fix: collision tunneling, spawn at surface, physics substepping
- Fix: rewrite resolve_grid_collision to push body out of solid cells when center is inside (was only pushing to small radius from center) - Fix: max velocity clamp (0.8) + 4x substepping prevents tunneling - Fix: player/goblin spawn at terrain surface instead of mid-air - Fix: gravity reduced from 0.3 to 0.08 for substepping - Add: headless mode (--headless-ticks N) dumps grid state to file - Add: velocity zeroing on collision for stable resting
This commit is contained in:
Emil
+88
-46
@@ -33,65 +33,107 @@ pub fn resolve_grid_collision(grid: &Grid, body: &mut SubBody) -> CollisionResul
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let min_y = (body.y - r).floor() as i32;
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let max_y = (body.y + r).ceil() as i32;
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for cy in min_y..=max_y {
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for cx in min_x..=max_x {
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if !grid.in_bounds(cx, cy) {
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continue;
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}
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let cell = grid.get(cx, cy);
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if cell.is_empty() {
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continue;
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}
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for _iteration in 0..3 {
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let mut any_collision = false;
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if cell.is_liquid() {
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result.in_liquid = true;
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result.liquid_density = result.liquid_density.max(cell.density());
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if cell.material == MaterialId::Lava {
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result.touching_lava = true;
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for cy in min_y..=max_y {
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for cx in min_x..=max_x {
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if !grid.in_bounds(cx, cy) {
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continue;
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}
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if cell.material == MaterialId::Acid {
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result.touching_acid = true;
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let cell = grid.get(cx, cy);
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if cell.is_empty() {
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continue;
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}
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apply_liquid_drag(body, cell.density());
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continue;
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}
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if cell.material == MaterialId::Fire {
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result.touching_fire = true;
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continue;
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}
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if cell.is_liquid() {
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result.in_liquid = true;
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result.liquid_density = result.liquid_density.max(cell.density());
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if cell.material == MaterialId::Lava {
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result.touching_lava = true;
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}
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if cell.material == MaterialId::Acid {
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result.touching_acid = true;
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}
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apply_liquid_drag(body, cell.density());
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continue;
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}
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if cell.is_solid() {
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let closest_x = body.x.max(cx as f32).min((cx + 1) as f32);
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let closest_y = body.y.max(cy as f32).min((cy + 1) as f32);
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let dx = body.x - closest_x;
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let dy = body.y - closest_y;
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let dist_sq = dx * dx + dy * dy;
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if dist_sq < r * r {
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let dist = dist_sq.sqrt();
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if dist > 0.0001 {
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let overlap = r - dist;
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let nx = dx / dist;
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let ny = dy / dist;
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body.x += nx * overlap;
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body.y += ny * overlap;
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if ny < -0.5 {
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if cell.material == MaterialId::Fire {
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result.touching_fire = true;
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continue;
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}
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if cell.is_solid() {
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let cell_min_x = cx as f32;
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let cell_max_x = (cx + 1) as f32;
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let cell_min_y = cy as f32;
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let cell_max_y = (cy + 1) as f32;
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let inside_x = body.x >= cell_min_x && body.x < cell_max_x;
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let inside_y = body.y >= cell_min_y && body.y < cell_max_y;
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if inside_x && inside_y {
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let dist_left = body.x - cell_min_x;
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let dist_right = cell_max_x - body.x;
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let dist_top = body.y - cell_min_y;
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let dist_bottom = cell_max_y - body.y;
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let min_dist = dist_left.min(dist_right).min(dist_top).min(dist_bottom);
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if min_dist == dist_top {
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body.y = cell_min_y - r;
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result.on_ground = true;
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} else if min_dist == dist_bottom {
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body.y = cell_max_y + r;
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} else if min_dist == dist_left {
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body.x = cell_min_x - r;
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} else {
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body.x = cell_max_x + r;
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}
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let vy = body.vy();
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if min_dist == dist_top && vy > 0.0 {
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body.set_vel(body.vx(), 0.0);
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}
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let vx = body.vx();
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if (min_dist == dist_left || min_dist == dist_right) && vx != 0.0 {
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body.set_vel(0.0, body.vy());
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}
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any_collision = true;
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} else {
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let bcx = cx as f32 + 0.5;
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let bcy = cy as f32 + 0.5;
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let dx = body.x - bcx;
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let dy = body.y - bcy;
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let dist = (dx * dx + dy * dy).sqrt();
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if dist > 0.0001 {
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body.x = bcx + dx / dist * r * 1.1;
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body.y = bcy + dy / dist * r * 1.1;
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let closest_x = body.x.max(cell_min_x).min(cell_max_x);
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let closest_y = body.y.max(cell_min_y).min(cell_max_y);
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let dx = body.x - closest_x;
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let dy = body.y - closest_y;
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let dist_sq = dx * dx + dy * dy;
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if dist_sq < r * r && dist_sq > 0.0001 {
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let dist = dist_sq.sqrt();
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let overlap = r - dist;
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let nx = dx / dist;
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let ny = dy / dist;
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body.x += nx * overlap;
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body.y += ny * overlap;
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if ny < -0.5 {
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result.on_ground = true;
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if body.vy() > 0.0 {
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body.set_vel(body.vx(), 0.0);
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}
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}
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any_collision = true;
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}
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}
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}
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}
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}
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if !any_collision {
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break;
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}
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}
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result
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+14
-3
@@ -87,14 +87,18 @@ pub struct VerletSolver {
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pub gravity: f32,
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pub damping: f32,
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pub dt: f32,
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pub max_vel: f32,
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pub substeps: u32,
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}
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impl VerletSolver {
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pub fn new() -> Self {
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Self {
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gravity: 0.3,
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gravity: 0.08,
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damping: 0.98,
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dt: 1.0,
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max_vel: 0.8,
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substeps: 4,
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}
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}
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@@ -103,8 +107,15 @@ impl VerletSolver {
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if !b.alive {
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continue;
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}
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let vx = (b.x - b.old_x) * self.damping;
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let vy = (b.y - b.old_y) * self.damping;
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let mut vx = (b.x - b.old_x) * self.damping;
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let mut vy = (b.y - b.old_y) * self.damping;
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let v_mag = (vx * vx + vy * vy).sqrt();
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if v_mag > self.max_vel {
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vx = vx / v_mag * self.max_vel;
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vy = vy / v_mag * self.max_vel;
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}
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b.old_x = b.x;
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b.old_y = b.y;
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b.x += vx + b.ax * self.dt * self.dt;
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