jamshred: collision detection half working (half broken)
Alex Chapman
parent
805f025cc5
commit
d61683ecdb
|
|
@ -2,3 +2,7 @@ USING: jamshred.oint tools.test ;
|
|||
IN: jamshred.oint-tests
|
||||
|
||||
[ { 0 -1 -1 } ] [ { 0 1 -1 } { 0 -1 0 } reflect ] unit-test
|
||||
[ { 0 1 0 } ] [ { 1 1 0 } { 1 0 0 } proj-perp ] unit-test
|
||||
[ { 1 0 0 } ] [ { 1 1 0 } { 0 1 0 } proj-perp ] unit-test
|
||||
[ { 1/2 -1/2 0 } ] [ { 1 0 0 } { 1 1 0 } proj-perp ] unit-test
|
||||
[ { -1/2 1/2 0 } ] [ { 0 1 0 } { 1 1 0 } proj-perp ] unit-test
|
||||
|
|
|
|||
|
|
@ -9,6 +9,7 @@ IN: jamshred.oint
|
|||
! segment's location and orientation are given by an oint.
|
||||
|
||||
TUPLE: oint location forward up left ;
|
||||
C: <oint> oint
|
||||
|
||||
: rotation-quaternion ( theta axis -- quaternion )
|
||||
swap 2 / dup cos swap sin rot n*v first3 rect> >r rect> r> 2array ;
|
||||
|
|
@ -48,13 +49,13 @@ TUPLE: oint location forward up left ;
|
|||
#! the scalar projection of v1 onto v2
|
||||
tuck v. swap norm / ;
|
||||
|
||||
: proj-perp ( u v -- w )
|
||||
dupd proj v- ;
|
||||
|
||||
: perpendicular-distance ( oint oint -- distance )
|
||||
tuck distance-vector swap 2dup left>> scalar-projection abs
|
||||
-rot up>> scalar-projection abs + ;
|
||||
|
||||
: proj-perp ( v u -- w )
|
||||
dupd proj v- ;
|
||||
|
||||
:: reflect ( v n -- v' )
|
||||
#! bounce v on a surface with normal n
|
||||
v v n v. n n v. / 2 * n n*v v- ;
|
||||
|
|
|
|||
|
|
@ -27,7 +27,6 @@ TUPLE: player < oint name tunnel nearest-segment last-move ;
|
|||
|
||||
: player-speed ( player -- speed )
|
||||
drop max-speed ;
|
||||
! dup nearest-segment>> fraction-from-wall sq max-speed * ;
|
||||
|
||||
: distance-to-move ( player -- distance )
|
||||
[ player-speed ] [ last-move>> millis dup >r swap - 1000 / * r> ]
|
||||
|
|
@ -35,14 +34,9 @@ TUPLE: player < oint name tunnel nearest-segment last-move ;
|
|||
|
||||
DEFER: (move-player)
|
||||
|
||||
USE: morse
|
||||
: ?bounce ( distance-remaining player -- )
|
||||
over 0 > [
|
||||
"e" play-as-morse
|
||||
[ dup nearest-segment>> bounce ]
|
||||
! [ (move-player) ] ! uncomment when bounce works...
|
||||
[ 2drop ]
|
||||
bi
|
||||
[ dup nearest-segment>> bounce ] [ (move-player) ] bi
|
||||
] [
|
||||
2drop
|
||||
] if ;
|
||||
|
|
@ -50,14 +44,11 @@ USE: morse
|
|||
: move-player-distance ( distance-remaining player distance -- distance-remaining player )
|
||||
pick min tuck over go-forward [ - ] dip ;
|
||||
|
||||
USE: prettyprint
|
||||
USE: io.streams.string
|
||||
: (move-player) ( distance-remaining player -- )
|
||||
over 0 <= [
|
||||
2drop
|
||||
] [
|
||||
dup dup nearest-segment>> distance-to-collision
|
||||
[ dup . ] with-string-writer jamshred-log
|
||||
move-player-distance ?bounce
|
||||
] if ;
|
||||
|
||||
|
|
|
|||
|
|
@ -3,8 +3,8 @@
|
|||
USING: jamshred.oint jamshred.tunnel kernel sequences tools.test ;
|
||||
IN: jamshred.tunnel.tests
|
||||
|
||||
[ 0 ] [ T{ segment T{ oint f { 0 0 0 } } 0 }
|
||||
T{ segment T{ oint f { 1 1 1 } } 1 }
|
||||
[ 0 ] [ T{ segment f { 0 0 0 } f f f 0 }
|
||||
T{ segment f { 1 1 1 } f f f 1 }
|
||||
T{ oint f { 0 0 0.25 } }
|
||||
nearer-segment segment-number ] unit-test
|
||||
|
||||
|
|
@ -15,3 +15,30 @@ IN: jamshred.tunnel.tests
|
|||
[ 3 ] [ <straight-tunnel> T{ oint f { 0 0 -3.25 } } 0 nearest-segment-forward segment-number ] unit-test
|
||||
|
||||
