engine/physics/src/physics.rs

@@ -87,7 +87,7 @@ enum JumpDirection{
 impl JumpDirection{
 	fn direction(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,contact:&ContactCollision)->Planar64Vec3{
 		match self{
-			JumpDirection::FromContactNormal=>contact_normal(models,hitbox_mesh,contact),
+			JumpDirection::FromContactNormal=>contact_normal(models,hitbox_mesh,&contact.convex_mesh_id,contact.face_id),
 			&JumpDirection::Exactly(dir)=>dir,
 		}
 	}
@@ -163,7 +163,7 @@ impl ContactMoveState{
 	}
 }
 fn ground_things(walk_settings:&gameplay_style::WalkSettings,contact:&ContactCollision,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->(Planar64Vec3,Planar64Vec3){
-	let normal=contact_normal(models,hitbox_mesh,contact);
+	let normal=contact_normal(models,hitbox_mesh,&contact.convex_mesh_id,contact.face_id);
 	let gravity=touching.base_acceleration(models,style,camera,input_state);
 	let control_dir=style.get_y_control_dir(camera,input_state.controls);
 	let target_velocity=walk_settings.get_walk_target_velocity(control_dir,normal);
@@ -171,7 +171,7 @@ fn ground_things(walk_settings:&gameplay_style::WalkSettings,contact:&ContactCol
 	(gravity,target_velocity_clipped)
 }
 fn ladder_things(ladder_settings:&gameplay_style::LadderSettings,contact:&ContactCollision,touching:&TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->(Planar64Vec3,Planar64Vec3){
-	let normal=contact_normal(models,hitbox_mesh,contact);
+	let normal=contact_normal(models,hitbox_mesh,&contact.convex_mesh_id,contact.face_id);
 	let gravity=touching.base_acceleration(models,style,camera,input_state);
 	let control_dir=style.get_y_control_dir(camera,input_state.controls);
 	let target_velocity=ladder_settings.get_ladder_target_velocity(control_dir,normal);
@@ -614,7 +614,7 @@ impl MoveState{
 			// TODO: unduplicate this code
 			match self.get_walk_state(){
 				// did you stop touching the thing you were walking on?
-				Some(walk_state)=>if !touching.contacts.contains(&walk_state.contact){
+				Some(walk_state)=>if !touching.contacts.contains_key(&walk_state.contact.convex_mesh_id){
 					self.set_move_state(MoveState::Air,body,touching,models,hitbox_mesh,style,camera,input_state);
 				}else{
 					// stopped touching something else while walking
@@ -731,8 +731,8 @@ struct IntersectModel{
 
 #[derive(Debug,Clone,Copy,Eq,Hash,PartialEq)]
 pub struct ContactCollision{
-	face_id:model_physics::MinkowskiFace,
 	convex_mesh_id:ConvexMeshId<ContactModelId>,
+	face_id:model_physics::MinkowskiFace,
 }
 #[derive(Debug,Clone,Copy,Eq,Hash,PartialEq)]
 pub struct IntersectCollision{
@@ -753,24 +753,30 @@ impl Collision{
 }
 #[derive(Clone,Debug,Default)]
 struct TouchingState{
-	contacts:HashSet<ContactCollision>,
-	intersects:HashSet<IntersectCollision>,
+	contacts:HashMap<ConvexMeshId<ContactModelId>,model_physics::MinkowskiFace>,
+	intersects:HashSet<ConvexMeshId<IntersectModelId>>,
 }
 impl TouchingState{
 	fn clear(&mut self){
 		self.contacts.clear();
 		self.intersects.clear();
 	}
-	fn insert(&mut self,collision:Collision)->bool{
-		match collision{
-			Collision::Contact(collision)=>self.contacts.insert(collision),
-			Collision::Intersect(collision)=>self.intersects.insert(collision),
-		}
+	fn insert_contact(&mut self,contact:ContactCollision)->Option<model_physics::MinkowskiFace>{
+		self.contacts.insert(contact.convex_mesh_id,contact.face_id)
 	}
-	fn remove(&mut self,collision:&Collision)->bool{
-		match collision{
-			Collision::Contact(collision)=>self.contacts.remove(collision),
-			Collision::Intersect(collision)=>self.intersects.remove(collision),
+	fn insert_intersect(&mut self,intersect:IntersectCollision)->bool{
+		self.intersects.insert(intersect.convex_mesh_id)
+	}
+	fn remove_contact(&mut self,convex_mesh_id:&ConvexMeshId<ContactModelId>)->Option<model_physics::MinkowskiFace>{
+		self.contacts.remove(convex_mesh_id)
+	}
+	fn remove_intersect(&mut self,convex_mesh_id:&ConvexMeshId<IntersectModelId>)->bool{
+		self.intersects.remove(convex_mesh_id)
+	}
+	fn contains(&self,convex_mesh_id:&ConvexMeshId<PhysicsModelId>)->bool{
+		match convex_mesh_id.model_id{
+			PhysicsModelId::Contact(contact_model_id)=>self.contacts.contains_key(&convex_mesh_id.map(contact_model_id)),
