Collision optimization

docs/src/physics/collision.md

@@ -1,7 +1,7 @@
 @page collision Collision Engine
 
 
-
+[TOC]
 
 ## High Level Overview
 The goal of the collision engine system is to allow parallel collision detection of different classes of objects.
@@ -109,6 +109,8 @@ Each client scene creates a collision engine for physics on connection. Each sce
  - Physics Entity
  - Dynamic Physics Entity
  - Collision Object - A collidable
+ - ODE Category - Ode has bits that control which 'categories' a given geometry falls in to. This is used to control behaviors applied to it.
+ - ODE Collision Bits - The mask of categories that a given geometry should collide with
 
 
 

docs/src/progress/renderertodo.md

@@ -136,6 +136,8 @@ Ability to attach ambient audio emitters to entities
 
 Timekeeping class that defaults to gltf time and falls back to systemCurrentTimeMillis
 
+Methods for sleeping physics bodies if nothing nearby them is dynamic (ie trees if there are no moving creatures near them)
+ - SAP2 space from ode4j specifically (ended up using BVH space instead)
 
 
 
@@ -146,9 +148,6 @@ Timekeeping class that defaults to gltf time and falls back to systemCurrentTime
 
 # TODO
 
-Methods for sleeping physics bodies if nothing nearby them is dynamic (ie trees if there are no moving creatures near them)
- - SAP2 space from ode4j specifically
-
 De-dupe render calls via doing mutations in render pipeline status and dont call setting variables to values they are already set to
 
 Clean up main method/class

pom.xml

@@ -128,7 +128,7 @@
 
         <!--Ode4J-->
         <!--License: Dual LGPL 2.1 OR BSD 3-clause-->
-        <!--https://github.com/tzaeschke/ode4j-->
+        <!--https://github.com/tzaeschke/ode4j -->
         <!--https://tzaeschke.github.io/ode4j-old/ode4j-doc.html -->
         <!--http://ode.org/wikiold/htmlfile1.html -->
         <!--http://ode.org/wiki/index.php/Main_Page -->
@@ -136,7 +136,7 @@
         <dependency>
             <groupId>org.ode4j</groupId>
             <artifactId>core</artifactId>
-            <version>0.5.0</version>
+            <version>0.5.2</version>
         </dependency>
 
         <!--SQLITE-JDBC-->

src/main/java/electrosphere/collision/CollisionBodyCreation.java

@@ -40,8 +40,8 @@ public class CollisionBodyCreation {
      * @param dimensions The dimensions of the plane
      * @return The DBody
      */
-    public static DBody createPlaneBody(CollisionEngine collisionEngine, Vector3d dimensions){
+    public static DBody createPlaneBody(CollisionEngine collisionEngine, Vector3d dimensions, long categoryBits){
-        DBox geom = collisionEngine.createCubeGeom(new Vector3d(dimensions.x,PLANE_WIDTH,dimensions.z));
+        DBox geom = collisionEngine.createCubeGeom(new Vector3d(dimensions.x,PLANE_WIDTH,dimensions.z),categoryBits);
         return collisionEngine.createDBody(geom);
     }
 
@@ -51,8 +51,8 @@ public class CollisionBodyCreation {
      * @param dimensions The dimensions of the cube
      * @return The DBody
      */
-    public static DBody createCubeBody(CollisionEngine collisionEngine, Vector3d dimensions){
+    public static DBody createCubeBody(CollisionEngine collisionEngine, Vector3d dimensions, long categoryBits){
-        DBox geom = collisionEngine.createCubeGeom(new Vector3d(dimensions));
+        DBox geom = collisionEngine.createCubeGeom(new Vector3d(dimensions),categoryBits);
         return collisionEngine.createDBody(geom);
     }
 
