better impulse & force application
This commit is contained in:
parent
0ed2a403dc
commit
10c9c833ba
@ -111,6 +111,7 @@ INTERNAL struct entity *entity_alloc_internal(struct entity_store *store)
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struct entity *entity_alloc(struct entity *parent)
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{
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ASSERT(parent->valid);
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struct entity_store *store = entity_get_store(parent);
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struct entity *e = entity_alloc_internal(store);
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entity_link_parent(e, parent);
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@ -137,7 +138,9 @@ INTERNAL void entity_release_internal(struct entity_store *store, struct entity
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void entity_release(struct entity_store *store, struct entity *ent)
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{
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if (ent->parent.gen) {
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entity_unlink_parent(ent);
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}
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entity_release_internal(store, ent);
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}
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13
src/entity.h
13
src/entity.h
@ -90,32 +90,23 @@ struct entity {
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/* ====================================================================== */
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/* Control */
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f32 control_move_force; /* How much force is applied to achieve desired control movement */
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struct {
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struct v2 move;
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struct v2 focus;
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} control;
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/* ====================================================================== */
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/* Player control */
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/* ENTITY_PROP_PLAYER_CONTROLLED */
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f32 player_max_speed;
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f32 player_acceleration;
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/* ====================================================================== */
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/* Physics */
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/* ENTITY_PROP_PHYSICAL */
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f32 density;
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f32 ground_friction;
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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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/* Calculated */
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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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188
src/game.c
188
src/game.c
@ -124,9 +124,10 @@ INTERNAL void spawn_test_entities(void)
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e->sprite_span_name = STR("idle.two_handed");
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entity_enable_prop(e, ENTITY_PROP_PLAYER_CONTROLLED);
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e->player_max_speed = 4.f;
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e->player_acceleration = 20;
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e->control_move_force = 50;
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e->control.focus = V2(0, -1);
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e->ground_friction = 12;
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e->density = 1.0;
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player_ent = e;
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@ -477,7 +478,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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entity_enable_prop(eq, ENTITY_PROP_TRIGGERED_THIS_TICK);
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}
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}
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}
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/* ========================== *
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@ -528,120 +528,101 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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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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f->force = v2_mul(move, ent->control_move_force);
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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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* Create ground friction force
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* ========================== */
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/* TODO: Just do this in simulation processing */
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/* TODO: Do this globally rather than creating entities for constant forces */
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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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if (ent->ground_friction != 0) {
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struct xform verlet_xform = ent->verlet_xform;
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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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struct v2 velocity = v2_div(v2_sub(xf.og, 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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if (!v2_eq(velocity, V2(0, 0))) {
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/* FIXME: Incorrect behavior at low FPS & low entity density */
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const f32 clamp_epsilon = 0.025;
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f32 velocity_len = v2_len(velocity);
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if (velocity_len >= clamp_epsilon) {
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f32 force_len = -velocity_len * ent->ground_friction;
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struct entity *force = entity_alloc(ent);
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entity_enable_prop(force, ENTITY_PROP_FORCE);
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force->force = v2_mul(v2_norm(velocity), force_len);
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activate_now(force);
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} else {
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/* If velocity is below clamp_epsilon, stop entity movement. */
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struct entity *impulse = entity_alloc(ent);
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entity_enable_prop(impulse, ENTITY_PROP_IMPULSE);
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impulse->impulse = v2_neg(velocity);
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activate_now(impulse);
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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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* Simulate physics
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* ========================== */
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/* TODO: Run physics on top-level entities, and then calculate child xforms as part of physics step (rather than caching at each xform_get). */
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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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if (entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) {
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f32 density = ent->density;
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f32 mass = density; /* TODO: Real mass calculation */
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struct v2 acceleration = V2(0, 0);
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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 tick_velocity = V2(0, 0);
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{
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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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/* Apply impulses */
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for (struct entity *child = entity_from_handle(store, ent->first); child->valid; child = entity_from_handle(store, child->next)) {
