pos + Vec3::new(radius, radius, z_range.end),
|
|
};
|
|
let block_aabb = Aabb {
|
|
min: block_pos.map(|e| e as f32),
|
|
max: block_pos.map(|e| e as f32) + Vec3::new(1.0, 1.0, height(&block)),
|
|
};
|
|
|
|
if player_aabb.collides_with_aabb(block_aabb) {
|
|
return Some(block_aabb);
|
|
}
|
|
}
|
|
|
|
None
|
|
})
|
|
}
|
|
|
|
let z_range = z_min..z_max;
|
|
// Function for determining whether the player at a specific position collides
|
|
// with blocks with the given criteria
|
|
fn collision_with<'a, T: BaseVol<Vox = Block> + ReadVol>(
|
|
pos: Vec3<f32>,
|
|
terrain: &'a T,
|
|
hit: impl Fn(&Block) -> bool,
|
|
near_iter: impl Iterator<Item = (i32, i32, i32)> + 'a,
|
|
radius: f32,
|
|
z_range: Range<f32>,
|
|
) -> bool {
|
|
collision_iter(
|
|
pos,
|
|
terrain,
|
|
&|block| block.is_solid() && hit(block),
|
|
&Block::solid_height,
|
|
near_iter,
|
|
radius,
|
|
z_range,
|
|
)
|
|
.count()
|
|
> 0
|
|
}
|
|
|
|
physics_state.on_ground = false;
|
|
|
|
let mut on_ground = false;
|
|
let mut on_ceiling = false;
|
|
let mut attempts = 0; // Don't loop infinitely here
|
|
|
|
let mut pos_delta = tgt_pos - pos.0;
|
|
|
|
// Don't jump too far at once
|
|
let increments = (pos_delta.map(|e| e.abs()).reduce_partial_max() / 0.3)
|
|
.ceil()
|
|
.max(1.0);
|
|
let old_pos = pos.0;
|
|
fn block_true(_: &Block) -> bool { true }
|
|
for _ in 0..increments as usize {
|
|
pos.0 += pos_delta / increments;
|
|
|
|
const MAX_ATTEMPTS: usize = 16;
|
|
|
|
// While the player is colliding with the terrain...
|
|
while collision_with(
|
|
pos.0,
|
|
&terrain,
|
|
block_true,
|
|
near_iter.clone(),
|
|
radius,
|
|
z_range.clone(),
|
|
) && attempts < MAX_ATTEMPTS
|
|
{
|
|
// Calculate the player's AABB
|
|
let player_aabb = Aabb {
|
|
min: pos.0 + Vec3::new(-radius, -radius, z_min),
|
|
max: pos.0 + Vec3::new(radius, radius, z_max),
|
|
};
|
|
|
|
// Determine the block that we are colliding with most (based on minimum
|
|
// collision axis)
|
|
let (_block_pos, block_aabb, block_height) = near_iter
|
|
.clone()
|
|
// Calculate the block's position in world space
|
|
.map(|(i, j, k)| pos.0.map(|e| e.floor() as i32) + Vec3::new(i, j, k))
|
|
// Make sure the block is actually solid
|
|
.filter_map(|block_pos| {
|
|
if let Some(block) = terrain
|
|
.get(block_pos)
|
|
.ok()
|
|
.filter(|block| block.is_solid())
|
|
{
|
|
// Calculate block AABB
|
|
Some((
|
|
block_pos,
|
|
Aabb {
|
|
min: block_pos.map(|e| e as f32),
|
|
max: block_pos.map(|e| e as f32) + Vec3::new(1.0, 1.0, block.solid_height()),
|
|
},
|
|
block.solid_height(),
|
|
))
|
|
} else {
|
|
None
|
|
}
|
|
})
|
|
// Determine whether the block's AABB collides with the player's AABB
|
|
.filter(|(_, block_aabb, _)| block_aabb.collides_with_aabb(player_aabb))
|
|
// Find the maximum of the minimum collision axes (this bit is weird, trust me that it works)
|
|
.min_by_key(|(_, block_aabb, _)| {
|
|
((block_aabb.center() - player_aabb.center() - Vec3::unit_z() * 0.5)
|
|
.map(|e| e.abs())
|
|
.sum()
|
|
* 1_000_000.0) as i32
|
|
})
|
|
.expect("Collision detected, but no colliding blocks found!");
|
|
|
|
// Find the intrusion vector of the collision
|
|
let dir = player_aabb.collision_vector_with_aabb(block_aabb);
|
|
|
|
// Determine an appropriate resolution vector (i.e: the minimum distance
|
|
// needed to push out of the block)
|
|
let max_axis = dir.map(|e| e.abs()).reduce_partial_min();
|
|
let resolve_dir = -dir.map(|e| {
|
|
if e.abs().to_bits() == max_axis.to_bits() {
|
|
e
|
|
} else {
|
|
0.0
|
|
}
|
|
});
|
|
|
|
// When the resolution direction is pointing upwards, we must be on the
|
|
// ground
|
|
if resolve_dir.z > 0.0
|
|
/* && vel.0.z <= 0.0 */
|
|
{
|
|
on_ground = true;
|
|
|
|
if !was_on_ground {
|
|
land_on_ground(entity, *vel);
|
|
}
|
|
} else if resolve_dir.z < 0.0 && vel.0.z >= 0.0 {
|
|
on_ceiling = true;
|
|
}
|
|
|
|
// When the resolution direction is non-vertical, we must be colliding
|
|
// with a wall If the space above is free...
