update `glam`, add tests to the physics
_
parent
f5da7b5188
commit
96436d6c36
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@ -1,5 +1,7 @@
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# This file is automatically @generated by Cargo.
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# It is not intended for manual editing.
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version = 3
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[[package]]
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name = "adler32"
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version = "1.0.4"
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@ -297,9 +299,9 @@ dependencies = [
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[[package]]
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name = "glam"
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version = "0.8.5"
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version = "0.20.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "bb24d4e1b92ceed0450bbf803ac894b597c5b8d0e16f175f7ef28c42024d8cbd"
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checksum = "68270e16582ea40f9c5b2fcd588fbc9cb696577222e04a64d9085cc314806a8a"
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[[package]]
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name = "hermit-abi"
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@ -15,7 +15,8 @@ float-ord = "0.2.0"
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futures = "0.3.8"
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futures-util = "0.3.9"
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gl = "0.14.0"
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glam = "0.8.5"
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# glam = "0.8.5"
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glam = "0.20.1"
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iota = "0.2.1"
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maplit = "1.0.2"
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partial-min-max = "0.4.0"
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@ -24,5 +24,62 @@ async fn main () -> Result <()> {
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window.gl_make_current (&gl_ctx).map_err (|e| anyhow! ("Can't make OpenGL context current: {}", e))?;
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let mut event_pump = sdl_context.event_pump ().unwrap ();
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let mut time_step = TimeStep::new (60, 1000);
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let mut graphics_frames = 0;
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let shader_program = shader::shader_from_files ("shaders/terrain-vert.glsl", "shaders/terrain-frag.glsl");
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let shader_locations = ShaderLocations::new (&shader_program)?;
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let mesh_cube = renderable_from_iqm_file ("cube.iqm");
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'running: loop {
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let _frames_to_do = time_step.step ();
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for event in event_pump.poll_iter () {
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match event {
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Event::Quit {..} |
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Event::KeyDown { keycode: Some (Keycode::Escape), .. } => {
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break 'running
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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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glezz::enable (gl::DEPTH_TEST);
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glezz::clear_color (0.392f32, 0.710f32, 0.965f32, 1.0f32);
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glezz::clear (gl::COLOR_BUFFER_BIT | gl::DEPTH_BUFFER_BIT | gl::STENCIL_BUFFER_BIT);
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window.gl_swap_window ();
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tokio::time::sleep (Duration::from_millis (15)).await;
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}
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Ok (())
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}
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struct ShaderLocations {
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attr_pos: u32,
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attr_normal: u32,
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attr_color: u32,
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uni_mvp: i32,
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}
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impl ShaderLocations {
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pub fn new (shader_program: &shader::ShaderProgram) -> anyhow::Result <Self>
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{
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let attr = |name: &str| shader_program.get_attribute_location (&CString::new (name.as_bytes ())?).try_into ().context ("Attribute location negative");
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let uni = |name: &str| shader_program.get_uniform_location (&CString::new (name.as_bytes ())?).try_into ().context ("Uniform location bad");
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Ok (Self {
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attr_pos: attr ("attr_pos")?,
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attr_normal: attr ("attr_normal")?,
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attr_color: attr ("attr_color")?,
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uni_mvp: uni ("uni_mvp")?,
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})
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}
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}
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@ -25,9 +25,9 @@ where V: Into <Vec3>
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let rgb: Vec3 = rgb.into ();
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Vec3::from ((
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rgb.x () / 255.0,
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rgb.y () / 255.0,
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rgb.z () / 255.0
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rgb.x / 255.0,
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rgb.y / 255.0,
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rgb.z / 255.0
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))
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}
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@ -293,9 +293,9 @@ impl FlightState {
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// Forces
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let gravity = Vec3::from ((0.0, 0.0, -0.25));
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let thrust = 0.125 * nose * throttle;
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let linear_drag = 0.0 * 0.25 * speed * -object_space_dir.y () * nose;
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let linear_drag = 0.0 * 0.25 * speed * -object_space_dir.y * nose;
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let turbulent_dir = Vec3::from ((-1.0 * object_space_dir.x (), -0.03125 * object_space_dir.y (), -16.0 * object_space_dir.z ()));
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let turbulent_dir = Vec3::from ((-1.0 * object_space_dir.x, -0.03125 * object_space_dir.y, -16.0 * object_space_dir.z));
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let quadratic_drag = speed * speed * airplane.ori.mul_vec3 (turbulent_dir);
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let air_drag = linear_drag + quadratic_drag;
