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RandomityGuy 2021-05-31 11:15:12 +05:30
parent 38bcab6c62
commit 536e86b8bb
8 changed files with 253 additions and 73 deletions
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14
src/Main.hx
View file

@ -46,19 +46,19 @@ class Main extends hxd.App {
var m1 = new PathedInteriorMarker();
m1.msToNext = 5;
m1.position = new Vector(5, 0, 0);
m1.position = new Vector(0, 0, 0);
m1.smoothingType = "";
m1.rotation = new Quat();
var m2 = new PathedInteriorMarker();
m2.msToNext = 3;
m2.position = new Vector(5, 0, 5);
m2.position = new Vector(0, 0, 5);
m2.smoothingType = "";
m2.rotation = new Quat();
var m3 = new PathedInteriorMarker();
m3.msToNext = 5;
m3.position = new Vector(5, 0, 0);
m3.position = new Vector(0, 0, 0);
m3.smoothingType = "";
m3.rotation = new Quat();
@ -86,14 +86,14 @@ class Main extends hxd.App {
// s3d.camera.
var marble2 = new Marble();
world.addMarble(marble2);
marble2.setPosition(0, 5, 5);
// var marble2 = new Marble();
// world.addMarble(marble2);
// marble2.setPosition(5, 0, 5);
var marble = new Marble();
marble.controllable = true;
world.addMarble(marble);
marble.setPosition(6, 0, 5);
marble.setPosition(0, 0, 2);
// marble.setPosition(-10, -5, 5);
}

