physics work

docs/src/progress/renderertodo.md

@@ -2119,6 +2119,7 @@ Fix projection matrix being sent to light manager
 
 (06/05/2025)
 voxel tests
+Physics work
 
 
 

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

@@ -7,6 +7,7 @@ import java.util.Iterator;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.locks.ReentrantLock;
+import java.util.stream.Collectors;
 
 import org.joml.Matrix4d;
 import org.joml.Quaterniond;
@@ -135,6 +136,12 @@ public class CollisionEngine {
      */
     protected static final int MAX_CONTACTS = 64;
 
+    /**
+     * <p> Maximum number of contact points per geom-geom collision </p>
+     * <p><b> Note: </b></p>
+     */
+    protected static final int MIN_CONTACTS = 4;
+
     /**
      * The list of dbodies ode should be tracking
      */
@@ -265,13 +272,13 @@ public class CollisionEngine {
             case Collidable.TYPE_CREATURE: {
                 switch(impactor.getType()){
                     case Collidable.TYPE_STATIC: {
-                        receiver.addImpulse(new Impulse(normal, localPosition, worldPos, magnitude * 2, Collidable.TYPE_STATIC));
+                        receiver.addImpulse(normal, localPosition, worldPos, magnitude * 2, Collidable.TYPE_STATIC);
                     } break;
                     case Collidable.TYPE_CREATURE: {
-                        receiver.addImpulse(new Impulse(normal, localPosition, worldPos, magnitude, Collidable.TYPE_CREATURE));
+                        receiver.addImpulse(normal, localPosition, worldPos, magnitude, Collidable.TYPE_CREATURE);
                     } break;
                     case Collidable.TYPE_OBJECT: {
-                        receiver.addImpulse(new Impulse(normal, localPosition, worldPos, magnitude, Collidable.TYPE_OBJECT));
+                        receiver.addImpulse(normal, localPosition, worldPos, magnitude, Collidable.TYPE_OBJECT);
                     } break;
                 }
             } break;
@@ -1608,12 +1615,15 @@ public class CollisionEngine {
      * @return The status of the collision engine
      */
     public String getStatus(){
+        CollisionEngine.lockOde();
         String message = "" +
         "Name: " + this.name + "\n" +
         "Bodies: " + this.bodies.size() + "\n" +
         "Body Ptrs: " + this.bodyPointerMap.size() + "\n" +
         "Geom Ptrs: " + this.geomPointerMap.size() + "\n" +
         "Collidables: " + this.collidableList.size() + "\n" +
+        "  (Static) Collidables: " + this.collidableList.stream().filter((Collidable collidable) -> collidable.getType().matches(Collidable.TYPE_STATIC)).collect(Collectors.toList()).size() + "\n" +
+        "  (Creature) Collidables: " + this.collidableList.stream().filter((Collidable collidable) -> collidable.getType().matches(Collidable.TYPE_CREATURE)).collect(Collectors.toList()).size() + "\n" +
         "Space geom count: " + this.space.getNumGeoms() + "\n" +
         "Tracked geom count: " + this.geomCount + "\n" +
         "Floating origin: " + this.floatingOrigin.x + "," + this.floatingOrigin.y + "," + this.floatingOrigin.z + "\n" +
@@ -1621,6 +1631,7 @@ public class CollisionEngine {
         "Final Collision Count: " + this.finalCollisionCount + "\n" +
         ""
         ;
+        CollisionEngine.unlockOde();
         return message;
     }
 

src/main/java/electrosphere/collision/PhysicsCallback.java

@@ -25,6 +25,11 @@ public class PhysicsCallback implements DNearCallback {
      */
     protected CollisionEngine engine;
 
+    /**
+     * Enables geom-geom collisions between non-statics
+     */
+    private boolean enableGeomGeom = false;
+
     /**
      * Constructor
      */
@@ -43,7 +48,13 @@ public class PhysicsCallback implements DNearCallback {
         }
 
         //if neither are bodies
-        if(o1.getBody() == null && o2.getBody() == null){
+        if(
+            o1.getBody() == null && o2.getBody() == null &&
+            (
+                !this.enableGeomGeom ||
+                (o1.getCategoryBits() == Collidable.TYPE_STATIC_BIT && o2.getCategoryBits() == Collidable.TYPE_STATIC_BIT)
+            )
+        ){
             return;
         }
 
@@ -91,6 +102,16 @@ public class PhysicsCallback implements DNearCallback {
             throw new Error(message);
         }
 
+        //Controls whether we should grab MAX_CONTACTS or MIN_CONTACTS
+        boolean isGeomGeomCollision = o1.getBody() == null && o2.getBody() == null;
+
+        //Number of contacts to poll for
+        int contactCount = CollisionEngine.MAX_CONTACTS;
+        if(isGeomGeomCollision && this.enableGeomGeom){
+            contactCount = CollisionEngine.MIN_CONTACTS;
+        }
+
+
         Globals.profiler.beginAggregateCpuSample("CollisionEngine.nearCallback - Full collision phase");
         try {
             Globals.profiler.beginAggregateCpuSample("CollisionEngine.nearCallback - setup");
@@ -101,7 +122,7 @@ public class PhysicsCallback implements DNearCallback {
             if(c2 != null){
                 surfaceParams2 = c2.getSurfaceParams();
             }
-            for (int i=0; i< CollisionEngine.MAX_CONTACTS; i++) {
+            for (int i=0; i< contactCount; i++) {
                 DContact contact = engine.contacts.get(i);
                 contact.surface.mode = surfaceParams1.getMode();
                 contact.surface.mu = surfaceParams1.getMu();
@@ -144,7 +165,7 @@ public class PhysicsCallback implements DNearCallback {
             Globals.profiler.endCpuSample();
             //calculate collisions
             Globals.profiler.beginAggregateCpuSample("CollisionEngine.nearCallback - OdeHelper.collide");
-            int numc = OdeHelper.collide(o1,o2,CollisionEngine.MAX_CONTACTS,engine.contacts.getGeomBuffer());
+            int numc = OdeHelper.collide(o1,o2,contactCount,engine.contacts.getGeomBuffer());
             Globals.profiler.endCpuSample();
             //create DContacts based on each collision that occurs
             Globals.profiler.beginAggregateCpuSample("CollisionEngine.nearCallback - contact iterations");
@@ -160,7 +181,8 @@ public class PhysicsCallback implements DNearCallback {
                     }
 
                     //
-                    //add contact to contact group
+                    //add contact to contact group - don't create contacts for non-geom collisions
+                    if(!isGeomGeomCollision){
                         DJoint c = OdeHelper.createContactJoint(engine.world,engine.contactgroup,contact);
                         if(b1 == null){
                             if(b2 == null){
@@ -174,6 +196,7 @@ public class PhysicsCallback implements DNearCallback {
                                 c.attach(b1,b2);
                             }
                         }
+                    }
 
                     // Use the default collision resolution
                     CollisionEngine.resolveCollision(

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

@@ -4,15 +4,21 @@ import electrosphere.entity.Entity;
 import electrosphere.entity.state.collidable.Impulse;
 
 import java.util.Arrays;
-import java.util.LinkedList;
 import java.util.List;
 
+import org.joml.Vector3d;
+
 
 /**
  * Stores the type of the collidable object as well as the impulses currently applied to it
  */
 public class Collidable {
 
+    /**
+     * Max impulses that can be applied to a collidable
+     */
+    public static final int MAX_IMPULSES = 5;
+    
     /**
      * The entity this collidable is attached to
      */
@@ -31,7 +37,12 @@ public class Collidable {
     /**
      * The impulses to be applied to this collidable
      */
-    private List<Impulse> impulses = new LinkedList<Impulse>();
+    private Impulse[] impulses = new Impulse[MAX_IMPULSES];
+
+    /**
+     * The number of impulses stored in the collidable
+     */
+    private int impulseCount = 0;
 
     /**
      * The params for the surface of this collidable when a collision occurs
@@ -78,6 +89,9 @@ public class Collidable {
         this.type = type;
         this.parentTracksCollidable = parentTracksCollidable;
         this.surfaceParams = new SurfaceParams();
+        for(int i = 0; i < MAX_IMPULSES; i++){
+            this.impulses[i] = new Impulse();
+        }
     }
 
     /**
@@ -96,12 +110,42 @@ public class Collidable {
         return this.surfaceParams;
     }
 
-    public List<Impulse> getImpulses() {
+    /**
+     * Gets the array of impulses
+     * @return The array of impulses
+     */
+    public Impulse[] getImpulses() {
         return impulses;
     }
 
