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floating origin for CollisionEngine.java

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This commit is contained in:
austin 2025-01-24 16:19:04 -05:00
parent 919298a3de
commit 70bc473277
8 changed files with 110 additions and 30 deletions
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2
docs/src/progress/renderertodo.md
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@ -1301,6 +1301,8 @@ Save assembly on compile
Delete old server physics cell on terrain edit
Fix server terrain physics entity positioning
Disable client fluid draw cell loading gate
Properly differentiate local/world bone attach point calculation
Floating origin implementation for collision engine

2
src/main/java/electrosphere/collision/CollisionBodyCreation.java
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@ -212,7 +212,7 @@ public class CollisionBodyCreation {
}
/**
* Sets the offset position of the first geometry in a given body
* Sets the offset position of the first geometry in a given body (local to the parent)
* @param collisionEngine The collision engine
* @param body The body
* @param offsetPosition The position to offset the first geometry by

65
src/main/java/electrosphere/collision/CollisionEngine.java
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@ -116,6 +116,13 @@ public class CollisionEngine {
//The list of all collidables the engine is currently tracking
List<Collidable> collidableList = new ArrayList<Collidable>();
/**
* Dynamic spatial offset applied to all operations on the space.
* This is used for world origin rebasing.
* This makes physics behave more consistently by moving far out objects to center around 0,0,0.
*/
Vector3d floatingOrigin = new Vector3d(0,0,0);
//callbacks for collision check
RayCastCallback rayCastCallback = new RayCastCallback();
@ -530,7 +537,7 @@ public class CollisionEngine {
Entity physicsEntity = collidable.getParent();
DBody rigidBody = PhysicsEntityUtils.getDBody(physicsEntity);
Matrix4d inverseTransform = new Matrix4d();
Vector4d rawPos = inverseTransform.transform(new Vector4d(PhysicsUtils.getRigidBodyPosition(rigidBody),1));
Vector4d rawPos = inverseTransform.transform(new Vector4d(PhysicsUtils.odeVecToJomlVec(rigidBody.getPosition()).add(this.floatingOrigin),1));
Vector3d calculatedPosition = new Vector3d(rawPos.x,rawPos.y,rawPos.z);
Vector3d suggestedPosition = this.suggestMovementPosition(collisionWorldData, calculatedPosition);
if(calculatedPosition.distance(suggestedPosition) > 0){
@ -546,6 +553,48 @@ public class CollisionEngine {
Globals.profiler.endCpuSample();
}
/**
* Rebases the world origin
*/
public void rebaseWorldOrigin(){
Globals.profiler.beginCpuSample("rebaseWorldOrigin");
spaceLock.lock();
if(this.collisionWorldData != null && this.floatingOrigin.x == 0 && this.floatingOrigin.z == 0){
int collected = 0;
Vector3d newOrigin = new Vector3d();
//calculate new origin
for(Collidable collidable : collidableList){
Entity physicsEntity = collidable.getParent();
DBody rigidBody = PhysicsEntityUtils.getDBody(physicsEntity);
if(rigidBody != null){
Vector3d currentBodyOffset = PhysicsUtils.odeVecToJomlVec(rigidBody.getPosition());
if(collected == 0){
newOrigin.set(currentBodyOffset);
} else {
float percentExisting = collected / (float)(collected + 1);
float percentNew = 1.0f - percentExisting;
newOrigin = newOrigin.mul(percentExisting).add(currentBodyOffset.mul(percentNew));
}
collected++;
}
}
Vector3d delta = new Vector3d(this.floatingOrigin).sub(newOrigin);
this.floatingOrigin = this.floatingOrigin.set(newOrigin);
//apply new origin to all geoms
//calculate new origin
for(Collidable collidable : collidableList){
Entity physicsEntity = collidable.getParent();
DBody rigidBody = PhysicsEntityUtils.getDBody(physicsEntity);
if(rigidBody != null){
Vector3d existingPosition = PhysicsUtils.odeVecToJomlVec(rigidBody.getPosition());
rigidBody.setPosition(PhysicsUtils.jomlVecToOdeVec(existingPosition.add(delta)));
}
}
}
spaceLock.unlock();
Globals.profiler.endCpuSample();
}
/**
* Registers a collision object with the server
* @param body The body
@ -573,7 +622,7 @@ public class CollisionEngine {
public void listBodyPositions(){
for(DBody body : bodies){
LoggerInterface.loggerEngine.INFO("" + body);
LoggerInterface.loggerEngine.INFO("" + PhysicsUtils.getRigidBodyPosition(body));
LoggerInterface.loggerEngine.INFO("" + PhysicsUtils.odeVecToJomlVec(body.getPosition()).add(this.floatingOrigin));
}
}
@ -914,7 +963,7 @@ public class CollisionEngine {
*/
protected void setBodyTransform(DBody body, Vector3d position, Quaterniond rotation){
spaceLock.lock();
body.setPosition(position.x, position.y, position.z);
body.setPosition(position.x - this.floatingOrigin.x, position.y - this.floatingOrigin.y, position.z - this.floatingOrigin.z);
body.setQuaternion(PhysicsUtils.jomlQuatToOdeQuat(rotation));
spaceLock.unlock();
}
@ -932,7 +981,7 @@ public class CollisionEngine {
protected void synchronizeData(DBody body, Vector3d position, Quaterniond rotation, Vector3d linearVel, Vector3d angularVel, Vector3d linearForce, Vector3d angularForce){
if(body != null){
spaceLock.lock();
body.setPosition(position.x, position.y, position.z);
body.setPosition(position.x - this.floatingOrigin.x, position.y - this.floatingOrigin.y, position.z - this.floatingOrigin.z);
body.setQuaternion(PhysicsUtils.jomlQuatToOdeQuat(rotation));
body.setLinearVel(PhysicsUtils.jomlVecToOdeVec(linearVel));
body.setAngularVel(PhysicsUtils.jomlVecToOdeVec(angularVel));
@ -951,7 +1000,7 @@ public class CollisionEngine {
*/
protected void setBodyTransform(DBody body, CollidableTemplate template, Vector3d position, Quaterniond rotation, Vector3d scale){
spaceLock.lock();
body.setPosition(position.x, position.y, position.z);
body.setPosition(position.x - this.floatingOrigin.x, position.y - this.floatingOrigin.y, position.z - this.floatingOrigin.z);
body.setQuaternion(PhysicsUtils.jomlQuatToOdeQuat(rotation));
DGeom firstGeom = body.getFirstGeom();
if(firstGeom instanceof DCylinder){
@ -965,14 +1014,14 @@ public class CollisionEngine {
}
/**
* Sets the transform of a geometry
* Sets the transform of a geometry (local to the parent)
* @param geom The geometry
* @param position The position
* @param rotation The rotation
*/
protected void setGeomTransform(DGeom geom, Vector3d position, Quaterniond rotation){
spaceLock.lock();
geom.setOffsetWorldPosition(position.x, position.y, position.z);
geom.setOffsetPosition(position.x, position.y, position.z);
geom.setOffsetQuaternion(PhysicsUtils.jomlQuatToOdeQuat(rotation));
spaceLock.unlock();
}
@ -995,7 +1044,7 @@ public class CollisionEngine {
protected Vector3d getBodyPosition(DBody body){
Vector3d rVal = null;
spaceLock.lock();
rVal = PhysicsUtils.odeVecToJomlVec(body.getPosition());
rVal = PhysicsUtils.odeVecToJomlVec(body.getPosition()).add(this.floatingOrigin);
spaceLock.unlock();
return rVal;
}

