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|
pub mod debug_render;
use fxhash::FxHashMap;
use glam::Vec2;
use rapier2d::{
dynamics::{CCDSolver, IntegrationParameters, RigidBody, RigidBodyHandle},
geometry,
glamx::vec2,
pipeline::{DebugRenderPipeline, PhysicsWorld},
prelude,
};
use crate::{
config::{CELLS_TO_METRES, CHUNK_SIZE, PHYSICS_DELTA_TIME},
sim::{
cell_manager::chunk::Chunk,
lib::marching_squares::{Marchable, marching_squares_vertex_trace},
rb_manager::debug_render::{DebugLineBuffer, DebugVertex},
},
};
pub use rapier2d::pipeline::DebugRenderMode;
pub struct PhysicsManager {
pub world: PhysicsWorld,
pub debug_render_pipeline: DebugRenderPipeline,
}
impl PhysicsManager {
pub fn new() -> Self {
let mut world = PhysicsWorld::new();
let gravity = vec2(0.0, 9.81 * CELLS_TO_METRES);
world.gravity = gravity;
world.integration_parameters = IntegrationParameters {
// 20 pixels <-> 1 meter
length_unit: CELLS_TO_METRES,
dt: PHYSICS_DELTA_TIME,
..prelude::IntegrationParameters::default()
};
PhysicsManager {
world,
debug_render_pipeline: prelude::DebugRenderPipeline::new(
prelude::DebugRenderStyle {
sleep_color_multiplier: [1.0; 4],
sleep_eligible_color_multiplier: [1.0; 4],
..prelude::DebugRenderStyle::default()
},
prelude::DebugRenderMode::default(),
),
}
}
// Temporary fix for https://github.com/dimforge/rapier/pull/1003
pub fn remove_collider(
&mut self,
handle: geometry::ColliderHandle,
) -> Option<geometry::Collider> {
let removed = self.world.remove_collider(handle);
self.ccd_cache_invalidated();
removed
}
// Temporary fix for https://github.com/dimforge/rapier/pull/1003
pub fn remove_body(&mut self, handle: RigidBodyHandle) -> Option<RigidBody> {
let removed = self.world.remove_body(handle);
self.ccd_cache_invalidated();
removed
}
// Temporary fix for https://github.com/dimforge/rapier/pull/1003
fn ccd_cache_invalidated(&mut self) {
self.world.ccd_solver = CCDSolver::new();
}
}
// TODO remove
pub struct RbManager {
// move to sim manager
chunk_colliders: FxHashMap<(i32, i32), geometry::ColliderHandle>,
// move to sim manager
pub physics_manager: PhysicsManager,
debug_line_buffer: DebugLineBuffer,
}
impl RbManager {
pub fn tick(&mut self, _delta_time: f32) {
self.physics_manager.world.step();
}
pub fn debug_render(&mut self, mode: DebugRenderMode) -> &[DebugVertex] {
puffin::profile_function!();
self.debug_line_buffer.vertices.clear();
self.physics_manager.debug_render_pipeline.mode = mode;
self.physics_manager.world.debug_render(
&mut self.physics_manager.debug_render_pipeline,
&mut self.debug_line_buffer,
);
&self.debug_line_buffer.vertices
}
fn polyline_from_marchable(
marchable: &impl Marchable,
minimum_verts_per_poly: Option<u32>,
) -> (Vec<Vec2>, Vec<[u32; 2]>) {
let polys = marching_squares_vertex_trace(marchable);
let mut vertices = Vec::new();
let mut indices = Vec::new();
let minimum_verts = minimum_verts_per_poly.unwrap_or(3);
let centre_offset = (marchable.size() / 2).as_vec2() - 0.5;
for poly in polys {
let v = vertices.len() as u32;
let p = poly.len() as u32;
if p < minimum_verts {
continue;
}
for i in 0..p {
vertices.push(poly[i as usize] - centre_offset);
indices.push([v + i, v + (i + 1) % p]);
}
}
(vertices, indices)
}
fn polyline_collider_from_marchable(
marchable: &impl Marchable,
minimum_verts: Option<u32>,
) -> geometry::ColliderBuilder {
let (vertices, indices) = RbManager::polyline_from_marchable(marchable, minimum_verts);
geometry::ColliderBuilder::polyline(vertices, Some(indices))
}
pub fn convex_hull_collider_from_marchable(
marchable: &impl Marchable,
minimum_verts_per_poly: Option<u32>,
) -> geometry::ColliderBuilder {
puffin::profile_function!();
let (vertices, indices) =
RbManager::polyline_from_marchable(marchable, minimum_verts_per_poly);
// convex_decomposition will panic if we have fewer verts
if vertices.len() < 3 {
panic!("Too few vertices to build collider!");
} else {
puffin::profile_scope!("Convex decomposition");
// TODO there are some pathological cases here that are taking 11ms+
// VHACD is the wrong thing, we should use hertel-melhorn
geometry::ColliderBuilder::convex_decomposition(&vertices, &indices)
}
}
pub fn upsert_chunk_collider(&mut self, cx: i32, cy: i32, chunk: &Chunk) {
puffin::profile_function!();
let collider =
RbManager::polyline_collider_from_marchable(chunk, Some(20)).translation(vec2(
(cx as f32 + 0.5) * CHUNK_SIZE as f32,
(cy as f32 + 0.5) * CHUNK_SIZE as f32,
));
if let Some(handle) = self.chunk_colliders.remove(&(cx, cy)) {
self.physics_manager.remove_collider(handle);
}
let handle = self.physics_manager.world.insert_collider(collider, None);
self.chunk_colliders.insert((cx, cy), handle);
}
pub fn new() -> Self {
RbManager {
chunk_colliders: FxHashMap::default(),
physics_manager: PhysicsManager::new(),
debug_line_buffer: DebugLineBuffer::default(),
}
}
}
|
