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Stab at rigid body rotations

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This commit is contained in:
austin 2022-03-29 20:27:54 -04:00
parent 3d54fe3076
commit 3c10c0bf85
13 changed files with 237 additions and 38 deletions
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15
src/main/java/electrosphere/engine/LoadingThread.java
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@ -675,19 +675,24 @@ public class LoadingThread extends Thread {
// MindlessAttacker.attachToCreature(goblin);
// OpportunisticAttacker.attachToCreature(goblin);
//sword
Entity sword = ItemUtils.spawnBasicItem("Katana");
EntityUtils.getPosition(sword).set(new Vector3f(1,0.4f,2));
EntityUtils.getRotation(sword).set(new Quaternionf().rotationY(0.6f));
// Entity shorts = ItemUtils.spawnBasicItem("boots1");
// EntityUtils.getPosition(shorts).set(new Vector3f(2,0.1f,2));
// // Entity hair = ItemUtils.spawnBasicItem("hairshort1");
// // EntityUtils.getPosition(hair).set(new Vector3f(2,0.1f,1));
Entity bow = ItemUtils.spawnBasicItem("bow1");
EntityUtils.getPosition(bow).set(new Vector3f(2,0.1f,1));
// Entity bow = ItemUtils.spawnBasicItem("bow1");
// EntityUtils.getPosition(bow).set(new Vector3f(2,0.1f,1));
//crate
Entity crate = EntityUtils.spawnDrawableEntity("Models/crate2.fbx");
EntityUtils.getPosition(crate).set(5,0.5,5);
EntityUtils.getScale(crate).set(new Vector3f(0.5f));
// Entity crate = EntityUtils.spawnDrawableEntity("Models/crate2.fbx");
// EntityUtils.getPosition(crate).set(5,0.5,5);
// EntityUtils.getScale(crate).set(new Vector3f(0.5f));
// //center flame
// Entity fire = ParticleUtils.spawnStaticBillboardParticle();

2
src/main/java/electrosphere/entity/EntityDataStrings.java
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@ -100,6 +100,8 @@ public class EntityDataStrings {
public static final String PHYSICS_COLLISION_BODY_OFFSET = "physicsRigidBodyOffset";
public static final String PHYSICS_COLLIDABLE = "physicsCollidable";
public static final String PHYSICS_MODEL_TEMPLATE = "physicsModelTemplate";
public static final String PHYSICS_MASS = "physicsMass";
public static final String PHYSICS_INVERSE_INERTIA_TENSOR = "physicsInverseInertiaTensor";
/*
Gravity Entity