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if (entity_has_prop(child, ENTITY_PROP_IMPULSE)) {
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acceleration = v2_add(acceleration, child->impulse);
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entity_enable_prop(child, ENTITY_PROP_RELEASE);
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}
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}
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/* Player angle */
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/* Apply forces */
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for (struct entity *child = entity_from_handle(store, ent->first); child->valid; child = entity_from_handle(store, child->next)) {
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if (entity_has_prop(child, ENTITY_PROP_FORCE)) {
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struct v2 force_acceleration = v2_mul(v2_div(child->force, mass), dt);
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acceleration = v2_add(acceleration, force_acceleration);
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entity_enable_prop(child, ENTITY_PROP_RELEASE);
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}
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}
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/* Verlet integration */
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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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ent->verlet_xform = xf;
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xf.og = v2_add(xf.og, v2_add(tick_velocity, v2_mul(acceleration, dt)));
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entity_set_xform(ent, xf);
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}
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}
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/* ========================== *
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* Player aim
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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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if (entity_has_prop(ent, ENTITY_PROP_PLAYER_CONTROLLED)) {
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struct xform xf = entity_get_xform(ent);
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/* Solve for final angle using law of sines */
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f32 final_xf_angle;
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{
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@ -693,52 +674,22 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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xf = xform_with_rotation(xf, final_xf_angle);
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}
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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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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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}
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/* ========================== *
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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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/* FIXME: Apply src entity velocity to bullet velocity */
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if (entity_has_prop(ent, ENTITY_PROP_BULLET) && !entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) {
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if (entity_has_prop(ent, ENTITY_PROP_BULLET) && ent->activation_tick == G.tick.tick_id) {
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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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@ -749,7 +700,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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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 = xf;
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entity_enable_prop(ent, ENTITY_PROP_PHYSICAL);
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/* Create impulse */
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@ -758,7 +708,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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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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@ -857,7 +806,10 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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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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struct entity *ent = ents_to_release[i];
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if (ent->valid) {
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entity_release(store, ent);
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}
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}
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arena_temp_end(temp);
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13
src/user.c
13
src/user.c
@ -381,16 +381,14 @@ INTERNAL void debug_draw_movement(struct entity *ent)
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f32 arrow_len = 15.f;
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u32 color_vel = RGBA_32_F(1, 0.5, 0, 1);
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u32 color_acc = RGBA_32_F(1, 1, 0.5, 1);
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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), G.world.dt);
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struct v2 pos = xform_mul_v2(G.world_view, xf.og);
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struct v2 vel_ray = xform_basis_mul_v2(G.world_view, ent->final_velocity);
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struct v2 acc_ray = xform_basis_mul_v2(G.world_view, ent->final_acceleration);
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struct v2 vel_ray = xform_basis_mul_v2(G.world_view, velocity);
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draw_solid_arrow_ray(G.viewport_canvas, pos, vel_ray, thickness, arrow_len, color_vel);
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draw_solid_arrow_ray(G.viewport_canvas, pos, acc_ray, thickness, arrow_len, color_acc);
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}
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INTERNAL void user_update(void)
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@ -443,6 +441,7 @@ INTERNAL void user_update(void)
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/* Blend world globals */
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G.world.time = math_lerp64(t0->time, t1->time, (f64)tick_blend);
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G.world.dt = math_lerp64(t0->dt, t1->dt, (f64)tick_blend);
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/* Blend entities */
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u64 num_entities = min_u64(t0->entity_store->reserved, t1->entity_store->reserved);
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@ -466,10 +465,8 @@ INTERNAL void user_update(void)
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e->cached_global_xform = xform_lerp(e0->cached_global_xform, e1->cached_global_xform, tick_blend);
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e->verlet_xform = xform_lerp(e0->verlet_xform, e1->verlet_xform, tick_blend);
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e->final_acceleration = v2_lerp(e0->final_acceleration, e1->final_acceleration, tick_blend);
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e->final_velocity = v2_lerp(e0->final_velocity, e1->final_velocity, tick_blend);
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e->player_acceleration = math_lerp(e0->player_acceleration, e1->player_acceleration, tick_blend);
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e->control_move_force = math_lerp(e0->control_move_force, e1->control_move_force, tick_blend);
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e->control.move = v2_lerp(e0->control.move, e1->control.move, tick_blend);
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e->control.focus = v2_lerp(e0->control.focus, e1->control.focus, tick_blend);
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@ -896,7 +893,9 @@ INTERNAL void user_update(void)
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}
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#endif
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if (entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) {
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debug_draw_movement(ent);
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}
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if (!skip_debug_draw_transform) {
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debug_draw_xform(xf);
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