improved physics for AI

5 files changed, 30 insertions, 47 deletions

diff --git a/src/crepe/api/Config.h b/src/crepe/api/Config.h
index a9745c3..c31cf4a 100644
--- a/src/crepe/api/Config.h
+++ b/src/crepe/api/Config.h
@@ -63,7 +63,7 @@ public:
 		 *
 		 * Gravity value of game.
 		 */
-		double gravity = 1;
+		float gravity = 1;
 	} physics;
 
 	//! default window settings
diff --git a/src/crepe/system/AISystem.cpp b/src/crepe/system/AISystem.cpp
index 55dc14c..324ee5f 100644
--- a/src/crepe/system/AISystem.cpp
+++ b/src/crepe/system/AISystem.cpp
@@ -130,7 +130,7 @@ vec2 AISystem::arrive(const AI & ai) {
 	float distance = to_target.length();
 	if (distance > 0.0f) {
 		float speed = distance / ai.arrive_deceleration;
-		speed = std::min(speed, rigidbody.data.max_linear_velocity.length());
+		speed = std::min(speed, rigidbody.data.max_linear_velocity);
 		vec2 desired_velocity = to_target * (speed / distance);
 
 		return desired_velocity - rigidbody.data.linear_velocity;
diff --git a/src/crepe/system/CollisionSystem.cpp b/src/crepe/system/CollisionSystem.cpp
index 6b1954e..0483693 100644
--- a/src/crepe/system/CollisionSystem.cpp
+++ b/src/crepe/system/CollisionSystem.cpp
@@ -182,11 +182,7 @@ CollisionSystem::collision_handler(CollisionInternal & data1, CollisionInternal
 			vec2 collider_pos2 = this->get_current_position(collider2.offset, data2.transform,
 															data2.rigidbody);
 			resolution = this->get_circle_box_resolution(collider1, collider2, collider_pos1,
-<<<<<<< HEAD
 														 collider_pos2);
-=======
-														 collider_pos2, false);
->>>>>>> 33a072db28d71ba65e59f9491abd42dbf9695fc4
 			break;
 		}
 	}
@@ -272,12 +268,7 @@ vec2 CollisionSystem::get_circle_circle_resolution(const CircleCollider & circle
 vec2 CollisionSystem::get_circle_box_resolution(const CircleCollider & circle_collider,
 												const BoxCollider & box_collider,
 												const vec2 & circle_position,
-<<<<<<< HEAD
 												const vec2 & box_position) const {
-=======
-												const vec2 & box_position,
-												bool inverse) const {
->>>>>>> 33a072db28d71ba65e59f9491abd42dbf9695fc4
 	vec2 delta = circle_position - box_position;
 
 	// Compute half-dimensions of the box
@@ -299,11 +290,6 @@ vec2 CollisionSystem::get_circle_box_resolution(const CircleCollider & circle_co
 
 	// Compute penetration depth
 	float penetration_depth = circle_collider.radius - distance;
-<<<<<<< HEAD
-
-=======
-	if (inverse) collision_normal = -collision_normal;
->>>>>>> 33a072db28d71ba65e59f9491abd42dbf9695fc4
 	// Compute the resolution vector
 	vec2 resolution = collision_normal * penetration_depth;
 
diff --git a/src/crepe/system/PhysicsSystem.cpp b/src/crepe/system/PhysicsSystem.cpp
index ebf4439..ab77b35 100644
--- a/src/crepe/system/PhysicsSystem.cpp
+++ b/src/crepe/system/PhysicsSystem.cpp
@@ -11,11 +11,12 @@
 using namespace crepe;
 
 void PhysicsSystem::update() {
+	double dt = LoopTimer::get_instance().get_delta_time();
 	ComponentManager & mgr = this->mediator.component_manager;
 	RefVector<Rigidbody> rigidbodies = mgr.get_components_by_type<Rigidbody>();
 	RefVector<Transform> transforms = mgr.get_components_by_type<Transform>();
 
-	double gravity = Config::get_instance().physics.gravity;
+	float gravity = Config::get_instance().physics.gravity;
 	for (Rigidbody & rigidbody : rigidbodies) {
 		if (!rigidbody.active) continue;
 
