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different stuff in physics

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This commit is contained in:
kotofyt
2026-03-18 18:41:28 +02:00
parent b56d85f95d
commit 79ceac1005
8 changed files with 223 additions and 18 deletions
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20
game/client/milmoba/player.cpp
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@@ -13,19 +13,37 @@ void C_MOBAPlayer::Spawn()
BaseClass::Spawn();
SetThink(Think);
SetScale(1);
vCameraPos = {0,0,-20};
};
void C_MOBAPlayer::Think( float fDelta )
{
<<<<<<< HEAD
C_MOBAPlayer *pEntity = (C_MOBAPlayer*)UTIL_GetLocalPlayer();
<<<<<<< HEAD
=======
=======
C_MOBAPlayer *pPlayerEntity = (C_MOBAPlayer*)UTIL_GetLocalPlayer();
<<<<<<< HEAD
>>>>>>> c251089 (different stuff in physics)
>>>>>>> a2652ed (merges)
m_vMovementVector.z = m_bIsForward - m_bIsBack;
m_vMovementVector.x = m_bIsLeft - m_bIsRight;
if (pEntity == this)
=======
m_vMovementVector.z = m_bIsBack - m_bIsForward;
m_vMovementVector.x = m_bIsRight - m_bIsLeft;
if (pPlayerEntity == this)
>>>>>>> 83e8198 (different stuff in physics)
{
Vector vCameraPos;
vCameraPos = GetAbsOrigin();
vCameraPos.z = 20;
vCameraPos.y+=3;
g_pWorldRenderer->SetCameraPosition(vCameraPos);
}
BaseClass::Think(fDelta);

7
game/client/worldrender.cpp
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@@ -228,6 +228,13 @@ void CFunnyWorldRenderer::Frame( float fDelta )
glm_mat4_identity(matCamera);
glm_mat4_identity(matCamera2);
glm_translate(matCamera2, m_vPos);
<<<<<<< HEAD
=======
<<<<<<< HEAD
=======
glm_mat4_inv(matCamera2, matCamera2);
>>>>>>> c251089 (different stuff in physics)
>>>>>>> a2652ed (merges)
glm_perspective(glm_rad(75), uWidth/(float)uHeight, 0.01, 10000, matCamera);
glm_mul(matCamera, matCamera2, matCamera);
m_pViewBufferData = (ViewBuffer_t*)m_pViewBuffer->Map();

32
game/server/milmoba/player.cpp
View File

@@ -3,14 +3,35 @@
#include "entitysystem.h"
CMOBAPlayer::CMOBAPlayer()
{
m_hCuboid = g_pPhysics->CreateBall({1});
}
CMOBAPlayer::~CMOBAPlayer()
{
}
void CMOBAPlayer::Spawn()
{
CBaseEntity::Spawn();
<<<<<<< HEAD
=======
<<<<<<< HEAD
>>>>>>> a2652ed (merges)
SetPhysics(k_EPhysics_Static);
SetModel("game/core/models/sphere.fmdl");
SetScale(1);
SetAbsOrigin({0,-14.5, 0});
<<<<<<< HEAD
=======
=======
SetModel("game/core/models/sphere.fmdl");
SetScale(1);
SetAbsOrigin({0,-11.5, 0});
>>>>>>> c251089 (different stuff in physics)
>>>>>>> a2652ed (merges)
SetThink(Think);
};
@@ -26,7 +47,18 @@ void CMOBAPlayer::Think( float fDelta )
vPosition.x += m_vMovementVector.x*fDelta*5;
vPosition.z += m_vMovementVector.z*fDelta*5;
<<<<<<< HEAD
SetAbsOrigin(vPosition);
<<<<<<< HEAD
=======
=======
CastResult_t result = g_pPhysicsWorld->ShapeCast(m_hCuboid, {0,0,0,1}, vPosition, {vPosition.x, vPosition.y, -100});
if (result.m_bIsHit)
SetAbsOrigin(result.m_vCollisionPoint);
else
SetAbsOrigin(vPosition);
>>>>>>> c251089 (different stuff in physics)
>>>>>>> a2652ed (merges)
};
LINK_ENTITY_TO_CLASS(player, CMOBAPlayer)

4
game/server/milmoba/player.h
View File

@@ -10,10 +10,14 @@ public:
DECLARE_DATADESC();
DECLARE_SERVERCLASS()
CMOBAPlayer();
virtual ~CMOBAPlayer();
virtual void Spawn( void ) override;
void Think( float fDelta );
private:
Vector m_vMovementVector = {};
HShape m_hCuboid = NULL;
};
#endif