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@ -305,9 +305,9 @@ impl FlightState {
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airplane.vel += dt * (thrust + gravity + air_drag);
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airplane.pos += dt * airplane.vel;
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if airplane.pos.z () < 0.0 {
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airplane.vel.set_z (0.0);
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airplane.pos.set_z (0.0);
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if airplane.pos.z < 0.0 {
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airplane.vel.z = 0.0;
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airplane.pos.z = 0.0;
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}
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if microstep == microsteps - 1 {
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@ -325,10 +325,10 @@ impl FlightState {
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];
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// Gauges
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let alti = airplane.pos.z () * 100.0;
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let sink_rate = -airplane.vel.z () * 100.0;
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let alti = airplane.pos.z * 100.0;
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let sink_rate = -airplane.vel.z * 100.0;
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let air_speed = speed * 100.0;
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let ground_vel = Vec3::from ((airplane.vel.x (), airplane.vel.y (), 0.0));
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let ground_vel = Vec3::from ((airplane.vel.x, airplane.vel.y, 0.0));
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let ground_speed = ground_vel.length () * 100.0;
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let glide_ratio = if sink_rate > 1.0 && throttle == 0.0 {
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Some (ground_speed / sink_rate)
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@ -457,8 +457,8 @@ fn make_object_space_vec (inverse_model_mat: &Mat4, world_space_vec: &Vec3)
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-> Vec3
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{
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let v = world_space_vec;
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let v4 = *inverse_model_mat * Vec4::from ((v.x (), v.y (), v.z (), 0.0));
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Vec3::from ((v4.x (), v4.y (), v4.z ()))
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let v4 = *inverse_model_mat * Vec4::from ((v.x, v.y, v.z, 0.0));
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Vec3::from ((v4.x, v4.y, v4.z))
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}
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#[derive (Clone)]
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@ -861,11 +861,12 @@ impl GameGraphics {
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let light = state.wind_tunnel.sunlight.to_vec3 ();
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let shadow_mat = {
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let mut mat = Mat4::identity ();
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mat.set_z_axis ((-light.x () / light.z (), -light.y () / light.z (), 0.0, 0.0).into ());
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mat
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};
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let shadow_mat = Mat4::from_cols (
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(1.0, 0.0, 0.0, 0.0).into (),
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(0.0, 1.0, 0.0, 0.0).into (),
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(-light.x / light.z, -light.y / light.z, 0.0, 0.0).into (),
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(0.0, 0.0, 0.0, 1.0).into (),
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);
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let mut passes = self.passes.iter ();
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//println! ("Started frame");
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@ -931,7 +932,7 @@ impl GameGraphics {
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let inverse_truck = truck_model_mat.inverse ();
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let truck_model_mat = truck_model_mat * Mat4::from_scale ((airplane_scale, airplane_scale, airplane_scale).into ());
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let world_model_mat = Mat4::identity ();
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let world_model_mat = Mat4::IDENTITY;
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use uniforms::*;
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@ -1272,7 +1273,7 @@ fn main () {
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let gravity = (0.0, 0.0, -1.0).into ();
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let wind = state.wind.to_vec3 () * -1.0;
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let wind_force = (wind.x (), 0.125 * wind.y (), wind.z ()).into ();
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let wind_force = (wind.x, 0.125 * wind.y, wind.z).into ();
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let get_flash = |control_type, default_color| {
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if state.user_control == control_type {
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@ -1314,10 +1315,10 @@ fn main () {
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let d = arrow.direction / dir_len;
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let up: Vec3 = if d.z () > 0.5 {
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let up: Vec3 = if d.z > 0.5 {
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(-1.0, 0.0, 0.0)
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}
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else if d.z () < -0.5 {
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else if d.z < -0.5 {
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(-1.0, 0.0, 0.0)
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}
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else {
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@ -1329,11 +1330,12 @@ fn main () {
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let left = d.cross (up);
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let up = d.cross (left);
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let mut dir_mat = Mat4::identity ();
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dir_mat.set_x_axis ((left.x (), left.y (), left.z (), 0.0).into ());
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dir_mat.set_y_axis ((up.x (), up.y (), up.z (), 0.0).into ());
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dir_mat.set_z_axis ((d.x (), d.y (), d.z (), 0.0).into ());
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let dir_mat = Mat4::from_cols (
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(left, 0.0).into (),
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(up, 0.0).into (),
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(d, 0.0).into (),
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(0.0, 0.0, 0.0, 1.0).into (),
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);
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let s = dir_len * 0.0625;
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@ -9,8 +9,6 @@ use std::io::Cursor;
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pub struct VertexBuffer {
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id: u32,
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// Not bytes.
