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physics performance work

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austin 2025-06-04 11:53:42 -04:00
parent 81337d0eb9
commit aa0956477d
12 changed files with 526 additions and 69 deletions
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3
src/main/java/electrosphere/client/ClientState.java
View File

@ -16,6 +16,7 @@ import electrosphere.client.terrain.cells.ClientDrawCellManager;
import electrosphere.client.terrain.foliage.FoliageCellManager;
import electrosphere.client.terrain.manager.ClientTerrainManager;
import electrosphere.collision.CollisionEngine;
import electrosphere.collision.PhysicsCallback;
import electrosphere.data.entity.common.CommonEntityType;
import electrosphere.data.voxel.VoxelType;
import electrosphere.engine.Globals;
@ -189,7 +190,7 @@ public class ClientState {
* Constructor
*/
public ClientState(){
this.clientSceneWrapper = new ClientSceneWrapper(this.clientScene, new CollisionEngine("clientPhysics"), CollisionEngine.create("clientChem", new ClientChemistryCollisionCallback()), new CollisionEngine("clientInteraction"));
this.clientSceneWrapper = new ClientSceneWrapper(this.clientScene, CollisionEngine.create("clientPhysics", new PhysicsCallback()), CollisionEngine.create("clientChem", new ClientChemistryCollisionCallback()), new CollisionEngine("clientInteraction"));
this.clientTemporalService = (ClientTemporalService)Globals.engineState.serviceManager.registerService(new ClientTemporalService());
}

2
src/main/java/electrosphere/collision/CollisionBodyCreation.java
View File

@ -264,7 +264,7 @@ public class CollisionBodyCreation {
* @param geom the geometry
*/
public static void destroyShape(CollisionEngine collisionEngine, DGeom geom){
collisionEngine.destroyGeom(geom);
collisionEngine.destroyDGeom(geom);
}
/**

211
src/main/java/electrosphere/collision/CollisionEngine.java
View File

@ -26,7 +26,6 @@ import org.ode4j.ode.DGeom.DNearCallback;
import org.ode4j.ode.DJoint;
import org.ode4j.ode.DJointGroup;
import org.ode4j.ode.DMass;
import org.ode4j.ode.DPlane;
import org.ode4j.ode.DRay;
import org.ode4j.ode.DSpace;
import org.ode4j.ode.DSphere;
@ -114,12 +113,17 @@ public class CollisionEngine {
/**
* The world object
*/
private DWorld world;
protected DWorld world;
/**
* The main space in the world
*/
private DBhvSpace space;
protected DBhvSpace space;
/**
* Space for storing static geoms
*/
protected DSpace staticGeomSpace;
/**
* Lock for thread-safeing all ODE calls
@ -129,7 +133,7 @@ public class CollisionEngine {
/**
* The contact group for caching collisions between collision and physics calls
*/
private DJointGroup contactgroup;
protected DJointGroup contactgroup;
/**
* <p> Maximum number of contact points per body </p>
@ -139,27 +143,27 @@ public class CollisionEngine {
* I used a value of 10 for a long time and found that cubes were sinking into TriMeshes.
* </p>
*/
private static final int MAX_CONTACTS = 64;
protected static final int MAX_CONTACTS = 64;
/**
* The list of dbodies ode should be tracking
*/
private List<DBody> bodies = new ArrayList<DBody>();
protected List<DBody> bodies = new ArrayList<DBody>();
/**
* This is used to relate DBody's back to their collidables so that when the library detects a collision, the callback can know which collidables are involved.
*/
private Map<DBody,Collidable> bodyPointerMap = new HashMap<DBody,Collidable>();
protected Map<DBody,Collidable> bodyPointerMap = new HashMap<DBody,Collidable>();
/**
* This is used to relate DGeom's back to their collidables so that when the library detects a collision, the callback can know which collidables are involved.
*/
private Map<DGeom,Collidable> geomPointerMap = new HashMap<DGeom,Collidable>();
protected Map<DGeom,Collidable> geomPointerMap = new HashMap<DGeom,Collidable>();
/**
* The list of all collidables the engine is currently tracking
*/
private List<Collidable> collidableList = new ArrayList<Collidable>();
protected List<Collidable> collidableList = new ArrayList<Collidable>();
/**
* Dynamic spatial offset applied to all operations on the space.
@ -183,16 +187,21 @@ public class CollisionEngine {
*/
private DNearCallback nearCallback;
/**
* The base plane of the physics engine
*/
private DPlane basePlane = null;
/**
* Number of geometries
*/
private int geomCount = 0;
/**
* The near collision count
*/
protected int nearCollisionCount = 0;
/**
* The number of collisions that make it all the way to creating impulses
*/
protected int finalCollisionCount = 0;
/**
* Tracks whether the engine has rebased or not
*/
@ -202,12 +211,12 @@ public class CollisionEngine {
/**
* buffer for storing potential collisions
*/
private DContactBuffer contacts = new DContactBuffer(MAX_CONTACTS);
protected DContactBuffer contacts = new DContactBuffer(MAX_CONTACTS);
/**
* The name of the collision engine
*/
private final String name;
protected final String name;
/**
* Constructor
@ -222,9 +231,6 @@ public class CollisionEngine {
// world.setContactSurfaceLayer(0.001);
// world.setCFM(1e-10);
//base plane
basePlane = OdeHelper.createPlane(space, 0, 1, 0, 0);
contactgroup = OdeHelper.createJointGroup();
this.nearCallback = new DNearCallback() {
@Override
@ -243,6 +249,18 @@ public class CollisionEngine {
return rVal;
}
/**
* Creates a collision engine with a specified callback
*/
public static CollisionEngine create(String name, PhysicsCallback callback){
CollisionEngine rVal = new CollisionEngine(name);
rVal.nearCallback = callback;
callback.engine = rVal;
rVal.staticGeomSpace = OdeHelper.createBHVSpace(Collidable.TYPE_STATIC_BIT);
rVal.staticGeomSpace.setCategoryBits(Collidable.TYPE_STATIC_BIT);
return rVal;
}
/**
* Resolves collisions in the engine
@ -333,6 +351,9 @@ public class CollisionEngine {
public void simulatePhysics(){
Globals.profiler.beginCpuSample("physics");
spaceLock.lock();
//reset tracking
this.nearCollisionCount = 0;
this.finalCollisionCount = 0;
// remove all contact joints
contactgroup.empty();
//main simulation
@ -340,7 +361,6 @@ public class CollisionEngine {
Globals.profiler.beginCpuSample("collide");
OdeHelper.spaceCollide(space, 0, nearCallback);
Globals.profiler.endCpuSample();
// space.collide2(space, collisionWorldData, nearCallback);
//simulate physics
Globals.profiler.beginCpuSample("step physics");
@ -378,8 +398,16 @@ public class CollisionEngine {
* @param o2 the second collision body
*/
private void nearCallback(Object data, DGeom o1, DGeom o2){
if(this.name.equals("serverPhysics")){
this.nearCollisionCount++;
}
// if (o1->body && o2->body) return;
//ie if both are in static space
if(o1 == o2){
return;
}
//if the collision is static-on-static, skip
if(o1.getCategoryBits() == Collidable.TYPE_STATIC_BIT && o2.getCategoryBits() == Collidable.TYPE_STATIC_BIT){
return;
@ -400,11 +428,6 @@ public class CollisionEngine {
return;
}
//check if we're colliding against the base plane
if(o1 == this.basePlane || o2 == this.basePlane){
return;
}
//get the collidables for each geom
Collidable c1 = null;
if(b1 != null){
@ -444,59 +467,118 @@ public class CollisionEngine {
Globals.profiler.beginAggregateCpuSample("CollisionEngine.nearCallback - Full collision phase");
try {
Globals.profiler.beginAggregateCpuSample("CollisionEngine.nearCallback - setup");
//null out the contact buffer
contacts.nullify();
SurfaceParams surfaceParams1 = c1.getSurfaceParams();
SurfaceParams surfaceParams2 = c2.getSurfaceParams();
SurfaceParams surfaceParams2 = null;
if(c2 != null){
surfaceParams2 = c2.getSurfaceParams();
}
for (int i=0; i<MAX_CONTACTS; i++) {
DContact contact = contacts.get(i);
contact.surface.mode = surfaceParams1.getMode();
contact.surface.mu = surfaceParams1.getMu();
if(surfaceParams1.getRho() != null){
contact.surface.rho = surfaceParams1.getRho();
} else if(surfaceParams2.getRho() != null){
} else if(surfaceParams2 != null && surfaceParams2.getRho() != null){
contact.surface.rho = surfaceParams2.getRho();
}
if(surfaceParams1.getRho2() != null){
contact.surface.rho2 = surfaceParams1.getRho2();
} else if(surfaceParams2.getRho2() != null){
} else if(surfaceParams2 != null && surfaceParams2.getRho2() != null){
contact.surface.rho = surfaceParams2.getRho2();
}
if(surfaceParams1.getRhoN() != null){
contact.surface.rhoN = surfaceParams1.getRhoN();
} else if(surfaceParams2.getRhoN() != null){
} else if(surfaceParams2 != null && surfaceParams2.getRhoN() != null){
contact.surface.rho = surfaceParams2.getRhoN();
}
if(surfaceParams1.getBounce() != null){
contact.surface.bounce = surfaceParams1.getBounce();
} else if(surfaceParams2.getBounce() != null){
} else if(surfaceParams2 != null && surfaceParams2.getBounce() != null){
contact.surface.rho = surfaceParams2.getBounce();
}
if(surfaceParams1.getBounceVel() != null){
contact.surface.bounce_vel = surfaceParams1.getBounceVel();
} else if(surfaceParams2.getBounceVel() != null){
} else if(surfaceParams2 != null && surfaceParams2.getBounceVel() != null){
contact.surface.rho = surfaceParams2.getBounceVel();
}
if(surfaceParams1.getSoftErp() != null){
contact.surface.soft_erp = surfaceParams1.getSoftErp();
} else if(surfaceParams2.getSoftErp() != null){
} else if(surfaceParams2 != null && surfaceParams2.getSoftErp() != null){
contact.surface.rho = surfaceParams2.getSoftErp();
}
if(surfaceParams1.getSoftCfm() != null){
contact.surface.soft_cfm = surfaceParams1.getSoftCfm();
} else if(surfaceParams2.getSoftCfm() != null){
} else if(surfaceParams2 != null && surfaceParams2.getSoftCfm() != null){
contact.surface.rho = surfaceParams2.getSoftCfm();
}
}
Globals.profiler.endCpuSample();
//calculate collisions
Globals.profiler.beginAggregateCpuSample("CollisionEngine.nearCallback - OdeHelper.collide");
int numc = OdeHelper.collide(o1,o2,MAX_CONTACTS,contacts.getGeomBuffer());
Globals.profiler.endCpuSample();
//create DContacts based on each collision that occurs
Globals.profiler.beginAggregateCpuSample("CollisionEngine.nearCallback - contact iterations");
if(numc != 0){
for(int i=0; i<numc; i++){
DContact contact = contacts.get(i);
//this triggers if o2 is the static geom space and we did an inner collide to find the geom within that space to collide with
if(o2 == this.staticGeomSpace){
//get the opposite geom from the collision
if(contact.geom.g1 == o1){
o2 = contact.geom.g2;
} else if(contact.geom.g2 == o1){
o2 = contact.geom.g1;
} else {
String message = "Failed to get collidable from geom within static geom space!\n" +
"Geoms:\n" +
o1 + " \n" +
o2 + " \n" +
"Bodies:\n" +
b1 + " \n" +
b2 + " \n" +
"Colliders:\n" +
c1 + " \n" +
c2 + " \n" +
"Obj 1 pointers:\n" +
this.bodyPointerMap.get(b1) + " \n" +
this.geomPointerMap.get(o1) + " \n" +
"Obj 2 pointers:\n" +
this.bodyPointerMap.get(b2) + " \n" +
this.geomPointerMap.get(o2) + " \n" +
"Contact geoms:\n" +
contact.geom.g1 + "\n" +
contact.geom.g2 + "\n" +
"";
throw new Error(message);
}
c2 = geomPointerMap.get(o2);
if(c2 == null){
String message = "Failed to get collidable from geom within static geom space!\n" +
"Geoms:\n" +
o1 + " \n" +
o2 + " \n" +
"Bodies:\n" +
b1 + " \n" +
b2 + " \n" +
"Colliders:\n" +
c1 + " \n" +
c2 + " \n" +
"Obj 1 pointers:\n" +
this.bodyPointerMap.get(b1) + " \n" +
this.geomPointerMap.get(o1) + " \n" +
"Obj 2 pointers:\n" +
this.bodyPointerMap.get(b2) + " \n" +
this.geomPointerMap.get(o2) + " \n" +
"";
throw new Error(message);
}
}
//special code for ray casting
if (o1 instanceof DRay || o2 instanceof DRay){
DVector3 end = new DVector3();
@ -565,8 +647,12 @@ public class CollisionEngine {
(float)contact.geom.depth
);
}
//tracking updates
this.finalCollisionCount++;
}
}
Globals.profiler.endCpuSample();
} catch(ArrayIndexOutOfBoundsException ex){
//I've found that ode4j occasionally throws an exception on the OdeHelper.collide function.
//I don't know why it has out of bounds elements, but it's happening.
@ -1587,18 +1673,6 @@ public class CollisionEngine {
geom.setBody(null);
}
/**
* Destroys a geometry
* @param geom The geometry
*/
protected void destroyGeom(DGeom geom){
spaceLock.lock();
this.space.remove(geom);
geom.destroy();
this.geomCount--;
spaceLock.unlock();
}
/**
* Attaches a geom to a body
* @param body the body
@ -1608,6 +1682,19 @@ public class CollisionEngine {
geom.setBody(body);
}
/**
* Adds the geometry to the static geom space
* @param staticGeom The geom (ie a cylinder, cube, etc)
*/
protected void addToStaticSpace(DGeom staticGeom){
// spaceLock.lock();
// if(staticGeom.getSpace() != null){
// staticGeom.getSpace().remove(staticGeom);
// }
// this.staticGeomSpace.add(staticGeom);
// spaceLock.unlock();
}
/**
* Locks the ode library
*/
@ -1636,6 +1723,8 @@ public class CollisionEngine {
"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" +
"Near Collision Count: " + this.nearCollisionCount + "\n" +
"Final Collision Count: " + this.finalCollisionCount + "\n" +
""
;
return message;
@ -1665,6 +1754,38 @@ public class CollisionEngine {
return new Vector3d(this.floatingOrigin);
}
/**
* Gets the world of the engine
* @return The world of the engine
*/
protected DWorld getWorld(){
return this.world;
}
/**
* Gets the space of the engine
* @return The space of the engine
*/
protected DSpace getSpace(){
return this.space;
}
/**
* Gets the near collision count
* @return The near collision count
*/
protected int getNearCollisionCount(){
return nearCollisionCount;
}
/**
* Gets the number of collisions that make it to the point of creating joints/impulses
* @return The number of collisions
*/
protected int getFinalCollisionCount(){
return finalCollisionCount;
}
/**
* A callback for resolving collisions between two entities

221
src/main/java/electrosphere/collision/PhysicsCallback.java Normal file
View File

@ -0,0 +1,221 @@
package electrosphere.collision;
import org.ode4j.math.DVector3;
import org.ode4j.ode.DBody;
import org.ode4j.ode.DContact;
import org.ode4j.ode.DContactJoint;
import org.ode4j.ode.DGeom;
import org.ode4j.ode.DGeom.DNearCallback;
import org.ode4j.ode.DJoint;
import org.ode4j.ode.DRay;
import org.ode4j.ode.OdeHelper;
import electrosphere.collision.collidable.Collidable;
import electrosphere.collision.collidable.SurfaceParams;
import electrosphere.engine.Globals;
import electrosphere.logger.LoggerInterface;
/**
* Near callback for main physics engine
*/
public class PhysicsCallback implements DNearCallback {
/**
* The collision engine that will invoke this callback
*/
protected CollisionEngine engine;
/**
* Constructor
*/
public PhysicsCallback(){
}
@Override
public void call(Object data, DGeom o1, DGeom o2) {
if(engine.name.equals("serverPhysics")){
engine.nearCollisionCount++;
}
//ie if both are in static space
if(o1 == o2){
return;
}
//if neither are bodies
if(o1.getBody() == null && o2.getBody() == null){
return;
}
// exit without doing anything if the two bodies are connected by a joint
DBody b1 = o1.getBody();
DBody b2 = o2.getBody();
if(b1 != null && b2 != null && OdeHelper.areConnectedExcluding(b1,b2,DContactJoint.class)){
return;
}
if(o1 == engine.staticGeomSpace){
OdeHelper.spaceCollide2(o2, engine.staticGeomSpace, 0, this);
return;
}
if(o2 == engine.staticGeomSpace){
OdeHelper.spaceCollide2(o1, engine.staticGeomSpace, 0, this);
return;
}
//get the collidables for each geom
Collidable c1 = null;
if(b1 != null){
c1 = engine.bodyPointerMap.get(b1);
} else if(o1.getBody() == null) {
c1 = engine.geomPointerMap.get(o1);
}
Collidable c2 = null;
if(b2 != null){
c2 = engine.bodyPointerMap.get(b2);
} else if(o2.getBody() == null) {
c2 = engine.geomPointerMap.get(o2);
}
//make sure we have collidables for both
if(c1 == null || c2 == null){
String message = "Collidable is undefined!\n" +
"Geoms:\n" +
o1 + " \n" +
o2 + " \n" +
"Bodies:\n" +
b1 + " \n" +
b2 + " \n" +
"Colliders:\n" +
c1 + " \n" +
c2 + " \n" +
"Obj 1 pointers:\n" +
engine.bodyPointerMap.get(b1) + " \n" +
engine.geomPointerMap.get(o1) + " \n" +
"Obj 2 pointers:\n" +
engine.bodyPointerMap.get(b2) + " \n" +
engine.geomPointerMap.get(o2) + " \n" +
""
;
throw new Error(message);
}
Globals.profiler.beginAggregateCpuSample("CollisionEngine.nearCallback - Full collision phase");
try {
Globals.profiler.beginAggregateCpuSample("CollisionEngine.nearCallback - setup");
//null out the contact buffer
engine.contacts.nullify();
SurfaceParams surfaceParams1 = c1.getSurfaceParams();
SurfaceParams surfaceParams2 = null;
if(c2 != null){
surfaceParams2 = c2.getSurfaceParams();
}
for (int i=0; i< CollisionEngine.MAX_CONTACTS; i++) {
DContact contact = engine.contacts.get(i);
contact.surface.mode = surfaceParams1.getMode();
contact.surface.mu = surfaceParams1.getMu();
if(surfaceParams1.getRho() != null){
contact.surface.rho = surfaceParams1.getRho();
} else if(surfaceParams2 != null && surfaceParams2.getRho() != null){
contact.surface.rho = surfaceParams2.getRho();
}
if(surfaceParams1.getRho2() != null){
contact.surface.rho2 = surfaceParams1.getRho2();
} else if(surfaceParams2 != null && surfaceParams2.getRho2() != null){
contact.surface.rho = surfaceParams2.getRho2();
}
if(surfaceParams1.getRhoN() != null){
contact.surface.rhoN = surfaceParams1.getRhoN();
} else if(surfaceParams2 != null && surfaceParams2.getRhoN() != null){
contact.surface.rho = surfaceParams2.getRhoN();
}
if(surfaceParams1.getBounce() != null){
contact.surface.bounce = surfaceParams1.getBounce();
} else if(surfaceParams2 != null && surfaceParams2.getBounce() != null){
contact.surface.rho = surfaceParams2.getBounce();
}
if(surfaceParams1.getBounceVel() != null){
contact.surface.bounce_vel = surfaceParams1.getBounceVel();
} else if(surfaceParams2 != null && surfaceParams2.getBounceVel() != null){
contact.surface.rho = surfaceParams2.getBounceVel();
}
if(surfaceParams1.getSoftErp() != null){
contact.surface.soft_erp = surfaceParams1.getSoftErp();
} else if(surfaceParams2 != null && surfaceParams2.getSoftErp() != null){
contact.surface.rho = surfaceParams2.getSoftErp();
}
if(surfaceParams1.getSoftCfm() != null){
contact.surface.soft_cfm = surfaceParams1.getSoftCfm();
} else if(surfaceParams2 != null && surfaceParams2.getSoftCfm() != null){
contact.surface.rho = surfaceParams2.getSoftCfm();
}
}
Globals.profiler.endCpuSample();
//calculate collisions
Globals.profiler.beginAggregateCpuSample("CollisionEngine.nearCallback - OdeHelper.collide");
int numc = OdeHelper.collide(o1,o2,CollisionEngine.MAX_CONTACTS,engine.contacts.getGeomBuffer());
Globals.profiler.endCpuSample();
//create DContacts based on each collision that occurs
Globals.profiler.beginAggregateCpuSample("CollisionEngine.nearCallback - contact iterations");
if(numc != 0){
for(int i=0; i<numc; i++){
DContact contact = engine.contacts.get(i);
//special code for ray casting
if (o1 instanceof DRay || o2 instanceof DRay){
DVector3 end = new DVector3();
end.eqSum(contact.geom.pos, contact.geom.normal, contact.geom.depth);
continue;
}
//
//add contact to contact group
DJoint c = OdeHelper.createContactJoint(engine.world,engine.contactgroup,contact);
if(b1 == null){
if(b2 == null){
} else {
c.attach(null,b2);
}
} else {
if(b2 == null){
c.attach(b1,null);
} else {
c.attach(b1,b2);
}
}
// Use the default collision resolution
CollisionEngine.resolveCollision(
contact.geom,
c1,
c2,
PhysicsUtils.odeVecToJomlVec(contact.geom.normal).mul(-1.0),
PhysicsUtils.odeVecToJomlVec(contact.fdir1).mul(-1.0),
PhysicsUtils.odeVecToJomlVec(contact.geom.pos),
(float)contact.geom.depth
);
CollisionEngine.resolveCollision(
contact.geom,
c2,
c1,
PhysicsUtils.odeVecToJomlVec(contact.geom.normal),
PhysicsUtils.odeVecToJomlVec(contact.fdir1),
PhysicsUtils.odeVecToJomlVec(contact.geom.pos),
(float)contact.geom.depth
);
//tracking updates
engine.finalCollisionCount++;
}
}
Globals.profiler.endCpuSample();
} catch(ArrayIndexOutOfBoundsException ex){
//I've found that ode4j occasionally throws an exception on the OdeHelper.collide function.
//I don't know why it has out of bounds elements, but it's happening.
//Catching the exception here allows the engine to keep running at least.
LoggerInterface.loggerEngine.ERROR("ode4j error", ex);
}
Globals.profiler.endCpuSample();
}
}

23
src/main/java/electrosphere/collision/PhysicsEntityUtils.java
View File

@ -399,7 +399,8 @@ public class PhysicsEntityUtils {
}
CollisionEngine.lockOde();
if(physicsTemplate.getKinematic()){
PhysicsEntityUtils.serverAttachGeom(realm,rVal,physicsTemplate);
DGeom geom = PhysicsEntityUtils.serverAttachGeom(realm,rVal,physicsTemplate);
PhysicsUtils.makeGeomStatic(realm.getCollisionEngine(), geom);
} else {
DBody rigidBody = null;
switch(physicsTemplate.getType()){
@ -625,10 +626,7 @@ public class PhysicsEntityUtils {
}
Collidable collidable;
double mass = 1.0f;
long categoryBit = Collidable.TYPE_CREATURE_BIT;
if(physicsTemplate.getKinematic()){
categoryBit = Collidable.TYPE_STATIC_BIT;
}
long categoryBit = Collidable.TYPE_STATIC_BIT;
CollisionEngine.lockOde();
DGeom geom = null;
switch(physicsTemplate.getType()){
@ -726,6 +724,9 @@ public class PhysicsEntityUtils {
realm.getCollisionEngine().registerCollisionObject(geom, collidable);
} break;
}
if(geom != null){
realm.getCollisionEngine().addToStaticSpace(geom);
}
CollisionEngine.unlockOde();
return geom;
}
@ -825,6 +826,7 @@ public class PhysicsEntityUtils {
PhysicsEntityUtils.setCollidable(terrain, collidable);
realm.getCollisionEngine().registerCollisionObject(terrainCollider, collidable);
PhysicsEntityUtils.setDGeom(terrain,terrainCollider);
PhysicsUtils.makeGeomStatic(realm.getCollisionEngine(), terrainCollider);
return terrainCollider;
}
@ -860,6 +862,7 @@ public class PhysicsEntityUtils {
PhysicsEntityUtils.setCollidable(terrain, collidable);
realm.getCollisionEngine().registerCollisionObject(terrainBody, collidable);
PhysicsEntityUtils.setDGeom(terrain,terrainBody);
PhysicsUtils.makeGeomStatic(realm.getCollisionEngine(), terrainBody);
return terrainBody;
}
@ -905,15 +908,7 @@ public class PhysicsEntityUtils {
*/
public static void serverDestroyPhysics(Entity entity){
Realm realm = Globals.serverState.realmManager.getEntityRealm(entity);
if(PhysicsEntityUtils.containsDBody(entity)){
PhysicsUtils.destroyPhysicsPair(
realm.getCollisionEngine(),
PhysicsEntityUtils.getDBody(entity),
PhysicsEntityUtils.getCollidable(entity)
);
}
PhysicsEntityUtils.setCollidable(entity, null);
PhysicsEntityUtils.clearGeomAndBody(entity);
realm.getCollisionEngine().destroyPhysics(entity);
Vector3d entityPos = EntityUtils.getPosition(entity);
ServerEntityUtils.repositionEntity(entity, entityPos);
}

9
src/main/java/electrosphere/collision/PhysicsUtils.java
View File

@ -136,6 +136,15 @@ public class PhysicsUtils {
collisionEngine.synchronizeData(body, position, rotation, linearVel, angularVel, linearForce, angularForce);
}
/**
* Adds a geom to the static geom space
* @param collisionEngine The collision engine
* @param geom The geom
*/
public static void makeGeomStatic(CollisionEngine collisionEngine, DGeom geom){
collisionEngine.addToStaticSpace(geom);
}
/**
* Sets the position + rotation + scale of a body

4
src/main/java/electrosphere/collision/RayCastCallback.java
View File

@ -98,8 +98,8 @@ void RayCallback(void *Data, dGeomID Geometry1, dGeomID Geometry2) {
Globals.profiler.beginAggregateCpuSample("RayCastCallback - try collisions");
if(
rayCastData.collidableTypeMask == null ||
(o1 instanceof DRay && rayCastData.collidableTypeMask.contains(collidable2.getType())) ||
(o2 instanceof DRay && rayCastData.collidableTypeMask.contains(collidable1.getType()))
(o1 instanceof DRay && collidable2 != null && rayCastData.collidableTypeMask.contains(collidable2.getType())) ||
(o2 instanceof DRay && collidable1 != null && rayCastData.collidableTypeMask.contains(collidable1.getType()))
){
//creates a buffer to store potential collisions
DContactBuffer contacts = new DContactBuffer(MAX_CONTACTS); // up to MAX_CONTACTS contacts per box-box

22
src/main/java/electrosphere/data/entity/collidable/CollidableTemplate.java
View File

@ -1,5 +1,7 @@
package electrosphere.data.entity.collidable;
import org.joml.Vector3d;
/**
* A template for a rigid body that should be attached to an entity
*/
@ -105,6 +107,26 @@ public class CollidableTemplate {
*/
String collisionType;
/**
* Base constructor
*/
public CollidableTemplate(){
}
/**
* Gets a box template
* @param dims The dimensions of the box
* @return The template
*/
public static CollidableTemplate getBoxTemplate(Vector3d dims){
CollidableTemplate rVal = new CollidableTemplate();
rVal.type = CollidableTemplate.COLLIDABLE_TYPE_CUBE;
rVal.dimension1 = (float)dims.x;
rVal.dimension2 = (float)dims.y;
rVal.dimension3 = (float)dims.z;
return rVal;
}
/**
* The primitive shape type
* @return The primitive shape

10
src/main/java/electrosphere/server/datacell/RealmManager.java
View File

@ -10,6 +10,7 @@ import org.joml.Vector3d;
import electrosphere.collision.CollisionEngine;
import electrosphere.collision.CollisionWorldData;
import electrosphere.collision.PhysicsCallback;
import electrosphere.collision.hitbox.HitboxManager;
import electrosphere.engine.Globals;
import electrosphere.entity.Entity;
@ -61,14 +62,15 @@ public class RealmManager {
//create chemistry engine
CollisionEngine chemistryEngine = new CollisionEngine("serverChem");
chemistryEngine.setCollisionResolutionCallback(new ServerChemistryCollisionCallback());
return new Realm(
Realm rVal = new Realm(
new ServerWorldData(),
new CollisionEngine("serverPhysics"),
CollisionEngine.create("serverPhysics", new PhysicsCallback()),
chemistryEngine,
new HitboxManager(new ServerHitboxResolutionCallback()),
ServerContentManager.createServerContentManager(false, null),
null
);
return rVal;
}
/**
@ -77,7 +79,7 @@ public class RealmManager {
*/
public Realm createGriddedRealm(ServerWorldData serverWorldData, ServerContentManager serverContentManager){
//create collision engine
CollisionEngine collisionEngine = new CollisionEngine("serverPhysics");
CollisionEngine collisionEngine = CollisionEngine.create("serverPhysics", new PhysicsCallback());
collisionEngine.setCollisionWorldData(new CollisionWorldData(serverWorldData));
//create chemistry engine
CollisionEngine chemistryEngine = new CollisionEngine("serverChem");
@ -111,7 +113,7 @@ public class RealmManager {
ServerWorldData serverWorldData = ServerWorldData.createFixedWorldData(minPoint, maxPoint);
//create collision engine
CollisionEngine collisionEngine = new CollisionEngine("serverPhysics");
CollisionEngine collisionEngine = CollisionEngine.create("serverPhysics", new PhysicsCallback());
collisionEngine.setCollisionWorldData(new CollisionWorldData(serverWorldData));
//create chemistry engine

6
src/main/java/electrosphere/server/datacell/gridded/GriddedDataCellManager.java
View File

@ -576,6 +576,12 @@ public class GriddedDataCellManager implements DataCellManager, VoxelCellManager
});
Globals.profiler.endCpuSample();
//destroy physics
PhysicsDataCell physicsCell = this.posPhysicsMap.get(key);
if(physicsCell != null){
physicsCell.destroyPhysics();
}
//deregister from all tracking structures
parent.deregisterCell(cell);
groundDataCells.remove(key);

6
src/main/java/electrosphere/server/datacell/physics/PhysicsDataCell.java
View File

@ -102,8 +102,10 @@ public class PhysicsDataCell {
*/
public void destroyPhysics(){
Realm realm = Globals.serverState.realmManager.getEntityRealm(physicsEntity);
realm.getCollisionEngine().destroyPhysics(physicsEntity);
realm.getCollisionEngine().destroyPhysics(blockPhysicsEntity);
if(realm != null){
realm.getCollisionEngine().destroyPhysics(physicsEntity);
realm.getCollisionEngine().destroyPhysics(blockPhysicsEntity);
}
}
/**

78
src/test/java/electrosphere/collision/CollisionEngineStaticSpaceTests.java Normal file
View File

@ -0,0 +1,78 @@
package electrosphere.collision;
import static org.junit.jupiter.api.Assertions.assertEquals;
import org.joml.Vector3d;
import org.ode4j.ode.DBox;
import electrosphere.data.entity.collidable.CollidableTemplate;
import electrosphere.engine.Globals;
import electrosphere.entity.Entity;
import electrosphere.entity.EntityCreationUtils;
import electrosphere.server.datacell.Realm;
import electrosphere.test.annotations.IntegrationTest;
import electrosphere.test.template.EntityTestTemplate;
/**
* Tests for specifically the static space geoms
*/
public class CollisionEngineStaticSpaceTests extends EntityTestTemplate {
@IntegrationTest
public void staticSpaceTest1(){
Realm realm = Globals.serverState.realmManager.first();
CollisionEngine collisionEngine = realm.getCollisionEngine();
//base plane + static space
assertEquals(2, collisionEngine.getSpace().getNumGeoms());
}
@IntegrationTest
public void test_nearCollisionCount_1(){
Realm realm = Globals.serverState.realmManager.first();
CollisionEngine collisionEngine = realm.getCollisionEngine();
//simulate the physics
collisionEngine.simulatePhysics();
//base plane + static space TIMES number of calls to simulate physics
int expected = 0 * CollisionEngine.PHYSICS_SIMULATION_RESOLUTION;
assertEquals(expected, collisionEngine.getFinalCollisionCount());
}
@IntegrationTest
public void test_nearCollisionCount_2(){
Realm realm = Globals.serverState.realmManager.first();
CollisionEngine collisionEngine = realm.getCollisionEngine();
DBox box = collisionEngine.createCubeGeom(new Vector3d(1,1,1), 0);
collisionEngine.addToStaticSpace(box);
//simulate the physics
collisionEngine.simulatePhysics();
assertEquals(0, collisionEngine.getFinalCollisionCount());
}
@IntegrationTest
public void test_nearCollisionCount_3(){
Realm realm = Globals.serverState.realmManager.first();
CollisionEngine collisionEngine = realm.getCollisionEngine();
Entity ent1 = EntityCreationUtils.createServerEntity(realm, new Vector3d(0));
PhysicsEntityUtils.serverAttachGeom(realm, ent1, CollidableTemplate.getBoxTemplate(new Vector3d(1,1,1)));
PhysicsEntityUtils.serverAttachCollidableTemplate(realm, ent1, CollidableTemplate.getBoxTemplate(new Vector3d(1,1,1)), new Vector3d(0));
int expectedBoxBoxCollisions = 4;
int expectedTotalCollisions = expectedBoxBoxCollisions * CollisionEngine.PHYSICS_SIMULATION_RESOLUTION;
//simulate the physics
collisionEngine.simulatePhysics();
assertEquals(expectedTotalCollisions, collisionEngine.getFinalCollisionCount());
}
}