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-rw-r--r--src/content/entities/entity_wizard.rs47
-rw-r--r--src/input.rs4
-rw-r--r--src/sim/entity/mod.rs23
-rw-r--r--src/sim/lib/components.rs2
-rw-r--r--src/sim/rb_manager/character_impulses.rs136
-rw-r--r--src/sim/rb_manager/mod.rs1
-rw-r--r--src/sim/sim_manager/mod.rs6
7 files changed, 197 insertions, 22 deletions
diff --git a/src/content/entities/entity_wizard.rs b/src/content/entities/entity_wizard.rs
index 6707f7c..3787e49 100644
--- a/src/content/entities/entity_wizard.rs
+++ b/src/content/entities/entity_wizard.rs
@@ -9,6 +9,7 @@ use crate::{
input::Input,
sim::{
entity::{EntityBehaviour, EntityDef, EntityUpdateCtx},
+ rb_manager::character_impulses::solve_character_collision_impulses,
sim_manager::SimCtx,
},
};
@@ -37,7 +38,7 @@ impl EntityBehaviour for WizardEntityBehaviour {
self.movement_input_x = 0.0;
}
- if ctx.input_manager.pressed(Input::Up) {
+ if ctx.input_manager.pressed(Input::Jump) {
self.jump = 0.06;
}
}
@@ -87,7 +88,15 @@ impl EntityBehaviour for WizardEntityBehaviour {
.rb_manager
.physics_manager
.world
- .query_pipeline_with_filter(
+ .broad_phase
+ .as_query_pipeline(
+ ctx.rb_manager
+ .physics_manager
+ .world
+ .narrow_phase
+ .query_dispatcher(),
+ &ctx.rb_manager.physics_manager.world.bodies,
+ &ctx.rb_manager.physics_manager.world.colliders,
QueryFilter::default().exclude_rigid_body(update_ctx.entity_data.rb_h.unwrap()),
);
@@ -105,19 +114,49 @@ impl EntityBehaviour for WizardEntityBehaviour {
.world
.colliders
.get(update_ctx.entity_data.collider_h.unwrap())
- .unwrap();
+ .unwrap()
+ .clone();
// move_shape works in translations, not velocities: feed it the distance we
// want to cover this step, and convert the allowed distance back to a velocity.
+ let mut collisions = Vec::new();
let movement = self.kinematic_controller.move_shape(
delta_time,
&query_pipeline,
collider.shape(),
rb.position(),
self.acc_vel * delta_time,
- |_| {},
+ |col| collisions.push(col),
+ );
+
+ let mut query_pipeline_mut = ctx
+ .rb_manager
+ .physics_manager
+ .world
+ .broad_phase
+ .as_query_pipeline_mut(
+ ctx.rb_manager
+ .physics_manager
+ .world
+ .narrow_phase
+ .query_dispatcher(),
+ &mut ctx.rb_manager.physics_manager.world.bodies,
+ &mut ctx.rb_manager.physics_manager.world.colliders,
+ QueryFilter::default().exclude_rigid_body(update_ctx.entity_data.rb_h.unwrap()),
+ );
+
+ // apply collisions to other scene entities. Local port: rapier's own
+ // solve_character_collision_impulses panics with 2+ nearby dynamic bodies.
+ solve_character_collision_impulses(
+ &self.kinematic_controller,
+ delta_time,
+ &mut query_pipeline_mut,
+ collider.shape(),
+ update_ctx.entity_data.cells.as_mut().unwrap().mass(),
+ &collisions,
);
+ // update the entity's position
let rb = ctx
.rb_manager
.physics_manager
diff --git a/src/input.rs b/src/input.rs
index 108514e..0697f29 100644
--- a/src/input.rs
+++ b/src/input.rs
@@ -9,7 +9,7 @@ use crate::{camera::Camera, sim::cell_manager::manager::CellManager};
#[derive(Clone, Copy, PartialEq, Eq, Debug)]
pub enum Input {
// movement
- Up = 0,
+ Jump = 0,
Left,
Down,
Right,
@@ -44,7 +44,7 @@ pub enum Input {
const INPUT_VAR_LEN: usize = 22;
const KEYMAP: [(KeyCode, Input); INPUT_VAR_LEN] = [
- (KeyCode::KeyW, Input::Up),
+ (KeyCode::Space, Input::Jump),
(KeyCode::KeyA, Input::Left),
(KeyCode::KeyS, Input::Down),
(KeyCode::KeyD, Input::Right),
diff --git a/src/sim/entity/mod.rs b/src/sim/entity/mod.rs
index 4a8eda4..59479a2 100644
--- a/src/sim/entity/mod.rs
+++ b/src/sim/entity/mod.rs
@@ -2,7 +2,6 @@ use glam::{IVec2, Vec2};
use rapier2d::{
dynamics::{RigidBody, RigidBodyBuilder, RigidBodyHandle},
geometry::{Collider, ColliderHandle},
