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kinematic flag

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This commit is contained in:
jacob 2024-12-16 12:53:52 -06:00
parent bac3256d1e
commit 1bbe316b20
3 changed files with 42 additions and 23 deletions
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8
src/entity.h
View File

@ -11,7 +11,9 @@ enum entity_prop {
ENTITY_PROP_RELEASE_AT_END_OF_FRAME,
ENTITY_PROP_PHYSICAL,
ENTITY_PROP_PHYSICAL_DYNAMIC,
ENTITY_PROP_PHYSICAL_KINEMATIC,
ENTITY_PROP_CONTACT_CONSTRAINT,
ENTITY_PROP_MOTOR_JOINT,
ENTITY_PROP_MOUSE_JOINT,
@ -292,7 +294,7 @@ struct entity {
/* ====================================================================== */
/* Physics */
/* ENTITY_PROP_PHYSICAL */
/* ENTITY_PROP_PHYSICAL_DYNAMIC */
//f32 density; /* Density in kg/m^2 */
@ -318,6 +320,8 @@ struct entity {
struct string sprite_span_name;
u32 sprite_tint;
struct string sprite_collider_slice; /* Collider will sync to bounds of this slice if set */
struct xform sprite_local_xform; /* Sprite transform in relation to entity */
/* ====================================================================== */

