Update the character controller to allow walking and jumping

client/src/graphics/window.rs

@@ -120,6 +120,7 @@ impl Window {
         let mut right = false;
         let mut up = false;
         let mut down = false;
+        let mut jump = false;
         let mut clockwise = false;
         let mut anticlockwise = false;
         let mut last_frame = Instant::now();
@@ -136,22 +137,19 @@ impl Window {
                     if let Some(sim) = self.sim.as_mut() {
                         let this_frame = Instant::now();
                         let dt = this_frame - last_frame;
-                        let move_direction: na::Vector3<f32> = na::Vector3::x()
-                            * (right as u8 as f32 - left as u8 as f32)
-                            + na::Vector3::y() * (up as u8 as f32 - down as u8 as f32)
-                            + na::Vector3::z() * (back as u8 as f32 - forward as u8 as f32);
-                        sim.set_movement_input(if move_direction.norm_squared() > 1.0 {
-                            move_direction.normalize()
-                        } else {
-                            move_direction
-                        });
-
-                        sim.rotate(&na::UnitQuaternion::from_axis_angle(
-                            &-na::Vector3::z_axis(),
-                            (clockwise as u8 as f32 - anticlockwise as u8 as f32)
-                                * 2.0
-                                * dt.as_secs_f32(),
+                        sim.set_movement_input(na::Vector3::new(
+                            right as u8 as f32 - left as u8 as f32,
+                            up as u8 as f32 - down as u8 as f32,
+                            back as u8 as f32 - forward as u8 as f32,
                         ));
+                        sim.set_jump_held(jump);
+
+                        sim.look(
+                            0.0,
+                            0.0,
+                            2.0 * (anticlockwise as u8 as f32 - clockwise as u8 as f32)
+                                * dt.as_secs_f32(),
+                        );
 
                         sim.step(dt, &mut self.net);
                         last_frame = this_frame;
@@ -163,14 +161,11 @@ impl Window {
                     DeviceEvent::MouseMotion { delta } if mouse_captured => {
                         if let Some(sim) = self.sim.as_mut() {
                             const SENSITIVITY: f32 = 2e-3;
-                            let rot = na::UnitQuaternion::from_axis_angle(
-                                &na::Vector3::y_axis(),
+                            sim.look(
                                 -delta.0 as f32 * SENSITIVITY,
-                            ) * na::UnitQuaternion::from_axis_angle(
-                                &na::Vector3::x_axis(),
                                 -delta.1 as f32 * SENSITIVITY,
+                                0.0,
                             );
-                            sim.rotate(&rot);
                         }
                     }
                     _ => {}
@@ -232,6 +227,14 @@ impl Window {
                         VirtualKeyCode::F => {
                             down = state == ElementState::Pressed;
                         }
+                        VirtualKeyCode::Space => {
+                            if let Some(sim) = self.sim.as_mut() {
+                                if !jump && state == ElementState::Pressed {
+                                    sim.set_jump_pressed_true();
+                                }
+                                jump = state == ElementState::Pressed;
+                            }
+                        }
                         VirtualKeyCode::V if state == ElementState::Pressed => {
                             if let Some(sim) = self.sim.as_mut() {
                                 sim.toggle_no_clip();

client/src/lib.rs

@@ -15,6 +15,7 @@ mod config;
 pub mod graphics;
 mod lahar_deprecated;
 mod loader;
+mod local_character_controller;
 pub mod metrics;
 pub mod net;
 mod prediction;

