terom@58: 
terom@58: #include "Physics.hh"
terom@58: #include "Engine.hh"
saiam@115: #include "GameState.hh"
saiam@150: #include "Terrain.hh"
terom@58: 
saiam@45: #include <algorithm>
terom@50: #include <functional>
nireco@77: #include <cmath>
ekku@104: #include <assert.h>
saiam@45: 
terom@60: PhysicsWorld::PhysicsWorld (Vector gravity, Vector dimensions)
saiam@161:     : Terrain(1337), tick_timer(PHYSICS_TICK_MS), tick_counter(0), dimensions(dimensions),
saiam@150:       gravity(gravity) {
terom@54:     slots.connect(tick_timer.sig_timer(), this, &PhysicsWorld::tick);
terom@50:     tick_timer.enable();
terom@50: }
ekku@44: 
ekku@44: void PhysicsWorld::addObject (PhysicsObject *object) {
saiam@47:     objects.push_back(object);
ekku@44: }
ekku@44: 
ekku@44: void PhysicsWorld::tick () {
saiam@123:     //    Engine::log(DEBUG, "physics.apply_force") << "*tick*";
terom@58: 
nireco@76:     for (std::vector<PhysicsObject*>::iterator i = objects.begin(); i != objects.end(); i++) {
nireco@76:         (*i)->tick(); 
nireco@76:     }
terom@105: 
terom@105:     tick_counter++;
terom@105: }
terom@105: 
terom@105: uint32_t PhysicsWorld::getTick (void) {
terom@105:     return tick_counter;
saiam@48: }
saiam@48: 
saiam@128: PhysicsObject::PhysicsObject (PhysicsWorld &world, float mass, 
saiam@128:                               Vector position, Vector velocity)
saiam@135:     : world(world), position(position), velocity(velocity),
saiam@135:       mass(mass), inAir(true), aim(0), facingRight(true) {
saiam@135:     // TODO: Is thir the right way to do this?
terom@60:     world.addObject(this);
terom@60: }
ekku@44: 
terom@96: Vector PhysicsObject::walk (bool right) {
nireco@168:     float deltaX = right ? 1 : -1;
nireco@112:     Vector reached = this->position;
nireco@168:    
nireco@168:     if(!possibleLocation(position+Vector(deltaX, 0))) {
nireco@168:         for(int i = 1; i < 3; i++) {
nireco@168:             if(possibleLocation(position+Vector(deltaX, -i))) {
nireco@168:                 reached = position+Vector(deltaX, -i);
nireco@168:                 break;
nireco@112:             }
saiam@115:         }
saiam@115:     } else {
ekku@170:        for(int i = 0; i < 3; i++) {
nireco@168:             if(possibleLocation(position+Vector(deltaX, i))) {
nireco@168:                 reached = position+Vector(deltaX, i);
nireco@168:             } else {
nireco@168:                 break;
nireco@112:             }
saiam@115:         }
nireco@168:     }
nireco@112:     return reached;
nireco@168:  
ekku@94: }
ekku@94: 
ekku@170: /**
ekku@170:  * Makes the player jump in the air.
ekku@170:  * @param direction -1: jump left, 0: jump up, 1: jump right
ekku@170:  */
ekku@170: void PhysicsObject::jump (int direction) {
saiam@114:     // Jump only if player is "on the ground"
saiam@114:     if (!this->inAir) {
ekku@159:  	    velocity.y = -100;
ekku@170:         switch (direction) {
ekku@170:             case 1:
ekku@170:                 velocity.x += 20;
ekku@170:                 break;
ekku@170:             case -1:
ekku@170:                 velocity.x -= 20;
ekku@170:                 break;
ekku@170:             case 0:
ekku@170:                 break;
ekku@170:             default:
ekku@170:                 throw std::logic_error("Invalid jump direction");
ekku@170:         }
ekku@159: 	    inAir = true;
saiam@114:     }
ekku@94: }
ekku@94: 
ekku@94: bool PhysicsObject::possibleLocation (Vector loc) {
nireco@112:     for(unsigned int i = 0; i < this->shape.size(); i++) {
saiam@172:         if(world.collides(loc+shape[i]))
nireco@112:             return false;
nireco@112:     }
nireco@112:     return true;
ekku@94: }
ekku@94: 
nireco@173: void func1() {
nireco@173: 
nireco@173: }
nireco@173: 
ekku@94: /**
saiam@83:  * Updates object speed and position. This function organises force
saiam@83:  * integration and collision detection.
