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https://github.com/MihailRis/voxelcore.git
synced 2026-10-04 18:41:51 +00:00
optimize collisions calculations (remove the stupid)
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MihailRis
parent
49aa7cdfba
commit
b0d231c927
9 changed files with 134 additions and 103 deletions
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@ -5,8 +5,8 @@
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#include "voxels/Block.hpp"
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#include "voxels/GlobalChunks.hpp"
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#include "voxels/voxel.hpp"
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#include "debug/Logger.hpp"
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#include <iostream>
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#include <algorithm>
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#define GLM_ENABLE_EXPERIMENTAL
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#include <glm/gtx/norm.hpp>
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@ -14,8 +14,12 @@
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inline const float E = 0.03f;
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inline const float MAX_FIX = 0.1f;
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static debug::Logger logger("physics-solver");
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PhysicsSolver::PhysicsSolver(glm::vec3 gravity) : gravity(gravity) {}
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static int samples_count = 0;
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void PhysicsSolver::step(
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const GlobalChunks& chunks,
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Hitbox& hitbox,
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@ -23,9 +27,9 @@ void PhysicsSolver::step(
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uint substeps,
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entityid_t entity
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) {
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samples_count = 0;
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float dt = delta / static_cast<float>(substeps);
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float linearDamping = hitbox.linearDamping * hitbox.friction;
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float s = 2.0f/BLOCK_AABB_GRID;
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auto half = hitbox.getHalfSize();
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glm::vec3& pos = hitbox.position;
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@ -53,11 +57,12 @@ void PhysicsSolver::step(
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if (hitbox.crouching && hitbox.grounded){
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float y = (pos.y-half.y-E);
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hitbox.grounded = false;
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for (int ix = 0; ix <= (half.x-E)*2/s; ix++) {
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float x = (px-half.x+E) + ix * s;
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for (int iz = 0; iz <= (half.z-E)*2/s; iz++){
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float z = (pos.z-half.z+E) + iz * s;
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if (chunks.isObstacleAt(x,y,z)){
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for (int ix = 0; ix <= glm::ceil((half.x-E)*2); ix++) {
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float x = (px-half.x+E) + ix;
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for (int iz = 0; iz <= glm::ceil((half.z-E)*2); iz++){
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float z = (pos.z-half.z+E) + iz;
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samples_count++;
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if (chunks.isObstacleAt(x,y,z, AABB(pos - half, pos + half))){
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hitbox.grounded = true;
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break;
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}
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@ -68,11 +73,12 @@ void PhysicsSolver::step(
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vel.z = 0.0f;
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}
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hitbox.grounded = false;
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for (int ix = 0; ix <= (half.x-E)*2/s; ix++) {
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float x = (pos.x-half.x+E) + ix * s;
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for (int iz = 0; iz <= (half.z-E)*2/s; iz++){
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float z = (pz-half.z+E) + iz * s;
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if (chunks.isObstacleAt(x,y,z)){
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for (int ix = 0; ix <= glm::ceil((half.x-E)*2); ix++) {
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float x = (pos.x-half.x+E) + ix;
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for (int iz = 0; iz <= glm::ceil((half.z-E)*2); iz++){
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float z = (pz-half.z+E) + iz;
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samples_count++;
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if (chunks.isObstacleAt(x,y,z, AABB(pos - half, pos + half))){
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hitbox.grounded = true;
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break;
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}
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@ -103,7 +109,7 @@ void PhysicsSolver::step(
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bool triggered = false;
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switch (sensor.type) {
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case SensorType::AABB:
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triggered = aabb.intersect(sensor.calculated.aabb);
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triggered = aabb.intersects(sensor.calculated.aabb);
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break;
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case SensorType::RADIUS:
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triggered = glm::distance2(
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@ -118,21 +124,23 @@ void PhysicsSolver::step(
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sensor.nextEntered.insert(entity);
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}
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}
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logger.info() << "total samples: " << samples_count;
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}
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static float calc_step_height(
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const GlobalChunks& chunks,
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const glm::vec3& pos,
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const glm::vec3& half,
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float stepHeight,
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float s
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float stepHeight
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) {
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AABB aabb(pos - half, pos + half);
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if (stepHeight > 0.0f) {
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for (int ix = 0; ix <= (half.x-E)*2/s; ix++) {
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float x = (pos.x-half.x+E) + ix * s;
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for (int iz = 0; iz <= (half.z-E)*2/s; iz++) {
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float z = (pos.z-half.z+E) + iz * s;
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if (chunks.isObstacleAt(x, pos.y+half.y+stepHeight, z)) {
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for (int ix = 0; ix <= glm::ceil((half.x-E) * 2); ix++) {
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float x = (pos.x-half.x+E) + ix;
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for (int iz = 0; iz <= glm::ceil((half.z-E)*2); iz++) {
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float z = (pos.z-half.z+E) + iz;
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samples_count++;
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if (chunks.isObstacleAt(x, pos.y+half.y+stepHeight, z, aabb)) {
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return 0.0f;
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}
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}
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@ -147,20 +155,26 @@ static bool calc_collision_neg(
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glm::vec3& pos,
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glm::vec3& vel,
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const glm::vec3& half,
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float stepHeight,
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float s
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float stepHeight
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) {
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if (vel[nx] >= 0.0f) {
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return false;
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}
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glm::vec3 offset(0.0f, stepHeight, 0.0f);
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for (int iy = 0; iy <= std::max<int>(1, ((half-offset*0.5f)[ny]-E)*2/s); iy++) {
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for (int iy = 0; iy <= glm::ceil(((half-offset*0.5f)[ny]-E)*2); iy++) {
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glm::vec3 coord;
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coord[ny] = ((pos+offset)[ny]-half[ny]+E) + iy * s;
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for (int iz = 0; iz <= (half[nz]-E)*2/s; iz++){
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coord[nz] = (pos[nz]-half[nz]+E) + iz * s;
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coord[ny] = ((pos+offset)[ny]-half[ny]+E) + iy;
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for (int iz = 0; iz <= glm::ceil((half[nz]-E)*2); iz++){
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coord[nz] = (pos[nz]-half[nz]+E) + iz;
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coord[nx] = (pos[nx]-half[nx]-E);
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if (const auto aabb = chunks.isObstacleAt(coord.x, coord.y, coord.z)) {
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samples_count++;
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auto boxAABB = AABB(pos - half, pos + half);
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glm::vec3 scale(1.0f);
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scale[nz] = 1.0f - E * 2.0f;
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boxAABB.scale(scale);
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if (const auto aabb = chunks.isObstacleAt(coord.x, coord.y, coord.z, boxAABB)) {
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vel[nx] = 0.0f;
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float newx = std::floor(coord[nx]) + half[nx] + aabb->max()[nx] + E;
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if (newx - pos[nx] <= E) {
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@ -179,23 +193,29 @@ static void calc_collision_pos(
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glm::vec3& pos,
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glm::vec3& vel,
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const glm::vec3& half,
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float stepHeight,
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float s
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float stepHeight
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) {
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if (vel[nx] <= 0.0f) {
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return;
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}
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glm::vec3 offset(0.0f, stepHeight, 0.0f);
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for (int iy = 0; iy <= std::max<int>(1, ((half-offset*0.5f)[ny]-E)*2/s); iy++) {
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for (int iy = 0; iy <= glm::ceil(((half-offset*0.5f)[ny]-E)*2); iy++) {
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glm::vec3 coord;
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coord[ny] = ((pos+offset)[ny]-half[ny]+E) + iy * s;
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for (int iz = 0; iz <= (half[nz]-E)*2/s; iz++) {
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coord[nz] = (pos[nz]-half[nz]+E) + iz * s;
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coord[ny] = ((pos+offset)[ny]-half[ny]+E) + iy;
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for (int iz = 0; iz <= glm::ceil((half[nz]-E)*2); iz++) {
