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Start block collisions

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This commit is contained in:
Miloslav Ciz 2024-09-23 20:21:08 +02:00
parent c0aa81e79e
commit e068b02b9f
5 changed files with 159 additions and 11 deletions
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8
assets.h
View file

@ -26,6 +26,13 @@ static const uint8_t map1[] =
10,
0,
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,36,0,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,20,0,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,32,0,37,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,32,0,20,LCR_BLOCK_MATERIAL_CONCRETE,0),
/*
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,0,0,0,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,63,1,1,0,0),
@ -37,6 +44,7 @@ static const uint8_t map1[] =
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,63,0,0,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,1,1,63,0,0),
*/
/*
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,32,32,32,LCR_BLOCK_MATERIAL_CONCRETE,0),

2
debug.h
View file

@ -14,7 +14,7 @@ void LCR_debugPrintCurrentMap()
LCR_mapBlockGetCoords(LCR_currentMap.blocks + i * 4,&x,&y,&z);
printf(" block %d: type %d, coord %d (%d %d %d)\n",i,
printf(" block %d: type %x, coord %d (%d %d %d)\n",i,
LCR_currentMap.blocks[i * 4],LCR_mapBlockGetCoordNumber(
LCR_currentMap.blocks + i * 4),x,y,z);
}

47
map.h
View file

@ -163,6 +163,13 @@ uint32_t LCR_mapBlockGetCoordNumber(const uint8_t block[LCR_BLOCK_SIZE])
((((uint32_t) block[3]) & 0x3) << 16);
}
uint32_t LCR_mapBlockCoordsToCoordNumber(uint8_t x, uint8_t y, uint8_t z)
{
uint8_t b[LCR_BLOCK_SIZE];
LCR_makeMapBlock(0,x,y,z,0,0,b);
return LCR_mapBlockGetCoordNumber(b);
}
uint8_t *LCR_getMapBlockAtCoordNumber(uint32_t coord)
{
// binary search the block:
@ -339,12 +346,44 @@ uint8_t LCR_mapLoad(const uint8_t *map)
}
/**
Gets a pointer to a map block of the currently loaded map at given
coordinates. If there is no block at given coordinates, 0 is returned.
Same as LCR_mapGetBlockAt, but allows to specify start and end block of the
of the search to make it faster.
*/
const uint8_t *LCR_mapGetBlockAt(uint8_t x, uint8_t y, uint8_t z)
int LCR_mapGetBlockAtFast(uint8_t x, uint8_t y, uint8_t z,
int start, int end)
{
return 0;
// binary search (the blocks are sorted)
uint32_t n = LCR_mapBlockCoordsToCoordNumber(x,y,z);
while (start <= end)
{
int m = (start + end) / 2;
uint32_t n2 = LCR_mapBlockGetCoordNumber(
LCR_currentMap.blocks + m * LCR_BLOCK_SIZE);
if (n2 < n)
start = m + 1;
else if (n2 > n)
end = m - 1;
else
return m;
}
return -1;
}
/**
Gets an index to a map block of the currently loaded map at given
coordinates. If there is no block at given coordinates, -1 is returned.
*/
int LCR_mapGetBlockAt(uint8_t x, uint8_t y, uint8_t z)
{
if (LCR_currentMap.blockCount == 0)
return -1;
return LCR_mapGetBlockAtFast(x,y,z,0,LCR_currentMap.blockCount - 1);
}
uint8_t _LCR_encodeMapBlockCoords(uint8_t x, uint8_t y, uint8_t z)