@@ -28,17 +29,27 @@ void PhysicsSystem::update() {
 						if (rigidbody.data.gravity_scale > 0) {
 							rigidbody.data.linear_velocity.y
 								+= (rigidbody.data.mass * rigidbody.data.gravity_scale
-									* gravity);
+									* gravity * dt);
 						}
-						// Add damping
+						// Add coefficient rotation
 						if (rigidbody.data.angular_velocity_coefficient > 0) {
 							rigidbody.data.angular_velocity
-								*= rigidbody.data.angular_velocity_coefficient;
+								*= std::pow(rigidbody.data.angular_velocity_coefficient, dt);
+								
 						}
-						if (rigidbody.data.linear_velocity_coefficient.x > 0
-							&& rigidbody.data.linear_velocity_coefficient.y > 0) {
-							rigidbody.data.linear_velocity
-								*= rigidbody.data.linear_velocity_coefficient;
+
+						// Add coefficient movement horizontal
+						if (rigidbody.data.linear_velocity_coefficient.x > 0)
+						{
+							rigidbody.data.linear_velocity.x
+									*= std::pow(rigidbody.data.linear_velocity_coefficient.x, dt);
+						}
+
+						// Add coefficient movement horizontal
+						if (rigidbody.data.linear_velocity_coefficient.y > 0)
+						{
+							rigidbody.data.linear_velocity.y
+									*= std::pow(rigidbody.data.linear_velocity_coefficient.y, dt);
 						}
 
 						// Max velocity check
@@ -51,40 +62,26 @@ void PhysicsSystem::update() {
 							rigidbody.data.angular_velocity
 								= -rigidbody.data.max_angular_velocity;
 						}
-
-						if (rigidbody.data.linear_velocity.x
-							> rigidbody.data.max_linear_velocity.x) {
-							rigidbody.data.linear_velocity.x
-								= rigidbody.data.max_linear_velocity.x;
-						} else if (rigidbody.data.linear_velocity.x
-								   < -rigidbody.data.max_linear_velocity.x) {
-							rigidbody.data.linear_velocity.x
-								= -rigidbody.data.max_linear_velocity.x;
-						}
-
-						if (rigidbody.data.linear_velocity.y
-							> rigidbody.data.max_linear_velocity.y) {
-							rigidbody.data.linear_velocity.y
-								= rigidbody.data.max_linear_velocity.y;
-						} else if (rigidbody.data.linear_velocity.y
-								   < -rigidbody.data.max_linear_velocity.y) {
-							rigidbody.data.linear_velocity.y
-								= -rigidbody.data.max_linear_velocity.y;
+						
+						// Set max velocity to maximum length
+						if(rigidbody.data.linear_velocity.length() > rigidbody.data.max_linear_velocity) {
+							rigidbody.data.linear_velocity.normalize();
+							rigidbody.data.linear_velocity *= rigidbody.data.max_linear_velocity;
 						}
 
 						// Move object
 						if (!rigidbody.data.constraints.rotation) {
-							transform.rotation += rigidbody.data.angular_velocity;
+							transform.rotation += rigidbody.data.angular_velocity * dt;
 							transform.rotation = std::fmod(transform.rotation, 360.0);
 							if (transform.rotation < 0) {
 								transform.rotation += 360.0;
 							}
 						}
 						if (!rigidbody.data.constraints.x) {
-							transform.position.x += rigidbody.data.linear_velocity.x;
+							transform.position.x += rigidbody.data.linear_velocity.x * dt;
 						}
 						if (!rigidbody.data.constraints.y) {
-							transform.position.y += rigidbody.data.linear_velocity.y;
+							transform.position.y += rigidbody.data.linear_velocity.y * dt;
 						}
 					}
 				}
diff --git a/src/test/PhysicsTest.cpp b/src/test/PhysicsTest.cpp
index 43d2931..4af34f5 100644
--- a/src/test/PhysicsTest.cpp
+++ b/src/test/PhysicsTest.cpp
@@ -27,7 +27,7 @@ public:
 				.mass = 1,
 				.gravity_scale = 1,
 				.body_type = Rigidbody::BodyType::DYNAMIC,
-				.max_linear_velocity = vec2{10, 10},
+				.max_linear_velocity = 10,
 				.max_angular_velocity = 10,
 				.constraints = {0, 0},
 			});