275 lines
9.2 KiB
C++
275 lines
9.2 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/Chunks.hpp"
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#include "../voxels/voxel.hpp"
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#include <iostream>
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#define GLM_ENABLE_EXPERIMENTAL
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#include <glm/gtx/norm.hpp>
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const float E = 0.03f;
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const float MAX_FIX = 0.1f;
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PhysicsSolver::PhysicsSolver(glm::vec3 gravity) : gravity(gravity) {
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}
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void PhysicsSolver::step(
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Chunks* chunks,
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Hitbox* hitbox,
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float delta,
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uint substeps,
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bool shifting,
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float gravityScale,
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bool collisions,
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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;
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float s = 2.0f/BLOCK_AABB_GRID;
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const glm::vec3& half = hitbox->halfsize;
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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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float px = pos.x;
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float py = pos.y;
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float pz = pos.z;
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vel += gravity * dt * gravityScale;
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if (collisions) {
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colisionCalc(chunks, hitbox, vel, pos, half,
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(prevGrounded && gravityScale > 0.0f) ? 0.5f : 0.0f);
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}
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vel.x *= glm::max(0.0f, 1.0f - dt * linearDamping);
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vel.z *= glm::max(0.0f, 1.0f - dt * linearDamping);
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pos += vel * dt + gravity * gravityScale * dt * dt * 0.5f;
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if (hitbox->grounded && pos.y < py) {
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pos.y = py;
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}
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if (shifting && 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 (float x = (px-half.x+E); x <= (px+half.x-E); x+=s){
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for (float z = (pos.z-half.z+E); z <= (pos.z+half.z-E); z+=s){
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if (chunks->isObstacleAt(x,y,z)){
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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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if (!hitbox->grounded) {
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pos.z = pz;
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}
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hitbox->grounded = false;
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for (float x = (pos.x-half.x+E); x <= (pos.x+half.x-E); x+=s){
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for (float z = (pz-half.z+E); z <= (pz+half.z-E); z+=s){
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if (chunks->isObstacleAt(x,y,z)){
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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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if (!hitbox->grounded) {
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pos.x = px;
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}
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hitbox->grounded = true;
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}
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}
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AABB aabb;
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aabb.a = hitbox->position - hitbox->halfsize;
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aabb.b = hitbox->position + hitbox->halfsize;
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for (size_t i = 0; i < triggers.size(); i++) {
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auto& trigger = *triggers[i];
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if (trigger.entity == entity) {
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continue;
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}
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bool triggered = false;
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switch (trigger.type) {
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case TriggerType::AABB:
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triggered = aabb.intersect(trigger.calculated.aabb);
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break;
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case TriggerType::RADIUS:
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triggered = glm::distance2(
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hitbox->position, glm::vec3(trigger.calculated.radial))
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< trigger.calculated.radial.w;
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break;
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}
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if (triggered) {
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if (trigger.prevEntered.find(entity) == trigger.prevEntered.end()) {
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trigger.enterCallback(trigger.entity, trigger.index, entity);
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}
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trigger.nextEntered.insert(entity);
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}
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}
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}
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void PhysicsSolver::colisionCalc(
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Chunks* 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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// step size (smaller - more accurate, but slower)
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float s = 2.0f/BLOCK_AABB_GRID;
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if (stepHeight > 0.0f) {
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for (float x = (pos.x-half.x+E); x <= (pos.x+half.x-E); x+=s){
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for (float z = (pos.z-half.z+E); z <= (pos.z+half.z-E); z+=s){
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if (chunks->isObstacleAt(x, pos.y+half.y+stepHeight, z)) {
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stepHeight = 0.0f;
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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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const AABB* aabb;
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if (vel.x < 0.0f){
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for (float y = (pos.y-half.y+E+stepHeight); y <= (pos.y+half.y-E); y+=s){