@@ -62,8 +62,8 @@ public class CollisionBodyCreation {
      * @param dimensions The dimensions of the cube
      * @return The DBody
      */
-    public static DBody createCylinderBody(CollisionEngine collisionEngine, double radius, double length){
+    public static DBody createCylinderBody(CollisionEngine collisionEngine, double radius, double length, long categoryBits){
-        DCylinder geom = collisionEngine.createCylinderGeom(radius,length);
+        DCylinder geom = collisionEngine.createCylinderGeom(radius,length,categoryBits);
         DBody returnBody = collisionEngine.createDBody(geom);
         collisionEngine.setOffsetRotation(geom); //ode4j required geom to already be on body before rotating for some reason
         return returnBody;
@@ -75,8 +75,8 @@ public class CollisionBodyCreation {
      * @param radius The radius of the sphere
      * @return The DBody
      */
-    public static DBody createSphereBody(CollisionEngine collisionEngine, double radius){
+    public static DBody createSphereBody(CollisionEngine collisionEngine, double radius, long categoryBits){
-        DSphere geom = collisionEngine.createSphereGeom(radius);
+        DSphere geom = collisionEngine.createSphereGeom(radius,categoryBits);
         return collisionEngine.createDBody(geom);
     }
 
@@ -86,7 +86,7 @@ public class CollisionBodyCreation {
      * @param data The terrain data
      * @return The DBody
      */
-    public static DBody generateBodyFromTerrainData(CollisionEngine collisionEngine, TerrainChunkData data){
+    public static DBody generateBodyFromTerrainData(CollisionEngine collisionEngine, TerrainChunkData data, long categoryBits){
         DBody body = null;
         
         //create data
@@ -110,7 +110,7 @@ public class CollisionBodyCreation {
         
         //create trimesh
         if(vertices.length > 0){
-            DTriMesh triMesh = collisionEngine.createTrimeshGeom(vertices,indices);
+            DTriMesh triMesh = collisionEngine.createTrimeshGeom(vertices,indices,categoryBits);
             body = collisionEngine.createDBody(triMesh);
         }
 
@@ -122,7 +122,7 @@ public class CollisionBodyCreation {
      * @param scene The AIScene to generate a rigid body off of
      * @return A rigid body based on the AIScene
      */
-    public static DBody generateRigidBodyFromAIScene(CollisionEngine collisionEngine, AIScene scene){
+    public static DBody generateRigidBodyFromAIScene(CollisionEngine collisionEngine, AIScene scene, long categoryBits){
 
         DBody body = collisionEngine.createDBody(null);
 
@@ -161,7 +161,7 @@ public class CollisionBodyCreation {
                     indicesPos++;
                 }
             }
-            DTriMesh meshGeom = collisionEngine.createTrimeshGeom(verts, indices);
+            DTriMesh meshGeom = collisionEngine.createTrimeshGeom(verts, indices,categoryBits);
             meshGeom.setBody(body);
         }
         

src/main/java/electrosphere/collision/CollisionEngine.java

@@ -72,7 +72,7 @@ public class CollisionEngine {
     private DJointGroup contactgroup;
 
     private static final int MAX_CONTACTS = 1;		// maximum number of contact points per body
-    
+
     //The list of dbodies ode should be tracking
     List<DBody> bodies = new ArrayList<DBody>();
 
@@ -90,7 +90,7 @@ public class CollisionEngine {
     
     public CollisionEngine(){
         world = OdeHelper.createWorld();
-        space = OdeHelper.createHashSpace();
+        space = OdeHelper.createBHVSpace(Collidable.TYPE_STATIC_BIT);
         contactgroup = OdeHelper.createJointGroup();
     }
 
