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feat(physics): port full CTransition collision response from pseudocode

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Replace simplified push-out with retail-faithful SlideSphere and
AdjustOffset from transition_pseudocode.md. Crease-projection between
collision normal and contact plane produces smooth wall-sliding.
Object collision uses proper rotation transform to object-local space.

SlideSphere (section 6): computes crease direction via cross product
of collision normal and contact plane normal, projects displacement
onto the crease, then applies the correction offset. Handles three
cases: crease exists, parallel same-direction, parallel opposing.

AdjustOffset (section 6): adds safety check to keep sphere above
contact plane by computing signed distance and pushing up along Z
when the sphere dips below.

FindObjCollisions: removes ad-hoc penetration push-out, now calls
SlideSphere after BSP hit detection for proper wall-slide behavior.

Also fixes: ShadowEntry gains Rotation field, tests updated to match
Register signature, unused variables removed from GameWindow.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Erik 2026-04-14 11:17:45 +02:00
parent e2f0c8580e
commit e12d255d2e
4 changed files with 182 additions and 84 deletions
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24
tests/AcDream.Core.Tests/Physics/ShadowObjectRegistryTests.cs
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@ -23,7 +23,7 @@ public class ShadowObjectRegistryTests
public void Register_SingleEntity_TotalRegisteredIsOne()
{
var reg = new ShadowObjectRegistry();
reg.Register(1u, 0x01000001u, new Vector3(12f, 12f, 50f), 1f, OffX, OffY, LbId);
reg.Register(1u, 0x01000001u, new Vector3(12f, 12f, 50f), Quaternion.Identity, 1f, OffX, OffY, LbId);
Assert.Equal(1, reg.TotalRegistered);
}
@ -31,8 +31,8 @@ public class ShadowObjectRegistryTests
public void Register_SameEntityTwice_NoDuplicate()
{
var reg = new ShadowObjectRegistry();
reg.Register(1u, 0x01000001u, new Vector3(12f, 12f, 50f), 1f, OffX, OffY, LbId);
reg.Register(1u, 0x01000001u, new Vector3(13f, 12f, 50f), 1f, OffX, OffY, LbId); // re-register (position update)
reg.Register(1u, 0x01000001u, new Vector3(12f, 12f, 50f), Quaternion.Identity, 1f, OffX, OffY, LbId);
reg.Register(1u, 0x01000001u, new Vector3(13f, 12f, 50f), Quaternion.Identity, 1f, OffX, OffY, LbId); // re-register (position update)
Assert.Equal(1, reg.TotalRegistered);
}
@ -45,7 +45,7 @@ public class ShadowObjectRegistryTests
{
// Entity at local (12, 12) = cell (0,0) = cellId prefix | 1.
var reg = new ShadowObjectRegistry();
reg.Register(42u, 0x01000002u, new Vector3(12f, 12f, 50f), 1f, OffX, OffY, LbId);
reg.Register(42u, 0x01000002u, new Vector3(12f, 12f, 50f), Quaternion.Identity, 1f, OffX, OffY, LbId);
uint cellId = LbId | 1u; // cx=0, cy=0 → 0*8+0+1 = 1
var objs = reg.GetObjectsInCell(cellId);
@ -59,7 +59,7 @@ public class ShadowObjectRegistryTests
// Entity at local (24, 12) with radius=2 spans cells cx=0 and cx=1 in X.
// Cell 0,0 = prefix|1; cell 1,0 = prefix|(1*8+0+1)=prefix|9.