saiam@83:  */   
saiam@83: void PhysicsObject::updatePosition () {
ekku@94: 
saiam@83:     // Add gravity to the force queue
saiam@85:     forceq.push(world.gravity);
saiam@83:     
saiam@83:     // Go trough every force in the queue
saiam@84:     Force total;
saiam@83:     while (!forceq.empty()) {
saiam@85:         total += forceq.front();
saiam@83:         forceq.pop();
saiam@83:     }
saiam@114: 
saiam@114:     // TODO: This is _ugly_ (but not so ugly as the last one I think)
saiam@114:     // hack. I think we should handle walking from the collision
saiam@114:     // detection code.
saiam@114: 
nireco@167:     if (this->velocity.sqrLength() < PLAYER_MIN_SPEED * PLAYER_MIN_SPEED) {
nireco@167:         this->inAir = !world.collides(this->position+shape[2]+Vector(0, 1));
nireco@167:     }
nireco@167: 
nireco@171:     if(!possibleLocation(position)) {
nireco@171:         //if we are trapped in ground form dirtball or something
nireco@171:         //we might want to just return and stuff velocity to some value
nireco@171: //        return;
nireco@171:     }
nireco@171: 
nireco@173:     if(!possibleLocation(position)) {
nireco@173:         Engine::log(DEBUG, "great failure") << "great failure";
nireco@173:         func1();
nireco@173:     }
saiam@114:     if (!this->inAir) {
saiam@114:         if (total.x != 0)
saiam@114:             this->position = walk(total.x > 0);
saiam@154:         return; 
saiam@154:         //total.x = 0;
saiam@114:     }
saiam@114: 
nireco@173:     if(!possibleLocation(position)) {
nireco@173:         Engine::log(DEBUG, "great failure") << "great failure";
nireco@173:         func1();
nireco@173:     }
saiam@169:     Vector newPosition;
saiam@169:     Vector velAfterTick;
saiam@169:     integrate(total, PHYSICS_TICK_MS, newPosition, velAfterTick);
saiam@83:     this->velocity = velAfterTick;
saiam@83: 
saiam@123:    
saiam@114:     // Collision detection
saiam@115:     bool collided = false;
saiam@115:    
saiam@115:     const Vector diffVec = newPosition-position;
saiam@115:     const Vector unitVector = diffVec / diffVec.length();
saiam@115:     Vector reached = position;
saiam@115: 
nireco@168:     while ((position-reached).sqrLength() < diffVec.sqrLength()) {
nireco@173:         reached += unitVector;
saiam@115:         // Check if any of the shapes points collide
saiam@154:         for (uint64_t i = 0; i < shape.size(); i++) {
saiam@115:             if (world.getType(reached+shape[i]) != EMPTY) {  // Collision
saiam@154:                 if (inAir) {
saiam@154:                     //                    Engine::log(DEBUG, "Here");
saiam@154:                     this->bounce(world.getNormal(reached+shape[i], 
saiam@154:                                                  reached-unitVector+shape[i]));
saiam@154:                     //this->velocity *= COLLISION_ELASTICITY;
saiam@154:                 }
saiam@115:                 reached = reached - unitVector; // Return to last point
saiam@115:                 collided = true;
nireco@167:                 if (this->velocity.sqrLength() < PLAYER_MIN_SPEED * PLAYER_MIN_SPEED) {
saiam@115:                     this->inAir = false;
saiam@115:                     this->velocity = Vector(0,0);
saiam@115:                 }
saiam@115:                 break;
saiam@115:             }
saiam@115:         }
saiam@115:         if (collided)
saiam@115:             break;
nireco@173: //        reached += unitVector;
saiam@115:     }
saiam@123:    
ekku@95:     
nireco@173:     if(!possibleLocation(reached)) {
nireco@173:         Engine::log(DEBUG, "PhysicsObject.updatePosition") << "logic error reached should not be possible to be impossible.. diffVec: " << diffVec;
nireco@173:         func1();
nireco@173:     }
saiam@123: 
ekku@92:     // In case of some float error check the final coordinate
nireco@77:     if(!collided) {
nireco@171:         if(!possibleLocation(newPosition)) {
nireco@171:             newPosition = reached;
nireco@77:         } else {
nireco@77:             // This means everything was ok, so no need to do anything
nireco@77:         }
nireco@77:     } else {
nireco@77:         newPosition = reached;
nireco@116:         onCollision();
ekku@92:         //this->velocity = Vector(0, 0);
nireco@77:         //TODO: it shouldn't just stop on collision
nireco@77:     }
nireco@173:     if(!possibleLocation(newPosition)) {
nireco@173:         Engine::log(DEBUG, "great failure") << "great failure";
nireco@173:         func1();
nireco@173:     }
nireco@77:     this->position = newPosition;
nireco@173:     if(!possibleLocation(position)) {
nireco@173:         Engine::log(DEBUG, "great failure") << "great failure";
nireco@173:         func1();
nireco@173:     }
nireco@158: //    Engine::log(DEBUG, "PhysicsObject.updatePosition") << "Pos: " << this->position;
ekku@44: }
ekku@97: 
ekku@97: /**
ekku@97:  * Bounces from straight wall in any direction.