@@ -545,11 +545,12 @@ public class CollisionEngine {
      * @param indices The indices
      * @return The DTriMesh
      */
-    protected DTriMesh createTrimeshGeom(float[] verts, int[] indices){
+    protected DTriMesh createTrimeshGeom(float[] verts, int[] indices, long categoryBits){
         spaceLock.acquireUninterruptibly();
         DTriMeshData data = OdeHelper.createTriMeshData();
         data.build(verts, indices);
         DTriMesh rVal = OdeHelper.createTriMesh(getSpace(), data);
+        rVal.setCategoryBits(categoryBits);
         spaceLock.release();
         return rVal;
     }
@@ -559,9 +560,10 @@ public class CollisionEngine {
      * @param dimensions The dimensions of the box
      * @return The DBox
      */
-    protected DBox createCubeGeom(Vector3d dimensions){
+    protected DBox createCubeGeom(Vector3d dimensions, long categoryBits){
         spaceLock.acquireUninterruptibly();
         DBox boxGeom = OdeHelper.createBox(space, dimensions.x, dimensions.y, dimensions.z);
+        boxGeom.setCategoryBits(categoryBits);
         spaceLock.release();
         return boxGeom;
     }
@@ -571,9 +573,10 @@ public class CollisionEngine {
      * @param dimensions The dimensions of the cylinder. X is the radius, y is the total height.
      * @return The cylinder geometry
      */
-    protected DCylinder createCylinderGeom(double radius, double length){
+    protected DCylinder createCylinderGeom(double radius, double length, long categoryBits){
         spaceLock.acquireUninterruptibly();
         DCylinder cylinderGeom = OdeHelper.createCylinder(space, radius, length);
+        cylinderGeom.setCategoryBits(categoryBits);
         spaceLock.release();
         return cylinderGeom;
     }
@@ -583,9 +586,10 @@ public class CollisionEngine {
      * @param radius The radius of the sphere
      * @return The sphere geometry
      */
-    protected DSphere createSphereGeom(double radius){
+    protected DSphere createSphereGeom(double radius, long categoryBits){
         spaceLock.acquireUninterruptibly();
         DSphere sphereGeom = OdeHelper.createSphere(space, radius);
+        sphereGeom.setCategoryBits(categoryBits);
         spaceLock.release();
         return sphereGeom;
     }
@@ -596,9 +600,10 @@ public class CollisionEngine {
      * @param length The length of the capsule
      * @return The capsule geometry
      */
-    protected DCapsule createCapsuleGeom(double radius, double length){
+    protected DCapsule createCapsuleGeom(double radius, double length, long categoryBits){
         spaceLock.acquireUninterruptibly();
         DCapsule capsuleGeom = OdeHelper.createCapsule(space, radius, length);
+        capsuleGeom.setCategoryBits(categoryBits);
         spaceLock.release();
         return capsuleGeom;
     }

src/main/java/electrosphere/collision/PhysicsEntityUtils.java

@@ -41,7 +41,8 @@ public class PhysicsEntityUtils {
                 rigidBody = CollisionBodyCreation.createCylinderBody(
                     Globals.clientSceneWrapper.getCollisionEngine(),
                     physicsTemplate.getDimension1(),
-                    physicsTemplate.getDimension2()
+                    physicsTemplate.getDimension2(),
+                    Collidable.TYPE_CREATURE_BIT
                 );
                 collidable = new Collidable(rVal, Collidable.TYPE_CREATURE);
                 ClientCollidableTree tree = new ClientCollidableTree(rVal,collidable,rigidBody);
@@ -72,7 +73,8 @@ public class PhysicsEntityUtils {
             case "CUBE": {
                 rigidBody = CollisionBodyCreation.createCubeBody(
                     Globals.clientSceneWrapper.getCollisionEngine(),
-                    new Vector3d(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3())
+                    new Vector3d(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3()),
+                    Collidable.TYPE_CREATURE_BIT
                 );
                 collidable = new Collidable(rVal, Collidable.TYPE_CREATURE);
                 ClientCollidableTree tree = new ClientCollidableTree(rVal,collidable,rigidBody);
@@ -119,7 +121,8 @@ public class PhysicsEntityUtils {
                 rigidBody = CollisionBodyCreation.createCylinderBody(
                     realm.getCollisionEngine(),
                     physicsTemplate.getDimension1(),
-                    physicsTemplate.getDimension2()
+                    physicsTemplate.getDimension2(),
+                    Collidable.TYPE_CREATURE_BIT
                 );
                 collidable = new Collidable(rVal, Collidable.TYPE_CREATURE);
                 ServerCollidableTree tree = new ServerCollidableTree(rVal,collidable,rigidBody);
@@ -143,7 +146,7 @@ public class PhysicsEntityUtils {
                 ServerEntityTagUtils.attachTagToEntity(rVal, EntityTags.COLLIDABLE);
             } break;
             case "CUBE": {
-                rigidBody = CollisionBodyCreation.createCubeBody(realm.getCollisionEngine(),new Vector3d(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3()));
+                rigidBody = CollisionBodyCreation.createCubeBody(realm.getCollisionEngine(),new Vector3d(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3()),Collidable.TYPE_CREATURE_BIT);
                 collidable = new Collidable(rVal, Collidable.TYPE_CREATURE);
                 ServerCollidableTree tree = new ServerCollidableTree(rVal,collidable,rigidBody);
                 rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, rigidBody);
@@ -234,7 +237,7 @@ public class PhysicsEntityUtils {
             }
         }
         