- math::Pose2,
};
use crate::{
@@ -14,13 +13,6 @@ use crate::{
sprite_loader::load_sprite_to_cells,
};
-fn mass_from_cells(cells: &[Cell]) -> f32 {
- cells
- .iter()
- .fold(0.0, |acc, cur| acc + cur.material.def().density as f32)
- * MASS_SCALING
-}
-
pub struct EntityCells {
pub size: IVec2,
pub cells: Vec<Cell>,
@@ -35,6 +27,13 @@ impl EntityCells {
pub fn set_cell_at_local_position(&mut self, pos: IVec2, cell: Cell) {
self.cells[pos.x as usize + pos.y as usize * self.size.x as usize] = cell;
}
+
+ pub fn mass(&self) -> f32 {
+ self.cells
+ .iter()
+ .fold(0.0, |acc, cur| acc + cur.material.def().density as f32)
+ * MASS_SCALING
+ }
}
impl Marchable for EntityCells {
@@ -76,7 +75,7 @@ impl EntityDef {
behaviour: Option<Box<dyn EntityBehaviour>>,
) -> Self {
let collider = RbManager::convex_hull_collider_from_marchable(&cells, Some(10))
- .mass(mass_from_cells(&cells.cells))
+ .mass(cells.mass())
.build();
EntityDef {
@@ -95,7 +94,7 @@ impl EntityDef {
let rb = RigidBodyBuilder::dynamic().translation(position).build();
let collider = RbManager::convex_hull_collider_from_marchable(&cells, Some(10))
- .mass(mass_from_cells(&cells.cells))
+ .mass(cells.mass())
.build();
EntityDef {
@@ -135,7 +134,7 @@ impl EntityDef {
.build();
let collider = RbManager::convex_hull_collider_from_marchable(&cells, Some(10))
- .mass(mass_from_cells(&cells.cells))
+ .mass(cells.mass())
.build();
EntityDef {
@@ -259,7 +258,7 @@ impl Entity {
pub fn compute_collider(&self) -> Option<Collider> {
self.data.cells.as_ref().map(|cells| {
RbManager::convex_hull_collider_from_marchable(cells, Some(10))
- .mass(mass_from_cells(&cells.cells))
+ .mass(cells.mass())
.build()
})
}
diff --git a/src/sim/lib/components.rs b/src/sim/lib/components.rs
index d43a567..ac62366 100644
--- a/src/sim/lib/components.rs
+++ b/src/sim/lib/components.rs
@@ -111,7 +111,7 @@ pub fn compute_components(cells: &[Cell], w: i32, h: i32) -> Vec<PositionedCompo
as usize] = old_cell.cell;
}
- let pc_centre = (c.bounds[0] + c.bounds[1] + IVec2::ONE).as_vec2() / 2.0 ;
+ let pc_centre = (c.bounds[0] + c.bounds[1] + IVec2::ONE).as_vec2() / 2.0;
let adjusted_pc_centre = pc_centre - (Vec2::new(w as f32, h as f32) / 2.0);
let pc = PositionedComponent {
position: adjusted_pc_centre,
diff --git a/src/sim/rb_manager/character_impulses.rs b/src/sim/rb_manager/character_impulses.rs
new file mode 100644
index 0000000..7016956
--- /dev/null
+++ b/src/sim/rb_manager/character_impulses.rs
@@ -0,0 +1,136 @@
+//! Local port of `KinematicCharacterController::solve_character_collision_impulses`.
+//!
+//! Rapier's version (0.35.2, still present on master) accumulates every nearby collider's
+//! contact manifolds into one shared `Vec` and then slices it with `manifolds[prev_len..]`.
+//! That assumes `contact_manifolds` appends, but parry's composite-shape paths (compound,
+//! polyline, trimesh, ...) `mem::take` the output vec and rebuild it for the current pair
+//! only. With two or more dynamic bodies inside the character's AABB the second call empties
+//! the vec and the slice panics with "range start index 1 out of range for slice of length 0".
+//! The character's collider here is a convex decomposition (a compound), so we hit it.
+//!
+//! This port uses a fresh scratch vec per collider, which is what rapier's own code intended.
+
+use rapier2d::{
+ control::{CharacterCollision, CharacterLength, KinematicCharacterController},
+ geometry::{ContactManifold, Shape},
+ math::{Pose, Real},
+ parry::{
+ bounding_volume::BoundingVolume,
+ query::{DefaultQueryDispatcher, PersistentQueryDispatcher},
+ },
+ pipeline::QueryPipelineMut,
+};
+
+/// Apply approximate impulses to the dynamic bodies a kinematic character ran into.