[ F{ 0 0 0 } ] [ <straight-tunnel> T{ oint f { 0 0 -0.25 } } over first nearest-segment oint-location ] unit-test
|
||||
|
||||
: test-segment-oint ( -- oint )
|
||||
{ 0 0 0 } { 0 0 -1 } { 0 1 0 } { -1 0 0 } <oint> ;
|
||||
|
||||
[ { -1 0 0 } ] [ test-segment-oint { 1 0 0 } vector-to-centre ] unit-test
|
||||
[ { 1 0 0 } ] [ test-segment-oint { -1 0 0 } vector-to-centre ] unit-test
|
||||
[ { 0 -1 0 } ] [ test-segment-oint { 0 1 0 } vector-to-centre ] unit-test
|
||||
[ { 0 1 0 } ] [ test-segment-oint { 0 -1 0 } vector-to-centre ] unit-test
|
||||
[ { -1 0 0 } ] [ test-segment-oint { 1 0 -1 } vector-to-centre ] unit-test
|
||||
[ { 1 0 0 } ] [ test-segment-oint { -1 0 -1 } vector-to-centre ] unit-test
|
||||
[ { 0 -1 0 } ] [ test-segment-oint { 0 1 -1 } vector-to-centre ] unit-test
|
||||
[ { 0 1 0 } ] [ test-segment-oint { 0 -1 -1 } vector-to-centre ] unit-test
|
||||
|
||||
: simplest-straight-ahead ( -- oint segment )
|
||||
{ 0 0 0 } { 0 0 -1 } { 0 1 0 } { -1 0 0 } <oint>
|
||||
initial-segment ;
|
||||
|
||||
[ { 0 0 0 } ] [ simplest-straight-ahead sideways-heading ] unit-test
|
||||
[ { 0 0 0 } ] [ simplest-straight-ahead sideways-relative-location ] unit-test
|
||||
|
||||
: simple-collision-up ( -- oint segment )
|
||||
{ 0 0 0 } { 0 1 0 } { 0 0 1 } { -1 0 0 } <oint>
|
||||
initial-segment ;
|
||||
|
||||
[ { 0 1 0 } ] [ simple-collision-up sideways-heading ] unit-test
|
||||
[ { 0 0 0 } ] [ simple-collision-up sideways-relative-location ] unit-test
|
||||
[ { 0 1 0 } ] [ simple-collision-up collision-vector ] unit-test
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
! Copyright (C) 2007 Alex Chapman
|
||||
! See http://factorcode.org/license.txt for BSD license.
|
||||
USING: accessors arrays float-arrays kernel jamshred.oint locals math math.functions math.constants math.matrices math.order math.ranges math.vectors random sequences vectors ;
|
||||
USING: accessors arrays combinators float-arrays kernel jamshred.oint locals math math.functions math.constants math.matrices math.order math.ranges math.vectors math.quadratic random sequences vectors ;
|
||||
IN: jamshred.tunnel
|
||||
|
||||
: n-segments ( -- n ) 5000 ; inline
|
||||
|
|
@ -24,7 +24,7 @@ C: <segment> segment
|
|||
dup [ / pi 2 * * ] curry map ;
|
||||
|
||||
: segment-number++ ( segment -- )
|
||||
dup segment-number 1+ swap set-segment-number ;
|
||||
[ number>> 1+ ] keep (>>number) ;
|
||||
|
||||
: random-color ( -- color )
|
||||
{ 100 100 100 } [ random 100 / >float ] map { 1.0 } append ;
|
||||
|
|
@ -47,8 +47,8 @@ C: <segment> segment
|
|||
: default-segment-radius ( -- r ) 1 ;
|
||||
|
||||
: initial-segment ( -- segment )
|
||||
F{ 0 0 0 } F{ 0 0 -1 } F{ 0 1 0 } F{ -1 0 0 }
|
||||
0 random-color default-segment-radius <segment> ;
|
||||
F{ 0 0 0 } F{ 0 0 -1 } F{ 0 1 0 } F{ -1 0 0 }
|
||||
0 random-color default-segment-radius <segment> ;
|
||||
|
||||
: random-segments ( n -- segments )
|
||||
initial-segment 1vector swap (random-segments) ;
|
||||
|
|
@ -97,65 +97,52 @@ C: <segment> segment
|
|||
[ nearest-segment-forward ] 3keep
|
||||
nearest-segment-backward r> nearer-segment ;
|
||||
|
||||
: distance-from-centre ( oint segment -- distance )
|
||||
perpendicular-distance ;
|
||||
: vector-to-centre ( seg loc -- v )
|
||||
over location>> swap v- swap forward>> proj-perp ;
|
||||
|
||||
: distance-from-wall ( oint segment -- distance )
|
||||