+    /**
+     * Adds an impulse the collidable
+     * @param impulse The impulse
+     */
     public void addImpulse(Impulse impulse) {
-        impulses.add(impulse);
+        if(this.impulseCount < MAX_IMPULSES){
+            impulses[this.impulseCount].setCollisionPoint(impulse.getCollisionPoint());
+            impulses[this.impulseCount].setDirection(impulse.getDirection());
+            impulses[this.impulseCount].setWorldPoint(impulse.getWorldPoint());
+            impulses[this.impulseCount].setType(impulse.getType());
+            impulses[this.impulseCount].setForce(impulse.getForce());
+            this.impulseCount++;
+        }
+    }
+
+    /**
+     * Adds an impulse the collidable
+     * @param impulse The impulse
+     */
+    public void addImpulse(Vector3d direction, Vector3d collisionPoint, Vector3d worldPoint, double force, String type){
+        if(this.impulseCount < MAX_IMPULSES){
+            impulses[this.impulseCount].setCollisionPoint(collisionPoint);
+            impulses[this.impulseCount].setDirection(direction);
+            impulses[this.impulseCount].setWorldPoint(worldPoint);
+            impulses[this.impulseCount].setType(type);
+            impulses[this.impulseCount].setForce(force);
+            this.impulseCount++;
+        }
     }
 
     public Entity getParent() {
@@ -124,8 +168,14 @@ public class Collidable {
         this.type = type;
     }
     
+    /**
+     * Clears the impulses
+     */
     public void clear(){
-        impulses.clear();
+        for(int i = 0; i < MAX_IMPULSES; i++){
+            impulses[i].clear();
+        }
+        this.impulseCount = 0;
     }
 
     /**
@@ -144,6 +194,14 @@ public class Collidable {
         this.ready = ready;
     }
 
+    /**
+     * Gets the number of impulses stored in the collidable
+     * @return The number of impulses
+     */
+    public int getImpulseCount(){
+        return this.impulseCount;
+    }
+
     
     
     

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

@@ -21,25 +21,109 @@ public class Impulse {
         this.worldPoint = worldPoint;
     }
 
+    /**
+     * Constructor for collidable work
+     */
+    public Impulse(){
+        this.direction = new Vector3d();
+        this.collisionPoint = new Vector3d();
+        this.worldPoint = new Vector3d();
+        this.force = 0;
+        this.type = null;
+    }
+
+    /**
+     * Gets the direction of the impulse
+     * @return The direction of the impulse
+     */
     public Vector3d getDirection() {
         return direction;
     }
 
+    /**
+     * Gets the force of the impulse
+     * @return The force of the impulse
+     */
     public double getForce() {
         return force;
     }
 
+    /**
+     * Gets the type of the impulse
+     * @return The type of the impulse
+     */
     public String getType() {
         return type;
     }
 
+    /**
+     * Gets the collision point of the impulse
+     * @return The collision point of the impulse
+     */
     public Vector3d getCollisionPoint() {
         return collisionPoint;
     }
 
+    /**
+     * Gets the world point of the impulse
+     * @return The world point of the impulse
+     */
     public Vector3d getWorldPoint(){
         return worldPoint;
     }
 
+    /**
+     * Sets the direction of the impulse
+     * @param direction The direction of the impulse
+     */
+    public void setDirection(Vector3d direction) {
+        this.direction = direction;
+    }
+
+    /**
+     * Sets the collision point of the impulse
+     * @param collisionPoint The collision point of the impulse
+     */
+    public void setCollisionPoint(Vector3d collisionPoint) {
+        this.collisionPoint = collisionPoint;
+    }
+
+    /**
+     * Sets the world point of the impulse
+     * @param worldPoint The world point of the impulse
+     */
+    public void setWorldPoint(Vector3d worldPoint) {
+        this.worldPoint = worldPoint;
+    }
+
+    /**
+     * Sets the force of the impulse
+     * @param force The force of the impulse
+     */
+    public void setForce(double force) {
+        this.force = force;
+    }
+
+    /**
+     * Sets the type of the impulse
+     * @param type The type of the impulse
+     */
+    public void setType(String type) {
+        this.type = type;
+    }
+
+    /**
+     * Clears the data in the impulse
+     */
+    public void clear(){
+        this.direction.set(0,0,0);
+        this.collisionPoint.set(0,0,0);
+        this.worldPoint.set(0,0,0);
+        this.force = 0;
+        this.type = null;
+    }
+
+    
+    
     
 }

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

@@ -3,10 +3,13 @@ package electrosphere.entity.state.collidable;
 import electrosphere.collision.collidable.Collidable;
 import electrosphere.entity.Entity;
 import electrosphere.entity.EntityDataStrings;
+import electrosphere.entity.EntityUtils;
+import electrosphere.entity.ServerEntityUtils;
 import electrosphere.entity.btree.BehaviorTree;
 import electrosphere.entity.state.gravity.ServerGravityTree;
 import electrosphere.entity.state.movement.fall.ServerFallTree;
 
+import org.joml.Vector3d;
 import org.ode4j.ode.DBody;
 import org.ode4j.ode.DGeom;
 
@@ -25,6 +28,11 @@ public class ServerCollidableTree implements BehaviorTree {
      */
     protected DBody body;
 