66
src/main/java/electrosphere/entity/state/collidable/CollidableTree.java
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@ -5,13 +5,20 @@ import electrosphere.entity.Entity;
import electrosphere.entity.EntityDataStrings;
import electrosphere.entity.EntityUtils;
import electrosphere.entity.state.gravity.GravityTree;
import electrosphere.entity.types.collision.CollisionObjUtils;
import electrosphere.entity.types.creature.CreatureUtils;
import electrosphere.entity.types.item.ItemUtils;
import electrosphere.game.collision.PhysicsUtils;
import electrosphere.game.collision.collidable.Collidable;
import electrosphere.game.data.creature.type.CollidableTemplate;
import electrosphere.main.Globals;
import org.joml.Matrix4f;
import org.joml.Quaternionf;
import org.joml.Vector3d;
import org.joml.Vector3f;
import org.joml.Vector4d;
import org.joml.Vector4f;
/**
*
@ -22,6 +29,8 @@ public class CollidableTree {
Entity parent;
CollisionObject body;
Collidable collidable;
// Quaternionf angularVelocity = new Quaternionf(0,0,0,1);
Vector4d cumulativeTorque = new Vector4d(0,0,0,0);
@ -35,6 +44,7 @@ public class CollidableTree {
public void simulate(){
Vector3d position = EntityUtils.getPosition(parent);
Quaternionf rotation = EntityUtils.getRotation(parent);
Matrix4f inverseInertiaTensor = CollisionObjUtils.getInverseInertiaTensor(parent);
Vector3d offsetVector = new Vector3d();
Vector3d newPosition = new Vector3d(position);
javax.vecmath.Matrix4f bodyTransformMatrix;
@ -60,12 +70,60 @@ public class CollidableTree {
((GravityTree)parent.getData(EntityDataStrings.GRAVITY_TREE)).start();
}
}
// if(impulse.type.matches("movement")){
// System.out.println("Impulse force: " + impulseForce);
// }
if(
impulse.getCollisionPoint().length() > 0 &&
!Double.isNaN(impulse.getCollisionPoint().x) &&
!Double.isNaN(impulse.getCollisionPoint().y) &&
!Double.isNaN(impulse.getCollisionPoint().z) &&
!Double.isNaN(impulse.getDirection().x) &&
!Double.isNaN(impulse.getDirection().y) &&
!Double.isNaN(impulse.getDirection().z)
){
Vector3d collisionPoint = new Vector3d(impulse.getCollisionPoint()).normalize();
Vector3d forceDir = new Vector3d(impulse.getDirection()).normalize();
Vector3d torqueVec = new Vector3d(collisionPoint).cross(forceDir).normalize();
double torqueMag = Math.abs(impulse.force);
// double torqueMag = impulse.getCollisionPoint().length() * impulse.getDirection().length();
// if(impulse.type.matches(Collidable.TYPE_ITEM) && ItemUtils.isItem(parent)){
// // System.out.println(rotation);
// if(impulse.collisionPoint.x < 0){
// // System.out.println("Impulse collision point: " + impulse.getCollisionPoint() + " direction: " + impulse.getDirection() + " => " + new Vector3d(impulse.getCollisionPoint()).cross(impulse.getDirection()));
// cumulativeTorque.add(new Vector3d(impulse.getCollisionPoint()).cross(impulse.getDirection()));
// }
// } else {
// // angularVelocity.add(new Vector3d(impulse.getCollisionPoint()).cross(impulse.getDirection()),1.0);
// cumulativeTorque.add(new Vector3d(impulse.getCollisionPoint()).cross(impulse.getDirection()));
// }
// if(impulse.type.matches(Collidable.TYPE_ITEM)){
// System.out.println("Impulse: " + torqueVec + " " + torqueMag);
// }
cumulativeTorque.add(new Vector4d(torqueVec.x,torqueVec.y,torqueVec.z,torqueMag));
}
offsetVector.add(impulseForce);
}
// if(ItemUtils.isItem(parent) && cumulativeTorque.w > 0.001){
// System.out.println(cumulativeTorque);
// }
//friction
// if(cumulativeTorque.w > 0.001){
// Vector3d normalizedTorqueDir = new Vector3d(cumulativeTorque.x,cumulativeTorque.y,cumulativeTorque.z).normalize();
// double newMag = cumulativeTorque.w * 0.9;
// cumulativeTorque.set(normalizedTorqueDir.x,normalizedTorqueDir.y,normalizedTorqueDir.z,newMag);
// }
if(inverseInertiaTensor != null && cumulativeTorque.w > 0.01){
Vector4f angularMomentum = inverseInertiaTensor.transform(new Vector4f((float)cumulativeTorque.x,(float)cumulativeTorque.x,(float)cumulativeTorque.x,(float)cumulativeTorque.w));
// Quaternionf nextRotation = new Quaternionf(rotation).mul(new Quaternionf(angularMomentum.x,angularMomentum.y,angularMomentum.z,angularMomentum.w).scale(0.001f)).normalize();
// rotation = nextRotation;
// rotation.mul(new Quaternionf((float)angularMomentum.x,(float)angularMomentum.y,(float)angularMomentum.z,(float)angularMomentum.w / 0.01f));
if(ItemUtils.isItem(parent)){
System.out.println("cumulative quat: " + cumulativeTorque);
}
rotation.x = rotation.x + rotation.x * (float)cumulativeTorque.x * 0.001f;
rotation.y = rotation.y + rotation.y * (float)cumulativeTorque.y * 0.001f;
rotation.z = rotation.z + rotation.z * (float)cumulativeTorque.z * 0.001f;
rotation.w = rotation.w + rotation.w * (float)cumulativeTorque.w * 0.001f;
rotation.normalize();
}
//the reasoning here is that if we have something above something else and it's pushing it into the terrain,
//we should instead just not push into terrain and push along terrain