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len: usize,
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}
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const FLOAT_SIZE: usize = 4;
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@ -59,7 +57,6 @@ impl VertexBuffer {
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Self {
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id,
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len,
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}
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}
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@ -74,7 +71,6 @@ impl VertexBuffer {
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Self {
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id,
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len,
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}
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}
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@ -103,9 +99,6 @@ pub struct IndexBuffer {
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/// The OpenGL ID of the buffer
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id: u32,
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/// The count of 32-bit indices the buffer can store
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len: usize,
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/// The largest index stored in the buffer when it was created
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max: u32,
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}
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@ -144,7 +137,6 @@ impl IndexBuffer {
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Self {
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id,
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len: slice.len () / IDX_SIZE,
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max: max.unwrap (),
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}
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}
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@ -166,7 +158,6 @@ impl IndexBuffer {
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Self {
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id,
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len: slice.len (),
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max: *max.unwrap (),
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}
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}
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196
src/physics.rs
196
src/physics.rs
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@ -1,39 +1,37 @@
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use glam::{Vec2, Vec3};
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use partial_min_max::{min, max};
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#[derive (Debug, PartialEq)]
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pub struct PhysicsBody {
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pos: Vec3,
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vel: Vec3,
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}
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#[derive (Debug, PartialEq)]
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pub struct PhysicsResult {
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body: PhysicsBody,
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triangles_hit: Vec <usize>,
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kill: bool,
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pub body: PhysicsBody,
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pub triangles_hit: Vec <usize>,
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pub kill: bool,
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}
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#[derive (Copy, Clone)]
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pub struct Triangle {
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verts: [Vec3; 3],
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}
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pub trait MeshBuffer {
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fn num_triangles (&self) -> usize;
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fn get_triangle (&self, i: usize) -> Triangle;
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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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min (a.y (), b.y ()),
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min (a.z (), b.z ())
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min (a.x, b.x),
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min (a.y, b.y),
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min (a.z, b.z)
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))
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}
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fn vec_max (a: &Vec3, b: &Vec3) -> Vec3 {
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Vec3::from ((
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max (a.x (), b.x ()),
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max (a.y (), b.y ()),
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max (a.z (), b.z ())
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max (a.x, b.x),
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max (a.y, b.y),
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max (a.z, b.z)
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))
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}
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@ -53,7 +51,7 @@ impl Triangle {
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}
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}
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#[derive (Clone)]
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#[derive (Clone, Debug, PartialEq)]
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pub struct Collision {
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t: f32,
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p_impact: Vec3,
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@ -72,11 +70,9 @@ impl Collision {
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}
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}
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pub fn get_candidate <MB> (world: &MB, p0: Vec3, p1: Vec3)
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pub fn get_candidate (world: &[Triangle], p0: Vec3, p1: Vec3, radius: f32)
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-> Collision
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where MB: MeshBuffer
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{
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let radius = 0.0625f32;
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let radius3 = Vec3::from ((
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radius,
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radius,
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@ -91,19 +87,17 @@ where MB: MeshBuffer
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i: 0,
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};
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for i in 0..world.num_triangles () {
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let tri = world.get_triangle (i);
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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 = min (p0, p1);
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let ray_max = max (p0, p1);
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let ray_min = p0.min (p1);
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let ray_max = p0.max (p1);
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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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ray_max.y () < tri_min.y () || ray_min.y () > tri_max.y () ||
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ray_max.z () < tri_min.z () || ray_min.z () > tri_max.z ()
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ray_max.x < tri_min.x || ray_min.x > tri_max.x ||
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ray_max.y < tri_min.y || ray_min.y > tri_max.y ||
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ray_max.z < tri_min.z || ray_min.z > tri_max.z
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{
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// AABB reject
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continue;
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@ -189,14 +183,14 @@ where MB: MeshBuffer
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// and Y is the cross of those.