client/src/local_character_controller.rs

@@ -0,0 +1,313 @@
+use common::{math, proto::Position};
+
+pub struct LocalCharacterController {
+    /// The last extrapolated inter-frame view position, used for rendering and gravity-specific
+    /// orientation computations
+    position: Position,
+
+    /// The up vector relative to position, ignoring orientation
+    up: na::UnitVector3<f32>,
+
+    /// The quaternion adjustment to the character position to represent its actual apparent orientation
+    orientation: na::UnitQuaternion<f32>,
+}
+
+impl LocalCharacterController {
+    pub fn new() -> Self {
+        LocalCharacterController {
+            position: Position::origin(),
+            orientation: na::UnitQuaternion::identity(),
+            up: na::Vector::z_axis(),
+        }
+    }
+
+    /// Get the current position with orientation applied to it
+    pub fn oriented_position(&self) -> Position {
+        Position {
+            node: self.position.node,
+            local: self.position.local * self.orientation.to_homogeneous(),
+        }
+    }
+
+    pub fn orientation(&self) -> na::UnitQuaternion<f32> {
+        self.orientation
+    }
+
+    /// Updates the LocalCharacter based on outside information. Note that the `up` parameter is relative
+    /// only to `position`, not the character's orientation.
+    pub fn update_position(
+        &mut self,
+        position: Position,
+        up: na::UnitVector3<f32>,
+        preserve_up_alignment: bool,
+    ) {
+        if preserve_up_alignment {
+            // Rotate the character orientation to stay consistent with changes in gravity
+            self.orientation = math::rotation_between_axis(&self.up, &up, 1e-5)
+                .unwrap_or(na::UnitQuaternion::identity())
+                * self.orientation;
+        }
+
+        self.position = position;
+        self.up = up;
+    }
+
+    /// Rotates the camera's view by locally adding pitch and yaw.
+    pub fn look_free(&mut self, delta_yaw: f32, delta_pitch: f32, delta_roll: f32) {
+        self.orientation *= na::UnitQuaternion::from_axis_angle(&na::Vector3::y_axis(), delta_yaw)
+            * na::UnitQuaternion::from_axis_angle(&na::Vector3::x_axis(), delta_pitch)
+            * na::UnitQuaternion::from_axis_angle(&na::Vector3::z_axis(), delta_roll);
+    }
+
+    /// Rotates the camera's view with standard first-person walking simulator mouse controls. This function
+    /// is designed to be flexible enough to work with any starting orientation, but it works best when the
+    /// camera is level, not rolled to the left or right.
+    pub fn look_level(&mut self, delta_yaw: f32, delta_pitch: f32) {
+        // Get orientation-relative up
+        let up = self.orientation.inverse() * self.up;
+
+        // Handle yaw. This is as simple as rotating the view about the up vector
+        self.orientation *= na::UnitQuaternion::from_axis_angle(&up, delta_yaw);
+
+        // Handling pitch is more compicated because the view angle needs to be capped. The rotation axis
+        // is the camera's local x-axis (left-right axis). If the camera is level, this axis is perpendicular
+        // to the up vector.
+
+        // We need to know the current pitch to properly cap pitch changes, and this is only well-defined
+        // if the pitch axis is not too similar to the up vector, so we skip applying pitch changes if this
+        // isn't the case.
+        if up.x.abs() < 0.9 {
+            // Compute the current pitch by ignoring the x-component of the up vector and assuming the camera
+            // is level.
+            let current_pitch = -up.z.atan2(up.y);
+            let mut target_pitch = current_pitch + delta_pitch;
+            if delta_pitch > 0.0 {
+                target_pitch = target_pitch
+                    .min(std::f32::consts::FRAC_PI_2) // Cap the view angle at looking straight up
+                    .max(current_pitch); // But if already upside-down, don't make any corrections.
+            } else {
+                target_pitch = target_pitch
+                    .max(-std::f32::consts::FRAC_PI_2) // Cap the view angle at looking straight down
+                    .min(current_pitch); // But if already upside-down, don't make any corrections.
+            }
+
+            self.orientation *= na::UnitQuaternion::from_axis_angle(
+                &na::Vector3::x_axis(),
+                target_pitch - current_pitch,
+            );
+        }
+    }
+
+    /// Instantly updates the current orientation quaternion to make the camera level. This function