tuck distance-from-centre swap segment-radius swap - ;
|
||||
: distance-from-centre ( seg loc -- distance )
|
||||
vector-to-centre norm ;
|
||||
|
||||
: fraction-from-centre ( oint segment -- fraction )
|
||||
tuck distance-from-centre swap segment-radius / ;
|
||||
: wall-normal ( seg oint -- n )
|
||||
location>> vector-to-centre normalize ;
|
||||
|
||||
: fraction-from-wall ( oint segment -- fraction )
|
||||
: from ( seg loc -- radius d-f-c )
|
||||
dupd location>> distance-from-centre [ radius>> ] dip ;
|
||||
|
||||
: distance-from-wall ( seg loc -- distance ) from - ;
|
||||
: fraction-from-centre ( seg loc -- fraction ) from / ;
|
||||
: fraction-from-wall ( seg loc -- fraction )
|
||||
fraction-from-centre 1 swap - ;
|
||||
|
||||
: sideways-heading ( oint segment -- v )
|
||||
[ forward>> ] bi@ proj-perp ;
|
||||
|
||||
! : facing-nearest-wall? ( oint segment -- ? )
|
||||
! [ [ location>> ] bi@ distance ]
|
||||
! [ sideways-heading ]
|
||||
! [ [ location>> ] bi@ [ v+ ] dip distance ] tri < ;
|
||||
|
||||
! : distance-to-collision ( oint segment -- distance )
|
||||
! ! TODO: this isn't right. If oint is facing away from the wall then it should return a much bigger distance...
|
||||
! #! distance on the oint's heading to the segment wall
|
||||
! facing-nearest-wall? [
|
||||
! [ sideways-heading norm ]
|
||||
! [ distance-from-wall ] 2bi swap /
|
||||
! ] [
|
||||
! ] if ;
|
||||
|
||||
USING: jamshred.log prettyprint io.streams.string ;
|
||||
|
||||
: distant 10 ; inline
|
||||
|
||||
:: (collision-coefficient) ( -2b sqrt(b^2-2ac) 2a -- c )
|
||||
sqrt(b^2-2ac) complex? [
|
||||
:: (collision-coefficient) ( -b sqrt(b^2-4ac) 2a -- c )
|
||||
sqrt(b^2-4ac) complex? [
|
||||
distant
|
||||
] [
|
||||
-2b sqrt(b^2-2ac) + 2a /
|
||||
-2b sqrt(b^2-2ac) - 2a / max ! the -ve answer is behind us
|
||||
-b sqrt(b^2-4ac) + 2a /
|
||||
-b sqrt(b^2-4ac) - 2a / max ! the -ve answer is behind us
|
||||
] if ;
|
||||
|
||||
:: collision-coefficient ( v w -- c )
|
||||
[let* | a [ v dup v. ]
|
||||
b [ v w v. 2 * ]
|
||||
c [ w dup v. v dup v. - ] |
|
||||
b neg b sq a c * 4 * - sqrt a 2 * (collision-coefficient) ] ;
|
||||
c b a quadratic [ real-part ] bi@ max ] ;
|
||||
|
||||
: sideways-heading ( oint segment -- v )
|
||||
[ forward>> ] bi@ proj-perp ;
|
||||
|
||||
: sideways-relative-location ( oint segment -- loc )
|
||||
[ [ location>> ] bi@ v- ] keep forward>> proj-perp ;
|
||||
|
||||
: collision-vector ( oint segment -- v )
|
||||
dupd [ sideways-heading ] [ sideways-relative-location ] 2bi
|
||||
collision-coefficient swap forward>> n*v ;
|
||||
|
||||
USING: prettyprint jamshred.log io.streams.string ;
|
||||
: distance-to-collision ( oint segment -- distance )
|
||||
[ sideways-heading ] [ [ location>> ] bi@ v- collision-coefficient ]
|
||||
[ drop forward>> n*v norm ] 2tri ;
|
||||
|
||||
:: (wall-normal) ( seg loc -- n )
|
||||
[let* | back [ loc seg location>> v- ]
|
||||
back-proj [ back seg forward>> proj ]
|
||||
perp-point [ loc back-proj v- ] |
|
||||
perp-point seg location>> v- normalize ] ;
|
||||
|
||||
: wall-normal ( segment oint -- n )
|
||||
location>> (wall-normal) ;
|
||||
collision-vector norm [ dup . ] with-string-writer jamshred-log ;
|
||||
|
||||
: bounce-forward ( segment oint -- )
|
||||
[ wall-normal ] [ forward>> swap reflect ] [ (>>forward) ] tri ;
|
||||
|
|
|
|||
Loading…
Reference in New Issue