+			PhysicsModelId::Intersect(intersect_model_id)=>self.intersects.contains(&convex_mesh_id.map(intersect_model_id)),
 		}
 	}
 	fn base_acceleration(&self,models:&PhysicsModels,style:&StyleModifiers,camera:&PhysicsCamera,input_state:&InputState)->Planar64Vec3{
@@ -779,13 +785,13 @@ impl TouchingState{
 			a+=rocket_settings.acceleration(style.get_propulsion_control_dir(camera,input_state.controls));
 		}
 		//add accelerators
-		for contact in &self.contacts{
-			if let Some(accelerator)=&models.contact_attr(contact.convex_mesh_id.model_id).general.accelerator{
+		for contact in self.contacts.keys(){
+			if let Some(accelerator)=&models.contact_attr(contact.model_id).general.accelerator{
 				a+=accelerator.acceleration;
 			}
 		}
 		for intersect in &self.intersects{
-			if let Some(accelerator)=&models.intersect_attr(intersect.convex_mesh_id.model_id).general.accelerator{
+			if let Some(accelerator)=&models.intersect_attr(intersect.model_id).general.accelerator{
 				a+=accelerator.acceleration;
 			}
 		}
@@ -793,8 +799,8 @@ impl TouchingState{
 		a
 	}
 	fn constrain_velocity(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,velocity:Planar64Vec3)->Planar64Vec3{
-		let contacts:Vec<_>=self.contacts.iter().map(|contact|{
-			let n=contact_normal(models,hitbox_mesh,contact);
+		let contacts:Vec<_>=self.contacts.iter().map(|(convex_mesh_id,face_id)|{
+			let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
 			crate::push_solve::Contact{
 				position:vec3::ZERO,
 				velocity:n,
@@ -804,8 +810,8 @@ impl TouchingState{
 		crate::push_solve::push_solve(&contacts,velocity)
 	}
 	fn constrain_acceleration(&self,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,acceleration:Planar64Vec3)->Planar64Vec3{
-		let contacts:Vec<_>=self.contacts.iter().map(|contact|{
-			let n=contact_normal(models,hitbox_mesh,contact);
+		let contacts:Vec<_>=self.contacts.iter().map(|(convex_mesh_id,face_id)|{
+			let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
 			crate::push_solve::Contact{
 				position:vec3::ZERO,
 				velocity:n,
@@ -817,29 +823,29 @@ impl TouchingState{
 	fn predict_collision_end(&self,collector:&mut instruction::InstructionCollector<InternalInstruction,Time>,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,body:&Body,start_time:Time){
 		// let relative_body=body.relative_to(&Body::ZERO);
 		let relative_body=body;
-		for contact in &self.contacts{
+		for (convex_mesh_id,face_id) in &self.contacts{
 			//detect face slide off
-			let model_mesh=models.contact_mesh(&contact.convex_mesh_id);
+			let model_mesh=models.contact_mesh(convex_mesh_id);
 			let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
-			collector.collect(minkowski.predict_collision_face_out(&relative_body,start_time..collector.time(),contact.face_id).map(|(_face,time)|{
+			collector.collect(minkowski.predict_collision_face_out(&relative_body,start_time..collector.time(),*face_id).map(|(_face,time)|{
 				TimedInstruction{
 					time:relative_body.time+time.into(),
 					instruction:InternalInstruction::CollisionEnd(
-						Collision::Contact(*contact),
+						Collision::Contact(ContactCollision{face_id:*face_id,convex_mesh_id:*convex_mesh_id}),
 						time
 					),
 				}
 			}));
 		}
-		for intersect in &self.intersects{
+		for convex_mesh_id in &self.intersects{
 			//detect model collision in reverse
-			let model_mesh=models.intersect_mesh(&intersect.convex_mesh_id);
+			let model_mesh=models.intersect_mesh(convex_mesh_id);
 			let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
 			collector.collect(minkowski.predict_collision_out(&relative_body,start_time..collector.time()).map(|(_face,time)|{
 				TimedInstruction{
 					time:relative_body.time+time.into(),
 					instruction:InternalInstruction::CollisionEnd(
-						Collision::Intersect(*intersect),
+						Collision::Intersect(IntersectCollision{convex_mesh_id:*convex_mesh_id}),
 						time
 					),
 				}
@@ -1193,21 +1199,19 @@ impl<'a> PhysicsContext<'a>{
 		//relative to moving platforms
 		//let relative_body=state.body.relative_to(&Body::ZERO);
 		let relative_body=&state.body;
-		data.bvh.sample_aabb(&aabb,&mut |&convex_mesh_id|{
+		data.bvh.sample_aabb(&aabb,&mut |convex_mesh_id|{
+			if state.touching.contains(convex_mesh_id){
+				return;
+			}
 			//no checks are needed because of the time limits.