var reg = new ShadowObjectRegistry();
reg.Register(7u, 0x01000003u, new Vector3(24f, 12f, 50f), 2f, OffX, OffY, LbId);
reg.Register(7u, 0x01000003u, new Vector3(24f, 12f, 50f), Quaternion.Identity, 2f, OffX, OffY, LbId);
uint cell00 = LbId | 1u; // cx=0, cy=0
uint cell10 = LbId | 9u; // cx=1, cy=0
@ -76,7 +76,7 @@ public class ShadowObjectRegistryTests
public void Deregister_RemovesFromAllCells()
{
var reg = new ShadowObjectRegistry();
reg.Register(5u, 0x01000004u, new Vector3(24f, 12f, 50f), 2f, OffX, OffY, LbId);
reg.Register(5u, 0x01000004u, new Vector3(24f, 12f, 50f), Quaternion.Identity, 2f, OffX, OffY, LbId);
reg.Deregister(5u);
Assert.Equal(0, reg.TotalRegistered);
@ -101,10 +101,10 @@ public class ShadowObjectRegistryTests
{
const uint otherLb = 0xAAAA0000u;
var reg = new ShadowObjectRegistry();
reg.Register(1u, 0x01000001u, new Vector3(12f, 12f, 50f), 1f, OffX, OffY, LbId);
reg.Register(1u, 0x01000001u, new Vector3(12f, 12f, 50f), Quaternion.Identity, 1f, OffX, OffY, LbId);
// Entity 2 lives in otherLb whose world origin is at X=192. Place it at
// world X=204 so localX = 204-192 = 12, which maps to cell (0,0) of otherLb.
reg.Register(2u, 0x01000002u, new Vector3(204f, 12f, 50f), 1f, 192f, 0f, otherLb);
reg.Register(2u, 0x01000002u, new Vector3(204f, 12f, 50f), Quaternion.Identity, 1f, 192f, 0f, otherLb);
reg.RemoveLandblock(LbId);
@ -120,7 +120,7 @@ public class ShadowObjectRegistryTests
public void GetNearbyObjects_QueryCoversEntity_ReturnsIt()
{
var reg = new ShadowObjectRegistry();
reg.Register(10u, 0x01000005u, new Vector3(30f, 30f, 50f), 1f, OffX, OffY, LbId);
reg.Register(10u, 0x01000005u, new Vector3(30f, 30f, 50f), Quaternion.Identity, 1f, OffX, OffY, LbId);
var results = new List<ShadowEntry>();
reg.GetNearbyObjects(new Vector3(30f, 30f, 50f), 5f, OffX, OffY, LbId, results);
@ -134,7 +134,7 @@ public class ShadowObjectRegistryTests
{
var reg = new ShadowObjectRegistry();
// Entity at local (12, 12) — cell (0,0).
reg.Register(11u, 0x01000006u, new Vector3(12f, 12f, 50f), 1f, OffX, OffY, LbId);
reg.Register(11u, 0x01000006u, new Vector3(12f, 12f, 50f), Quaternion.Identity, 1f, OffX, OffY, LbId);
var results = new List<ShadowEntry>();
// Query at local (180, 180) — cell (7,7) — far away.
@ -148,7 +148,7 @@ public class ShadowObjectRegistryTests
{
// Entity spans cells 0,0 and 1,0 (local X≈24, radius=2).
var reg = new ShadowObjectRegistry();
reg.Register(20u, 0x01000007u, new Vector3(24f, 12f, 50f), 2f, OffX, OffY, LbId);
reg.Register(20u, 0x01000007u, new Vector3(24f, 12f, 50f), Quaternion.Identity, 2f, OffX, OffY, LbId);
var results = new List<ShadowEntry>();
// Large query covers both cells; entity must appear exactly once.
@ -171,7 +171,7 @@ public class ShadowObjectRegistryTests
{
var reg = new ShadowObjectRegistry();
// Small radius so entity sits in exactly one cell.
reg.Register(99u, 0x01000008u, new Vector3(lx + 0.5f, ly + 0.5f, 50f), 0.1f, OffX, OffY, LbId);
reg.Register(99u, 0x01000008u, new Vector3(lx + 0.5f, ly + 0.5f, 50f), Quaternion.Identity, 0.1f, OffX, OffY, LbId);
uint cellId = LbId | expectedLow;
var objs = reg.GetObjectsInCell(cellId);