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// I forgot the maths word for this
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let discriminant = radius * radius - a_ray.y () * a_ray.y ();
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let discriminant = radius * radius - a_ray.y * a_ray.y;
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if discriminant < 0.0 {
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// No possible collision
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continue;
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}
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let t = (a_ray.x () - discriminant.sqrt ()) / (p1 - p0).length ();
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let t = (a_ray.x - discriminant.sqrt ()) / (p1 - p0).length ();
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if t < 0.0 || t > 1.0 {
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// The cylinder is along the line,
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@ -280,25 +274,31 @@ where MB: MeshBuffer
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candidate
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}
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pub fn physics_step <MB> (input: &PhysicsBody, world: &MB)
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-> PhysicsResult
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where MB: MeshBuffer
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pub struct Params {
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dt: f32,
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gravity: Vec3,
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margin: f32,
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}
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pub fn physics_step (
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params: &Params, world: &[Triangle],
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radius: f32, input: &PhysicsBody,
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) -> PhysicsResult
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{
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let dt = 1.0 / 60.0;
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let z = Vec3::from ((0.0, 0.0, 1.0));
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let gravity = z * -16.0 * dt;
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let margin = 0.00125;
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let margin = params.margin;
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let dt = params.dt;
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let mut t_remaining = 1.0;
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let mut old_pos = input.pos;
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let mut new_vel = input.vel + gravity;
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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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for i in 0..5 {
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let candidate = get_candidate (world, old_pos, new_pos);
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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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if candidate.t <= 1.0 {
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t_remaining *= 1.0 - candidate.t;
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@ -315,6 +315,8 @@ where MB: MeshBuffer
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new_vel += candidate.normal * speed_towards_normal;
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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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}