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coord[nz] = (pos[nz]-half[nz]+E) + iz;
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coord[nx] = (pos[nx]+half[nx]+E);
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if (const auto aabb = chunks.isObstacleAt(coord.x, coord.y, coord.z)) {
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samples_count++;
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auto boxAABB = AABB(pos - half, pos + half);
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glm::vec3 scale(1.0f);
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scale[nz] = 1.0f - E * 2.0f;
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boxAABB.scale(scale);
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if (const auto aabb = chunks.isObstacleAt(coord.x, coord.y, coord.z, boxAABB)) {
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vel[nx] = 0.0f;
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float newx = std::floor(coord[nx]) - half[nx] + aabb->min()[nx] - E;
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if (newx - pos[nx] <= E) {
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if (newx - pos[nx] >= -E) {
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pos[nx] = newx;
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}
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return;
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@ -212,30 +232,28 @@ void PhysicsSolver::colisionCalc(
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const glm::vec3 half,
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float stepHeight
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) {
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// step size (smaller - more accurate, but slower) // TODO: GET RID OF THIS
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float s = 2.0f/BLOCK_AABB_GRID;
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stepHeight = calc_step_height(chunks, pos, half, stepHeight, s);
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stepHeight = calc_step_height(chunks, pos, half, stepHeight);
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const AABB* aabb;
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calc_collision_neg<0, 1, 2>(chunks, pos, vel, half, stepHeight, s);
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calc_collision_pos<0, 1, 2>(chunks, pos, vel, half, stepHeight, s);
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calc_collision_neg<0, 1, 2>(chunks, pos, vel, half, stepHeight);
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calc_collision_pos<0, 1, 2>(chunks, pos, vel, half, stepHeight);
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calc_collision_neg<2, 1, 0>(chunks, pos, vel, half, stepHeight, s);
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calc_collision_pos<2, 1, 0>(chunks, pos, vel, half, stepHeight, s);
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calc_collision_neg<2, 1, 0>(chunks, pos, vel, half, stepHeight);
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calc_collision_pos<2, 1, 0>(chunks, pos, vel, half, stepHeight);
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if (calc_collision_neg<1, 0, 2>(chunks, pos, vel, half, 0.0f, s)) {
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if (calc_collision_neg<1, 0, 2>(chunks, pos, vel, half, 0.0f)) {
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hitbox.grounded = true;
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}
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if (stepHeight > 0.0 && vel.y <= 0.0f){
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for (int ix = 0; ix <= (half.x-E)*2/s; ix++) {
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float x = (pos.x-half.x+E) + ix * s;
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for (int iz = 0; iz <= (half.z-E)*2/s; iz++) {
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float z = (pos.z-half.z+E) + iz * s;
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for (int ix = 0; ix <= glm::ceil((half.x-E)*2); ix++) {
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float x = (pos.x-half.x+E) + ix;
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for (int iz = 0; iz <= glm::ceil((half.z-E)*2); iz++) {
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float z = (pos.z-half.z+E) + iz;
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float y = (pos.y-half.y+E);
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if ((aabb = chunks.isObstacleAt(x,y,z))){
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samples_count++;
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if ((aabb = chunks.isObstacleAt(x,y,z, AABB(pos - half, pos + half)))){
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vel.y = 0.0f;
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float newy = std::floor(y) + aabb->max().y + half.y;
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if (std::abs(newy-pos.y) <= MAX_FIX+stepHeight) {
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@ -247,12 +265,13 @@ void PhysicsSolver::colisionCalc(
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}
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}
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if (vel.y > 0.0f){
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for (int ix = 0; ix <= (half.x-E)*2/s; ix++) {
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float x = (pos.x-half.x+E) + ix * s;
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for (int iz = 0; iz <= (half.z-E)*2/s; iz++) {
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float z = (pos.z-half.z+E) + iz * s;
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for (int ix = 0; ix <= glm::ceil((half.x-E)*2); ix++) {
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float x = (pos.x-half.x+E) + ix;
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for (int iz = 0; iz <= glm::ceil((half.z-E)*2); iz++) {
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float z = (pos.z-half.z+E) + iz;
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float y = (pos.y+half.y+E);
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if ((aabb = chunks.isObstacleAt(x,y,z))){
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samples_count++;
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if ((aabb = chunks.isObstacleAt(x,y,z, AABB(pos - half, pos + half)))){
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vel.y = 0.0f;
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float newy = std::floor(y) - half.y + aabb->min().y - E;
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if (std::abs(newy-pos.y) <= MAX_FIX) {
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