mirror of
https://github.com/MihailRis/voxelcore.git
synced 2026-10-04 18:41:51 +00:00
369 lines
11 KiB
C++
369 lines
11 KiB
C++
#include "PhysicsSolver.hpp"
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#include "Hitbox.hpp"
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#include "maths/aabb.hpp"
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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 "objects/Entities.hpp"
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#include "debug/Logger.hpp"
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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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inline const float E = 0.03f;
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static debug::Logger logger("physics-solver");
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PhysicsSolver::PhysicsSolver(glm::vec3 gravity) : gravity(std::move(gravity)) {}
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void PhysicsSolver::calcSubstep(
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const GlobalChunks& chunks,
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Hitbox& hitbox,
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glm::vec3& vel,
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glm::vec3& pos,
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bool prevGrounded,
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float dt
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) {
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auto initpos = pos;
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auto half = hitbox.getHalfSize();
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float gravityScale = hitbox.gravityScale;
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if (hitbox.type == BodyType::DYNAMIC) {
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calcCollisions(
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chunks,
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hitbox,
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vel,
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pos,
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half,
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(prevGrounded && gravityScale > 0.0f) ? hitbox.stepHeight : 0.0f
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);
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}
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vel += gravity * dt * gravityScale;
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pos += vel * dt + gravity * gravityScale * dt * dt * 0.5f;
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if (hitbox.grounded && pos.y < initpos.y) {
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pos.y = initpos.y;
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}
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if (prevGrounded && !hitbox.grounded) {
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vel += hitbox.groundVelocity;
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hitbox.groundVelocity = {};
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}
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if (!hitbox.crouching || !hitbox.grounded) {
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return;
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}
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float y = (pos.y-half.y-E);
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for (int axis = 0; axis <= 2; axis += 2) {
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hitbox.grounded = false;
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AABB aabb(pos - half, pos + half);
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aabb.scale(glm::vec3(1.0f - E * 4, 1.0f, 1.0f - E * 4));
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for (int ix = 0; ix <= glm::ceil((half.x - E) * 2); ix++) {
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float x = (initpos.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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if (chunks.isObstacleAt(x, y, z, aabb)){
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hitbox.grounded = true;
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break;
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}
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}
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}
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for (const auto& box : solidHitboxes) {
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if (glm::distance2(box->position, pos) < E) {
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continue;
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}
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auto boxhalf = box->getHalfSize();
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if (AABB(box->position - boxhalf, box->position + boxhalf)
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.intersects(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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}
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if (!hitbox.grounded) {
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pos[axis] = initpos[axis];
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vel[axis] = 0.0f;
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}
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}
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hitbox.grounded = true;
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}
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void PhysicsSolver::step(
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const GlobalChunks& chunks,
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Hitbox& hitbox,
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float delta,
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uint substeps,
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entityid_t entity
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) {
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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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glm::vec3& pos = hitbox.position;
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glm::vec3& vel = hitbox.velocity;
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bool prevGrounded = hitbox.grounded;
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hitbox.grounded = false;
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for (uint i = 0; i < substeps; i++) {
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calcSubstep(chunks, hitbox, vel, pos, prevGrounded, dt);
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}
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vel.x /= 1.0f + delta * linearDamping;
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vel.z /= 1.0f + delta * linearDamping;
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if (hitbox.verticalDamping > 0.0f) {
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vel.y /= 1.0f + delta * linearDamping * hitbox.verticalDamping;
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}
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AABB aabb;
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aabb.a = hitbox.position - hitbox.getHalfSize();
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aabb.b = hitbox.position + hitbox.getHalfSize();
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for (size_t i = 0; i < sensors.size(); i++) {
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auto& sensor = *sensors[i];
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if (sensor.entity == entity) {
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continue;
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}
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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.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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hitbox.position, glm::vec3(sensor.calculated.radial))
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< sensor.calculated.radial.w;
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break;
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}
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if (triggered) {
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if (sensor.prevEntered.find(entity) == sensor.prevEntered.end()) {
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sensor.enterCallback(sensor.entity, sensor.index, entity);
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}
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sensor.nextEntered.insert(entity);
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}
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}
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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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) {
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AABB aabb(-half, +half);
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aabb.scale(glm::vec3(1.0f - E * 2, 1.0f, 1.0f - E * 2));
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aabb = aabb + pos + glm::vec3(0.0f, stepHeight, 0.0f);
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if (stepHeight > 0.0f) {
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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) + 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) + iz;
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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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}
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}
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return stepHeight;
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}
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template <int nx, int ny, int nz>
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static bool calc_collision_neg(
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const GlobalChunks& chunks,
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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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) {
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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 + E, 0.0f);
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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;
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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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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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boxAABB = boxAABB + offset;
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boxAABB.b.y -= stepHeight;
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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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pos[nx] = newx;
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}
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return true;
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}
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}
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}
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return false;
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}
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static bool calc_collision_neg_y(
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const GlobalChunks& chunks,
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const std::vector<Hitbox*>& solidHitboxes,
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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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glm::vec3& groundVelocty
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) {
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if (vel.y >= 0.0f) {
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return false;
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}
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groundVelocty = {};
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for (int ix = 0; ix <= glm::ceil((half.x-E)*2); ix++) {
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glm::vec3 coord;
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coord.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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coord.z = (pos.z-half.z+E) + iz;
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coord.y = (pos.y-half.y-E) - E;
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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.x = 1.0f - E * 4.0f;
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scale.z = 1.0f - E * 4.0f;
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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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float newy = std::floor(coord.y) + half.y + aabb->max().y;
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if (newy > pos.y) {
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vel.y = 0.0f;
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pos.y = newy;
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}
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return true;
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}
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}
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}
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for (const auto& box : solidHitboxes) {
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if (glm::distance2(box->position, pos) < E) {
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continue;
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}
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auto boxhalf = box->getHalfSize();
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if (AABB(box->position - boxhalf, box->position + boxhalf).intersects(AABB(pos - half, pos + half))) {
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vel.y = 0.0f;
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float newx = box->position.y + boxhalf.y + half.y;
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if (newx - pos.y <= 0.5f) {
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pos.y = newx;
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}
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groundVelocty = box->velocity;
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return true;
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}
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}
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return false;
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}
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template <int nx, int ny, int nz>
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static void calc_collision_pos(
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const GlobalChunks& chunks,
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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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) {
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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 + E * 2, 0.0f);
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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;
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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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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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boxAABB = boxAABB + offset;
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boxAABB.b.y -= stepHeight;
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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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pos[nx] = newx;
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}
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return;
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}
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}
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}
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}
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void PhysicsSolver::calcCollisions(
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const GlobalChunks& chunks,
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Hitbox& hitbox,
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glm::vec3& vel,
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glm::vec3& pos,
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const glm::vec3 half,
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float stepHeight
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) {
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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);
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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);
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calc_collision_pos<2, 1, 0>(chunks, pos, vel, half, stepHeight);
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if (calc_collision_neg_y(chunks, solidHitboxes, pos, vel, half, hitbox.groundVelocity)) {
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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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AABB boxAABB = AABB(-half, +half);
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boxAABB.scale(glm::vec3(1.0f - E * 2, 1.0f, 1.0f - E * 2));
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boxAABB = boxAABB.translated(pos);
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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) + 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) + iz;
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float y = (pos.y-half.y+E);
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if ((aabb = chunks.isObstacleAt(x,y,z, boxAABB))){
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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) <= stepHeight) {
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pos.y = newy;
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}
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break;
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}
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}
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}
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}
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if (vel.y > 0.0f){
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AABB boxAABB = AABB(-half, +half);
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boxAABB.scale(glm::vec3(1.0f - E* 2, 1.0f, 1.0f - E * 2));
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boxAABB = boxAABB.translated(pos);
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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, boxAABB))){
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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) <= 0.0f) {
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pos.y = newy;
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}
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break;
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}
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}
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}
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}
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}
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void PhysicsSolver::removeSensor(Sensor* sensor) {
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sensors.erase(std::remove(sensors.begin(), sensors.end(), sensor), sensors.end());
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}
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