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for (float z = (pos.z-half.z+E); z <= (pos.z+half.z-E); z+=s){
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float x = (pos.x-half.x-E);
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if ((aabb = chunks->isObstacleAt(x,y,z))){
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vel.x = 0.0f;
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float newx = floor(x) + aabb->max().x + half.x + E;
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if (glm::abs(newx-pos.x) <= MAX_FIX) {
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pos.x = newx;
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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.x > 0.0f){
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for (float y = (pos.y-half.y+E+stepHeight); y <= (pos.y+half.y-E); y+=s){
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for (float z = (pos.z-half.z+E); z <= (pos.z+half.z-E); z+=s){
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float x = (pos.x+half.x+E);
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if ((aabb = chunks->isObstacleAt(x,y,z))){
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vel.x = 0.0f;
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float newx = floor(x) - half.x + aabb->min().x - E;
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if (glm::abs(newx-pos.x) <= MAX_FIX) {
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pos.x = newx;
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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.z < 0.0f){
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for (float y = (pos.y-half.y+E+stepHeight); y <= (pos.y+half.y-E); y+=s){
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for (float x = (pos.x-half.x+E); x <= (pos.x+half.x-E); x+=s){
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float z = (pos.z-half.z-E);
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if ((aabb = chunks->isObstacleAt(x,y,z))){
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vel.z = 0.0f;
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float newz = floor(z) + aabb->max().z + half.z + E;
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if (glm::abs(newz-pos.z) <= MAX_FIX) {
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pos.z = newz;
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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.z > 0.0f){
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for (float y = (pos.y-half.y+E+stepHeight); y <= (pos.y+half.y-E); y+=s){
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for (float x = (pos.x-half.x+E); x <= (pos.x+half.x-E); x+=s){
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float z = (pos.z+half.z+E);
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if ((aabb = chunks->isObstacleAt(x,y,z))){
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vel.z = 0.0f;
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float newz = floor(z) - half.z + aabb->min().z - E;
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if (glm::abs(newz-pos.z) <= MAX_FIX) {
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pos.z = newz;
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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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for (float x = (pos.x-half.x+E); x <= (pos.x+half.x-E); x+=s){
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for (float z = (pos.z-half.z+E); z <= (pos.z+half.z-E); z+=s){
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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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vel.y = 0.0f;
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float newy = floor(y) + aabb->max().y + half.y;
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if (glm::abs(newy-pos.y) <= MAX_FIX) {
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pos.y = newy;
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}
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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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}
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if (stepHeight > 0.0 && vel.y <= 0.0f){
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for (float x = (pos.x-half.x+E); x <= (pos.x+half.x-E); x+=s){
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for (float z = (pos.z-half.z+E); z <= (pos.z+half.z-E); z+=s){
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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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vel.y = 0.0f;
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float newy = floor(y) + aabb->max().y + half.y;
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if (glm::abs(newy-pos.y) <= MAX_FIX+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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for (float x = (pos.x-half.x+E); x <= (pos.x+half.x-E); x+=s){
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for (float z = (pos.z-half.z+E); z <= (pos.z+half.z-E); z+=s){
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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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vel.y = 0.0f;
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float newy = floor(y) - half.y + aabb->min().y - E;
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if (glm::abs(newy-pos.y) <= MAX_FIX) {
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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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bool PhysicsSolver::isBlockInside(int x, int y, int z, Hitbox* hitbox) {
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const glm::vec3& pos = hitbox->position;
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const glm::vec3& half = hitbox->halfsize;
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return x >= floor(pos.x-half.x) && x <= floor(pos.x+half.x) &&
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z >= floor(pos.z-half.z) && z <= floor(pos.z+half.z) &&
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y >= floor(pos.y-half.y) && y <= floor(pos.y+half.y);
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}
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bool PhysicsSolver::isBlockInside(int x, int y, int z, Block* def, blockstate state, Hitbox* hitbox) {
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const float E = 0.001f; // inaccuracy
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const glm::vec3& pos = hitbox->position;
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const glm::vec3& half = hitbox->halfsize;
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const auto& boxes = def->rotatable
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? def->rt.hitboxes[state.rotation]
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: def->hitboxes;
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for (const auto& block_hitbox : boxes) {
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glm::vec3 min = block_hitbox.min();
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glm::vec3 max = block_hitbox.max();
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if (min.x < pos.x+half.x-x-E && max.x > pos.x-half.x-x+E &&
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min.z < pos.z+half.z-z-E && max.z > pos.z-half.z-z+E &&
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min.y < pos.y+half.y-y-E && max.y > pos.y-half.y-y+E)
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return true;
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}
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return false;
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}
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