8
src/main/java/electrosphere/entity/state/collidable/Impulse.java
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@ -10,12 +10,14 @@ import org.joml.Vector3f;
public class Impulse {
Vector3d direction;
Vector3d collisionPoint;
double force;
String type;
public Impulse(Vector3d dir, double force, String type){
public Impulse(Vector3d dir, Vector3d collisionPoint, double force, String type){
this.force = force;
this.direction = dir;
this.collisionPoint = collisionPoint;
this.type = type;
}
@ -30,6 +32,10 @@ public class Impulse {
public String getType() {
return type;
}
public Vector3d getCollisionPoint() {
return collisionPoint;
}
}

2
src/main/java/electrosphere/entity/state/gravity/GravityTree.java
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@ -130,7 +130,7 @@ public class GravityTree {
if(hitFraction < 0){
hitFraction = 1;
}
collidable.addImpulse(new Impulse(new Vector3d(0,-1,0),gravityDif * hitFraction,"gravity"));
collidable.addImpulse(new Impulse(new Vector3d(0,-1,0), new Vector3d(0,0,0), gravityDif * hitFraction,"gravity"));
// System.out.println(hitFraction);
// bodyTransformMatrix = new javax.vecmath.Matrix4f(PhysicsUtils.jomlToVecmathQuaternionf(rotation),PhysicsUtils.jomlToVecmathVector3f(new Vector3f((float)position.x,(float)position.y,(float)position.z)),1.0f);
// body.setWorldTransform(new electrosphere.linearmath.Transform(bodyTransformMatrix));

12
src/main/java/electrosphere/entity/state/movement/GroundMovementTree.java
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@ -235,7 +235,7 @@ public class GroundMovementTree {
}
CreatureUtils.setVelocity(parent, velocity);
// body.applyCentralForce(PhysicsUtils.jomlToVecmathVector3f(new Vector3f(movementVector.x,0,movementVector.z).normalize().mul(velocity)));
EntityUtils.getRotation(parent).set(movementQuaternion);
// EntityUtils.getRotation(parent).set(movementQuaternion);
// //move the entity
// newPosition = new Vector3d(position).add(new Vector3d(movementVector).mul(velocity).mul(Main.deltaTime));
// //check/update if collision
@ -243,7 +243,7 @@ public class GroundMovementTree {
// newPosition = Globals.collisionEngine.suggestMovementPosition(Globals.commonWorldData, parent, newPosition);
// }
// //actually update
collidable.addImpulse(new Impulse(new Vector3d(movementVector), velocity * Main.deltaTime, "movement"));
collidable.addImpulse(new Impulse(new Vector3d(movementVector), new Vector3d(0,0,0), velocity * Main.deltaTime, "movement"));
// position.set(newPosition);
rotation.set(movementQuaternion);
@ -312,14 +312,14 @@ public class GroundMovementTree {
CreatureUtils.setVelocity(parent, velocity);
}
// body.applyCentralForce(PhysicsUtils.jomlToVecmathVector3f(force));
EntityUtils.getRotation(parent).set(movementQuaternion);
// EntityUtils.getRotation(parent).set(movementQuaternion);
//check if can move forward (collision engine)
//if can, move forward by entity movement stats
// newPosition = new Vector3d(position).add(new Vector3d(movementVector).mul(velocity).mul(Main.deltaTime));
// if(!Globals.collisionEngine.checkCanOccupyPosition(Globals.commonWorldData, parent, newPosition)){
// newPosition = Globals.collisionEngine.suggestMovementPosition(Globals.commonWorldData, parent, newPosition);
// }
collidable.addImpulse(new Impulse(new Vector3d(movementVector), velocity * Main.deltaTime, "movement"));
collidable.addImpulse(new Impulse(new Vector3d(movementVector), new Vector3d(0,0,0), velocity * Main.deltaTime, "movement"));
// position.set(newPosition);
rotation.set(movementQuaternion);
@ -397,13 +397,13 @@ public class GroundMovementTree {
}
CreatureUtils.setVelocity(parent, velocity);
// body.applyCentralForce(PhysicsUtils.jomlToVecmathVector3f(new Vector3f(movementVector).mul(-1.0f).normalize().mul(velocity)));
EntityUtils.getRotation(parent).rotationTo(new Vector3f(0,0,1), new Vector3f((float)movementVector.x,(float)movementVector.y,(float)movementVector.z));
// EntityUtils.getRotation(parent).rotationTo(new Vector3f(0,0,1), new Vector3f((float)movementVector.x,(float)movementVector.y,(float)movementVector.z));
//move the entity
// newPosition = new Vector3d(position).add(new Vector3d(movementVector).mul(velocity).mul(Main.deltaTime));
// if(!Globals.collisionEngine.checkCanOccupyPosition(Globals.commonWorldData, parent, newPosition)){
// newPosition = Globals.collisionEngine.suggestMovementPosition(Globals.commonWorldData, parent, newPosition);
// }
collidable.addImpulse(new Impulse(new Vector3d(movementVector), velocity * Main.deltaTime, "movement"));
collidable.addImpulse(new Impulse(new Vector3d(movementVector), new Vector3d(0,0,0), velocity * Main.deltaTime, "movement"));
// position.set(newPosition);
rotation.set(movementQuaternion);