-			let model_mesh=data.models.mesh(convex_mesh_id);
+			let model_mesh=data.models.mesh(*convex_mesh_id);
 			let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,data.hitbox_mesh.transformed_mesh());
 			collector.collect(minkowski.predict_collision_in(relative_body,state.time..collector.time())
-				//temp (?) code to avoid collision loops
-				.and_then(|(face,dt)|{
-					// this must be rounded to avoid the infinite loop when hitting the start zone
-					let time=relative_body.time+dt.into();
-					(state.time<time).then_some((time,face,dt))
-				}).map(|(time,face,dt)|
+				.map(|(face,dt)|
 					TimedInstruction{
-						time,
+						time:relative_body.time+dt.into(),
 						instruction:InternalInstruction::CollisionStart(
-							Collision::new(convex_mesh_id,face),
+							Collision::new(*convex_mesh_id,face),
 							dt
 						)
 					}
@@ -1218,12 +1222,17 @@ impl<'a> PhysicsContext<'a>{
 	}
 
 
-fn contact_normal(models:&PhysicsModels,hitbox_mesh:&HitboxMesh,contact:&ContactCollision)->Planar64Vec3{
-	let model_mesh=models.contact_mesh(&contact.convex_mesh_id);
+fn contact_normal(
+	models:&PhysicsModels,
+	hitbox_mesh:&HitboxMesh,
+	convex_mesh_id:&ConvexMeshId<ContactModelId>,
+    face_id:model_physics::MinkowskiFace,
+)->Planar64Vec3{
+	let model_mesh=models.contact_mesh(convex_mesh_id);
 	let minkowski=model_physics::MinkowskiMesh::minkowski_sum(model_mesh,hitbox_mesh.transformed_mesh());
 	// TODO: normalize to i64::MAX>>1
 	// wrap for speed
-	minkowski.face_nd(contact.face_id).0.wrap_1()
+	minkowski.face_nd(face_id).0.wrap_1()
 }
 
 fn recalculate_touching(
@@ -1244,11 +1253,11 @@ fn recalculate_touching(
 	//collision_end all existing contacts
 	//I would have preferred while let Some(contact)=contacts.pop()
 	//but there is no such method
-	while let Some(&contact)=touching.contacts.iter().next(){
-		collision_end_contact(move_state,body,touching,models,hitbox_mesh,style,camera,input_state,models.contact_attr(contact.convex_mesh_id.model_id),contact)
+	while let Some((convex_mesh_id,_face_id))=touching.contacts.iter().next(){
+		collision_end_contact(move_state,body,touching,models,hitbox_mesh,style,camera,input_state,models.contact_attr(convex_mesh_id.model_id),*convex_mesh_id)
 	}
-	while let Some(&intersect)=touching.intersects.iter().next(){
-		collision_end_intersect(move_state,body,touching,models,hitbox_mesh,style,camera,input_state,mode,run,models.intersect_attr(intersect.convex_mesh_id.model_id),intersect,time);
+	while let Some(convex_mesh_id)=touching.intersects.iter().next(){
+		collision_end_intersect(move_state,body,touching,models,hitbox_mesh,style,camera,input_state,mode,run,models.intersect_attr(convex_mesh_id.model_id),*convex_mesh_id,time);
 	}
 	//find all models in the teleport region
 	let mut aabb=aabb::Aabb::default();
@@ -1304,8 +1313,8 @@ fn set_position(
 fn set_velocity_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,v:Planar64Vec3)->bool{
 	//This is not correct but is better than what I have
 	let mut culled=false;
-	touching.contacts.retain(|contact|{
-		let n=contact_normal(models,hitbox_mesh,contact);
+	touching.contacts.retain(|convex_mesh_id,face_id|{
+		let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
 		let r=n.dot(v).is_positive();
 		if r{
 			culled=true;
@@ -1322,8 +1331,8 @@ fn set_velocity(body:&mut Body,touching:&TouchingState,models:&PhysicsModels,hit
 fn set_acceleration_cull(body:&mut Body,touching:&mut TouchingState,models:&PhysicsModels,hitbox_mesh:&HitboxMesh,a:Planar64Vec3)->bool{
 	//This is not correct but is better than what I have
 	let mut culled=false;
-	touching.contacts.retain(|contact|{
-		let n=contact_normal(models,hitbox_mesh,contact);
+	touching.contacts.retain(|convex_mesh_id,face_id|{
+		let n=contact_normal(models,hitbox_mesh,convex_mesh_id,*face_id);
 		let r=n.dot(a).is_positive();
 		if r{
 			culled=true;