53
src/game.c
View File

@ -340,6 +340,7 @@ INTERNAL void spawn_test_entities(void)
//e->sprite_span_name = STR("idle.unarmed");
//e->sprite_span_name = STR("idle.one_handed");
e->sprite_span_name = STR("idle.two_handed");
e->sprite_collider_slice = STR("shape");
struct xform xf = XFORM_TRS(.t = pos, .r = r, .s = size);
//xf.bx.y = -1.f;
@ -355,7 +356,7 @@ INTERNAL void spawn_test_entities(void)
e->control_torque = 1000;
e->control_force_max_speed = 4;
entity_enable_prop(e, ENTITY_PROP_PHYSICAL);
entity_enable_prop(e, ENTITY_PROP_PHYSICAL_DYNAMIC);
player_ent = e;
}
@ -371,8 +372,9 @@ INTERNAL void spawn_test_entities(void)
entity_set_xform(e, xf);
e->sprite = sprite_tag_from_path(STR("res/graphics/tim.ase"));
e->sprite_collider_slice = STR("shape");
entity_enable_prop(e, ENTITY_PROP_PHYSICAL);
entity_enable_prop(e, ENTITY_PROP_PHYSICAL_DYNAMIC);
e->mass_unscaled = 10;
e->inertia_unscaled = 10;
e->linear_ground_friction = 250;
@ -426,7 +428,7 @@ INTERNAL void create_contacts(void)
for (u64 check0_index = 0; check0_index < store->reserved; ++check0_index) {
struct entity *check0 = &store->entities[check0_index];
if (!entity_is_valid_and_active(check0)) continue;
if (!entity_has_prop(check0, ENTITY_PROP_PHYSICAL)) continue;
if (!(entity_has_prop(check0, ENTITY_PROP_PHYSICAL_DYNAMIC) || entity_has_prop(check0, ENTITY_PROP_PHYSICAL_KINEMATIC))) continue;
if (check0->local_collider.count <= 0) continue;
struct xform check0_xf = entity_get_xform(check0);
@ -436,7 +438,7 @@ INTERNAL void create_contacts(void)
struct entity *check1 = &store->entities[check1_index];
if (check1 == check0) continue;
if (!entity_is_valid_and_active(check1)) continue;
if (!entity_has_prop(check1, ENTITY_PROP_PHYSICAL)) continue;
if (!(entity_has_prop(check1, ENTITY_PROP_PHYSICAL_DYNAMIC) || entity_has_prop(check1, ENTITY_PROP_PHYSICAL_KINEMATIC))) continue;
if (check1->local_collider.count <= 0) continue;
/* Deterministic entity order based on index */
@ -529,7 +531,10 @@ INTERNAL void create_contacts(void)
constraint_ent = entity_alloc(root);
constraint_ent->contact_constraint_data.e1 = e1->handle;
constraint_ent->contact_constraint_data.e0 = e0->handle;
constraint_ent->contact_constraint_data.skip_solve = entity_has_prop(e0, ENTITY_PROP_SENSOR) || entity_has_prop(e1, ENTITY_PROP_SENSOR);
constraint_ent->contact_constraint_data.skip_solve = entity_has_prop(e0, ENTITY_PROP_SENSOR) || entity_has_prop(e1, ENTITY_PROP_SENSOR)
|| !(entity_has_prop(e0, ENTITY_PROP_PHYSICAL_DYNAMIC) || entity_has_prop(e1, ENTITY_PROP_PHYSICAL_DYNAMIC));
/* TODO: Should we recalculate normal as more contact points are added? */
entity_enable_prop(constraint_ent, ENTITY_PROP_CONTACT_CONSTRAINT);
activate_now(constraint_ent);
@ -660,6 +665,15 @@ INTERNAL void prepare_contacts(void)
constraint->inv_i0 = inv_i0;
constraint->inv_i1 = inv_i1;
if (entity_has_prop(e0, ENTITY_PROP_PHYSICAL_KINEMATIC)) {
constraint->inv_m0 = 0;
constraint->inv_i0 = 0;
}
if (entity_has_prop(e1, ENTITY_PROP_PHYSICAL_KINEMATIC)) {
constraint->inv_m1 = 0;
constraint->inv_i1 = 0;
}
/* Update / insert returned contacts */
for (u32 i = 0; i < num_points; ++i) {
struct contact_point *contact = &constraint->points[i];
@ -710,6 +724,7 @@ INTERNAL void warm_start_contacts(void)
u32 num_points = constraint->num_points;
struct entity *e0 = entity_from_handle(store, constraint->e0);
struct entity *e1 = entity_from_handle(store, constraint->e1);
if (num_points > 0 && entity_is_valid_and_active(e0) && entity_is_valid_and_active(e1) && !constraint->skip_solve) {
struct xform e0_xf = entity_get_xform(e0);
struct xform e1_xf = entity_get_xform(e1);
@ -1088,7 +1103,7 @@ INTERNAL void create_mouse_joints(struct game_cmd_array game_cmds)
for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
struct entity *ent = &store->entities[entity_index];
if (!entity_is_valid_and_active(ent)) continue;
if (!entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) continue;
if (!entity_has_prop(ent, ENTITY_PROP_PHYSICAL_DYNAMIC)) continue;
struct collider_shape ent_collider = ent->local_collider;
if (ent_collider.count > 0) {
@ -1110,7 +1125,6 @@ INTERNAL void create_mouse_joints(struct game_cmd_array game_cmds)
joint_ent = entity_alloc(root);
joint_ent->mass_unscaled = F32_INFINITY;
joint_ent->inertia_unscaled = F32_INFINITY;
entity_enable_prop(joint_ent, ENTITY_PROP_PHYSICAL);
entity_enable_prop(joint_ent, ENTITY_PROP_MOUSE_JOINT);
entity_enable_prop(joint_ent, ENTITY_PROP_ACTIVE);
}
@ -1314,7 +1328,7 @@ INTERNAL void integrate_velocities_from_forces(f32 dt)
for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
struct entity *ent = &store->entities[entity_index];
if (!entity_is_valid_and_active(ent)) continue;
if (!entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) continue;
if (!entity_has_prop(ent, ENTITY_PROP_PHYSICAL_DYNAMIC) && !entity_has_prop(ent, ENTITY_PROP_PHYSICAL_KINEMATIC)) continue;