ekku@97:  * Direction given as normal of that wall
ekku@97:  */
ekku@97: void PhysicsObject::bounce (Vector normal) {
saiam@150:     if (normal.length() != 0) {
saiam@154:         // Engine::log(DEBUG, "PhysicsObject.bounce") << "Velocity: " << velocity;
saiam@153:         Vector nvel = velocity;
saiam@153:         //        Engine::log(DEBUG, "PhysicsObject.bounce") << "New Velocity: " << nvel;
nireco@160: //        nvel = nvel - ((1+COLLISION_ELASTICITY)*((nvel*normal)/(normal*normal))*normal);
nireco@160:         
nireco@160:         nvel = nvel - ((2)*((nvel*normal)/(normal*normal))*normal);
nireco@160: //        Engine::log(DEBUG, "PhysicsObject.bounce") << "Projection: " << nvel;
saiam@153:         velocity = nvel;
saiam@154:         this->velocity *= COLLISION_ELASTICITY;
saiam@154:     }
ekku@97: }
ekku@44: 
saiam@83: /**
saiam@83:  * Integrates given force over time and stores new position to
saiam@83:  * posAfterTick and new velocity to velAfterTick.
saiam@83:  * @param force Force vector.
saiam@83:  * @param dt The time the force is applied (<=PHYSICS_TICK_MS)
saiam@83:  */
saiam@169: void PhysicsObject::integrate(Force force, TimeMS dt, Vector &posAfterTick, Vector &velAfterTick) {
saiam@169:     posAfterTick = position;
saiam@169:     velAfterTick = velocity;
saiam@83:     Derivative tmpd;
saiam@169:     Derivative k1 = evaluate(force, 0, tmpd, posAfterTick, velAfterTick);
saiam@169:     Derivative k2 = evaluate(force, 0.5f*dt, k1, posAfterTick, velAfterTick);
saiam@169:     Derivative k3 = evaluate(force, 0.5f*dt, k2, posAfterTick, velAfterTick);
saiam@169:     Derivative k4 = evaluate(force, dt, k3, posAfterTick, velAfterTick);
saiam@83:     
saiam@83: 
saiam@83:     const Vector dxdt = (k1.dx + (k2.dx + k3.dx) * 2.0f + k4.dx) * 1.0f/6.0f;
saiam@83:     const Vector dvdt = (k1.dv + (k2.dv + k3.dv) * 2.0f + k4.dv) * 1.0f/6.0f;
saiam@83:     
saiam@83:     //    Engine::log(DEBUG, "PhysicsObject.integrate") << "Changes: "<< dxdt << " " << dvdt << " Time: " <<dt;
saiam@83:     posAfterTick = posAfterTick + (dxdt * dt)/1000;
saiam@83:     velAfterTick = velAfterTick + (dvdt * dt)/1000;
saiam@83:     //Engine::log(DEBUG, "PhysicsObject.integrate") << "velAfterTick: " << velAfterTick;
saiam@70: }
saiam@70: 
saiam@169: Derivative PhysicsObject::evaluate(Force force, TimeMS dt, Derivative &d, const Vector &posAfterTick, const Vector &velAfterTick) {
saiam@83:     Vector curPos = posAfterTick + (d.dx*dt)/1000;
saiam@83:     Vector curVel = velAfterTick + (d.dv*dt)/1000;
terom@58: 
saiam@83:     Derivative out;
saiam@83:     out.dx = curVel;
saiam@83:     out.dv = acceleration(force);
saiam@83:     //Engine::log(DEBUG, "PhysicsObject.evaluate") << "Out.dx: " << out.dx;
saiam@83:     return out;
saiam@83: }
saiam@83: 
saiam@85: Vector PhysicsObject::acceleration(const Force &force) {