243
src/Marble.hx
View file

@ -1,5 +1,6 @@
package src;
import collision.Collision;
import dif.math.Point3F;
import dif.math.PlaneF;
import collision.CollisionSurface;
@ -251,13 +252,20 @@ class Marble extends Object {
dir.normalize();
var soFar = 0.0;
for (k in 0...contacts.length) {
if (contacts[k].penetration < this._radius) {
if (contacts[k].contactDistance < this._radius) {
var timeToSeparate = 0.1;
var dist = contacts[k].penetration;
var outVel = this.velocity.add(dir.multiply(soFar)).dot(contacts[k].normal);
var dist = this._radius - contacts[k].contactDistance; // contacts[k].penetration;
var normal = contacts[k].normal;
var unk = normal.multiply(soFar);
var tickle = this.velocity.sub(contacts[k].velocity);
var plop = unk.add(tickle);
var outVel = plop.dot(normal);
var cancan = timeToSeparate * outVel;
if (timeToSeparate * outVel < dist) {
soFar += (dist - outVel * timeToSeparate) / timeToSeparate / contacts[k].normal.dot(dir);
if (dist > cancan) {
var bla = contacts[k].normal;
var bFac = (dist - cancan) / timeToSeparate;
soFar += bFac / bla.dot(dir);
}
}
}
@ -278,9 +286,9 @@ class Marble extends Object {
var bestNormalForce = 0.0;
for (i in 0...contacts.length) {
if (contacts[i].collider == null) {
var normalForce = -contacts[i].normal.dot(A);
if (normalForce > bestNormalForce) {
bestNormalForce = normalForce;
contacts[i].normalForce = -contacts[i].normal.dot(A);
if (contacts[i].normalForce > bestNormalForce) {
bestNormalForce = contacts[i].normalForce;
bestSurface = i;
}
}
@ -373,7 +381,7 @@ class Marble extends Object {
function testMove(velocity:Vector, position:Vector, deltaT:Float, radius:Float, testPIs:Bool, collisionWorld:CollisionWorld) {
var velLen = velocity.length();
if (velLen < 0.001)
return false;
return deltaT;
var velocityDir = velocity.normalized();
@ -411,7 +419,7 @@ class Marble extends Object {
var surfaces = obj.octree.radiusSearch(localpos, expandedcollider.radius);
for (surf in surfaces) {
var surface:CollisionSurface = cast obj;
var surface:CollisionSurface = cast surf;
var i = 0;
while (i < surface.indices.length) {
@ -655,27 +663,131 @@ class Marble extends Object {
contacted = true;
}
return true;
return finalT;
}
function advancePhysics(m:Move, dt:Float, collisionWorld:CollisionWorld) {
this.findContacts(collisionWorld, dt);
var cmf = this.computeMoveForces(m);
var isCentered:Bool = cmf.result;
var aControl = cmf.aControl;
var desiredOmega = cmf.desiredOmega;
this.velocityCancel(isCentered, false);
var A = this.getExternalForces(m, dt);
var retf = this.applyContactForces(dt, m, isCentered, aControl, desiredOmega, A);
A = retf[0];
var a = retf[1];
this.velocity = this.velocity.add(A.multiply(dt));
this.omega = this.omega.add(a.multiply(dt));
this.velocityCancel(isCentered, true);
this._totalTime += dt;
if (contacts.length != 0) {
this._contactTime += dt;
function getIntersectionTime(dt:Float, velocity:Vector, pathedInteriors:Array<PathedInterior>, collisionWorld:CollisionWorld) {
var expandedcollider = new SphereCollisionEntity(cast this);
var position = this.getAbsPos().getPosition();
expandedcollider.transform = Matrix.T(position.x, position.y, position.z);
expandedcollider.radius = this.getAbsPos().getPosition().distance(position) + _radius;
var foundObjs = collisionWorld.radiusSearch(position, expandedcollider.radius);
function toDifPoint(vec:Vector) {
return new Point3F(vec.x, vec.y, vec.z);
}
var intersectT = 10e8;
for (obj in foundObjs) {
if (obj.velocity.length() > 0) {
var radius = _radius;
var invMatrix = obj.transform.clone();
invMatrix.invert();
var localpos = position.clone();
localpos.transform(invMatrix);
var surfaces = obj.octree.radiusSearch(localpos, radius * 1.1);
var tform = obj.transform.clone();
var velDir = obj.velocity.normalized();
// tform.setPosition(tform.getPosition().add(velDir.multiply(_radius)));
tform.setPosition(tform.getPosition().add(obj.velocity.multiply(dt)).sub(velDir.multiply(_radius)));
var contacts = [];
for (surf in surfaces) {
var surface:CollisionSurface = cast surf;
var i = 0;
while (i < surface.indices.length) {
var v0 = surface.points[surface.indices[i]].transformed(tform);
var v = surface.points[surface.indices[i + 1]].transformed(tform);
var v2 = surface.points[surface.indices[i + 2]].transformed(tform);
var polyPlane = PlaneF.ThreePoints(toDifPoint(v0), toDifPoint(v), toDifPoint(v2));
var surfacenormal = surface.normals[surface.indices[i]].transformed3x3(obj.transform);
var t = (-position.dot(surfacenormal) - polyPlane.d) / velocity.dot(surfacenormal);
var pt = position.add(velocity.multiply(t));
if (Collision.PointInTriangle(pt, v0, v, v2)) {
if (t > 0 && t < intersectT) {
intersectT = t;
}
}
i += 3;
}
}
}
}
return intersectT;
}
function advancePhysics(currentTime:Float, dt:Float, m:Move, collisionWorld:CollisionWorld, pathedInteriors:Array<PathedInterior>) {
var timeRemaining = dt;
var it = 0;
var piTime = currentTime;
do {
if (timeRemaining <= 0)
break;
var timeStep = 0.00800000037997961;
if (timeRemaining < 0.00800000037997961)
timeStep = timeRemaining;
this.findContacts(collisionWorld, timeStep);
var cmf = this.computeMoveForces(m);
var isCentered:Bool = cmf.result;
var aControl = cmf.aControl;
var desiredOmega = cmf.desiredOmega;
this.velocityCancel(isCentered, false);
var A = this.getExternalForces(m, timeStep);
var retf = this.applyContactForces(timeStep, m, isCentered, aControl, desiredOmega, A);
A = retf[0];
var a = retf[1];
this.velocity = this.velocity.add(A.multiply(timeStep));
this.omega = this.omega.add(a.multiply(timeStep));
this.velocityCancel(isCentered, true);
this._totalTime += timeStep;
if (contacts.length != 0) {
this._contactTime += timeStep;
}
var intersectT = this.getIntersectionTime(timeStep, velocity, pathedInteriors, collisionWorld);
if (intersectT < timeStep) {
var diff = timeStep - intersectT;
this.velocity = this.velocity.sub(A.multiply(diff));
this.omega = this.omega.sub(a.multiply(diff));
timeStep = intersectT;
}
piTime += timeStep;
if (this.controllable) {
for (interior in pathedInteriors) {
interior.update(piTime, timeStep);
}
}
var pos = this.getAbsPos().getPosition();
var newPos = pos.add(this.velocity.multiply(timeStep));
this.setPosition(newPos.x, newPos.y, newPos.z);
var tform = this.collider.transform;
tform.setPosition(new Vector(newPos.x, newPos.y, newPos.z));
this.collider.setTransform(tform);
this.collider.velocity = this.velocity;
timeRemaining -= timeStep;
it++;
} while (it <= 10);
this.queuedContacts = [];
}
@ -700,33 +812,62 @@ class Marble extends Object {
}
}
var timeRemaining = dt;
var it = 0;
do {
if (timeRemaining <= 0)
break;
advancePhysics(currentTime, dt, move, collisionWorld, pathedInteriors);
var timeStep = 0.00800000037997961;
if (timeRemaining < 0.00800000037997961)
timeStep = timeRemaining;
// var timeRemaining = dt;
// var it = 0;
advancePhysics(move, timeStep, collisionWorld);
var newPos = this.getAbsPos().getPosition().add(this.velocity.multiply(timeStep));
this.setPosition(newPos.x, newPos.y, newPos.z);
var tform = this.collider.transform;
tform.setPosition(new Vector(newPos.x, newPos.y, newPos.z));
this.collider.setTransform(tform);
this.collider.velocity = this.velocity;
// var piTime = currentTime;
timeRemaining -= timeStep;
it++;
} while (it <= 10);
// var pos = this.getAbsPos().getPosition();
// do {
// if (timeRemaining <= 0)
// break;
if (this.controllable) {
for (interior in pathedInteriors) {
interior.update(currentTime, dt);
}
}
// var timeStep = 0.00800000037997961;
// if (timeRemaining < 0.00800000037997961)
// timeStep = timeRemaining;
// var externalForces = getExternalForces(move, timeStep);
// advancePhysics(move, timeStep, collisionWorld);
// var intersectT = this.getIntersectionTime(timeStep, velocity, pathedInteriors, collisionWorld);
// if (intersectT < timeStep) {
// timeStep = intersectT;
// }
// piTime += timeStep;
// if (this.controllable) {
// for (interior in pathedInteriors) {
// // interior.rollBack();
// interior.update(piTime, timeStep);
// }
// }
// var pos = this.getAbsPos().getPosition();
// var newPos = pos.add(this.velocity.multiply(timeStep));
// this.setPosition(newPos.x, newPos.y, newPos.z);
// var tform = this.collider.transform;
// tform.setPosition(new Vector(newPos.x, newPos.y, newPos.z));
// this.collider.setTransform(tform);
// this.collider.velocity = this.velocity;
// // if (intersectT != timeStep && intersectT != 10e8) {
// // // this.velocity = this.velocity.sub(externalForces.multiply(timeStep - intersectT));
// // // this.omega
// // if (intersectT > timeStep) {
// // trace("Bruh");
// // }
// // timeStep = intersectT;
// // }
// timeRemaining -= timeStep;
// it++;
// } while (it <= 10);
this.camera.target.load(this.getAbsPos().getPosition().toPoint());
}