+    /// is designed to be numerically stable for any camera orientation.
+    pub fn align_to_gravity(&mut self) {
+        // Get orientation-relative up
+        let up = self.orientation.inverse() * self.up;
+
+        if up.z.abs() < 0.9 {
+            // If facing not too vertically, roll the camera to make it level.
+            let delta_roll = -up.x.atan2(up.y);
+            self.orientation *=
+                na::UnitQuaternion::from_axis_angle(&na::Vector3::z_axis(), delta_roll);
+        } else if up.y > 0.0 {
+            // Otherwise, if not upside-down, yaw the camera to make it level.
+            let delta_yaw = (up.x / up.z).atan();
+            self.orientation *=
+                na::UnitQuaternion::from_axis_angle(&na::Vector3::y_axis(), delta_yaw);
+        } else {
+            // Otherwise, rotate the camera to look straight up or down.
+            self.orientation *=
+                na::UnitQuaternion::rotation_between(&(na::Vector3::z() * up.z.signum()), &up)
+                    .unwrap();
+        }
+    }
+
+    /// Returns an orientation quaternion that is as faithful as possible to the current orientation quaternion
+    /// while being restricted to ensuring the view is level and does not look up or down. This function's main
+    /// purpose is to figure out what direction the character should go when a movement key is pressed.
+    pub fn horizontal_orientation(&mut self) -> na::UnitQuaternion<f32> {
+        // Get orientation-relative up
+        let up = self.orientation.inverse() * self.up;
+
+        let forward = if up.x.abs() < 0.9 {
+            // Rotate the local forward vector about the locally horizontal axis until it is horizontal
+            na::Vector3::new(0.0, -up.z, up.y)
+        } else {
+            // Project the local forward vector to the level plane
+            na::Vector3::z() - up.into_inner() * up.z
+        };
+
+        self.orientation * na::UnitQuaternion::face_towards(&forward, &up)
+    }
+
+    pub fn renormalize_orientation(&mut self) {
+        self.orientation.renormalize_fast();
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use approx::assert_abs_diff_eq;
+
+    use super::*;
+
+    fn assert_aligned_to_gravity(subject: &LocalCharacterController) {
+        let up = subject.orientation.inverse() * subject.up;
+
+        // Make sure up vector doesn't point downwards, as that would mean the character is upside-down
+        assert!(up.y >= -1e-5);
+
+        // Make sure the up vector has no sideways component, as that would mean the character view is tilted
+        assert_abs_diff_eq!(up.x, 0.0, epsilon = 1.0e-5);
+    }
+
+    fn assert_yaw_and_pitch_correct(
+        base_orientation: na::UnitQuaternion<f32>,
+        yaw: f32,
+        pitch: f32,
+        actual_orientation: na::UnitQuaternion<f32>,
+    ) {
+        let expected_orientation = base_orientation
+            * na::UnitQuaternion::from_axis_angle(&na::Vector3::y_axis(), yaw)
+            * na::UnitQuaternion::from_axis_angle(&na::Vector3::x_axis(), pitch);
+        assert_abs_diff_eq!(expected_orientation, actual_orientation, epsilon = 1.0e-5);
+    }
+
+    #[test]
+    fn look_level_and_horizontal_orientation_examples() {
+        let mut subject = LocalCharacterController::new();
+
+        // Pick an arbitrary orientation
+        let base_orientation = na::UnitQuaternion::new(na::Vector3::new(1.3, -2.1, 0.5));
+        subject.orientation = base_orientation;
+
+        // Choose the up vector that makes the current orientation a horizontal orientation
+        subject.up = subject.orientation * na::Vector3::y_axis();
+
+        let mut yaw = 0.0;
+        let mut pitch = 0.0;
+
+        // Sanity check that the setup makes sense
+        assert_aligned_to_gravity(&subject);
+        assert_yaw_and_pitch_correct(base_orientation, yaw, pitch, subject.orientation);
+        assert_yaw_and_pitch_correct(base_orientation, yaw, 0.0, subject.horizontal_orientation());
+
+        // Standard look_level expression
+        subject.look_level(0.5, -0.4);
+        yaw += 0.5;
+        pitch -= 0.4;
+        assert_aligned_to_gravity(&subject);
+        assert_yaw_and_pitch_correct(base_orientation, yaw, pitch, subject.orientation);
+        assert_yaw_and_pitch_correct(base_orientation, yaw, 0.0, subject.horizontal_orientation());
+
+        // Look up past the cap
+        subject.look_level(-0.2, 3.0);
+        yaw -= 0.2;
+        pitch = std::f32::consts::FRAC_PI_2;
+        assert_aligned_to_gravity(&subject);
