impulses & forces
This commit is contained in:
parent
4b10be1b17
commit
0ed2a403dc
@ -17,6 +17,7 @@ READONLY struct entity _g_entity_nil = {
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.cached_global_xform = XFORM_IDENT_NOCAST,
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.cached_global_xform_dirty = false,
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.verlet_xform = XFORM_IDENT_NOCAST,
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.density = 1,
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.sprite_local_xform = XFORM_IDENT_NOCAST,
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.sprite_tint = COLOR_WHITE
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};
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@ -27,6 +28,7 @@ GLOBAL READONLY struct entity g_entity_default = {
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.cached_global_xform = XFORM_IDENT_NOCAST,
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.cached_global_xform_dirty = true,
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.verlet_xform = XFORM_IDENT_NOCAST,
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.density = 1,
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.sprite_local_xform = XFORM_IDENT_NOCAST,
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.sprite_tint = COLOR_WHITE
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};
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22
src/entity.h
22
src/entity.h
@ -9,9 +9,11 @@ enum entity_prop {
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ENTITY_PROP_ACTIVE,
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ENTITY_PROP_RELEASE_NEXT_TICK,
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ENTITY_PROP_RELEASE,
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ENTITY_PROP_PHYSICAL,
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ENTITY_PROP_IMPULSE,
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ENTITY_PROP_FORCE,
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ENTITY_PROP_PLAYER_CONTROLLED,
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ENTITY_PROP_CAMERA,
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@ -105,6 +107,8 @@ struct entity {
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/* ENTITY_PROP_PHYSICAL */
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f32 density;
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/* Xform of the entity from the previous frame (used to calculate velocity) */
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struct xform verlet_xform;
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@ -112,6 +116,22 @@ struct entity {
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struct v2 final_velocity;
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struct v2 final_acceleration;
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/* ====================================================================== */
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/* Impulse */
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/* ENTITY_PROP_IMPULSE */
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/* Applies impulse velocity to parent entity */
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struct v2 impulse;
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/* ====================================================================== */
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/* Impulse */
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/* ENTITY_PROP_FORCE */
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/* Applies force to parent entity */
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struct v2 force;
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/* ====================================================================== */
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/* Sprite */
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258
src/game.c
258
src/game.c
@ -170,6 +170,18 @@ INTERNAL void spawn_test_entities(void)
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}
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}
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/* ========================== *
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* Activate
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* ========================== */
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INTERNAL void activate_now(struct entity *ent)
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{
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entity_enable_prop(ent, ENTITY_PROP_ACTIVE);
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ent->activation_tick = G.tick.tick_id;
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ent->verlet_xform = entity_get_xform(ent);
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++ent->continuity_gen;
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}
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/* ========================== *
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* Update
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* ========================== */
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@ -244,35 +256,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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};
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}
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/* ========================== *
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* Release entities
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* ========================== */
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/* TODO: Breadth first iteration to only release parent entities (since
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* child entities will be released along with parent anyway) */
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{
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struct temp_arena temp = arena_temp_begin(scratch.arena);
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struct entity **ents_to_release = arena_dry_push(temp.arena, struct entity *);
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u64 ents_to_release_count = 0;
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for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
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struct entity *ent = &store->entities[entity_index];
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if (!ent->valid) continue;
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if (entity_has_prop(ent, ENTITY_PROP_RELEASE_NEXT_TICK)) {
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*arena_push(temp.arena, struct entity *) = ent;
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++ents_to_release_count;
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}
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}
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for (u64 i = 0; i < ents_to_release_count; ++i) {
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entity_release(store, ents_to_release[i]);
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}
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arena_temp_end(temp);
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}
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/* ========================== *
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* Activate entities
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* ========================== */
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@ -284,10 +267,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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if (!entity_has_prop(ent, ENTITY_PROP_ACTIVE)) {
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u64 atick = ent->activation_tick;
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if (atick != 0 || G.tick.tick_id >= atick) {
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entity_enable_prop(ent, ENTITY_PROP_ACTIVE);
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ent->activation_tick = G.tick.tick_id;
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ent->verlet_xform = entity_get_xform(ent);
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++ent->continuity_gen;
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activate_now(ent);
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}
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}
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}
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@ -539,6 +519,107 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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}
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}
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/* ========================== *
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* Create forces from control
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* ========================== */
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for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
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struct entity *ent = &store->entities[entity_index];
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if (!(ent->valid && entity_has_prop(ent, ENTITY_PROP_ACTIVE))) continue;
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struct v2 move = ent->control.move;