61
src/main/java/electrosphere/entity/types/collision/CollisionObjUtils.java
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@ -9,6 +9,8 @@ import electrosphere.entity.types.attach.AttachUtils;
import electrosphere.game.collision.PhysicsUtils;
import electrosphere.game.collision.collidable.Collidable;
import electrosphere.main.Globals;
import org.joml.Matrix4f;
import org.joml.Quaternionf;
import org.joml.Vector3d;
import org.joml.Vector3f;
@ -18,9 +20,11 @@ import org.joml.Vector3f;
* @author amaterasu
*/
public class CollisionObjUtils {
public static Entity spawnCollisionPlane(Vector3f scale, Vector3f position, Quaternionf rotation){
Entity rVal = new Entity();
float mass = 1.0f;
CollisionObject planeObject = PhysicsUtils.getPlaneObject(scale);
javax.vecmath.Matrix4f planeTransform = new javax.vecmath.Matrix4f(
@ -38,6 +42,11 @@ public class CollisionObjUtils {
rVal.putData(EntityDataStrings.DATA_STRING_SCALE, scale);
rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLISION_OBJECT, planeObject);
rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
//inertia tensor
//https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
Matrix4f inertiaTensor = new Matrix4f().zero();
rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor);
rVal.putData(EntityDataStrings.DATA_STRING_DRAW, true);
Globals.entityManager.registerEntity(rVal);
@ -47,6 +56,8 @@ public class CollisionObjUtils {
public static Entity spawnCollisionCube(Vector3f scale, Vector3f position, Quaternionf rotation){
Entity rVal = new Entity();
float mass = 1.0f;
CollisionObject cubeObject = PhysicsUtils.getCubeObject(scale);
javax.vecmath.Matrix4f planeTransform = new javax.vecmath.Matrix4f(
@ -64,6 +75,11 @@ public class CollisionObjUtils {
rVal.putData(EntityDataStrings.DATA_STRING_SCALE, scale);
rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLISION_OBJECT, cubeObject);
rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
//inertia tensor
//https://hepweb.ucsd.edu/ph110b/110b_notes/node26.html
Matrix4f inertiaTensor = new Matrix4f().identity().scale(mass * scale.x * scale.x / 6.0f).m33(1);
rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
rVal.putData(EntityDataStrings.DATA_STRING_DRAW, true);
Globals.entityManager.registerEntity(rVal);
@ -72,6 +88,8 @@ public class CollisionObjUtils {
public static Entity spawnCollisionCylinder(Vector3f scale, Vector3f position, Quaternionf rotation){
Entity rVal = new Entity();
float mass = 1.0f;
CollisionObject cubeObject = PhysicsUtils.getCylinderObject(scale);
javax.vecmath.Matrix4f planeTransform = new javax.vecmath.Matrix4f(
@ -89,6 +107,14 @@ public class CollisionObjUtils {
rVal.putData(EntityDataStrings.DATA_STRING_SCALE, scale);
rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLISION_OBJECT, cubeObject);
rVal.putData(EntityDataStrings.COLLISION_ENTITY_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
//inertia tensor
//https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
Matrix4f inertiaTensor = new Matrix4f();
inertiaTensor.m00(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
inertiaTensor.m11(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
inertiaTensor.m22(mass * scale.x * scale.x / 2.0f);
rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
rVal.putData(EntityDataStrings.DATA_STRING_DRAW, true);
Globals.entityManager.registerEntity(rVal);
@ -100,6 +126,13 @@ public class CollisionObjUtils {
Entity rVal = spawnCollisionPlane(scale, position, rotation);
AttachUtils.attachEntityToEntity(parent, rVal);
float mass = 1.0f;
parent.putData(EntityDataStrings.PHYSICS_MASS, mass);
//inertia tensor
//https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
Matrix4f inertiaTensor = new Matrix4f().zero();
parent.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor);
return rVal;
}
@ -108,6 +141,13 @@ public class CollisionObjUtils {
Entity rVal = spawnCollisionCube(scale, position, rotation);
AttachUtils.attachEntityToEntity(parent, rVal);
float mass = 1.0f;
parent.putData(EntityDataStrings.PHYSICS_MASS, mass);
//inertia tensor
//https://hepweb.ucsd.edu/ph110b/110b_notes/node26.html
Matrix4f inertiaTensor = new Matrix4f().identity().scale(mass * scale.x * scale.x / 6.0f).m33(1);
parent.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
return rVal;
}
@ -116,6 +156,16 @@ public class CollisionObjUtils {
Entity rVal = spawnCollisionCylinder(scale, position, rotation);
AttachUtils.attachEntityToEntity(parent, rVal);
float mass = 1.0f;
parent.putData(EntityDataStrings.PHYSICS_MASS, mass);
//inertia tensor
//https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
Matrix4f inertiaTensor = new Matrix4f();
inertiaTensor.m00(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
inertiaTensor.m11(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
inertiaTensor.m22(mass * scale.x * scale.x / 2.0f);
parent.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
return rVal;
}
@ -134,5 +184,14 @@ public class CollisionObjUtils {
public static Collidable getCollidable(Entity e){
return (Collidable)e.getData(EntityDataStrings.PHYSICS_COLLIDABLE);
}
public static float getMass(Entity e){
return (float)e.getData(EntityDataStrings.PHYSICS_MASS);
}
public static Matrix4f getInverseInertiaTensor(Entity e){
return (Matrix4f)e.getData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR);
}
}

47
src/main/java/electrosphere/entity/types/creature/CreatureUtils.java
View File

@ -47,6 +47,7 @@ import electrosphere.util.ModelLoader;
import java.util.LinkedList;
import java.util.List;
import org.joml.Matrix4f;
import org.joml.Quaternionf;
import org.joml.Vector3d;
import org.joml.Vector3f;
@ -97,22 +98,56 @@ public class CreatureUtils {
}
if(rawType.getCollidable() != null){
CollidableTemplate physicsTemplate = rawType.getCollidable();
CollisionObject rigidBody;
Collidable collidable;
float mass = 1.0f;
Matrix4f inertiaTensor;
Vector3f scale;
switch(physicsTemplate.getType()){
case "CYLINDER":
CollisionObject rigidBody = PhysicsUtils.getCylinderObject(new Vector3f(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3()));
Collidable collidable = new Collidable(rVal, Collidable.TYPE_CREATURE);
rigidBody = PhysicsUtils.getCylinderObject(new Vector3f(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3()));
collidable = new Collidable(rVal, Collidable.TYPE_ITEM);
rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, rigidBody);
rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_OFFSET, new Vector3f(physicsTemplate.getOffsetX(),physicsTemplate.getOffsetY(),physicsTemplate.getOffsetZ()));
rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE,collidable);
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.COLLIDABLE_TREE, new CollidableTree(rVal,collidable,rigidBody));
scale = new Vector3f(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3());
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
//inertia tensor
//https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
inertiaTensor = new Matrix4f();
inertiaTensor.m00(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
inertiaTensor.m11(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
inertiaTensor.m22(mass * scale.x * scale.x / 2.0f);
rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
Globals.collisionEngine.registerPhysicsEntity(rVal);
Globals.collisionEngine.registerDynamicPhysicsEntity(rVal);
Globals.collisionEngine.registerCollisionObject(rigidBody, collidable);
Globals.entityManager.registerCollidableEntity(rVal);
break;
case "CUBE":
rigidBody = PhysicsUtils.getCubeObject(new Vector3f(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3()));
collidable = new Collidable(rVal, Collidable.TYPE_ITEM);
rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY, rigidBody);
rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_OFFSET, new Vector3f(physicsTemplate.getOffsetX(),physicsTemplate.getOffsetY(),physicsTemplate.getOffsetZ()));
rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.COLLIDABLE_TREE, new CollidableTree(rVal,collidable,rigidBody));
scale = new Vector3f(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3());
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
//inertia tensor
//https://hepweb.ucsd.edu/ph110b/110b_notes/node26.html
inertiaTensor = new Matrix4f().identity().scale(mass * scale.x * scale.x / 6.0f).m33(1);
rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
Globals.collisionEngine.registerPhysicsEntity(rVal);
Globals.collisionEngine.registerDynamicPhysicsEntity(rVal);
Globals.collisionEngine.registerCollisionObject(rigidBody, collidable);
Globals.entityManager.registerCollidableEntity(rVal);
// if(rVal.getDataKeys().contains(EntityDataStrings.DATA_STRING_MOVEMENT_BT)){
// CreatureUtils.getEntityMovementTree(rVal).setCollisionObject(rigidBody, collidable);
// }
break;
}
}