25
public/iphysics.h
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@@ -4,6 +4,10 @@
#include "tier0/platform.h"
#include "trig.h"
typedef void *HShape;
typedef void *HCollider;
#ifndef PHYSICS_OBJECT_DEFINED
struct BallShape_t
{
@@ -25,6 +29,19 @@ struct TriangleMeshShape_t
uint32_t m_nIndiciesCount;
};
struct CastResult_t
{
bool m_bIsHit;
HCollider m_hCollider;
Vector m_vCollisionPoint;
// 0 to 1
float m_fTime;
// 0 to lenght
float m_fDistance;
};
enum EPhysicsBodyType
{
k_EPhysics_Static,
@@ -34,17 +51,16 @@ enum EPhysicsBodyType
};
#endif
typedef void *HShape;
typedef void *HCollider;
abstract_class IPhysicsBody
{
public:
virtual void SetPosition( Vector vPosition ) = 0;
virtual void SetRotation( Quat vRotation ) = 0;
virtual Vector GetPosition() = 0;
virtual Quat GetRotation() = 0;
virtual void SetType( EPhysicsBodyType eType ) = 0;
virtual void SetGravityScale( float fScale ) = 0;
};
@@ -58,6 +74,9 @@ public:
virtual void DestroyPhysicsBody( IPhysicsBody *pBody ) = 0;
virtual void SetGravity( float fGravity ) = 0;
virtual CastResult_t RayCast( Vector vBegin, Vector vEnd ) = 0;
virtual CastResult_t ShapeCast( HShape hShape, Quat vOrientation, Vector vBegin, Vector vEnd ) = 0;
};

12
rapier/physics.cpp
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@@ -80,6 +80,18 @@ public:
}
virtual CastResult_t RayCast( Vector vBegin, Vector vEnd ) override
{
return CRapierPhysicsWorld_RayCast(m_pWorld, vBegin, vEnd);
}
virtual CastResult_t ShapeCast( HShape hShape, Quat vOrientation, Vector vBegin, Vector vEnd ) override
{
return CRapierPhysicsWorld_ShapeCast(m_pWorld, (RapierShape_t*)hShape, vOrientation, vBegin, vEnd );
}
RapierWorld_t *m_pWorld = NULL;
};

18
rapier/physics.h
View File

@@ -33,6 +33,14 @@ typedef struct Quat {
float w;
} Quat;
typedef struct CastResult_t {
bool m_bIsHit;
const struct RapierCollider_t *m_hCollider;
struct Vector m_vCollisionPoint;
float m_fTime;
float m_fDistance;
} CastResult_t;
typedef struct BallShape_t {
float m_fRadius;
} BallShape_t;
@@ -77,6 +85,16 @@ struct RapierPhysicsBody_t *CRapierPhysicsWorld_CreateRigidBody(struct RapierWor
void CRapierPhysicsWorld_Frame(struct RapierWorld_t *this_, float fDelta);
struct CastResult_t CRapierPhysicsWorld_RayCast(struct RapierWorld_t *this_,
struct Vector vBegin,
struct Vector vEnd);
struct CastResult_t CRapierPhysicsWorld_ShapeCast(struct RapierWorld_t *this_,
struct RapierShape_t *pShape,
struct Quat vOrientation,
struct Vector vBegin,
struct Vector vEnd);
struct RapierShape_t *CRapierPhysics_CreateBall(struct RapierPhysics_t *this_,
struct BallShape_t ball);