-        DTriMesh triMesh = collisionEngine.createTrimeshGeom(vertices,indices);
+        DTriMesh triMesh = collisionEngine.createTrimeshGeom(vertices,indices,Collidable.TYPE_STATIC_BIT);
         DBody body = collisionEngine.createDBody(triMesh);
 
         Globals.clientSceneWrapper.getCollisionEngine().registerCollisionObject(body, new Collidable(terrain,Collidable.TYPE_TERRAIN));
@@ -252,7 +255,7 @@ public class PhysicsEntityUtils {
      */
     public static DBody clientAttachTerrainChunkRigidBody(Entity terrain, TerrainChunkData data){
         Vector3d position = EntityUtils.getPosition(terrain);
-        DBody terrainBody = CollisionBodyCreation.generateBodyFromTerrainData(Globals.clientSceneWrapper.getCollisionEngine(), data);
+        DBody terrainBody = CollisionBodyCreation.generateBodyFromTerrainData(Globals.clientSceneWrapper.getCollisionEngine(), data,Collidable.TYPE_STATIC_BIT);
         
         
         Globals.clientSceneWrapper.getCollisionEngine().registerCollisionObject(terrainBody, new Collidable(terrain,Collidable.TYPE_TERRAIN));
@@ -271,7 +274,7 @@ public class PhysicsEntityUtils {
     public static DBody serverAttachTerrainChunkRigidBody(Entity terrain, TerrainChunkData data){
         Vector3d position = EntityUtils.getPosition(terrain);
         Realm terrainRealm = Globals.realmManager.getEntityRealm(terrain);
-        DBody terrainBody = CollisionBodyCreation.generateBodyFromTerrainData(terrainRealm.getCollisionEngine(),data);
+        DBody terrainBody = CollisionBodyCreation.generateBodyFromTerrainData(terrainRealm.getCollisionEngine(),data,Collidable.TYPE_STATIC_BIT);
         
         terrainRealm.getCollisionEngine().registerCollisionObject(terrainBody, new Collidable(terrain,Collidable.TYPE_TERRAIN));
         terrain.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, terrainBody);

src/main/java/electrosphere/collision/collidable/Collidable.java

@@ -26,13 +26,31 @@ public class Collidable {
     //The impulses to be applied to this collidable
     List<Impulse> impulses = new CopyOnWriteArrayList<Impulse>();
     