23
src/main/java/electrosphere/entity/types/item/ItemUtils.java
View File

@ -29,6 +29,7 @@ import electrosphere.renderer.actor.ActorUtils;
import java.util.LinkedList;
import java.util.List;
import org.joml.Matrix4f;
import org.joml.Quaternionf;
import org.joml.Vector3d;
import org.joml.Vector3f;
@ -63,6 +64,9 @@ public class ItemUtils {
CollidableTemplate physicsTemplate = item.getCollidable();
CollisionObject rigidBody;
Collidable collidable;
float mass = 1.0f;
Matrix4f inertiaTensor;
Vector3f scale;
switch(physicsTemplate.getType()){
case "CYLINDER":
rigidBody = PhysicsUtils.getCylinderObject(new Vector3f(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3()));
@ -72,6 +76,17 @@ public class ItemUtils {
rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.COLLIDABLE_TREE, new CollidableTree(rVal,collidable,rigidBody));
scale = new Vector3f(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3());
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
//inertia tensor
//https://scienceworld.wolfram.com/physics/MomentofInertiaCylinder.html
inertiaTensor = new Matrix4f();
inertiaTensor.m00(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
inertiaTensor.m11(mass * scale.y * scale.y / 12.0f + mass * scale.x * scale.x / 4.0f);
inertiaTensor.m22(mass * scale.x * scale.x / 2.0f);
rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
Globals.collisionEngine.registerPhysicsEntity(rVal);
Globals.collisionEngine.registerDynamicPhysicsEntity(rVal);
Globals.collisionEngine.registerCollisionObject(rigidBody, collidable);
@ -85,6 +100,14 @@ public class ItemUtils {
rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.COLLIDABLE_TREE, new CollidableTree(rVal,collidable,rigidBody));
scale = new Vector3f(physicsTemplate.getDimension1(),physicsTemplate.getDimension2(),physicsTemplate.getDimension3());
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
//inertia tensor
//https://hepweb.ucsd.edu/ph110b/110b_notes/node26.html
inertiaTensor = new Matrix4f().identity().scale(mass * scale.x * scale.x / 6.0f).m33(1);
rVal.putData(EntityDataStrings.PHYSICS_INVERSE_INERTIA_TENSOR, inertiaTensor.invert());
Globals.collisionEngine.registerPhysicsEntity(rVal);
Globals.collisionEngine.registerDynamicPhysicsEntity(rVal);
Globals.collisionEngine.registerCollisionObject(rigidBody, collidable);