42
src/PathedInterior.hx
View file

@ -6,18 +6,29 @@ import src.Util;
import src.PathedInteriorMarker;
import src.InteriorGeometry;
class PathedInterior extends InteriorGeometry {
public var markerData:Array<PathedInteriorMarker> = [];
var duration:Float;
typedef PIState = {
var currentTime:Float;
var targetTime:Float;
var changeTime:Float;
var prevPosition:Vector;
var currentPosition:Vector;
var velocity:Vector;
}
class PathedInterior extends InteriorGeometry {
public var markerData:Array<PathedInteriorMarker> = [];
public var duration:Float;
public var currentTime:Float;
public var targetTime:Float;
public var changeTime:Float;
public var prevPosition:Vector;
public var currentPosition:Vector;
public var velocity:Vector;
var previousState:PIState;
public function new() {
super();
@ -29,6 +40,15 @@ class PathedInterior extends InteriorGeometry {
}
public function update(currentTime:Float, dt:Float) {
this.previousState = {
currentTime: currentTime,
targetTime: targetTime,
changeTime: changeTime,
prevPosition: prevPosition,
currentPosition: currentPosition,
velocity: velocity
};
var transform = this.getTransformAtTime(this.getInternalTime(currentTime));
this.updatePosition();
@ -39,6 +59,16 @@ class PathedInterior extends InteriorGeometry {
velocity = position.sub(this.prevPosition).multiply(1 / dt);
}
public function rollBack() {
this.currentTime = this.previousState.currentTime;
this.targetTime = this.previousState.targetTime;
this.changeTime = this.previousState.changeTime;
this.prevPosition = this.previousState.prevPosition;
this.currentPosition = this.previousState.currentPosition;
this.velocity = this.previousState.velocity;
this.updatePosition();
}
function computeDuration() {
var total = 0.0;
for (marker in markerData) {