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if (!v2_eq(move, V2(0, 0))) {
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struct xform xf = entity_get_xform(ent);
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struct v2 tick_velocity = v2_sub(xf.og, ent->verlet_xform.og);
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/* Player movement */
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if (entity_has_prop(ent, ENTITY_PROP_PLAYER_CONTROLLED)) {
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f32 max_speed = ent->player_max_speed;
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f32 acceleration_rate = ent->player_acceleration;
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acceleration_rate = clamp_f32(acceleration_rate, 0, GAME_FPS); /* Can't integrate acceleration rate higher than FPS */
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struct v2 target_velocity = v2_mul(ent->control.move, max_speed);
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struct v2 target_acceleration = v2_sub(target_velocity, v2_div(tick_velocity, dt));
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struct v2 acceleration = v2_mul(target_acceleration, acceleration_rate);
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/* Create force */
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struct entity *f = entity_alloc(ent);
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entity_enable_prop(f, ENTITY_PROP_FORCE);
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f->force = acceleration;
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activate_now(f);
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}
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}
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}
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/* ========================== *
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* Create constant forces
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* ========================== */
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/* TODO: Just do this in simulation processing */
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for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
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struct entity *ent = &store->entities[entity_index];
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if (!(ent->valid && entity_has_prop(ent, ENTITY_PROP_ACTIVE))) continue;
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if (!entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) continue;
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struct xform xf = entity_get_xform(ent);
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struct v2 velocity = v2_div(v2_sub(xf.og, ent->verlet_xform.og), dt);
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/* Ground friction */
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{
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struct entity *f = entity_alloc(ent);
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f32 force_len = -v2_len(velocity) * 8;
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entity_enable_prop(f, ENTITY_PROP_FORCE);
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f->force = v2_mul(v2_norm(velocity), force_len);
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activate_now(f);
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}
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}
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/* ========================== *
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* Apply impulses to verlet xform
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* ========================== */
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for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
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struct entity *ent = &store->entities[entity_index];
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if (!(ent->valid && entity_has_prop(ent, ENTITY_PROP_ACTIVE))) continue;
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/* FIXME: Why does marking all ents with ENTITY_PROP_RELEASE here raise exception */
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if (entity_has_prop(ent, ENTITY_PROP_IMPULSE)) {
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struct entity *parent = entity_from_handle(store, ent->parent);
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if (entity_has_prop(parent, ENTITY_PROP_ACTIVE)) {
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struct v2 tick_velocity = v2_mul(ent->impulse, dt);
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parent->verlet_xform.og = v2_sub(parent->verlet_xform.og, tick_velocity);
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entity_enable_prop(ent, ENTITY_PROP_RELEASE);
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}
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}
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}
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/* ========================== *
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* Apply forces to verlet xform
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* ========================== */
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for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
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struct entity *ent = &store->entities[entity_index];
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if (!(ent->valid && entity_has_prop(ent, ENTITY_PROP_ACTIVE))) continue;
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f32 density = ent->density;
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f32 mass = density; /* TODO: Real mass calculation */
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if (entity_has_prop(ent, ENTITY_PROP_FORCE)) {
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struct entity *parent = entity_from_handle(store, ent->parent);
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if (entity_has_prop(parent, ENTITY_PROP_ACTIVE)) {
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struct v2 acceleration = v2_div(ent->force, mass);
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struct v2 tick_acceleration = v2_mul(acceleration, dt * dt);
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parent->verlet_xform.og = v2_sub(parent->verlet_xform.og, tick_acceleration);
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entity_enable_prop(ent, ENTITY_PROP_RELEASE);
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}
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}
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}
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/* ========================== *
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* Simulate entity physics
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* ========================== */
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@ -547,21 +628,19 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
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struct entity *ent = &store->entities[entity_index];
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if (!(ent->valid && entity_has_prop(ent, ENTITY_PROP_ACTIVE))) continue;
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if (!entity_has_prop(ent, entity_has_prop(ent, ENTITY_PROP_PHYSICAL))) continue;
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if (!entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) continue;
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struct xform xf = entity_get_xform(ent);
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/* Calculate velocity from old position */
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struct v2 velocity = V2(0, 0);
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struct v2 tick_velocity = V2(0, 0);
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{
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velocity = v2_sub(xf.og, ent->verlet_xform.og);
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velocity = v2_div(velocity, dt);
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tick_velocity = v2_sub(xf.og, ent->verlet_xform.og);
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ent->verlet_xform = xf;
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}
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/* Player angle */
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if (entity_has_prop(ent, ENTITY_PROP_PLAYER_CONTROLLED)) {
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/* Solve for final angle using law of sines */
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f32 final_xf_angle;
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@ -616,27 +695,11 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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}
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}
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/* TODO: Accumulate forces to calculate acceleration */
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struct v2 acceleration = V2(0, 0);
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{
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/* Player movement */
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if (entity_has_prop(ent, ENTITY_PROP_PLAYER_CONTROLLED)) {
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f32 max_speed = ent->player_max_speed;
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f32 acceleration_rate = ent->player_acceleration;
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acceleration_rate = clamp_f32(acceleration_rate, 0, GAME_FPS); /* Can't integrate acceleration rate higher than FPS */
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struct v2 target_velocity = v2_mul(ent->control.move, max_speed);
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struct v2 target_acceleration = v2_sub(target_velocity, velocity);
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acceleration = v2_mul(target_acceleration, acceleration_rate);
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}
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}
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/* Apply velocity */
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xf.og = v2_add(xf.og, tick_velocity);
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/* Integrate acceleration & velocity */
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struct v2 acceleration_tick = v2_mul(acceleration, dt * dt);
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struct v2 velocity_tick = v2_add(v2_mul(velocity, dt), acceleration_tick);
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xf.og = v2_add(xf.og, velocity_tick);
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ent->final_velocity = velocity;
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ent->final_acceleration = acceleration;
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ent->final_velocity = v2_div(tick_velocity, dt);
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ent->final_acceleration = v2_div(v2_sub(v2_sub(xf.og, ent->verlet_xform.og), tick_velocity), dt);
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entity_set_xform(ent, xf);
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}
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@ -644,6 +707,31 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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* Initialize bullet kinematics from sources
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* ========================== */
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#if 0
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for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
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struct entity *ent = &store->entities[entity_index];
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if (!(ent->valid && entity_has_prop(ent, ENTITY_PROP_ACTIVE))) continue;
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/* FIXME: Apply src entity velocity to bullet velocity */
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/* TODO: Use impulse */
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if (entity_has_prop(ent, ENTITY_PROP_BULLET) && !entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) {
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struct entity *src = entity_from_handle(store, ent->bullet_src);
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struct xform src_xf = entity_get_xform(src);
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struct v2 pos = xform_mul_v2(src_xf, ent->bullet_src_pos);
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struct v2 vec = xform_basis_mul_v2(src_xf, ent->bullet_src_dir);
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vec = v2_mul(v2_norm(vec), ent->bullet_impulse);
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struct xform xf = XFORM_TRS(.t = pos, .r = v2_angle(vec) + PI / 2);
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entity_set_xform(ent, xf);
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ent->verlet_xform = XFORM_POS(v2_sub(pos, v2_mul(vec, dt)));
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entity_enable_prop(ent, ENTITY_PROP_PHYSICAL);
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}
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}
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#else
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for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
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struct entity *ent = &store->entities[entity_index];
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if (!(ent->valid && entity_has_prop(ent, ENTITY_PROP_ACTIVE))) continue;
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@ -655,25 +743,22 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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struct xform src_xf = entity_get_xform(src);
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struct v2 pos = xform_mul_v2(src_xf, ent->bullet_src_pos);
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struct v2 vec = xform_basis_mul_v2(src_xf, ent->bullet_src_dir);
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vec = v2_mul(v2_norm(vec), ent->bullet_impulse);
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struct v2 velocity = xform_basis_mul_v2(src_xf, ent->bullet_src_dir);
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velocity = v2_mul(v2_norm(velocity), ent->bullet_impulse);
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#if 0
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{
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struct v2 src_velocity = v2_sub(src_xf.og, src->verlet_xform.og);
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src_velocity = v2_div(src_velocity, dt);
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vec = v2_add(vec, src_velocity);
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}
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#endif
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struct xform xf = XFORM_TRS(.t = pos, .r = v2_angle(vec) + PI / 2);
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struct xform xf = XFORM_TRS(.t = pos, .r = v2_angle(velocity) + PI / 2);
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entity_set_xform(ent, xf);
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ent->verlet_xform = XFORM_POS(v2_sub(pos, v2_mul(vec, dt)));
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ent->verlet_xform = xf;
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entity_enable_prop(ent, ENTITY_PROP_PHYSICAL);
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/* Create impulse */
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struct entity *impulse = entity_alloc(ent);
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impulse->impulse = velocity;
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entity_enable_prop(impulse, ENTITY_PROP_IMPULSE);
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}
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}
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#endif
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/* ========================== *
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* Update camera position
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@ -749,6 +834,35 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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}
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}
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/* ========================== *
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* Release entities
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* ========================== */
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/* TODO: Breadth first iteration to only release parent entities (since
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* child entities will be released along with parent anyway) */
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{
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struct temp_arena temp = arena_temp_begin(scratch.arena);
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struct entity **ents_to_release = arena_dry_push(temp.arena, struct entity *);
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u64 ents_to_release_count = 0;
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for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
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struct entity *ent = &store->entities[entity_index];
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if (!ent->valid) continue;
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if (entity_has_prop(ent, ENTITY_PROP_RELEASE)) {
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*arena_push(temp.arena, struct entity *) = ent;
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++ents_to_release_count;
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}
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}
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for (u64 i = 0; i < ents_to_release_count; ++i) {
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entity_release(store, ents_to_release[i]);
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}
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arena_temp_end(temp);
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}
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/* ========================== *
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* Publish tick
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* ========================== */
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