+pub fn solve_character_collision_impulses<'a>(
+ controller: &KinematicCharacterController,
+ dt: Real,
+ queries: &mut QueryPipelineMut,
+ character_shape: &dyn Shape,
+ character_mass: Real,
+ collisions: impl IntoIterator<Item = &'a CharacterCollision>,
+) {
+ for collision in collisions {
+ solve_single_character_collision_impulse(
+ controller,
+ dt,
+ queries,
+ character_shape,
+ character_mass,
+ collision,
+ );
+ }
+}
+
+fn eval_length(length: CharacterLength, value: Real) -> Real {
+ match length {
+ CharacterLength::Relative(x) => value * x,
+ CharacterLength::Absolute(x) => x,
+ }
+}
+
+fn solve_single_character_collision_impulse(
+ controller: &KinematicCharacterController,
+ dt: Real,
+ queries: &mut QueryPipelineMut,
+ character_shape: &dyn Shape,
+ character_mass: Real,
+ collision: &CharacterCollision,
+) {
+ let extents = character_shape.compute_local_aabb().extents();
+ let up_extent = extents.dot(controller.up.abs());
+ let movement_to_transfer =
+ collision.hit.normal1 * collision.translation_remaining.dot(collision.hit.normal1);
+ // `KinematicCharacterController::predict_ground` is private; this is its body.
+ let prediction = eval_length(controller.offset, up_extent) + 0.05;
+
+ let dispatcher = DefaultQueryDispatcher;
+
+ let mut manifolds: Vec<ContactManifold> = Vec::new();
+ // World pose of the collider each manifold was computed against: the `local_p2`
+ // points are in the collider's frame, which differs from its body's when offset.
+ let mut manifold_collider_poses: Vec<Pose> = Vec::new();
+ let character_aabb = character_shape
+ .compute_aabb(&collision.character_pos)
+ .loosened(prediction);
+
+ for (_, collider) in queries.as_ref().intersect_aabb_conservative(character_aabb) {
+ let Some(parent) = collider.parent() else {
+ continue;
+ };
+ let Some(body) = queries.bodies.get(parent) else {
+ continue;
+ };
+ if !body.is_dynamic() {
+ continue;
+ }
+
+ let pos12 = collision.character_pos.inv_mul(collider.position());
+ // Fresh vec per pair: parry may take/replace it rather than append.
+ let mut pair_manifolds: Vec<ContactManifold> = Vec::new();
+ let _ = dispatcher.contact_manifolds(
+ &pos12,
+ character_shape,
+ collider.shape(),
+ prediction,
+ &mut pair_manifolds,
+ &mut None,
+ );
+
+ for mut m in pair_manifolds {
+ m.data.rigid_body2 = Some(parent);
+ m.data.normal = collision.character_pos.rotation * m.local_n1;
+ manifolds.push(m);
+ manifold_collider_poses.push(*collider.position());
+ }
+ }
+
+ let inv_dt = if dt != 0.0 { 1.0 / dt } else { 0.0 };
+ let velocity_to_transfer = movement_to_transfer * inv_dt;
+
+ for (manifold, collider_pos) in manifolds.iter().zip(manifold_collider_poses.iter()) {
+ let Some(body_handle) = manifold.data.rigid_body2 else {
+ continue;
+ };
+ let Some(body) = queries.bodies.get_mut(body_handle) else {
+ continue;
+ };
+
+ for pt in &manifold.points {
+ if pt.dist <= prediction {
+ let body_mass = body.mass();
+ let contact_point = *collider_pos * pt.local_p2;
+ let delta_vel_per_contact = (velocity_to_transfer
+ - body.velocity_at_point(contact_point))
+ .dot(manifold.data.normal);
+ let mass_ratio = body_mass * character_mass / (body_mass + character_mass);
+
+ body.apply_impulse_at_point(
+ manifold.data.normal * delta_vel_per_contact.max(0.0) * mass_ratio,
+ contact_point,
+ true,
+ );
+ }
+ }
+ }
+}
diff --git a/src/sim/rb_manager/mod.rs b/src/sim/rb_manager/mod.rs
index 1be024a..1da5e40 100644
--- a/src/sim/rb_manager/mod.rs
+++ b/src/sim/rb_manager/mod.rs
@@ -1,3 +1,4 @@
+pub mod character_impulses;
pub mod debug_render;
use fxhash::FxHashMap;
diff --git a/src/sim/sim_manager/mod.rs b/src/sim/sim_manager/mod.rs
index bbfd05e..1e6da4d 100644
--- a/src/sim/sim_manager/mod.rs
+++ b/src/sim/sim_manager/mod.rs
@@ -177,9 +177,9 @@ impl SimManager {
if input_manager.pressed(Input::Action2)
&& let Some(entity_id) = written_entities_scope
.get_entity_id_at_position(input_manager.world_mouse_pos.round().as_ivec2())
- {
- self.atomize_entity(entity_id);
- }
+ {
+ self.atomize_entity(entity_id);
+ }
// TEST ATOMIZATION
generated by cgit v1.3.1 (git 2.54.0) at 2026-09-15 09:13:29 +0000