100
racing.h
View file

@ -68,12 +68,103 @@ TPE_Vec3 _LCR_TPE_vec3DividePlain(TPE_Vec3 v, TPE_Unit d)
return v;
}
TPE_Vec3 _LCR_racingBlockEnvFunc(TPE_Vec3 point, const uint8_t *block)
{
uint8_t bx, by, bz;
LCR_mapBlockGetCoords(block,&bx,&by,&bz);
TPE_Vec3 center = TPE_vec3(
(((int) bx) - LCR_MAP_SIZE_BLOCKS / 2) * LCR_PHYSICS_UNIT
+ LCR_PHYSICS_UNIT / 2,
(((int) by) - LCR_MAP_SIZE_BLOCKS / 2) * (LCR_PHYSICS_UNIT / 2)
+ LCR_PHYSICS_UNIT / 4,
(((int) bz) - LCR_MAP_SIZE_BLOCKS / 2) * LCR_PHYSICS_UNIT
+ LCR_PHYSICS_UNIT / 2);
return TPE_envAABox(point,center,TPE_vec3(LCR_PHYSICS_UNIT / 2,
LCR_PHYSICS_UNIT / 4,LCR_PHYSICS_UNIT / 2));
}
TPE_Vec3 _LCR_racingEnvironmentFunction(TPE_Vec3 point, TPE_Unit maxDist)
{
return TPE_envAABoxInside(point,TPE_vec3(0,0,0),TPE_vec3(
// start with the map outside walls:
TPE_ENV_START(TPE_envAABoxInside(point,TPE_vec3(0,0,0),TPE_vec3(
LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS,
(LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS) / 2,
LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS));
LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS)),point)
const uint8_t *block = LCR_currentMap.blocks;
if (maxDist <= LCR_PHYSICS_UNIT / 4) // considering half of square height
{
/* Here we only check the 8 closest blocks => relatively fast. */
TPE_Vec3 pointShifted = TPE_vec3Plus(point,TPE_vec3(
(LCR_MAP_SIZE_BLOCKS / 2) * LCR_PHYSICS_UNIT,
(LCR_MAP_SIZE_BLOCKS / 4) * LCR_PHYSICS_UNIT,
(LCR_MAP_SIZE_BLOCKS / 2) * LCR_PHYSICS_UNIT));
uint8_t coords[6]; // x_low, x_high, y_low, y_high, z_low, z_high
coords[0] = (pointShifted.x / LCR_PHYSICS_UNIT);
coords[1] = (pointShifted.x % LCR_PHYSICS_UNIT < LCR_PHYSICS_UNIT / 2);
coords[2] = (pointShifted.y / (LCR_PHYSICS_UNIT / 2));
coords[3] =
(pointShifted.y % (LCR_PHYSICS_UNIT / 2) < LCR_PHYSICS_UNIT / 4);
coords[4] = (pointShifted.z / LCR_PHYSICS_UNIT);
coords[5] = (pointShifted.z % LCR_PHYSICS_UNIT < LCR_PHYSICS_UNIT / 2);
for (int i = 0; i < 6; i += 2)
if (coords[i + 1])
{
coords[i + 1] = coords[i];
coords[i] = coords[i] > 0 ? coords[i] - 1 : 0;
}
else
coords[i + 1] = coords[i] < 63 ? coords[i] + 1 : 63;
int start = 0, end = LCR_currentMap.blockCount - 1;
for (uint8_t i = 0; i < 8; ++i)
{
/* Black magic: here we make it so that we the lowest coord numbers
(0,0,0), then the highest (1,1,1), then second lowest (1,0,0), then
second highest (0,1,1) etc. This way we are narrowing the range (start,
end) for the binary search. */
int blockNum = LCR_mapGetBlockAtFast(
coords[0] + ((i ^ (i >> 1)) & 0x01),
coords[2] + ((i ^ (i >> 2)) & 0x01),
coords[4] + (i & 0x01),start,end);
if (blockNum >= 0) // is there a block at the coords?
{
TPE_ENV_NEXT(_LCR_racingBlockEnvFunc(point, // check it
LCR_currentMap.blocks + blockNum * LCR_BLOCK_SIZE),point)
// narrow the search range:
if (i % 2 == 0 && blockNum > start)
start = blockNum;
if (i % 2 && blockNum < end)
end = blockNum;
}
}
}
else
{
printf("oof\n");
/* Full check of all map blocks, slow, shouldn't happen often! */
for (int j = 0; j < LCR_currentMap.blockCount; ++j)
{
TPE_ENV_NEXT(_LCR_racingBlockEnvFunc(point,block),point)
block += LCR_BLOCK_SIZE;
}
}
TPE_ENV_END
}
LCR_GameUnit LCR_racingGetCarSpeed(void)
@ -164,6 +255,11 @@ void LCR_racingInit(void)
LCR_racing.carBody.elasticity = LCR_CAR_ELASTICITY;
LCR_racing.carBody.flags |= TPE_BODY_FLAG_ALWAYS_ACTIVE;
/* We disable bounding sphere checks because that would lead to calling env.
function with large min. distance which would lead to slow iteration over
all map blocks. */
LCR_racing.carBody.flags |= TPE_BODY_FLAG_NO_BSPHERE;
LCR_racingRestart();
}

11
tinyphysicsengine.h
View file

@ -250,6 +250,8 @@ typedef struct
performance. */
#define TPE_BODY_FLAG_ALWAYS_ACTIVE 32 /**< Will never deactivate due to low
energy. */
#define TPE_BODY_FLAG_NO_BSPHERE 64 /**< Stops quick bounding sphere checks
against environment. */
/** Function used for defining static environment, working similarly to an SDF
(signed distance function). The parameters are: 3D point P, max distance D.
@ -1911,10 +1913,13 @@ uint8_t TPE_bodyEnvironmentResolveCollision(TPE_Body *body,
TPE_Vec3 c;
TPE_Unit d;
TPE_bodyGetFastBSphere(body,&c,&d);
if (!(body->flags & TPE_BODY_FLAG_NO_BSPHERE))
{
TPE_bodyGetFastBSphere(body,&c,&d);
if (TPE_DISTANCE(c,env(c,d)) > d)
return 0;
if (TPE_DISTANCE(c,env(c,d)) > d)
return 0;
}
// now test the full body collision: