From 9782e2c6b5fb0955a273e3bab4b9002a1bb543ac Mon Sep 17 00:00:00 2001
From: austin <austin@austinhoover.net>
Date: Sun, 22 Sep 2024 14:10:21 -0400
Subject: [PATCH] physics work

---
 assets/Data/entity/creatures/human.json       |   2 +-
 assets/Models/creatures/viewmodel.glb         | Bin 889180 -> 924376 bytes
 docs/src/progress/currenttarget.md            |   6 +-
 docs/src/progress/renderertodo.md             |   6 ++
 .../collision/CollisionBodyCreation.java      |  26 ++++++
 .../collision/CollisionEngine.java            |  76 +++++++++++++++---
 .../collision/PhysicsEntityUtils.java         |  41 +++++++++-
 .../state/attack/ServerAttackTreeTests.java   |   2 +-
 8 files changed, 142 insertions(+), 17 deletions(-)

diff --git a/assets/Data/entity/creatures/human.json b/assets/Data/entity/creatures/human.json
index 4afddda4..b5cdc0f2 100644
--- a/assets/Data/entity/creatures/human.json
+++ b/assets/Data/entity/creatures/human.json
@@ -549,7 +549,7 @@
             },
             "idleData": {
                 "animation": {
-                    "nameFirstPerson" : "Idle",
+                    "nameFirstPerson" : "BindPose",
                     "nameThirdPerson" : "Idle",
                     "priorityCategory" : "IDLE"
                 }
diff --git a/assets/Models/creatures/viewmodel.glb b/assets/Models/creatures/viewmodel.glb
index 69377b958a95ccbd011f4f08d3ed0b20608a2793..bd50013aac57e7ab2bfb097621a74ebe2b8df05e 100644
GIT binary patch
delta 50714
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diff --git a/docs/src/progress/currenttarget.md b/docs/src/progress/currenttarget.md
index faac5880..b0aab311 100644
--- a/docs/src/progress/currenttarget.md
+++ b/docs/src/progress/currenttarget.md
@@ -16,8 +16,6 @@
    - Physics thread time exploding -- need to sleep bodies
 
 + feedback driven requirements
-  Item/Equip overhaul (again)
-  Idle viewmodel does not show hands
   Add punching/unarmed combat
   UI spacing and scaling
   Better skybox
@@ -25,7 +23,9 @@
   Crouching
   Model clothing, hair for the human
   particles, light on sword collision
+  Looking angle leverages rotators to swing sword at angle (ie if you look up you swing your sword into the sky)
   Come up with a title for the game and create a title menu for it (ideally with some animation and music)
+  Item/Equip overhaul (again)
   Objectives
    - PVP arena mode initially?
    - Spawn player at start of a dungeon
@@ -36,8 +36,6 @@
   Fix light cluster mapping for foliage shader
   Fix lights not being deleted
    - Not sending a "light count" var to light calculations, so the data stays in buffer even though it is not being updated
-  Fix static friction coeff causing player to slide on shallow slopes
-   - Probably need to look into using capsules and cranking up friction value on said capsule
   Fix block tree preventing initiating an attack
   Fix return to title menu synchronization bug
 
diff --git a/docs/src/progress/renderertodo.md b/docs/src/progress/renderertodo.md
index 3cdb8f91..288e1ded 100644
--- a/docs/src/progress/renderertodo.md
+++ b/docs/src/progress/renderertodo.md
@@ -830,6 +830,12 @@ Fix ui audio playing at world origin
 Snow voxel type
 Move animation work
 
+(09/22/2024)
+Hide viewmodel hands when idle
+Autodisabling implementation
+Fix static friction coeff causing player to slide on shallow slopes
+ - Turns out it needed auto disabling logic
+Change timescale for test
 
 # TODO
 
diff --git a/src/main/java/electrosphere/collision/CollisionBodyCreation.java b/src/main/java/electrosphere/collision/CollisionBodyCreation.java
index 8f7fa50b..2ba9b751 100644
--- a/src/main/java/electrosphere/collision/CollisionBodyCreation.java
+++ b/src/main/java/electrosphere/collision/CollisionBodyCreation.java
@@ -155,6 +155,32 @@ public class CollisionBodyCreation {
         return collisionEngine.createBoxMass(mass, dims, body, offset, rotation);
     }
 
+    /**
+     * Sets the mass on the dbody
+     * @param collisionEngine The collision engine
+     * @param body The body
+     * @param mass The mass value
+     * @param radius The radius of the capsule
+     * @param length The length of the capsule
+     * @return The DMass object
+     */
+    public static DMass setCapsuleMass(CollisionEngine collisionEngine, DBody body, double mass, double radius, double length, Vector3d offset, Quaterniond rotation){
+        return collisionEngine.createCapsuleMass(mass, radius, length, body, offset, rotation);
+    }
+
+    /**
+     * Sets the autodisable flags on the body
+     * @param collisionEngine The collision engine
+     * @param body The body
+     * @param autoDisable true to autodisable, false otherwise
+     * @param linearThreshold the linear velocity threshold to disable under
+     * @param angularThreshold the angular velocity threshold to disable under
+     * @param steps the number of simulation steps below thresholds before autodisable
+     */
+    public static void setAutoDisable(CollisionEngine collisionEngine, DBody body, boolean autoDisable, double linearThreshold, double angularThreshold, int steps){
+        collisionEngine.setAutoDisableFlags(body, autoDisable, linearThreshold, angularThreshold, steps);
+    }
+
     /**
      * Sets the damping for the body
      * @param collisionEngine The collision engine
diff --git a/src/main/java/electrosphere/collision/CollisionEngine.java b/src/main/java/electrosphere/collision/CollisionEngine.java
index ad6f10d4..b4140c98 100644
--- a/src/main/java/electrosphere/collision/CollisionEngine.java
+++ b/src/main/java/electrosphere/collision/CollisionEngine.java
@@ -61,7 +61,7 @@ import electrosphere.logger.LoggerInterface;
 public class CollisionEngine {
 
     //gravity constant
-    public static final float GRAVITY_MAGNITUDE = 0.2f;
+    public static final float GRAVITY_MAGNITUDE = 0.15f;
 
     /**
      * The damping applied to angular velocity
@@ -133,7 +133,6 @@ public class CollisionEngine {
         world = OdeHelper.createWorld();
         space = OdeHelper.createBHVSpace(Collidable.TYPE_STATIC_BIT);
         world.setGravity(0,-GRAVITY_MAGNITUDE,0);
-        // world.setAutoDisableFlag(true);
         // world.setContactMaxCorrectingVel(0.1);
         // world.setContactSurfaceLayer(0.001);
         world.setCFM(1e-5);
@@ -344,7 +343,20 @@ public class CollisionEngine {
         }
 
         if(
-            !(bodyPointerMap.get(b1).getType() == Collidable.TYPE_TERRAIN && bodyPointerMap.get(b2).getType() == Collidable.TYPE_TERRAIN) &&
+            !(
+                bodyPointerMap.get(b1).getType() == Collidable.TYPE_TERRAIN &&
+                (
+                    bodyPointerMap.get(b2).getType() == Collidable.TYPE_TERRAIN ||
+                    !b2.isEnabled()
+                )
+            ) &&
+            !(
+                bodyPointerMap.get(b2).getType() == Collidable.TYPE_TERRAIN &&
+                (
+                    bodyPointerMap.get(b1).getType() == Collidable.TYPE_TERRAIN ||
+                    !b1.isEnabled()
+                )
+            ) &&
             !(bodyPointerMap.get(b1).getType() == Collidable.TYPE_FOLIAGE_STATIC && bodyPointerMap.get(b2).getType() == Collidable.TYPE_FOLIAGE_STATIC)
             ){
             try {
@@ -385,6 +397,24 @@ public class CollisionEngine {
                             continue;
                         }
 