+    /**
+     * The geom
+     */
+    protected DGeom geom;
+
     /**
      * The collidable
      */
@@ -52,6 +60,7 @@ public class ServerCollidableTree implements BehaviorTree {
     public ServerCollidableTree(Entity e, Collidable collidable, DGeom geom){
         parent = e;
         this.collidable = collidable;
+        this.geom = geom;
     }
     
     /**
@@ -61,16 +70,22 @@ public class ServerCollidableTree implements BehaviorTree {
     public void simulate(float deltaTime){
         //have we hit a terrain impulse?
         //handle impulses
-        for(Impulse impulse : collidable.getImpulses()){
-            if(impulse.type.matches(Collidable.TYPE_CREATURE)){
+        Impulse[] impulses = collidable.getImpulses();
+        Vector3d pos = EntityUtils.getPosition(parent);
+        for(int i = 0; i < collidable.getImpulseCount(); i++){
+            if(impulses[i].type.matches(Collidable.TYPE_CREATURE)){
                 if(ServerGravityTree.getServerGravityTree(parent)!=null){
                     ServerGravityTree.getServerGravityTree(parent).start();
                 }
             }
-            if(impulse.type.matches(Collidable.TYPE_WORLD_BOUND) || impulse.type.matches(Collidable.TYPE_STATIC)){
+            if(impulses[i].type.matches(Collidable.TYPE_WORLD_BOUND) || impulses[i].type.matches(Collidable.TYPE_STATIC)){
                 this.resetGravityFall();
+                pos.add(impulses[i].getDirection().mul(impulses[i].getForce()));
             }
         }
+        if(geom != null){
+            ServerEntityUtils.repositionEntity(parent, pos);
+        }
 
         collidable.setReady(true);
         

src/main/java/electrosphere/entity/state/gravity/ClientGravityTree.java

@@ -119,7 +119,9 @@ public class ClientGravityTree implements BehaviorTree {
     
     public boolean hadGroundCollision(){
         boolean rVal = false;
-        for(Impulse impulse : collidable.getImpulses()){
+        Impulse[] impulses = collidable.getImpulses();
+        for(int i = 0; i < collidable.getImpulseCount(); i++){
+            Impulse impulse = impulses[i];
             if(impulse.getType().equals(Collidable.TYPE_STATIC)){
                 rVal = true;
                 break;
@@ -142,7 +144,9 @@ public class ClientGravityTree implements BehaviorTree {
     
     public boolean hadEntityCollision(){
         boolean rVal = false;
-        for(Impulse impulse : collidable.getImpulses()){
+        Impulse[] impulses = collidable.getImpulses();
+        for(int i = 0; i < collidable.getImpulseCount(); i++){
+            Impulse impulse = impulses[i];
             if(impulse.getType().equals(Collidable.TYPE_CREATURE)){
                 rVal = true;
                 break;

src/main/java/electrosphere/entity/state/gravity/ServerGravityTree.java

@@ -138,7 +138,9 @@ public class ServerGravityTree implements BehaviorTree {
      */
     public boolean hadGroundCollision(){
         boolean rVal = false;
-        for(Impulse impulse : collidable.getImpulses()){
+        Impulse[] impulses = collidable.getImpulses();
+        for(int i = 0; i < collidable.getImpulseCount(); i++){
+            Impulse impulse = impulses[i];
             if(impulse.getType().equals(Collidable.TYPE_STATIC)){
                 rVal = true;
                 break;
@@ -165,7 +167,9 @@ public class ServerGravityTree implements BehaviorTree {
      */
     public boolean hadEntityCollision(){
         boolean rVal = false;
-        for(Impulse impulse : collidable.getImpulses()){
+        Impulse[] impulses = collidable.getImpulses();
+        for(int i = 0; i < collidable.getImpulseCount(); i++){
+            Impulse impulse = impulses[i];
             if(impulse.getType().equals(Collidable.TYPE_CREATURE)){
                 rVal = true;
                 break;

src/main/java/electrosphere/entity/state/movement/fall/ClientFallTree.java

@@ -141,7 +141,10 @@ public class ClientFallTree implements BehaviorTree {
     public boolean hadGroundCollision(){
         boolean rVal = false;
         if(PhysicsEntityUtils.getCollidable(parent) != null){
-            for(Impulse impulse : PhysicsEntityUtils.getCollidable(parent).getImpulses()){
+            Collidable collidable = PhysicsEntityUtils.getCollidable(parent);
+            Impulse[] impulses = collidable.getImpulses();
+            for(int i = 0; i < collidable.getImpulseCount(); i++){
+                Impulse impulse = impulses[i];
                 if(impulse.getType().equals(Collidable.TYPE_STATIC)){
                     rVal = true;
                     break;