@@ -1536,7 +1545,7 @@ fn collision_start_contact(
 ){
 	let incident_velocity=body.velocity;
 	//add to touching
-	touching.insert(Collision::Contact(contact));
+	touching.insert_contact(contact);
 	//clip v
 	set_velocity(body,touching,models,hitbox_mesh,incident_velocity);
 	let mut allow_jump=true;
@@ -1564,7 +1573,7 @@ fn collision_start_contact(
 		},
 		Some(gameplay_attributes::ContactingBehaviour::NoJump)=>allow_jump=false,
 		None=>if let Some(walk_settings)=&style.walk{
-			if walk_settings.is_slope_walkable(contact_normal(models,hitbox_mesh,&contact),vec3::Y){
+			if walk_settings.is_slope_walkable(contact_normal(models,hitbox_mesh,&contact.convex_mesh_id,contact.face_id),vec3::Y){
 				allow_run_teleport_behaviour=true;
 				//ground
 				let (gravity,target_velocity)=ground_things(walk_settings,&contact,touching,models,hitbox_mesh,style,camera,input_state);
@@ -1638,7 +1647,7 @@ fn collision_start_intersect(
 	time:Time,
 ){
 	//I think that setting the velocity to 0 was preventing surface contacts from entering an infinite loop
-	touching.insert(Collision::Intersect(intersect));
+	touching.insert_intersect(intersect);
 	//insta booster!
 	if let Some(booster)=&attr.general.booster{
 		move_state.cull_velocity(booster.boost(body.velocity),body,touching,models,hitbox_mesh,style,camera,input_state);
@@ -1674,15 +1683,17 @@ fn collision_end_contact(
 	camera:&PhysicsCamera,
 	input_state:&InputState,
 	_attr:&gameplay_attributes::ContactAttributes,
-	contact:ContactCollision,
+	convex_mesh_id:ConvexMeshId<ContactModelId>,
 ){
-	touching.remove(&Collision::Contact(contact));//remove contact before calling contact_constrain_acceleration
+	touching.remove_contact(&convex_mesh_id);//remove contact before calling contact_constrain_acceleration
 	//check ground
 	//TODO do better
 	//this is inner code from move_state.cull_velocity
 	match move_state.get_walk_state(){
 		// did you stop touching the thing you were walking on?
-		Some(walk_state)=>if walk_state.contact==contact{
+		// This does not check the face! Is that a bad thing? It should be
+		// impossible to stop touching a different face than you started touching...
+		Some(walk_state)=>if walk_state.contact.convex_mesh_id==convex_mesh_id{
 			move_state.set_move_state(MoveState::Air,body,touching,models,hitbox_mesh,style,camera,input_state);
 		}else{
 			// stopped touching something else while walking
@@ -1704,13 +1715,13 @@ fn collision_end_intersect(
 	mode:Option<&gameplay_modes::Mode>,
 	run:&mut run::Run,
 	_attr:&gameplay_attributes::IntersectAttributes,
-	intersect:IntersectCollision,
+	convex_mesh_id:ConvexMeshId<IntersectModelId>,
 	time:Time,
 ){
-	touching.remove(&Collision::Intersect(intersect));
+	touching.remove_intersect(&convex_mesh_id);
 	move_state.apply_enum_and_body(body,touching,models,hitbox_mesh,style,camera,input_state);
 	if let Some(mode)=mode{
-		let zone=mode.get_zone(intersect.convex_mesh_id.model_id.into());
+		let zone=mode.get_zone(convex_mesh_id.model_id.into());
 		match zone{
 			Some(gameplay_modes::Zone::Start)=>{
 				match run.start(time){
@@ -1762,14 +1773,14 @@ fn atomic_internal_instruction(state:&mut PhysicsState,data:&PhysicsData,ins:Tim
 				Collision::Contact(contact)=>collision_end_contact(
 					&mut state.move_state,&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state,
 					data.models.contact_attr(contact.convex_mesh_id.model_id),
-					contact
+					contact.convex_mesh_id
 				),
 				Collision::Intersect(intersect)=>collision_end_intersect(
 					&mut state.move_state,&mut state.body,&mut state.touching,&data.models,&data.hitbox_mesh,&state.style,&state.camera,&state.input_state,
 					data.modes.get_mode(state.mode_state.get_mode_id()),
 					&mut state.run,
 					data.models.intersect_attr(intersect.convex_mesh_id.model_id),
-					intersect,
+					intersect.convex_mesh_id,
 					state.time
 				),
 			},