+        assert_yaw_and_pitch_correct(base_orientation, yaw, pitch, subject.orientation);
+        assert_yaw_and_pitch_correct(base_orientation, yaw, 0.0, subject.horizontal_orientation());
+
+        // Look down past the cap
+        subject.look_level(6.2, -7.2);
+        yaw += 6.2;
+        pitch = -std::f32::consts::FRAC_PI_2;
+        assert_aligned_to_gravity(&subject);
+        assert_yaw_and_pitch_correct(base_orientation, yaw, pitch, subject.orientation);
+        assert_yaw_and_pitch_correct(base_orientation, yaw, 0.0, subject.horizontal_orientation());
+
+        // Go back to a less unusual orientation
+        subject.look_level(-1.2, 0.8);
+        yaw -= 1.2;
+        pitch += 0.8;
+        assert_aligned_to_gravity(&subject);
+        assert_yaw_and_pitch_correct(base_orientation, yaw, pitch, subject.orientation);
+        assert_yaw_and_pitch_correct(base_orientation, yaw, 0.0, subject.horizontal_orientation());
+    }
+
+    #[test]
+    fn align_to_gravity_examples() {
+        // Pick an arbitrary orientation
+        let base_orientation = na::UnitQuaternion::new(na::Vector3::new(1.3, -2.1, 0.5));
+
+        // Choose the up vector that makes the current orientation close to horizontal orientation
+        let mut subject = LocalCharacterController::new();
+        subject.orientation = base_orientation;
+        subject.up =
+            subject.orientation * na::UnitVector3::new_normalize(na::Vector3::new(0.1, 1.0, 0.2));
+        let look_direction = subject.orientation * na::Vector3::z_axis();
+
+        subject.align_to_gravity();
+
+        assert_aligned_to_gravity(&subject);
+        // The look_direction shouldn't change
+        assert_abs_diff_eq!(
+            look_direction,
+            subject.orientation * na::Vector3::z_axis(),
+            epsilon = 1e-5
+        );
+
+        // Choose the up vector that makes the current orientation close to horizontal orientation but upside-down
+        let mut subject = LocalCharacterController::new();
+        subject.orientation = base_orientation;
+        subject.up =
+            subject.orientation * na::UnitVector3::new_normalize(na::Vector3::new(0.1, -1.0, 0.2));
+        let look_direction = subject.orientation * na::Vector3::z_axis();
+
+        subject.align_to_gravity();
+
+        assert_aligned_to_gravity(&subject);
+        // The look_direction still shouldn't change
+        assert_abs_diff_eq!(
+            look_direction,
+            subject.orientation * na::Vector3::z_axis(),
+            epsilon = 1e-5
+        );
+
+        // Make the character face close to straight up
+        let mut subject = LocalCharacterController::new();
+        subject.orientation = base_orientation;
+        subject.up = subject.orientation
+            * na::UnitVector3::new_normalize(na::Vector3::new(-0.03, 0.05, 1.0));
+        subject.align_to_gravity();
+        assert_aligned_to_gravity(&subject);
+
+        // Make the character face close to straight down and be slightly upside-down
+        let mut subject = LocalCharacterController::new();
+        subject.orientation = base_orientation;
+        subject.up = subject.orientation
+            * na::UnitVector3::new_normalize(na::Vector3::new(-0.03, -0.05, -1.0));
+        subject.align_to_gravity();
+        assert_aligned_to_gravity(&subject);
+    }
+
+    #[test]
+    fn update_position_example() {
+        // Pick an arbitrary orientation
+        let base_orientation = na::UnitQuaternion::new(na::Vector3::new(1.3, -2.1, 0.5));
+
+        let mut subject = LocalCharacterController::new();
+        subject.orientation = base_orientation;
+        subject.up =
+            subject.orientation * na::UnitVector3::new_normalize(na::Vector3::new(0.0, 1.0, 0.2));
+
+        // Sanity check setup (character should already be aligned to gravity)
+        assert_aligned_to_gravity(&subject);
+        let old_up_vector_y_component = (subject.orientation.inverse() * subject.up).y;
+
+        subject.update_position(
+            Position::origin(),
+            na::UnitVector3::new_normalize(na::Vector3::new(0.1, 0.2, 0.5)),
+            true,
+        );
+        assert_aligned_to_gravity(&subject);
+        let new_up_vector_y_component = (subject.orientation.inverse() * subject.up).y;
+
+        // We don't want the camera pitch to drift as the up vector changes
+        assert_abs_diff_eq!(
+            old_up_vector_y_component,
+            new_up_vector_y_component,
+            epsilon = 1e-5
+        );
+    }
+}