9
src/main/java/electrosphere/collision/PhysicsUtils.java
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@ -15,15 +15,6 @@ import electrosphere.game.data.collidable.CollidableTemplate;
*/
public class PhysicsUtils {
/**
* Gets the current position of a rigid body as a joml vector
* @param body The dbody
* @return The position
*/
public static Vector3d getRigidBodyPosition(DBody body){
return odeVecToJomlVec(body.getPosition());
}
/**
* Gets the rotation of an ode body as a joml quaternion
* @param body

37
src/main/java/electrosphere/entity/state/attach/AttachUtils.java
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@ -294,7 +294,7 @@ public class AttachUtils {
Vector3d parentScale
){
//transform bone space
Vector3d position = AttachUtils.calculateBoneAttachmentPosition(
Vector3d position = AttachUtils.calculateBoneAttachmentWorldPosition(
offsetVector,
offsetRotation,
bonePosition,
@ -331,7 +331,7 @@ public class AttachUtils {
* @param parentScale The parent's scale
* @return The position of the attached/child entity
*/
public static Vector3d calculateBoneAttachmentPosition(
public static Vector3d calculateBoneAttachmentLocalPosition(
//optional offsets
Vector3d offsetVector,
Quaterniond offsetRotation,
@ -352,6 +352,39 @@ public class AttachUtils {
position = position.mul(parentScale);
position = position.rotate(new Quaterniond(parentRotation));
//transform worldspace
// position.add(parentPosition);
return position;
}
/**
* Calculates the position of an entity attached to a bone
* @param offsetVector The offset position
* @param offsetRotation The offset rotation
* @param bonePosition The bone's position
* @param boneRotation The bone's rotation
* @param parentPosition The parent's position
* @param parentRotation The parent's rotation
* @param parentScale The parent's scale
* @return The position of the attached/child entity
*/
public static Vector3d calculateBoneAttachmentWorldPosition(
//optional offsets
Vector3d offsetVector,
Quaterniond offsetRotation,
//current bone transform
Vector3d bonePosition,
Quaterniond boneRotation,
//parent transforms
Vector3d parentPosition,
Quaterniond parentRotation,
Vector3d parentScale
){
//transform bone space
Vector3d position = calculateBoneAttachmentLocalPosition(offsetVector, offsetRotation, bonePosition, boneRotation, parentPosition, parentRotation, parentScale);
//transform worldspace
position.add(parentPosition);
return position;

11
src/main/java/electrosphere/entity/state/hitbox/HitboxCollectionState.java
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@ -253,7 +253,7 @@ public class HitboxCollectionState {
if(parent != null && !isServer && EntityUtils.getActor(parent) != null){
if(!this.geoms.isEmpty()){
Vector3d entityPosition = EntityUtils.getPosition(parent);
this.body.setPosition(PhysicsUtils.jomlVecToOdeVec(entityPosition));
PhysicsUtils.setRigidBodyTransform(collisionEngine, entityPosition, new Quaterniond(), body);
for(String boneName : this.boneHitboxMap.keySet()){
if(EntityUtils.getActor(parent).containsBone(boneName)){
Vector3d bonePosition = EntityUtils.getActor(parent).getBonePosition(boneName);
@ -293,7 +293,7 @@ public class HitboxCollectionState {
} else if(parent != null && isServer && EntityUtils.getPoseActor(parent) != null){
if(!this.geoms.isEmpty()){
Vector3d entityPosition = EntityUtils.getPosition(parent);
this.body.setPosition(PhysicsUtils.jomlVecToOdeVec(entityPosition));
PhysicsUtils.setRigidBodyTransform(collisionEngine, entityPosition, new Quaterniond(), body);
//
for(String boneName : this.boneHitboxMap.keySet()){
if(EntityUtils.getPoseActor(parent).containsBone(boneName)){
@ -358,8 +358,7 @@ public class HitboxCollectionState {
* @param bonePosition The position of the bone
*/
private void updateStaticCapsulePosition(CollisionEngine collisionEngine, DGeom geom, HitboxState shapeStatus){
Vector3d parentPos = EntityUtils.getPosition(parent);
PhysicsEntityUtils.setGeometryPosition(collisionEngine, geom, parentPos, new Quaterniond(0.707,0,0,0.707));
PhysicsEntityUtils.setGeometryPosition(collisionEngine, geom, new Vector3d(), new Quaterniond(0.707,0,0,0.707));
}
/**
@ -388,7 +387,7 @@ public class HitboxCollectionState {
Vector3d parentScale = new Vector3d(EntityUtils.getScale(parent));
//calculate
Vector3d hitboxPos = AttachUtils.calculateBoneAttachmentPosition(offsetPosition, offsetRotation, bonePositionD, boneRotation, parentPosition, parentRotation, parentScale);
Vector3d hitboxPos = AttachUtils.calculateBoneAttachmentLocalPosition(offsetPosition, offsetRotation, bonePositionD, boneRotation, parentPosition, parentRotation, parentScale);
PhysicsEntityUtils.setGeometryPosition(collisionEngine, geom, hitboxPos, new Quaterniond());
@ -425,7 +424,7 @@ public class HitboxCollectionState {
Vector3d parentScale = new Vector3d(EntityUtils.getScale(parent));
//calculate
Vector3d worldPosition = AttachUtils.calculateBoneAttachmentPosition(offsetPosition, offsetRotation, bonePositionD, boneRotation, parentPosition, parentRotation, parentScale);
Vector3d worldPosition = AttachUtils.calculateBoneAttachmentLocalPosition(offsetPosition, offsetRotation, bonePositionD, boneRotation, parentPosition, parentRotation, parentScale);
Quaterniond worldRotation = new Quaterniond();
if(previousWorldPos != null){

10
src/main/java/electrosphere/server/datacell/GriddedDataCellManager.java
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@ -537,10 +537,12 @@ public class GriddedDataCellManager implements DataCellManager, VoxelCellManager
cellPlayerlessFrameMap.put(groundDataCells.get(this.getServerDataCellKey(worldPos)),0);
loadedCellsLock.unlock();
} else if(groundDataCells.get(this.getServerDataCellKey(worldPos)) == null) {
LoggerInterface.loggerEngine.WARNING(
"Trying to create data cell outside world bounds!\n" +
worldPos + "\n" +
this.serverWorldData.getWorldSizeDiscrete()
LoggerInterface.loggerEngine.ERROR(
new Error(
"Trying to create data cell outside world bounds!\n" +
worldPos + "\n" +
this.serverWorldData.getWorldSizeDiscrete()
)
);
}
return groundDataCells.get(this.getServerDataCellKey(worldPos));

4
src/main/java/electrosphere/server/datacell/Realm.java
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@ -218,6 +218,10 @@ public class Realm {
collisionEngine.clearCollidableImpulseLists();
chemistryEngine.clearCollidableImpulseLists();
//
//rebase physics origin
this.collisionEngine.rebaseWorldOrigin();
Globals.profiler.endCpuSample();
}