+    //these should have corresponding category bits along with them
+    public static final String TYPE_STATIC = "static";
+    public static final long TYPE_STATIC_BIT = 0x1;
+
     public static final String TYPE_TERRAIN = "terrain";
+    public static final long TYPE_TERRAIN_BIT = 0x2;
+
     public static final String TYPE_CREATURE = "creature";
+    public static final long TYPE_CREATURE_BIT = 0x4;
+
     public static final String TYPE_STRUCTURE = "structure";
+    public static final long TYPE_STRUCTURE_BIT = 0x8;
+
     public static final String TYPE_ITEM = "item";
+    public static final long TYPE_ITEM_BIT = 0x10;
+
     public static final String TYPE_FORCE = "force";
+    public static final long TYPE_FORCE_BIT = 0x20;
+
     public static final String TYPE_OBJECT = "object";
+    public static final long TYPE_OBJECT_BIT = 0x40;
+
     public static final String TYPE_FOLIAGE_STATIC = "foliageStatic";
+    public static final long TYPE_FOLIAGE_BIT = 0x80;
+
     
     
     public Collidable(Entity parent, String type){

src/main/java/electrosphere/engine/assetmanager/AssetManager.java

@@ -4,6 +4,7 @@ import electrosphere.audio.AudioBuffer;
 import electrosphere.collision.CollisionBodyCreation;
 import electrosphere.collision.CollisionEngine;
 import electrosphere.collision.PhysicsUtils;
+import electrosphere.collision.collidable.Collidable;
 import electrosphere.renderer.Mesh;
 import electrosphere.renderer.Model;
 import electrosphere.renderer.ShaderProgram;
@@ -78,7 +79,7 @@ public class AssetManager {
                     physicsMeshesToLoad.remove(physicsMeshQueueItem);
                     physicsMeshesLoadedIntoMemory.put(
                         getCollisionMeshMapKey(physicsMeshQueueItem.collisionEngine,currentPath),
-                        CollisionBodyCreation.generateRigidBodyFromAIScene(physicsMeshQueueItem.collisionEngine,aiScene)
+                        CollisionBodyCreation.generateRigidBodyFromAIScene(physicsMeshQueueItem.collisionEngine,aiScene,Collidable.TYPE_STATIC_BIT)
                     );
                 }
             }

src/main/java/electrosphere/entity/types/collision/CollisionObjUtils.java

@@ -29,7 +29,7 @@ public class CollisionObjUtils {
 
         float mass = 1.0f;
         
-        DBody planeObject = CollisionBodyCreation.createPlaneBody(Globals.clientSceneWrapper.getCollisionEngine(),new Vector3d(scale));
+        DBody planeObject = CollisionBodyCreation.createPlaneBody(Globals.clientSceneWrapper.getCollisionEngine(),new Vector3d(scale),Collidable.TYPE_STATIC_BIT);
         PhysicsUtils.setRigidBodyTransform(Globals.clientSceneWrapper.getCollisionEngine(), position, rotation, planeObject);
         Collidable collidable = new Collidable(rVal, Collidable.TYPE_STRUCTURE);
         Globals.clientSceneWrapper.getCollisionEngine().registerCollisionObject(planeObject, collidable);
@@ -55,7 +55,7 @@ public class CollisionObjUtils {
 
         float mass = 1.0f;
         
-        DBody planeObject = CollisionBodyCreation.createPlaneBody(realm.getCollisionEngine(),new Vector3d(scale));
+        DBody planeObject = CollisionBodyCreation.createPlaneBody(realm.getCollisionEngine(),new Vector3d(scale),Collidable.TYPE_STATIC_BIT);
         PhysicsUtils.setRigidBodyTransform(realm.getCollisionEngine(), position, rotation, planeObject);
         Collidable collidable = new Collidable(rVal, Collidable.TYPE_STRUCTURE);
         realm.getCollisionEngine().registerCollisionObject(planeObject, collidable);
@@ -82,7 +82,7 @@ public class CollisionObjUtils {
 
         float mass = 1.0f;
         
-        DBody cubeObject = CollisionBodyCreation.createCubeBody(Globals.clientSceneWrapper.getCollisionEngine(),new Vector3d(scale));
+        DBody cubeObject = CollisionBodyCreation.createCubeBody(Globals.clientSceneWrapper.getCollisionEngine(),new Vector3d(scale),Collidable.TYPE_STATIC_BIT);
         PhysicsUtils.setRigidBodyTransform(Globals.clientSceneWrapper.getCollisionEngine(), position, rotation, cubeObject);
         Collidable collidable = new Collidable(rVal, Collidable.TYPE_STRUCTURE);
         Globals.clientSceneWrapper.getCollisionEngine().registerCollisionObject(cubeObject, collidable);
@@ -108,7 +108,7 @@ public class CollisionObjUtils {
 
         float mass = 1.0f;
         
