ludic/packages/ludic.physics/system.ludic

# system.ludic - the world stepped at a fixed rate in PH_SIMULATE, so frame rate never changes
# the rules. It saves nothing: a thing at rest is saved by its owner and the world rebuilt on load.

# as many fixed steps as the frame's time holds, at most ph_max_steps (a stall is not replayed)
export function phys_tick(physics_st: mut PhysicsState, t: Tick) -> void { phys_advance(physics_st, t.dt) }

export function phys_advance(physics_st: mut PhysicsState, dt: float) -> int {
  if physics_st.ph_world == null { return 0 }
  physics_st.ph_acc += dt
  var n = 0
  # a thousandth of a step of slack: 0.05 s is three steps even when float says 2.9999
  while physics_st.ph_acc + physics_st.ph_step * 0.001 >= physics_st.ph_step and n < physics_st.ph_max_steps {
    phys_step(physics_st)
    physics_st.ph_acc -= physics_st.ph_step
    n += 1
  }
  if physics_st.ph_acc > physics_st.ph_step or physics_st.ph_acc < 0.0 { physics_st.ph_acc = 0.0 }
  return n
}

# exactly one step: the water, Jolt, then the contacts that matter as facts
export function phys_step(physics_st: mut PhysicsState) -> void {
  if physics_st.ph_world == null { return }
  ph_buffers()
  ph_buoy_all(physics_st)
  # 25.5a: Jolt's pairs or contacts full (PH_PAIRS, PH_CONTACTS) is a failure: past it things pass through
  if jph_world_step(physics_st.ph_world, physics_st.ph_step, physics_st.ph_sub) != 0 { Mem.over("a physics step past phys_open's pairs or contacts") }
  physics_st.ph_steps += 1
  ph_contacts(physics_st)
}

export function phys_steps(physics_st: PhysicsState) -> int { return physics_st.ph_steps }

# m/s2 down is negative
export function phys_gravity(physics_st: mut PhysicsState, y: float) -> void { if physics_st.ph_world != null { jph_world_gravity(physics_st.ph_world, y) } }

# a fact record no drain holds any more, made fresh (and kept) only when every one is held: a
# fact can come every frame, and a record a frame is never given back
function ph_fact_record(physics_st: mut PhysicsState) -> PhysFact {
  if physics_st.ph_fnext >= len(physics_st.ph_ffree) {
    q_unheld(phys_facts(physics_st), physics_st.ph_fpool, physics_st.ph_ffree)
    physics_st.ph_fnext = 0
  }
  if physics_st.ph_fnext < len(physics_st.ph_ffree) {
    let f = physics_st.ph_ffree[physics_st.ph_fnext]
    physics_st.ph_fnext += 1
    return f
  }
  return ph_fact_more(physics_st)
}
function ph_contacts(physics_st: mut PhysicsState) -> void {
  let n = jph_contacts_drain(physics_st.ph_world, physics_st.ph_ids, physics_st.ph_vals, PH_CAP)
  for i in 0 .. n {
    let speed = physics_st.ph_vals[i * 4 + 3]
    if speed >= physics_st.ph_hard {
      let f = ph_fact_record(physics_st)
      f.what = PHYS_HIT
      f.a = physics_st.ph_ids[i * 2]
      f.b = physics_st.ph_ids[i * 2 + 1]
      f.x = physics_st.ph_vals[i * 4]
      f.y = physics_st.ph_vals[i * 4 + 1]
      f.z = physics_st.ph_vals[i * 4 + 2]
      f.speed = speed
      q_push(phys_facts(physics_st), f)
    }
  }
}

# contacts C had to drop because the buffer was full between two drains
export function phys_contacts_lost(physics_st: PhysicsState) -> int {
  if physics_st.ph_world == null { return 0 }
  return jph_contacts_lost(physics_st.ph_world)
}

export function phys_reset(physics_st: mut PhysicsState) -> void { physics_st.ph_acc = 0.0 }

export function phys_system() -> System {
  let s = system_new("physics", PH_SIMULATE)
  s.reset = fn phys_reset
  s.tick = fn phys_tick
  return s
}