looking good
_
parent
3aeced7c2f
commit
3c2f247167
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@ -31,9 +31,33 @@ pub const
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}
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}
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#[derive (Default)]
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struct GameState {
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player: PhysicsBody,
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aabbs: Vec <opengl_rust::physics::Aabb>,
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}
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impl Default for GameState {
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fn default () -> Self {
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let player = Default::default ();
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let aabbs = [
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((-4.0, -4.0, -3.0), (4.0, 4.0, -1.0)),
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((-1.5, 1.0, -1.0), (-0.5, 2.0, 0.0)),
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((-0.5, 1.0, 0.0), (0.5, 2.0, 1.0)),
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((0.5, 1.0, 1.0), (1.5, 2.0, 2.0)),
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].into_iter ()
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.map (|(min, max)| {
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opengl_rust::physics::Aabb {
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min: min.into (),
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max: max.into (),
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}
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})
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.collect ();
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Self {
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player,
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aabbs,
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}
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}
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}
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struct GameGraphics {
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@ -70,7 +94,9 @@ impl GameGraphics {
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let screen_size = (1280.0, 720.0);
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let proj_mat = Mat4::perspective_rh_gl (30.0f32.to_radians (), screen_size.0 / screen_size.1, 0.125, 200.0);
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let fov = 30.0f32;
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let proj_mat = Mat4::perspective_rh_gl (fov.to_radians (), screen_size.0 / screen_size.1, 0.125, 200.0);
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let view_mat = proj_mat *
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Mat4::from_translation ((0.0, 0.0, -20.0).into ()) *
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@ -98,10 +124,15 @@ impl GameGraphics {
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});
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}
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{
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for aabb in &state.aabbs {
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let min = aabb.min;
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let max = aabb.max;
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let center = (min + max) / 2.0;
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let scale = (max - min) / 2.0;
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let mvp = view_mat *
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Mat4::from_scale ((4.0, 4.0, 1.0).into ()) *
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Mat4::from_translation ((0.0, 0.0, -2.0).into ());
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Mat4::from_translation (center) *
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Mat4::from_scale (scale);
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glezz::uniform_matrix_4fv (unis [&u::MVP], &mvp);
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self.mesh_cube.draw_all (attrs, |_| {
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@ -257,32 +288,14 @@ async fn main () -> Result <()> {
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gravity: (0.0, 0.0, -0.25).into (),
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margin: 0.00125,
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};
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let phys_world: Vec <_> = vec! [
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(
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(-4.0, -4.0, -1.0),
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(-4.0, 4.0, -1.0),
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(4.0, -4.0, -1.0),
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),
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(
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(4.0, 4.0, -1.0),
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(4.0, -4.0, -1.0),
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(-4.0, 4.0, -1.0),
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),
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].into_iter ()
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.map (|(v0, v1, v2)| {
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opengl_rust::physics::Triangle {
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verts: [
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v0.into (),
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v1.into (),
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v2.into (),
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],
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}
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})
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.collect ();
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let player_speed = 2.0;
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let player_jump_speed = 8.0;
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let mut player_jump_vec: Option <Vec3> = None;
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'running: loop {
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let _frames_to_do = time_step.step ();
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let mut player_wants_to_jump = false;
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for event in event_pump.poll_iter () {
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match event {
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@ -293,14 +306,25 @@ async fn main () -> Result <()> {
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Event::KeyDown { keycode: Some (Keycode::R), .. } => {
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game_state = Default::default ();
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},
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Event::KeyDown { keycode: Some (Keycode::Space), .. } => {
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player_wants_to_jump = true;
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},
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_ => (),
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}
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}
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let kb_state = event_pump.keyboard_state ();
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game_state.player.vel.x = 0.0;
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game_state.player.vel.y = 0.0;
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let player_speed = if player_jump_vec.is_some () {
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game_state.player.vel.x = 0.0;
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game_state.player.vel.y = 0.0;
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player_speed
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}
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else {
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0.125
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};
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if kb_state.is_scancode_pressed (Scancode::Left) {
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game_state.player.vel.x -= player_speed;
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}
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@ -314,7 +338,32 @@ async fn main () -> Result <()> {
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game_state.player.vel.y -= player_speed;
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}
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game_state.player = opengl_rust::physics::step (&phys_params, &phys_world, 0.5, &game_state.player).body;
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if player_wants_to_jump {
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if let Some (normal) = player_jump_vec.clone () {
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game_state.player.vel += normal * player_jump_speed;