-        DBody cubeObject = CollisionBodyCreation.createCubeBody(realm.getCollisionEngine(),new Vector3d(scale));
+        DBody cubeObject = CollisionBodyCreation.createCubeBody(realm.getCollisionEngine(),new Vector3d(scale),Collidable.TYPE_STATIC_BIT);
         PhysicsUtils.setRigidBodyTransform(realm.getCollisionEngine(), position, rotation, cubeObject);
         Collidable collidable = new Collidable(rVal, Collidable.TYPE_STRUCTURE);
         realm.getCollisionEngine().registerCollisionObject(cubeObject, collidable);
@@ -133,7 +133,7 @@ public class CollisionObjUtils {
         Entity rVal = EntityCreationUtils.createClientSpatialEntity();
 
         float mass = 1.0f;
-        DBody cubeObject = CollisionBodyCreation.createCylinderBody(Globals.clientSceneWrapper.getCollisionEngine(),scale.x,scale.y);
+        DBody cubeObject = CollisionBodyCreation.createCylinderBody(Globals.clientSceneWrapper.getCollisionEngine(),scale.x,scale.y,Collidable.TYPE_STATIC_BIT);
         PhysicsUtils.setRigidBodyTransform(Globals.clientSceneWrapper.getCollisionEngine(), position, rotation, cubeObject);
         Collidable collidable = new Collidable(rVal, Collidable.TYPE_STRUCTURE);
         Globals.clientSceneWrapper.getCollisionEngine().registerCollisionObject(cubeObject, collidable);
@@ -161,7 +161,7 @@ public class CollisionObjUtils {
         Entity rVal = EntityCreationUtils.createServerEntity(realm, new Vector3d(position));
 
         float mass = 1.0f;
-        DBody cubeObject = CollisionBodyCreation.createCylinderBody(realm.getCollisionEngine(),scale.x,scale.y);
+        DBody cubeObject = CollisionBodyCreation.createCylinderBody(realm.getCollisionEngine(),scale.x,scale.y,Collidable.TYPE_STATIC_BIT);
         PhysicsUtils.setRigidBodyTransform(realm.getCollisionEngine(), position, rotation, cubeObject);
         Collidable collidable = new Collidable(rVal, Collidable.TYPE_STRUCTURE);
         realm.getCollisionEngine().registerCollisionObject(cubeObject, collidable);

src/main/java/electrosphere/entity/types/tree/ProceduralTree.java

@@ -121,7 +121,8 @@ public class ProceduralTree {
         DBody rigidBody = CollisionBodyCreation.createCylinderBody(
             Globals.clientSceneWrapper.getCollisionEngine(),
             treeModel.getPhysicsBody().getDimension1(),
-            treeModel.getPhysicsBody().getDimension2()
+            treeModel.getPhysicsBody().getDimension2(),
+            Collidable.TYPE_STATIC_BIT
         );
         Collidable collidable = new Collidable(trunkChild, Collidable.TYPE_OBJECT);
         trunkChild.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, rigidBody);
@@ -379,7 +380,8 @@ public class ProceduralTree {
         DBody rigidBody = CollisionBodyCreation.createCylinderBody(
             realm.getCollisionEngine(),
             treeModel.getPhysicsBody().getDimension1(),
-            treeModel.getPhysicsBody().getDimension2()
+            treeModel.getPhysicsBody().getDimension2(),
+            Collidable.TYPE_STATIC_BIT
         );
         Collidable collidable = new Collidable(trunkChild, Collidable.TYPE_FOLIAGE_STATIC);
         trunkChild.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, rigidBody);