struct xform xf = entity_get_xform(ent);
f32 det_abs = math_fabs(xform_get_determinant(xf));
@ -1342,7 +1356,7 @@ INTERNAL void integrate_positions_from_velocities(f32 dt)
for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
struct entity *ent = &store->entities[entity_index];
if (!entity_is_valid_and_active(ent)) continue;
if (!entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) continue;
if (!entity_has_prop(ent, ENTITY_PROP_PHYSICAL_DYNAMIC) && !entity_has_prop(ent, ENTITY_PROP_PHYSICAL_KINEMATIC)) continue;
/* Clamp velocities */
ent->linear_velocity = v2_clamp_len(ent->linear_velocity, GAME_MAX_LINEAR_VELOCITY);
@ -1565,8 +1579,8 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
ent->sprite_local_xform = xf;
}
/* Update collider */
{
/* Update collider from sprite */
if (ent->sprite_collider_slice.len > 0) {
struct xform cxf = ent->sprite_local_xform;
#if 0
@ -1576,7 +1590,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
}
#endif
struct sprite_sheet_slice slice = sprite_sheet_get_slice(sheet, STR("shape"), ent->animation_frame);
struct sprite_sheet_slice slice = sprite_sheet_get_slice(sheet, ent->sprite_collider_slice, ent->animation_frame);
ent->local_collider = collider_from_quad(xform_mul_quad(cxf, quad_from_rect(slice.rect)));
#if 1
@ -1803,6 +1817,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
//bullet->bullet_impulse = 1.f;
bullet->mass_unscaled = 0.04f;
bullet->inertia_unscaled = 0.00001f;
bullet->sprite_collider_slice = STR("shape");
entity_enable_prop(bullet, ENTITY_PROP_BULLET);
entity_enable_prop(bullet, ENTITY_PROP_SENSOR);
@ -1836,7 +1851,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
joint_ent = entity_alloc(root);
joint_ent->mass_unscaled = F32_INFINITY;
joint_ent->inertia_unscaled = F32_INFINITY;
entity_enable_prop(joint_ent, ENTITY_PROP_PHYSICAL);
entity_enable_prop(joint_ent, ENTITY_PROP_MOTOR_JOINT);
entity_enable_prop(joint_ent, ENTITY_PROP_ACTIVE);
ent->move_joint = joint_ent->handle;
@ -1875,7 +1889,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
joint_ent = entity_alloc(root);
joint_ent->mass_unscaled = F32_INFINITY;
joint_ent->inertia_unscaled = F32_INFINITY;
entity_enable_prop(joint_ent, ENTITY_PROP_PHYSICAL);
entity_enable_prop(joint_ent, ENTITY_PROP_PHYSICAL_KINEMATIC); /* Since we'll be setting velocity */
entity_enable_prop(joint_ent, ENTITY_PROP_MOTOR_JOINT);
entity_enable_prop(joint_ent, ENTITY_PROP_ACTIVE);
ent->aim_joint = joint_ent->handle;
@ -1953,7 +1967,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
struct entity *ent = &store->entities[entity_index];
if (!entity_is_valid_and_active(ent)) continue;
if (!entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) continue;
if (!entity_has_prop(ent, ENTITY_PROP_PHYSICAL_DYNAMIC)) continue;
struct entity *joint_ent = entity_from_handle(store, ent->ground_friction_joint);
@ -1966,7 +1980,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
if (joint_ent->motor_joint_data.max_force != def.max_force || joint_ent->motor_joint_data.max_torque != def.max_torque) {
if (!entity_is_valid_and_active(joint_ent)) {
joint_ent = entity_alloc(root);
entity_enable_prop(joint_ent, ENTITY_PROP_PHYSICAL);
entity_enable_prop(joint_ent, ENTITY_PROP_MOTOR_JOINT);
entity_enable_prop(joint_ent, ENTITY_PROP_ACTIVE);
joint_ent->motor_joint_data = motor_joint_from_def(def);
@ -2052,8 +2065,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
(UNUSED)target;
entity_enable_prop(bullet, ENTITY_PROP_RELEASE_AT_END_OF_FRAME);
/* Create test blood */
/* TODO: Remove this */
{
@ -2061,6 +2072,10 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
struct entity *decal = entity_alloc(root);
decal->sprite = sprite_tag_from_path(STR("res/graphics/blood.ase"));
entity_set_xform(decal, xf);
entity_enable_prop(decal, ENTITY_PROP_PHYSICAL_KINEMATIC);
decal->linear_velocity = v2_mul(v2_norm(event->normal), 0.5f);
decal->angular_velocity = ((f32)sys_rand_u32() / (f32)U32_MAX);
}
}
}
@ -2086,7 +2101,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
struct xform xf = XFORM_TRS(.t = pos, .r = v2_angle(impulse) + PI / 2);
entity_set_xform(ent, xf);
entity_enable_prop(ent, ENTITY_PROP_PHYSICAL);
entity_enable_prop(ent, ENTITY_PROP_PHYSICAL_KINEMATIC);
entity_apply_linear_impulse_to_center(ent, impulse);
}

4
src/user.c
View File

@ -967,7 +967,7 @@ INTERNAL void user_update(void)
}
#endif
if (entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) {
if (entity_has_prop(ent, ENTITY_PROP_PHYSICAL_DYNAMIC)) {
debug_draw_movement(ent);
}
@ -1034,7 +1034,7 @@ INTERNAL void user_update(void)
#endif
/* Draw collider */
if (entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) {
if (entity_has_prop(ent, ENTITY_PROP_PHYSICAL_DYNAMIC)) {
struct collider_shape collider = ent->local_collider;
u32 color = ent->colliding > 0 ? RGBA_32_F(1, 1, 1, 0.5) : RGBA_32_F(1, 1, 0, 0.25);
f32 thickness = 2;