+                        // //
+                        // //apply shallow slope correction
+                        // if(
+                        //     //is terrain
+                        //     (c1.getType() == Collidable.TYPE_TERRAIN || c2.getType() == Collidable.TYPE_TERRAIN) &&
+                        //     (!c1.getType().equals(c2.getType())) &&
+                        //     contact.geom.normal.length() > 0 
+                        //     &&
+                        //     //force is pointing basically upwards
+                        //     PhysicsUtils.odeVecToJomlVec(contact.geom.normal).dot(MathUtils.getUpVector()) > 0.7
+                        // ){
+                        //     System.out.println(PhysicsUtils.odeVecToJomlVec(contact.geom.normal).dot(MathUtils.getUpVector()));
+                        //     if(//force is pointing basically upwards
+                        //     PhysicsUtils.odeVecToJomlVec(contact.geom.normal).dot(MathUtils.getUpVector()) > 0.7){
+                        //         contact.geom.normal.set(PhysicsUtils.jomlVecToOdeVec(MathUtils.getUpVector()));
+                        //     }
+                        // }
+
                         //
                         //add contact to contact group
                         DJoint c = OdeHelper.createContactJoint(world,contactgroup,contact);
@@ -801,9 +831,6 @@ public class CollisionEngine {
         spaceLock.acquireUninterruptibly();
         DMass mass = OdeHelper.createMass();
         mass.setCylinder(massValue, 2, radius, length);
-        // mass.setCylinderTotal(massValue, 2, radius, length);
-        // mass.translate(offset.x, offset.y, offset.z);
-        // mass.rotate(PhysicsUtils.jomlQuatToOdeMat(rotation));
         body.setMass(mass);
         spaceLock.release();
         return mass;
@@ -820,14 +847,45 @@ public class CollisionEngine {
         spaceLock.acquireUninterruptibly();
         DMass mass = OdeHelper.createMass();
         mass.setBox(massValue, dims.x, dims.y, dims.z);
-        // mass.setBoxTotal(massValue, dims.x, dims.y, dims.z);
-        // mass.translate(offset.x, offset.y, offset.z);
-        // mass.rotate(PhysicsUtils.jomlQuatToOdeMat(rotation));
         body.setMass(mass);
         spaceLock.release();
         return mass;
     }
 
+    /**
+     * Creates a DMass and attaches a body to it
+     * @param massValue The amount of mass for the object
+     * @param radius The radius of the capsule
+     * @param length The length of the capsule
+     * @param body The DBody to attach the mass to
+     * @return The DMass
+     */
+    protected DMass createCapsuleMass(double massValue, double radius, double length, DBody body, Vector3d offset, Quaterniond rotation){
+        spaceLock.acquireUninterruptibly();
+        DMass mass = OdeHelper.createMass();
+        mass.setCapsule(massValue, 2, radius, length);
+        body.setMass(mass);
+        spaceLock.release();
+        return mass;
+    }
+
+    /**
+     * Sets the auto disable flags for the body
+     * @param body The body
+     * @param autoDisable whether auto disable should be used or not
+     * @param linearThreshold The linear velocity threshold to disable under
+     * @param angularThreshold The angular velocity threshold to disable under
+     * @param steps The number of steps the body must be beneath the threshold before disabling
+     */
+    protected void setAutoDisableFlags(DBody body, boolean autoDisable, double linearThreshold, double angularThreshold, int steps){
+        spaceLock.acquireUninterruptibly();
+        body.setAutoDisableFlag(autoDisable);
+        body.setAutoDisableLinearThreshold(0.1);
+        body.setAutoDisableAngularThreshold(angularThreshold);
+        body.setAutoDisableSteps(steps);
+        spaceLock.release();
+    }
+
     /**
      * Sets the damping of the body
      * @param body The body
diff --git a/src/main/java/electrosphere/collision/PhysicsEntityUtils.java b/src/main/java/electrosphere/collision/PhysicsEntityUtils.java
index b9477f95..0ab96d1d 100644
--- a/src/main/java/electrosphere/collision/PhysicsEntityUtils.java
+++ b/src/main/java/electrosphere/collision/PhysicsEntityUtils.java
@@ -25,6 +25,21 @@ import electrosphere.server.datacell.utils.ServerEntityTagUtils;
  */
 public class PhysicsEntityUtils {
 
+    /**
+     * The linear velocity threshold to disable under
+     */
+    static final double LINEAR_THRESHOLD = 0.1;
+
+    /**
+     * The angular velocity threshold to disable under
+     */
+    static final double ANGULAR_THRESHOLD = 0.1;
+
+    /**
+     * The number of steps below threshold to disable after
+     */
+    static final int STEP_THRESHOLD = 4;
+
     /**
      * [CLIENT ONLY] Attaches a collidable template to a given entity
      * @param rVal The entity
@@ -59,6 +74,7 @@ public class PhysicsEntityUtils {
                         new Quaterniond(physicsTemplate.getRotX(), physicsTemplate.getRotY(), physicsTemplate.getRotZ(), physicsTemplate.getRotW())
                     );
                 }
+                CollisionBodyCreation.setAutoDisable(Globals.clientSceneWrapper.getCollisionEngine(), rigidBody, true, LINEAR_THRESHOLD, ANGULAR_THRESHOLD, STEP_THRESHOLD);
 
                 //
                 //set offset from center of entity position
@@ -117,6 +133,7 @@ public class PhysicsEntityUtils {
                         new Quaterniond(physicsTemplate.getRotX(), physicsTemplate.getRotY(), physicsTemplate.getRotZ(), physicsTemplate.getRotW())
                     );
                 }
+                CollisionBodyCreation.setAutoDisable(Globals.clientSceneWrapper.getCollisionEngine(), rigidBody, true, LINEAR_THRESHOLD, ANGULAR_THRESHOLD, STEP_THRESHOLD);
 
                 //
                 //set offset from center of entity position
@@ -168,8 +185,17 @@ public class PhysicsEntityUtils {
                     Collidable.TYPE_CREATURE_BIT
                 );
                 if(physicsTemplate.getMass() != null){
-                    throw new UnsupportedOperationException("todo");
+                    CollisionBodyCreation.setCapsuleMass(
+                        Globals.clientSceneWrapper.getCollisionEngine(),
+                        rigidBody,
+                        mass,
+                        physicsTemplate.getDimension1(),
+                        physicsTemplate.getDimension2(),
+                        new Vector3d(physicsTemplate.getOffsetX(), physicsTemplate.getOffsetY(), physicsTemplate.getOffsetZ()),
+                        new Quaterniond(physicsTemplate.getRotX(), physicsTemplate.getRotY(), physicsTemplate.getRotZ(), physicsTemplate.getRotW())
+                    );
                 }
+                CollisionBodyCreation.setAutoDisable(Globals.clientSceneWrapper.getCollisionEngine(), rigidBody, true, LINEAR_THRESHOLD, ANGULAR_THRESHOLD, STEP_THRESHOLD);
 
                 //
                 //set offset from center of entity position
@@ -254,6 +280,7 @@ public class PhysicsEntityUtils {
                         new Quaterniond(physicsTemplate.getRotX(), physicsTemplate.getRotY(), physicsTemplate.getRotZ(), physicsTemplate.getRotW())
                     );
                 }
+                CollisionBodyCreation.setAutoDisable(realm.getCollisionEngine(), rigidBody, true, LINEAR_THRESHOLD, ANGULAR_THRESHOLD, STEP_THRESHOLD);
 
                 //
                 //set offset from entity center
@@ -313,6 +340,7 @@ public class PhysicsEntityUtils {
                         new Quaterniond(physicsTemplate.getRotX(), physicsTemplate.getRotY(), physicsTemplate.getRotZ(), physicsTemplate.getRotW())
                     );
                 }
+                CollisionBodyCreation.setAutoDisable(realm.getCollisionEngine(), rigidBody, true, LINEAR_THRESHOLD, ANGULAR_THRESHOLD, STEP_THRESHOLD);
 
                 //
                 //set offset from entity center
@@ -364,8 +392,17 @@ public class PhysicsEntityUtils {
                     Collidable.TYPE_CREATURE_BIT
                 );
                 if(physicsTemplate.getMass() != null){
-                    throw new UnsupportedOperationException("todo");
+                    CollisionBodyCreation.setCapsuleMass(
+                        realm.getCollisionEngine(),
+                        rigidBody,
+                        mass,
+                        physicsTemplate.getDimension1(),
+                        physicsTemplate.getDimension2(),
+                        new Vector3d(physicsTemplate.getOffsetX(), physicsTemplate.getOffsetY(), physicsTemplate.getOffsetZ()),
+                        new Quaterniond(physicsTemplate.getRotX(), physicsTemplate.getRotY(), physicsTemplate.getRotZ(), physicsTemplate.getRotW())
+                    );
                 }
+                CollisionBodyCreation.setAutoDisable(realm.getCollisionEngine(), rigidBody, true, LINEAR_THRESHOLD, ANGULAR_THRESHOLD, STEP_THRESHOLD);
 
                 //
                 //set offset from entity center
diff --git a/src/test/java/electrosphere/entity/state/attack/ServerAttackTreeTests.java b/src/test/java/electrosphere/entity/state/attack/ServerAttackTreeTests.java
index 6bf245d2..60ca12bc 100644
--- a/src/test/java/electrosphere/entity/state/attack/ServerAttackTreeTests.java
+++ b/src/test/java/electrosphere/entity/state/attack/ServerAttackTreeTests.java
@@ -55,7 +55,7 @@ public class ServerAttackTreeTests extends EntityTestTemplate {
         serverAttackTree.start();
 
         //wait for the attack to propagate back to the client
-        TestEngineUtils.simulateFrames(10);
+        TestEngineUtils.simulateFrames(2);
 
         //verify it was started on server
         assertNotEquals(serverAttackTree.getState(), AttackTreeState.IDLE);