30
src/main/java/electrosphere/game/collision/CollisionEngine.java
View File

@ -32,6 +32,8 @@ import electrosphere.game.collision.collidable.Collidable;
import static electrosphere.main.Main.deltaTime;
import java.util.ArrayList;
import java.util.List;
import org.joml.Quaternionf;
import org.joml.Vector3d;
import org.joml.Vector3f;
@ -86,6 +88,8 @@ public class CollisionEngine {
Collidable physicsObject2 = (Collidable)object2.getUserPointer();
boolean hit = false;
Vector3d normal = null;
Vector3d localPosition1 = null;
Vector3d localPosition2 = null;
float magnitude = 0.0f;
for (int j = 0; j < manifold.getNumContacts(); j++) {
ManifoldPoint contactPoint = manifold.getContactPoint(j);
@ -96,12 +100,14 @@ public class CollisionEngine {
hit = true;
// System.out.println(contactPoint.positionWorldOnA + " " + contactPoint.positionWorldOnB);
normal = new Vector3d(contactPoint.normalWorldOnB.x,contactPoint.normalWorldOnB.y,contactPoint.normalWorldOnB.z);
localPosition1 = new Vector3d(contactPoint.localPointA.x,contactPoint.localPointA.y,contactPoint.localPointA.z);
localPosition2 = new Vector3d(contactPoint.localPointB.x,contactPoint.localPointB.y,contactPoint.localPointB.z);
break;
}
}
if (hit) {
resolveCollision(physicsObject1,physicsObject2, normal, magnitude);
resolveCollision(physicsObject2,physicsObject1, new Vector3d(normal).mul(-1.0), magnitude);
resolveCollision(physicsObject1,physicsObject2, normal, localPosition1, magnitude);
resolveCollision(physicsObject2,physicsObject1, new Vector3d(normal).mul(-1.0), localPosition2, magnitude);
// System.out.println("HIT + " + normal);
// Collision happened between physicsObject1 and physicsObject2. Collision normal is in variable 'normal'.
}
@ -116,7 +122,7 @@ public class CollisionEngine {
}
public static void resolveCollision(Collidable impactor, Collidable receiver, Vector3d normal, float magnitude){
public static void resolveCollision(Collidable impactor, Collidable receiver, Vector3d normal, Vector3d localPosition, float magnitude){
switch(receiver.getType()){
case Collidable.TYPE_CREATURE:
switch(impactor.getType()){
@ -128,19 +134,19 @@ public class CollisionEngine {
normal.x = 0;
normal.z = 0;
}
receiver.addImpulse(new Impulse(normal, magnitude * 2, Collidable.TYPE_TERRAIN));
receiver.addImpulse(new Impulse(normal, localPosition, magnitude * 2, Collidable.TYPE_TERRAIN));
break;
case Collidable.TYPE_CREATURE:
receiver.addImpulse(new Impulse(normal, magnitude, Collidable.TYPE_CREATURE));
receiver.addImpulse(new Impulse(normal, localPosition, magnitude, Collidable.TYPE_CREATURE));
break;
case Collidable.TYPE_STRUCTURE:
// float realMag = 1f/(float)Math.pow(0.1, magnitude);
// System.out.println(normal + " - " + realMag);
receiver.addImpulse(new Impulse(normal, magnitude, Collidable.TYPE_STRUCTURE));
receiver.addImpulse(new Impulse(normal, localPosition, magnitude, Collidable.TYPE_STRUCTURE));
// System.out.println("Structure-creature collision");
break;
case Collidable.TYPE_ITEM:
receiver.addImpulse(new Impulse(normal, magnitude * 0.5, Collidable.TYPE_ITEM));
receiver.addImpulse(new Impulse(normal, localPosition, magnitude * 0.5, Collidable.TYPE_ITEM));
break;
}
break;
@ -154,19 +160,19 @@ public class CollisionEngine {
normal.x = 0;
normal.z = 0;
}
receiver.addImpulse(new Impulse(normal, magnitude * 2, Collidable.TYPE_TERRAIN));
receiver.addImpulse(new Impulse(normal, localPosition, magnitude * 2, Collidable.TYPE_TERRAIN));
break;
case Collidable.TYPE_CREATURE:
receiver.addImpulse(new Impulse(normal, Math.min(magnitude * 0.5,0.5), Collidable.TYPE_CREATURE));
receiver.addImpulse(new Impulse(normal, localPosition, Math.min(magnitude * 0.5,0.5), Collidable.TYPE_CREATURE));
break;
case Collidable.TYPE_STRUCTURE:
// float realMag = 1f/(float)Math.pow(0.1, magnitude);
// System.out.println(normal + " - " + realMag);
receiver.addImpulse(new Impulse(normal, magnitude, Collidable.TYPE_STRUCTURE));
receiver.addImpulse(new Impulse(normal, localPosition, magnitude, Collidable.TYPE_STRUCTURE));
// System.out.println("Structure-creature collision");
break;
case Collidable.TYPE_ITEM:
receiver.addImpulse(new Impulse(normal, magnitude * 0.5, Collidable.TYPE_ITEM));
receiver.addImpulse(new Impulse(normal, localPosition, magnitude * 0.5, Collidable.TYPE_ITEM));
break;
}
break;
@ -305,9 +311,11 @@ public class CollisionEngine {
CollisionObject rigidBody = (CollisionObject)dynamicEntity.getData(EntityDataStrings.PHYSICS_COLLISION_BODY);
Vector3f offset = (Vector3f)dynamicEntity.getData(EntityDataStrings.PHYSICS_COLLISION_BODY_OFFSET);
Vector3f newPosition = PhysicsUtils.getRigidBodyPosition(rigidBody).sub(offset);
Quaternionf newRotation = PhysicsUtils.getRigidBodyRotation(rigidBody);
// System.out.println(rigidBody + " position " + newPosition);
// System.out.println("Linear velocity: " + rigidBody.getLinearVelocity(new javax.vecmath.Vector3f()));
EntityUtils.getPosition(dynamicEntity).set(newPosition);
EntityUtils.getRotation(dynamicEntity).set(newRotation);
}
}