|
|
if !collision_with(Vec3::new(pos.0.x, pos.0.y, (pos.0.z + 0.1).ceil()), &terrain, block_true, near_iter.clone(), radius, z_range.clone())
|
|
// ...and we're being pushed out horizontally...
|
|
&& resolve_dir.z == 0.0
|
|
// ...and the vertical resolution direction is sufficiently great...
|
|
&& -dir.z > 0.1
|
|
&& was_on_ground
|
|
// // ...and we're falling/standing OR there is a block *directly* beneath our current origin (note: not hitbox)...
|
|
// && (vel.0.z <= 0.0 || terrain
|
|
// .get((pos.0 - Vec3::unit_z() * 0.1).map(|e| e.floor() as i32))
|
|
// .map(|block| block.is_solid())
|
|
// .unwrap_or(false))
|
|
// ...and there is a collision with a block beneath our current hitbox...
|
|
&& collision_with(
|
|
pos.0 + resolve_dir - Vec3::unit_z() * 1.05,
|
|
&terrain,
|
|
block_true,
|
|
near_iter.clone(),
|
|
radius,
|
|
z_range.clone(),
|
|
)
|
|
{
|
|
// ...block-hop!
|
|
pos.0.z = (pos.0.z + 0.1).floor() + block_height;
|
|
vel.0.z = 0.0;
|
|
on_ground = true;
|
|
break;
|
|
} else {
|
|
// Correct the velocity
|
|
vel.0 = vel.0.map2(resolve_dir, |e, d| {
|
|
if d * e.signum() < 0.0 {
|
|
if d < 0.0 { d.max(0.0) } else { d.min(0.0) }
|
|
} else {
|
|
e
|
|
}
|
|
});
|
|
pos_delta *= resolve_dir.map(|e| if e != 0.0 { 0.0 } else { 1.0 });
|
|
}
|
|
|
|
// Resolve the collision normally
|
|
pos.0 += resolve_dir;
|
|
|
|
attempts += 1;
|
|
}
|
|
|
|
if attempts == MAX_ATTEMPTS {
|
|
vel.0 = Vec3::zero();
|
|
pos.0 = old_pos;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if on_ceiling {
|
|
physics_state.on_ceiling = true;
|
|
}
|
|
|
|
if on_ground {
|
|
physics_state.on_ground = true;
|
|
// If the space below us is free, then "snap" to the ground
|
|
} else if collision_with(
|
|
pos.0 - Vec3::unit_z() * 1.1,
|
|
&terrain,
|
|
block_true,
|
|
near_iter.clone(),
|
|
radius,
|
|
z_range.clone(),
|
|
) && vel.0.z < 0.25
|
|
&& vel.0.z > -1.5
|
|
// && was_on_ground
|
|
// && !collision_with(
|
|
// pos.0 - Vec3::unit_z() * 0.0,
|
|
// &terrain,
|
|
// |block| block.solid_height() >= (pos.0.z - 0.1).rem_euclid(1.0),
|
|
// near_iter.clone(),
|
|
// radius,
|
|
// z_range.clone(),
|
|
// )
|
|
{
|
|
let snap_height = terrain
|
|
.get(Vec3::new(pos.0.x, pos.0.y, pos.0.z - 0.1).map(|e| e.floor() as i32))
|
|
.ok()
|
|
.filter(|block| block.is_solid())
|
|
.map(|block| block.solid_height())
|
|
.unwrap_or(0.0);
|
|
vel.0.z = 0.0;
|
|
pos.0.z = (pos.0.z - 0.1).floor() + snap_height;
|
|
physics_state.on_ground = true;
|
|
}
|
|
|
|
let dirs = [
|
|
Vec3::unit_x(),
|
|
Vec3::unit_y(),
|
|
-Vec3::unit_x(),
|
|
-Vec3::unit_y(),
|
|
];
|
|
|
|
if let (wall_dir, true) = dirs.iter().fold((Vec3::zero(), false), |(a, hit), dir| {
|
|
if collision_with(
|
|
pos.0 + *dir * 0.01,
|
|
&terrain,
|
|
block_true,
|
|
near_iter.clone(),
|
|
radius,
|
|
z_range.clone(),
|
|
) {
|
|
(a + dir, true)
|
|
} else {
|
|
(a, hit)
|
|
}
|
|
}) {
|
|
physics_state.on_wall = Some(wall_dir);
|
|
} else {
|
|
physics_state.on_wall = None;
|
|
}
|
|
|
|
if physics_state.on_ground || physics_state.on_wall.is_some() {
|
|
if physics_state.on_ground {
|
|
vel.0 *= (1.0 - FRIC_GROUND.min(1.0)).powf(dt.0 * 60.0);
|
|
}
|
|
physics_state.ground_vel = ground_vel;
|
|
}
|
|
|
|
// Figure out if we're in water
|
|
physics_state.in_liquid = collision_iter(
|
|
pos.0,
|
|
&*terrain,
|
|
&|block| block.is_liquid(),
|
|
// The liquid part of a liquid block always extends 1 block high.
|
|
&|_block| 1.0,
|
|
near_iter,
|
|
radius,
|
|
z_min..z_max,
|
|
)
|
|
.max_by_key(|block_aabb| (block_aabb.max.z * 100.0) as i32)
|
|
.map(|block_aabb| block_aabb.max.z - pos.0.z);
|
|
}
|