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Fix some CCD shit

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This commit is contained in:
RandomityGuy 2021-06-23 22:41:42 +05:30
parent a94434778b
commit 5df7ac6315
3 changed files with 40 additions and 26 deletions
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60
src/Marble.hx
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@ -443,6 +443,7 @@ class Marble extends GameObject {
dir2 = dir2.add(contacts[j].normal);
}
dir = dir2;
dir.normalize();
gotOne = true;
}
if (gotOne) {
@ -450,20 +451,28 @@ class Marble extends GameObject {
var soFar = 0.0;
for (k in 0...contacts.length) {
if (contacts[k].contactDistance < this._radius) {
var timeToSeparate = 0.1;
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 (dist > cancan) {
var bla = contacts[k].normal;
var bFac = (dist - cancan) / timeToSeparate;
soFar += bFac / bla.dot(dir);
var timeToSeparate = 0.01666;
var dist = contacts[k].contactDistance; // contacts[k].penetration;
if (dist >= 0) {
var flag1 = this.velocity.sub(contacts[k].velocity).add(dir.multiply(soFar)).dot(contacts[k].normal) * timeToSeparate;
if (flag1 < dist) {
var flag2 = (dist - flag1) / timeToSeparate;
soFar += flag2 / contacts[k].normal.dot(dir);
}
}
// 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 (dist > cancan) {
// var bla = contacts[k].normal;
// var bFac = (dist - cancan) / timeToSeparate;
// soFar += bFac / bla.dot(dir);
// }
}
}
if (soFar < -25)
@ -604,14 +613,14 @@ class Marble extends GameObject {
}
function getIntersectionTime(dt:Float, velocity:Vector) {
// var searchbox = new Bounds();
// searchbox.addSpherePos(this.x, this.y, this.z, _radius);
// searchbox.addSpherePos(this.x + velocity.x * dt, this.y + velocity.y * dt, this.z + velocity.z * dt, _radius);
var searchbox = new Bounds();
searchbox.addSpherePos(this.x, this.y, this.z, _radius);
searchbox.addSpherePos(this.x + velocity.x * dt, this.y + velocity.y * dt, this.z + velocity.z * dt, _radius);
var position = this.getAbsPos().getPosition();
// var foundObjs = this.level.collisionWorld.boundingSearch(searchbox);
var foundObjs = this.contactEntities;
var foundObjs = this.level.collisionWorld.boundingSearch(searchbox);
// var foundObjs = this.contactEntities;
function toDifPoint(vec:Vector) {
return new Point3F(vec.x, vec.y, vec.z);
@ -633,7 +642,6 @@ class Marble extends GameObject {
var relVelocity = velocity.sub(obj.velocity);
// tform.setPosition(tform.getPosition().add(velDir.multiply(_radius)));
// tform.setPosition(tform.getPosition().add(obj.velocity.multiply(dt)).sub(velDir.multiply(_radius)));
// tform.setPosition(tform.getPosition().add(obj.velocity.multiply(dt)));
var contacts = [];
@ -647,14 +655,13 @@ class Marble extends GameObject {
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 closest = Collision.IntersectTriangleCapsule(position, position.add(relVelocity.multiply(dt)), _radius, v0, v, v2, surfacenormal);
// var closest = Collision.IntersectTriangleSphere(v0, v, v2, surfacenormal, position, radius);
if (closest != null) {
var t = (-position.dot(surfacenormal) - polyPlane.d) / relVelocity.dot(surfacenormal);
var t = (-position.dot(surfacenormal) - v0.dot(surfacenormal)) / relVelocity.dot(surfacenormal);
var pt = position.add(relVelocity.multiply(t));
@ -706,6 +713,13 @@ class Marble extends GameObject {
var tempState = timeState.clone();
tempState.dt = timeStep;
if (this.controllable) {
for (interior in pathedInteriors) {
interior.pushTickState();
interior.recomputeVelocity(piTime + 0.032, 0.032);
}
}
this.findContacts(collisionWorld, tempState);
var cmf = this.computeMoveForces(m);
var isCentered:Bool = cmf.result;
@ -740,7 +754,7 @@ class Marble extends GameObject {
piTime += timeStep;
if (this.controllable) {
for (interior in pathedInteriors) {
// interior.popTickState();
interior.popTickState();
interior.setStopped(stoppedPaths);
var piDT = timeState.clone();
piDT.currentAttemptTime = piTime;

2
src/collision/CollisionEntity.hx
View file

@ -142,7 +142,7 @@ class CollisionEntity implements IOctreeObject {
cinfo.point = closest;
// cinfo.collider = this;
cinfo.velocity = this.velocity;
cinfo.contactDistance = closest.distance(position);
cinfo.contactDistance = radius - closest.distance(position);
cinfo.otherObject = this.go;
// cinfo.penetration = radius - (position.sub(closest).dot(normal));
cinfo.restitution = surface.restitution;

4
src/collision/CollisionWorld.hx
View file

@ -79,8 +79,8 @@ class CollisionWorld {
public function boundingSearch(bounds:Bounds) {
var contacts = this.octree.boundingSearch(bounds).map(x -> cast(x, CollisionEntity));
for (obj in dynamicEntities) {
if (obj.boundingBox.collide(bounds))
contacts.push(obj);
// if (obj.boundingBox.collide(bounds))
contacts.push(obj);
}
return contacts;
}