4
src/main/java/electrosphere/game/collision/PhysicsUtils.java
View File

@ -250,8 +250,8 @@ public class PhysicsUtils {
return vecmathToJomlVector3f(transform);
}
public static Quaternionf getRigidBodyRotation(RigidBody body){
return vecmathtoJomlQuaternionf(body.getMotionState().getWorldTransform(new electrosphere.linearmath.Transform()).getRotation(new javax.vecmath.Quat4f()));
public static Quaternionf getRigidBodyRotation(CollisionObject body){
return vecmathtoJomlQuaternionf(body.getWorldTransform(new electrosphere.linearmath.Transform()).getRotation(new javax.vecmath.Quat4f()));
}
public static Vector3f vecmathToJomlVector3f(javax.vecmath.Vector3f vector){

4
src/main/java/electrosphere/game/collision/collidable/Collidable.java
View File

@ -7,6 +7,8 @@ import electrosphere.entity.state.collidable.Impulse;
import java.util.LinkedList;
import java.util.List;
import java.util.concurrent.CopyOnWriteArrayList;
import org.joml.Matrix4f;
import org.joml.Vector3f;
@ -19,7 +21,7 @@ public class Collidable {
Entity parent;
String type;
List<Impulse> impulses = new CopyOnWriteArrayList();
List<Impulse> impulses = new CopyOnWriteArrayList<Impulse>();
public static final String TYPE_TERRAIN = "terrain";
public static final String TYPE_CREATURE = "creature";

1
src/main/java/electrosphere/renderer/RenderingEngine.java
View File

@ -766,6 +766,7 @@ public class RenderingEngine {
Vector3f cameraModifiedPosition = new Vector3f((float)position.x,(float)position.y,(float)position.z).add(template.getOffsetX(),template.getOffsetY(),template.getOffsetZ()).sub(CameraEntityUtils.getCameraCenter(Globals.playerCamera));
modelTransformMatrix.identity();
modelTransformMatrix.translate(cameraModifiedPosition);
modelTransformMatrix.rotate(EntityUtils.getRotation(physicsEntity));
// modelTransformMatrix.translate(template.getOffsetX(),template.getOffsetY(),template.getOffsetZ()); //center sphere
modelTransformMatrix.scale(template.getDimension1(),template.getDimension2(),template.getDimension3());
physicsGraphicsModel.modelMatrix = modelTransformMatrix;