4
src/collision/Collision.hx
View file

@ -216,7 +216,7 @@ class Collision {
return res;
}
private static function PointInTriangle(point:Vector, v0:Vector, v1:Vector, v2:Vector):Bool {
public static function PointInTriangle(point:Vector, v0:Vector, v1:Vector, v2:Vector):Bool {
var u = v1.sub(v0);
var v = v2.sub(v0);
var w = point.sub(v0);
@ -242,7 +242,7 @@ class Collision {
return (r + t) <= 1;
}
private static function PointInTriangle2(point:Vector, a:Vector, b:Vector, c:Vector):Bool {
public static function PointInTriangle2(point:Vector, a:Vector, b:Vector, c:Vector):Bool {
var a1 = a.sub(point);
var b1 = b.sub(point);
var c1 = c.sub(point);

6
src/collision/CollisionEntity.hx
View file

@ -74,7 +74,7 @@ class CollisionEntity implements IOctreeObject {
var surfaces = octree.radiusSearch(localpos, radius * 1.1);
var tform = transform.clone();
// tform.setPosition(tform.getPosition().add(velocity.multiply(dt)));
tform.setPosition(tform.getPosition().add(this.velocity.multiply(dt)));
var contacts = [];
@ -104,8 +104,10 @@ class CollisionEntity implements IOctreeObject {
cinfo.point = closest;
// cinfo.collider = this;
cinfo.velocity = this.velocity;
cinfo.penetration = radius - (position.sub(closest).dot(normal));
cinfo.contactDistance = closest.distance(position);
// cinfo.penetration = radius - (position.sub(closest).dot(normal));
cinfo.restitution = 1;
cinfo.force = 0;
cinfo.friction = 1;
contacts.push(cinfo);
}

5
src/collision/CollisionInfo.hx
View file

@ -8,8 +8,11 @@ class CollisionInfo {
public var velocity:Vector;
public var collider:CollisionEntity;
public var friction:Float;
public var vAtCMag:Float;
public var normalForce:Float;
public var restitution:Float;
public var penetration:Float;
public var contactDistance:Float;
public var force:Float;
public function new() {}
}

4
src/collision/CollisionWorld.hx
View file

@ -53,12 +53,12 @@ class CollisionWorld {
for (obj in intersections) {
var entity:CollisionEntity = cast obj;
contacts = contacts.concat(entity);
contacts.push(entity);
}
for (obj in dynamicEntities) {
if (obj.boundingBox.collide(box))
contacts = contacts.concat(obj);
contacts.push(obj);
}
return contacts;

8
src/collision/SphereCollisionEntity.hx
View file

@ -45,7 +45,9 @@ class SphereCollisionEntity extends CollisionEntity {
contact.velocity = this.velocity;
contact.point = position.add(thispos).multiply(0.5);
contact.normal = contact.point.sub(thispos).normalized();
contact.penetration = radius - (position.sub(contact.point).dot(contact.normal));
contact.force = 0;
contact.contactDistance = contact.point.distance(position);
// contact.penetration = radius - (position.sub(contact.point).dot(contact.normal));
contacts.push(contact);
var othercontact = new CollisionInfo();
@ -55,7 +57,9 @@ class SphereCollisionEntity extends CollisionEntity {
othercontact.velocity = this.velocity;
othercontact.point = thispos.add(position).multiply(0.5);
othercontact.normal = contact.point.sub(position).normalized();
othercontact.penetration = this.radius - (thispos.sub(othercontact.point).dot(othercontact.normal));
othercontact.contactDistance = contact.point.distance(position);
othercontact.force = 0;
// othercontact.penetration = this.radius - (thispos.sub(othercontact.point).dot(othercontact.normal));
this.marble.queueCollision(othercontact);
}
return contacts;