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update PhysicsSolver.cpp

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MihailRis 2026-02-19 23:47:25 +03:00
parent 1ea54d10bc
commit 411bfecedf
1 changed files with 52 additions and 11 deletions
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63
src/physics/PhysicsSolver.cpp
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@ -40,13 +40,14 @@ void PhysicsSolver::step(
float py = pos.y;
float pz = pos.z;
vel += gravity * dt * gravityScale;
if (hitbox.type == BodyType::DYNAMIC) {
colisionCalc(chunks, hitbox, vel, pos, half,
(prevGrounded && gravityScale > 0.0f) ? hitbox.stepHeight : 0.0f);
}
vel += gravity * dt * gravityScale;
pos += vel * dt + gravity * gravityScale * dt * dt * 0.5f;
if (hitbox.grounded && pos.y < py) {
pos.y = py;
}
@ -58,7 +59,7 @@ void PhysicsSolver::step(
hitbox.grounded = false;
aabb = AABB(pos - half, pos + half);
aabb.scale(glm::vec3(1.0f - E * 2, 1.0f, 1.0f - E * 2));
aabb.scale(glm::vec3(1.0f - E * 4, 1.0f, 1.0f - E * 4));
for (int ix = 0; ix <= glm::ceil((half.x-E)*2); ix++) {
float x = (px-half.x+E) + ix;
for (int iz = 0; iz <= glm::ceil((half.z-E)*2); iz++){
@ -76,7 +77,7 @@ void PhysicsSolver::step(
hitbox.grounded = false;
aabb = AABB(pos - half, pos + half);
aabb.scale(glm::vec3(1.0f - E * 2, 1.0f, 1.0f - E * 2));
aabb.scale(glm::vec3(1.0f - E * 4, 1.0f, 1.0f - E * 4));
for (int ix = 0; ix <= glm::ceil((half.x-E)*2); ix++) {
float x = (pos.x-half.x+E) + ix;
for (int iz = 0; iz <= glm::ceil((half.z-E)*2); iz++){
@ -158,13 +159,12 @@ static bool calc_collision_neg(
glm::vec3& pos,
glm::vec3& vel,
const glm::vec3& half,
float stepHeight,
float margin = 1.0f
float stepHeight
) {
if (vel[nx] >= 0.0f) {
return false;
}
glm::vec3 offset(0.0f, (stepHeight + E) * margin, 0.0f);
glm::vec3 offset(0.0f, stepHeight + E, 0.0f);
for (int iy = 0; iy <= glm::ceil(((half-offset*0.5f)[ny]-E)*2); iy++) {
glm::vec3 coord;
coord[ny] = ((pos+offset)[ny]-half[ny]+E) + iy;
@ -177,11 +177,12 @@ static bool calc_collision_neg(
scale[nz] = 1.0f - E * 2.0f;
boxAABB.scale(scale);
boxAABB = boxAABB + offset;
boxAABB.b.y -= stepHeight;
if (const auto aabb = chunks.isObstacleAt(coord.x, coord.y, coord.z, boxAABB)) {
vel[nx] = 0.0f;
float newx = std::floor(coord[nx]) + half[nx] + aabb->max()[nx] + E * margin;
if (newx - pos[nx] <= E * margin) {
float newx = std::floor(coord[nx]) + half[nx] + aabb->max()[nx] + E;
if (newx - pos[nx] <= E) {
pos[nx] = newx;
}
return true;
@ -191,6 +192,41 @@ static bool calc_collision_neg(
return false;
}
static bool calc_collision_neg_y(
const GlobalChunks& chunks,
glm::vec3& pos,
glm::vec3& vel,
const glm::vec3& half
) {
if (vel.y >= 0.0f) {
return false;
}
for (int ix = 0; ix <= glm::ceil((half.x-E)*2); ix++) {
glm::vec3 coord;
coord.x = (pos.x-half.x+E) + ix;
for (int iz = 0; iz <= glm::ceil((half.z-E)*2); iz++){
coord.z = (pos.z-half.z+E) + iz;
coord.y = (pos.y-half.y-E);
auto boxAABB = AABB(pos - half, pos + half);
glm::vec3 scale(1.0f);
scale.x = 1.0f - E * 4.0f;
scale.z = 1.0f - E * 4.0f;
boxAABB.scale(scale);
if (const auto aabb = chunks.isObstacleAt(coord.x, coord.y, coord.z, boxAABB)) {
vel.y = 0.0f;
float newx = std::floor(coord.y) + half.y + aabb->max().y;
if (newx - pos.y <= E) {
pos.y = newx;
}
return true;
}
}
}
return false;
}
template <int nx, int ny, int nz>
static void calc_collision_pos(
const GlobalChunks& chunks,
@ -215,6 +251,7 @@ static void calc_collision_pos(
scale[nz] = 1.0f - E * 2.0f;
boxAABB.scale(scale);
boxAABB = boxAABB + offset;
boxAABB.b.y -= stepHeight;
if (const auto aabb = chunks.isObstacleAt(coord.x, coord.y, coord.z, boxAABB)) {
vel[nx] = 0.0f;
@ -246,13 +283,13 @@ void PhysicsSolver::colisionCalc(
calc_collision_neg<2, 1, 0>(chunks, pos, vel, half, stepHeight);
calc_collision_pos<2, 1, 0>(chunks, pos, vel, half, stepHeight);
if (calc_collision_neg<1, 0, 2>(chunks, pos, vel, half, 0.0f, 0.0f)) {
if (calc_collision_neg_y(chunks, pos, vel, half)) {
hitbox.grounded = true;
}
if (stepHeight > 0.0 && vel.y <= 0.0f){
AABB boxAABB = AABB(-half, +half);
boxAABB.scale(glm::vec3(1.0f - E, 1.0f, 1.0f - E));
boxAABB.scale(glm::vec3(1.0f - E * 2, 1.0f, 1.0f - E * 2));
boxAABB = boxAABB.translated(pos);
for (int ix = 0; ix <= glm::ceil((half.x-E)*2); ix++) {
@ -272,12 +309,16 @@ void PhysicsSolver::colisionCalc(
}
}
if (vel.y > 0.0f){
AABB boxAABB = AABB(-half, +half);
boxAABB.scale(glm::vec3(1.0f - E* 2, 1.0f, 1.0f - E * 2));
boxAABB = boxAABB.translated(pos);
for (int ix = 0; ix <= glm::ceil((half.x-E)*2); ix++) {
float x = (pos.x-half.x+E) + ix;
for (int iz = 0; iz <= glm::ceil((half.z-E)*2); iz++) {
float z = (pos.z-half.z+E) + iz;
float y = (pos.y+half.y+E);
if ((aabb = chunks.isObstacleAt(x,y,z, AABB(pos - half, pos + half)))){
if ((aabb = chunks.isObstacleAt(x,y,z, boxAABB))){
vel.y = 0.0f;
float newy = std::floor(y) - half.y + aabb->min().y - E;
if (std::abs(newy-pos.y) <= MAX_FIX) {