123
rapier/physics.rs
View File

@@ -16,10 +16,29 @@ macro_rules! V_malloc {
use std::{default, ops::Index, ptr::{self, null, null_mut}, slice::from_raw_parts, sync::Arc};
use parry3d::{glamx::vec3, shape::{Shape, ShapeType, SharedShape}};
use parry3d::{glamx::{Pose3A}, query::ShapeCastOptions};
use rapier3d::{geometry::Ball, na::{UnitQuaternion, Vector4, coordinates::XYZ}};
use rapier3d::prelude::*;
use libc::{malloc, free};
#[repr(C)]
#[derive(Default, Debug)]
pub struct Vector {
x: f32,
y: f32,
z: f32,
}
#[repr(C)]
#[derive(Default, Debug)]
pub struct Quat {
x: f32,
y: f32,
z: f32,
w: f32,
}
#[repr(C)]
#[derive(Clone, Copy)]
pub struct BallShape_t
@@ -67,6 +86,17 @@ pub enum EPhysicsBodyType
#[repr(C)]
#[derive(Debug, Default)]
pub struct CastResult_t
{
m_bIsHit: bool,
m_hCollider: *const RapierCollider_t,
m_vCollisionPoint: Vector,
m_fTime: f32,
m_fDistance: f32,
}
#[derive(Clone)]
#[derive(Debug)]
pub struct RapierCollider_t
@@ -124,12 +154,6 @@ pub unsafe extern "C" fn CRapierPhysicsBody_SetRotation( this: *mut RapierPhysic
}
#[repr(C)]
pub struct Vector {
x: f32,
y: f32,
z: f32,
}
#[no_mangle]
pub unsafe extern "C" fn CRapierPhysicsBody_GetPosition( this: *mut RapierPhysicsBody_t ) -> Vector
@@ -140,14 +164,6 @@ pub unsafe extern "C" fn CRapierPhysicsBody_GetPosition( this: *mut RapierPhysic
return Vector { x: position[0], y: position[1], z: position[2]}
}
#[repr(C)]
pub struct Quat {
x: f32,
y: f32,
z: f32,
w: f32,
}
#[no_mangle]
pub unsafe extern "C" fn CRapierPhysicsBody_GetRotation( this: *mut RapierPhysicsBody_t ) -> Quat
{
@@ -226,6 +242,85 @@ pub unsafe extern "C" fn CRapierPhysicsWorld_CreateRigidBody(
pBody
}
#[no_mangle]
pub unsafe extern "C" fn CRapierPhysicsWorld_RayCast( this: *mut RapierWorld_t, vBegin: Vector, vEnd: Vector ) -> CastResult_t
{
let mut cast = CastResult_t::default();
let vDir = Vector{ x: vEnd.x-vBegin.x, y:vEnd.y-vBegin.y, z:vEnd.z-vBegin.z};
let fMaxDistance = f32::sqrt(vDir.x*vDir.x+vDir.y*vDir.y+vDir.z*vDir.z);
let vNormalizedDir = Vector{ x: vDir.x/fMaxDistance, y:vDir.y/fMaxDistance, z:vDir.z/fMaxDistance};
let ray = Ray::new(
Vec3 { x: vBegin.x, y: vBegin.y, z: vBegin.z },
Vec3 { x: vNormalizedDir.x, y: vNormalizedDir.y, z: vNormalizedDir.z });
let queryPipeline = (*this).m_broadPhase.as_query_pipeline(
(*this).m_narrowPhase.query_dispatcher(),
&(*this).m_rigidBodies,
&(*this).m_colliders,
QueryFilter::default(),
);
if let Some((handle, intersection)) = queryPipeline.cast_ray_and_get_normal(&ray, fMaxDistance, true)
{
cast.m_bIsHit = true;
cast.m_fDistance = intersection.time_of_impact;
cast.m_fTime = intersection.time_of_impact/fMaxDistance;
cast.m_vCollisionPoint = Vector{
x: vBegin.x + vNormalizedDir.x * intersection.time_of_impact,
y: vBegin.y + vNormalizedDir.y * intersection.time_of_impact,
z: vBegin.z + vNormalizedDir.z * intersection.time_of_impact,
};
}
cast
}
#[no_mangle]
pub unsafe extern "C" fn CRapierPhysicsWorld_ShapeCast( this: *mut RapierWorld_t, pShape: *mut RapierShape_t, vOrientation: Quat, vBegin: Vector, vEnd: Vector ) -> CastResult_t
{
let mut cast = CastResult_t::default();
let vDir = Vector{ x: vEnd.x-vBegin.x, y:vEnd.y-vBegin.y, z:vEnd.z-vBegin.z};
let fMaxDistance = f32::sqrt(vDir.x*vDir.x+vDir.y*vDir.y+vDir.z*vDir.z);
let vNormalizedDir = Vector{ x: vDir.x/fMaxDistance, y:vDir.y/fMaxDistance, z:vDir.z/fMaxDistance};
let queryPipeline = (*this).m_broadPhase.as_query_pipeline(
(*this).m_narrowPhase.query_dispatcher(),
&(*this).m_rigidBodies,
&(*this).m_colliders,
QueryFilter::default(),
);
let vRustDir = Vector{ x: vNormalizedDir.x, y: vNormalizedDir.y, z: vNormalizedDir.z };
let mut castOptions = ShapeCastOptions::default();
castOptions.stop_at_penetration = true;
castOptions.max_time_of_impact = fMaxDistance;
let shapeStats = Pose3::from_parts(Vec3::from_array([vBegin.x, vBegin.y, vBegin.z]),glamx::Quat::from_xyzw(vOrientation.x, vOrientation.y, vOrientation.z, vOrientation.w));
let shape: &dyn Shape;
match (*pShape).m_sharedShape.as_typed_shape()
{
TypedShape::Ball(s) => { shape = s; }
TypedShape::Cuboid(s) => { shape = s; }
TypedShape::TriMesh(s) => { shape = s; }
default => {
return cast;
}
}
if let Some((handle, intersection)) = queryPipeline.cast_shape(
&shapeStats,
Vec3 { x: vNormalizedDir.x, y: vNormalizedDir.y, z: vNormalizedDir.z },
shape,
castOptions)
{
cast.m_bIsHit = true;
cast.m_fDistance = intersection.time_of_impact;
cast.m_fTime = intersection.time_of_impact/fMaxDistance;
cast.m_vCollisionPoint = Vector{
x: vBegin.x + vNormalizedDir.x * intersection.time_of_impact,
y: vBegin.y + vNormalizedDir.y * intersection.time_of_impact,
z: vBegin.z + vNormalizedDir.z * intersection.time_of_impact,
};
}
cast
}
#[no_mangle]
pub unsafe extern "C" fn CRapierPhysics_New() -> *mut RapierPhysics_t
{