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else {
|
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t_remaining = 0.0;
|
||||
|
|
@ -332,3 +334,121 @@ where MB: MeshBuffer
|
|||
kill: false,
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg (test)]
|
||||
mod test {
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
fn test_physics () {
|
||||
// Remember, Z is up
|
||||
|
||||
let params = Params {
|
||||
dt: 1.0,
|
||||
gravity: (0.0, 0.0, 0.0).into (),
|
||||
margin: 0.00125,
|
||||
};
|
||||
|
||||
let world: Vec <_> = vec! [
|
||||
(
|
||||
(0.0, 0.0, 0.0),
|
||||
(0.0, 2.0, 0.0),
|
||||
(2.0, 0.0, 0.0),
|
||||
),
|
||||
].into_iter ()
|
||||
.map (|(v0, v1, v2)| {
|
||||
Triangle {
|
||||
verts: [
|
||||
v0.into (),
|
||||
v1.into (),
|
||||
v2.into (),
|
||||
],
|
||||
}
|
||||
})
|
||||
.collect ();
|
||||
|
||||
let magic_0 = f32::sqrt (f32::powf (0.5 + params.margin, 2.0) / 2.0);
|
||||
|
||||
for ((radius, body_before), e) in [
|
||||
// Ray striking triangle from above, stops at triangle
|
||||
(
|
||||
(
|
||||
0.0,
|
||||
PhysicsBody {
|
||||
pos: (0.5, 0.5, 0.5).into (),
|
||||
vel: (0.0, 0.0, -1.0).into (),
|
||||
},
|
||||
),
|
||||
PhysicsResult {
|
||||
body: PhysicsBody {
|
||||
pos: (0.5, 0.5, params.margin).into (),
|
||||
vel: (0.0, 0.0, 0.0).into (),
|
||||
},
|
||||
triangles_hit: vec! [0],
|
||||
kill: false,
|
||||
},
|
||||
),
|
||||
// Ball striking triangle from above, stops at ball radius
|
||||
(
|
||||
(
|
||||
0.5,
|
||||
PhysicsBody {
|
||||
pos: (0.5, 0.5, 2.0).into (),
|
||||
vel: (0.0, 0.0, -2.0).into (),
|
||||
},
|
||||
),
|
||||
PhysicsResult {
|
||||
body: PhysicsBody {
|
||||
pos: (0.5, 0.5, params.margin + 0.5).into (),
|
||||
vel: (0.0, 0.0, 0.0).into (),
|
||||
},
|
||||
triangles_hit: vec! [0],
|
||||
kill: false,
|
||||
},
|
||||
),
|
||||
// Ball striking triangle on edge
|
||||
(
|
||||
(
|
||||
0.5,
|
||||
PhysicsBody {
|
||||
pos: (-2.0, 1.0, 0.0).into (),
|
||||
vel: (2.0, 0.0, 0.0).into (),
|
||||
},
|
||||
),
|
||||
PhysicsResult {
|
||||
body: PhysicsBody {
|
||||
pos: (-params.margin - 0.5, 1.0, 0.0).into (),
|
||||
vel: (0.0, 0.0, 0.0).into (),
|
||||
},
|
||||
triangles_hit: vec! [0],
|
||||
kill: false,
|
||||
},
|
||||
),
|
||||
// Ball striking triangle on diagonal edge
|
||||
(
|
||||
(
|
||||
0.5,
|
||||
PhysicsBody {
|
||||
pos: (2.0, 2.0, 0.0).into (),
|
||||
vel: (-2.0, -2.0, 0.0).into (),
|
||||
},
|
||||
),
|
||||
PhysicsResult {
|
||||
body: PhysicsBody {
|
||||
pos: (1.0 + magic_0, 1.0 + magic_0, 0.0).into (),
|
||||
vel: (0.0, 0.0, 0.0).into (),
|
||||
},
|
||||
triangles_hit: vec! [0],
|
||||
kill: false,
|
||||
},
|
||||
),
|
||||
] {
|
||||
let a = physics_step (¶ms, &world, radius, &body_before);
|
||||
|
||||
assert! (a.body.pos.distance_squared (e.body.pos) < 0.00125);
|
||||
assert! (a.body.vel.distance_squared (e.body.vel) < 0.00125);
|
||||
assert_eq! (a.triangles_hit, e.triangles_hit);
|
||||
assert_eq! (a.kill, e.kill);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -30,6 +30,7 @@ pub use crate::{
|
|||
gpu_buffers,
|
||||
network_protocol::*,
|
||||
quinn_common::make_client_endpoint,
|
||||
renderable_model::renderable_from_iqm_file,
|
||||
shader,
|
||||
timestep::TimeStep,
|
||||
};
|
||||
|
|
|
|||
|
|
@ -18,7 +18,6 @@ pub struct RenderableMesh {
|
|||
pub struct RenderableModel {
|
||||
num_pos: usize,
|
||||
num_uv: usize,
|
||||
num_normal: usize,
|
||||
|
||||
vertexes: VertexBuffer,
|
||||
indexes: IndexBuffer,
|
||||
|
|
@ -89,7 +88,6 @@ impl RenderableModel {
|
|||
Self {
|
||||
num_pos,
|
||||
num_uv,
|
||||
num_normal,
|
||||
|
||||
vertexes,
|
||||
indexes,
|
||||
|
|
|
|||
Loading…
Reference in New Issue