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}
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}
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let phys_result = opengl_rust::physics::step (&phys_params, &[], &game_state.aabbs, 0.5, &game_state.player);
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game_state.player = phys_result.body;
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// tracing::debug! ("player pos: {}", game_state.player.pos);
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dbg! (player_jump_vec);
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player_jump_vec = None;
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for normal in &phys_result.normals_hit {
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player_jump_vec = Some (match player_jump_vec {
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None => *normal,
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Some (old) => {
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if normal.z > old.z {
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*normal
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}
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else {
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old
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}
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},
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});
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}
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window.gl_make_current (&gl_ctx).unwrap ();
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154
src/physics.rs
154
src/physics.rs
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@ -10,7 +10,7 @@ pub struct PhysicsBody {
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#[derive (Debug, PartialEq)]
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pub struct PhysicsResult {
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pub body: PhysicsBody,
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pub triangles_hit: Vec <usize>,
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pub normals_hit: Vec <Vec3>,
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pub kill: bool,
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}
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@ -19,6 +19,12 @@ pub struct Triangle {
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pub verts: [Vec3; 3],
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}
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#[derive (Copy, Clone)]
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pub struct Aabb {
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pub min: Vec3,
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pub max: Vec3,
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}
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fn vec_min (a: &Vec3, b: &Vec3) -> Vec3 {
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Vec3::from ((
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min (a.x, b.x),
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@ -103,7 +109,8 @@ pub struct Params {
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}
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pub fn step (
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params: &Params, world: &[Triangle],
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params: &Params,
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tris: &[Triangle], aabbs: &[Aabb],
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radius: f32, input: &PhysicsBody,
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) -> PhysicsResult
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{
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@ -116,14 +123,14 @@ pub fn step (
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let mut new_vel = input.vel + params.gravity;
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let mut new_pos = old_pos + new_vel * dt * t_remaining;
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let mut triangles_hit = Vec::new ();
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let mut normals_hit = Vec::new ();
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// Do 5 iterations of the sub-step, trying to converge on a valid state
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for _ in 0..5 {
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let candidate = get_candidate (world, old_pos, new_pos, radius);
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let candidate = get_candidate (tris, aabbs, old_pos, new_pos, radius);
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if candidate.t <= 1.0 {
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tracing::debug! ("Tri {}, type {:?}", candidate.i, candidate.c_type);
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//tracing::debug! ("Tri {}, type {:?}", candidate.i, candidate.c_type);
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t_remaining *= 1.0 - candidate.t;
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let speed_towards_normal = -Vec3::dot (new_vel, candidate.normal);
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@ -139,7 +146,7 @@ pub fn step (
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// But also compensate for the slide distance it lost
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new_pos = push_out_pos + new_vel * dt * t_remaining;
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triangles_hit.push (candidate.i);
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normals_hit.push (candidate.normal);
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}
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else {
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t_remaining = 0.0;
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@ -153,12 +160,17 @@ pub fn step (
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pos: old_pos,
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vel: new_vel,
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},
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triangles_hit,
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normals_hit,
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kill: false,
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}
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}
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pub fn get_candidate (world: &[Triangle], p0: Vec3, p1: Vec3, radius: f32)
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pub fn get_candidate (
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tris: &[Triangle],
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aabbs: &[Aabb],
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p0: Vec3, p1: Vec3,
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radius: f32
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)
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-> Collision
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{
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let radius3 = Vec3::from ((
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@ -176,12 +188,106 @@ pub fn get_candidate (world: &[Triangle], p0: Vec3, p1: Vec3, radius: f32)
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c_type: CollisionType::Face,
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};
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for (i, tri) in world.iter ().enumerate () {
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let tri_min = tri.min () - radius3;
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let tri_max = tri.max () + radius3;
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let ray_min = p0.min (p1) - radius3;
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let ray_max = p0.max (p1) + radius3;
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for b in aabbs {
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if
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ray_max.x < b.min.x || ray_min.x > b.max.x ||
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ray_max.y < b.min.y || ray_min.y > b.max.y ||
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ray_max.z < b.min.z || ray_min.z > b.max.z
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{
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// AABB reject
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// tracing::trace! ("AABB reject");
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continue;
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}
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let ray_min = p0.min (p1);
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let ray_max = p0.max (p1);
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let verts = [
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(b.min.x, b.min.y, b.min.z).into (),
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(b.max.x, b.min.y, b.min.z).into (),
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(b.max.x, b.max.y, b.min.z).into (),
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(b.min.x, b.max.y, b.min.z).into (),