saiam@83:     return (force/mass);
saiam@83: }
saiam@83: 
saiam@122: void PhysicsObject::applyForce (Force force) {
saiam@123:     // Add applied force to the queue
saiam@123:     forceq.push(force);
ekku@44: }
ekku@44: 
saiam@108: void PhysicsObject::changeAim(float da) {
saiam@108:     this->aim += da;
saiam@108: 
saiam@108:     if (this->aim > PLAYER_AIM_MAX) this->aim = PLAYER_AIM_MAX;
saiam@108:     if (this->aim < PLAYER_AIM_MIN) this->aim = PLAYER_AIM_MIN;
ekku@109:     //Engine::log(DEBUG, "PhysicsObject.changeAim") << "Player aim: " << this->aim;
saiam@108: }
saiam@108: 
saiam@128: void PhysicsObject::setFacing(bool facingRight) {
ekku@109:     //Engine::log(DEBUG, "PhysicsObject.setFacing") << "Facing: " << right;
saiam@128:     this->facingRight = facingRight;
saiam@108: }
saiam@108: 
terom@107: void PhysicsObject::updatePhysics (Vector position, Vector velocity, bool inAir) {
saiam@47:     this->position = position;
saiam@47:     this->velocity = velocity;
terom@107:     this->inAir = inAir;
ekku@44: }
ekku@44:     
ekku@44: Vector PhysicsObject::getPosition () {
saiam@47:     return this->position;
ekku@44: }
ekku@44: 
saiam@108: bool PhysicsObject::getFacing() {
saiam@128:     return this->facingRight;
saiam@108: }
saiam@108: 
saiam@108: float PhysicsObject::getAim() {
saiam@108:     return this->aim;
saiam@108: }
saiam@108: 
ekku@91: std::vector<Vector>& PhysicsObject::getShape () {
ekku@91:     return this->shape;
ekku@91: }
ekku@91: 
ekku@91: void PhysicsObject::setShape (std::vector<Vector> shape) {
saiam@123:     this->shape = shape;
ekku@91: }
ekku@91: 
ekku@44: void PhysicsObject::tick () {
saiam@47:     this->updatePosition();
ekku@44: }
ekku@44: 
saiam@153: void PhysicsObject::draw(CL_GraphicContext *gc) {
saiam@153:     CL_Quad player(
saiam@153:                    (position+shape[0]).x, (position+shape[0]).y,
saiam@153:                    (position+shape[1]).x, (position+shape[1]).y,
saiam@153:                    (position+shape[2]).x, (position+shape[2]).y,
saiam@153:                    (position+shape[3]).x, (position+shape[3]).y
saiam@153:                    );
saiam@153:     
saiam@153:     gc->fill_quad(player, CL_Color::green);
saiam@153:     
saiam@153:     const uint16_t chlen = 10;
saiam@153:     uint16_t x = player.center().x;
saiam@153:     uint16_t y = player.center().y;
saiam@153:     if (facingRight) {
saiam@153:         gc->draw_line(x, y,
saiam@153:                       x + std::cos(aim)*chlen,
saiam@153:                       y - std::sin(aim)*chlen,
saiam@153:                       CL_Color::black);
saiam@153:     } else {
saiam@153:         gc->draw_line(x, y,
saiam@153:                       x - std::cos(aim)*chlen,
saiam@153:                       y - std::sin(aim)*chlen,
saiam@153:                       CL_Color::black);
saiam@153:     }
saiam@153: }
saiam@153: