Physics fix

assets/Data/creatures/human.json

@@ -267,7 +267,7 @@
             "collidable" : {
                 "type" : "CYLINDER",
                 "dimension1" : 0.1,
-                "dimension2" : 0.9,
+                "dimension2" : 0.8,
                 "dimension3" : 0.1,
                 "rotX": 0,
                 "rotY": 0,

docs/src/physics/collision.md

@@ -26,6 +26,7 @@ The big case for this engine is the main physics system. The goal is to provide
 
  - All geometries are aligned along z by default in the library (ie your cylinders will be on their sides)
  - All functions that transform the scale of a DBody only transform the first shape within the rigid body. This should likely eventually be updated to support multiple shapes in a body.
+ - Furthermore, these transform functions require the CollidableTemplate to modify scale. Ode4J doesn't provide a "scale" function, instead it lets you change the core params. To scale, must know the original size.
 
 
 

docs/src/resources/modelLoading.md

@@ -10,7 +10,7 @@ TODO
 
 
 ## Major Usage Notes
-
+ - Global pretransforms are applied to the global inverse bind pose matrix
 
 
 

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

@@ -65,7 +65,7 @@ public class CollisionBodyCreation {
     public static DBody createCylinderBody(CollisionEngine collisionEngine, double radius, double length){
         DCylinder geom = collisionEngine.createCylinderGeom(radius,length);
         DBody returnBody = collisionEngine.createDBody(geom);
-        geom.setOffsetRotation(AXIS_CORRECTION_MATRIX);
+        geom.setOffsetRotation(AXIS_CORRECTION_MATRIX); //ode4j required geom to already be on body before rotating for some reason
         return returnBody;
     }
 

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

@@ -52,6 +52,7 @@ import electrosphere.entity.EntityDataStrings;
 import electrosphere.entity.EntityUtils;
 import electrosphere.entity.state.collidable.Impulse;
 import electrosphere.entity.types.hitbox.HitboxData;
+import electrosphere.game.data.collidable.CollidableTemplate;
 import electrosphere.logger.LoggerInterface;
 
 /**
@@ -647,17 +648,17 @@ public class CollisionEngine {
      * @param rotation The rotation
      * @param scale The scale
      */
-    protected void setBodyTransform(DBody body, Vector3d position, Quaterniond rotation, Vector3d scale){
+    protected void setBodyTransform(DBody body, CollidableTemplate template, Vector3d position, Quaterniond rotation, Vector3d scale){
         spaceLock.acquireUninterruptibly();
         body.setPosition(position.x, position.y, position.z);
         body.setQuaternion(PhysicsUtils.jomlQuatToOdeQuat(rotation));
         DGeom firstGeom = body.getFirstGeom();
         if(firstGeom instanceof DCylinder){
-            ((DCylinder)firstGeom).setParams(scale.x,scale.y);
+            ((DCylinder)firstGeom).setParams(template.getDimension1() * scale.x,template.getDimension2() * scale.y);
         } else if(firstGeom instanceof DBox){
-            ((DBox)firstGeom).setLengths(scale.x,scale.y,scale.z);
+            ((DBox)firstGeom).setLengths(template.getDimension1() * scale.x,template.getDimension2() * scale.y,template.getDimension3() * scale.z);
         } else if(firstGeom instanceof DCapsule){
-            ((DCapsule)firstGeom).setParams(scale.x,scale.y);
+            ((DCapsule)firstGeom).setParams(template.getDimension1() * scale.x,template.getDimension2() * scale.y);
         }
         spaceLock.release();
     }

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

@@ -46,10 +46,9 @@ public class PhysicsEntityUtils {
                 collidable = new Collidable(rVal, Collidable.TYPE_CREATURE);
                 ClientCollidableTree tree = new ClientCollidableTree(rVal,collidable,rigidBody);
                 rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, rigidBody);
-                Matrix4d offsetTransform = new Matrix4d().translationRotateScale(
+                Matrix4d offsetTransform = new Matrix4d().translationRotate(
                     physicsTemplate.getOffsetX(), physicsTemplate.getOffsetY(), physicsTemplate.getOffsetZ(), //translate
-                    physicsTemplate.getRotX(), physicsTemplate.getRotY(), physicsTemplate.getRotZ(), physicsTemplate.getRotW(), //rotate
+                    physicsTemplate.getRotX(), physicsTemplate.getRotY(), physicsTemplate.getRotZ(), physicsTemplate.getRotW() //rotate
-                    1, 1, 1 //scale
                 );
                 rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_OFFSET, new Vector3f(physicsTemplate.getOffsetX(),physicsTemplate.getOffsetY(),physicsTemplate.getOffsetZ()));
                 rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform);

src/main/java/electrosphere/collision/PhysicsUtils.java

@@ -7,6 +7,8 @@ import org.ode4j.math.DQuaternionC;
 import org.ode4j.ode.DBody;
 import org.ode4j.ode.DMass;
 
+import electrosphere.game.data.collidable.CollidableTemplate;
+
 /**
  * Utilities for leveraging the collision system to perform physics
  */
@@ -76,8 +78,8 @@ public class PhysicsUtils {
      * @param scale The scale
      * @param body The body
      */
-    public static void setRigidBodyTransform(CollisionEngine collisionEngine, Vector3d position, Quaterniond rotation, Vector3d scale, DBody body){
+    public static void setRigidBodyTransform(CollisionEngine collisionEngine, CollidableTemplate template, Vector3d position, Quaterniond rotation, Vector3d scale, DBody body){
-        collisionEngine.setBodyTransform(body, position, rotation, scale);
+        collisionEngine.setBodyTransform(body, template, position, rotation, scale);
     }
 
     /**

src/main/java/electrosphere/entity/state/collidable/ClientCollidableTree.java

@@ -217,10 +217,10 @@ public class ClientCollidableTree implements BehaviorTree {
         Vector4d rigidBodyPositionRaw = parentTransform.transform(new Vector4d(0,0,0,1));
         Vector3d rigidBodyPosition = new Vector3d(rigidBodyPositionRaw.x,rigidBodyPositionRaw.y,rigidBodyPositionRaw.z);
         Quaterniond rigidBodyRotation = parentTransform.getUnnormalizedRotation(new Quaterniond()).normalize();
-        Vector3d rigidBodyScaleRaw = parentTransform.getScale(new Vector3d());
+        Vector3d rigidBodyScale = new Vector3d(parentScale);
-        Vector3d rigidBodyScale = new Vector3d(rigidBodyScaleRaw.x,rigidBodyScaleRaw.y,rigidBodyScaleRaw.z);
         PhysicsUtils.setRigidBodyTransform(
             Globals.clientSceneWrapper.getCollisionEngine(),
+            template,
             rigidBodyPosition,
             rigidBodyRotation,
             rigidBodyScale,