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(b.min.x, b.min.y, b.max.z).into (),
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(b.max.x, b.min.y, b.max.z).into (),
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(b.max.x, b.max.y, b.max.z).into (),
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(b.min.x, b.max.y, b.max.z).into (),
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];
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for (a, b, c, d) in [
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(0, 1, 2, 3),
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(4, 7, 6, 5),
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(2, 1, 5, 6),
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(3, 2, 6, 7),
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(0, 3, 7, 4),
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(1, 0, 4, 5),
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] {
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let a = verts [a];
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let b = verts [b];
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let c = verts [c];
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let d = verts [d];
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let normal = Vec3::cross (c - b, b - a).normalize ();
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if let Some (c) = get_candidate_face (&[a, b, c, d], normal, p0, p1, radius) {
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candidate = candidate.take_if_closer (&Collision {
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t: c.t,
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p_impact: c.p_impact,
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normal: c.normal,
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i: 0,
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c_type: CollisionType::Face,
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});
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}
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}
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for (a, b) in [
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(0, 1),
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(1, 2),
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(2, 3),
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(3, 0),
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(4, 5),
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(5, 6),
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(6, 7),
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(7, 4),
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(0, 4),
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(1, 5),
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(2, 6),
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(3, 7),
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] {
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let a = verts [a];
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let b = verts [b];
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if let Some (c) = get_candidate_edge (a, b, p0, p1, radius) {
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candidate = candidate.take_if_closer (&Collision {
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t: c.t,
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p_impact: c.p_impact,
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normal: c.normal,
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i: 0,
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c_type: CollisionType::Edge,
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});
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}
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}
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for vert in &verts {
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if let Some (c) = get_candidate_vert (*vert, p0, p1, radius) {
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candidate = candidate.take_if_closer (&Collision {
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t: c.t,
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p_impact: c.p_impact,
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normal: c.normal,
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i: 0,
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c_type: CollisionType::Vert,
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});
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}
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}
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}
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for (i, tri) in tris.iter ().enumerate () {
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let tri_min = tri.min ();
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let tri_max = tri.max ();
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if
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ray_max.x < tri_min.x || ray_min.x > tri_max.x ||
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@ -198,7 +304,9 @@ pub fn get_candidate (world: &[Triangle], p0: Vec3, p1: Vec3, radius: f32)
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// Edge collisions
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// Vertex collisions
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if let Some (c) = get_candidate_face (&tri, p0, p1, radius) {
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let normal = Vec3::cross (tri.verts [2] - tri.verts [1], tri.verts [1] - tri.verts [0]).normalize ();
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if let Some (c) = get_candidate_face (&tri.verts, normal, p0, p1, radius) {
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candidate = candidate.take_if_closer (&Collision {
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t: c.t,
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p_impact: c.p_impact,
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@ -245,7 +353,9 @@ pub fn get_candidate (world: &[Triangle], p0: Vec3, p1: Vec3, radius: f32)
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candidate
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}
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fn get_candidate_face (tri: &Triangle, p0: Vec3, p1: Vec3, radius: f32)
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/// Collide a ray with a convex planar face, like a triangle or a rectangle.
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fn get_candidate_face (verts: &[Vec3], normal: Vec3, p0: Vec3, p1: Vec3, radius: f32)
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-> Option <PrimCollision>
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{
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let radius3 = Vec3::from ((
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@ -255,13 +365,11 @@ fn get_candidate_face (tri: &Triangle, p0: Vec3, p1: Vec3, radius: f32)
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));
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let v = p1 - p0;
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let normal = Vec3::cross (tri.verts [2] - tri.verts [1], tri.verts [1] - tri.verts [0]).normalize ();
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let distance_to_face0 = Vec3::dot (normal, p0 - tri.verts [0]) - radius;
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let distance_to_face1 = Vec3::dot (normal, p1 - tri.verts [0]) - radius;
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let distance_to_face0 = Vec3::dot (normal, p0 - verts [0]) - radius;
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let distance_to_face1 = Vec3::dot (normal, p1 - verts [0]) - radius;
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if distance_to_face0 < 0.0 || distance_to_face1 > 0.0 {
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tracing::trace! ("passed_plane {} {}", distance_to_face0, distance_to_face1);
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// tracing::trace! ("passed_plane {} {}", distance_to_face0, distance_to_face1);
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return None;
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}
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@ -272,9 +380,9 @@ fn get_candidate_face (tri: &Triangle, p0: Vec3, p1: Vec3, radius: f32)
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let p_impact_times_denom = p0 * (denom - t_times_denom) + p1 * (t_times_denom);
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for j in 0..3 {
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let a = tri.verts [j];
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let b = tri.verts [(j + 1) % 3];
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for j in 0..verts.len () {
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let a = verts [j];
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let b = verts [(j + 1) % verts.len ()];
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let tangent = Vec3::cross (b - a, normal);
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if Vec3::dot (tangent, p_impact_times_denom - a * denom) < 0.0 {
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