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physics fixes

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austin 2025-06-04 16:48:37 -04:00
parent ff0c3c099a
commit ace8a9b27b
15 changed files with 108 additions and 105 deletions
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7
docs/src/progress/renderertodo.md
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@ -2103,6 +2103,13 @@ ServerGroundMovementTree geom work
ServerLODComponent replaces bodies with geometries instead of just destroying the geometries ServerLODComponent replaces bodies with geometries instead of just destroying the geometries
(06/04/2025)
Fix rebase world origin routine
Non-rigid-body collidables behave as expected
Fix physics performance issues

106
src/main/java/electrosphere/collision/CollisionEngine.java
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@ -99,11 +99,6 @@ public class CollisionEngine {
* Distance from current floating point origin to trigger a rebase * Distance from current floating point origin to trigger a rebase
*/ */
private static final double REBASE_TRIGGER_DISTANCE = 16; private static final double REBASE_TRIGGER_DISTANCE = 16;
/**
* Maximum expected distance from local origin
*/
private static final double MAX_EXPECTED_DIST_FROM_LOCAL_ORIGIN = 3000;
/** /**
* world data that the collision engine leverages for position correction and the like * world data that the collision engine leverages for position correction and the like
@ -267,19 +262,19 @@ public class CollisionEngine {
*/ */
public static void resolveCollision(DContactGeom contactGeom, Collidable impactor, Collidable receiver, Vector3d normal, Vector3d localPosition, Vector3d worldPos, float magnitude){ public static void resolveCollision(DContactGeom contactGeom, Collidable impactor, Collidable receiver, Vector3d normal, Vector3d localPosition, Vector3d worldPos, float magnitude){
switch(receiver.getType()){ switch(receiver.getType()){
case Collidable.TYPE_CREATURE: case Collidable.TYPE_CREATURE: {
switch(impactor.getType()){ switch(impactor.getType()){
case Collidable.TYPE_STATIC: case Collidable.TYPE_STATIC: {
receiver.addImpulse(new Impulse(normal, localPosition, worldPos, magnitude * 2, Collidable.TYPE_STATIC)); receiver.addImpulse(new Impulse(normal, localPosition, worldPos, magnitude * 2, Collidable.TYPE_STATIC));
break; } break;
case Collidable.TYPE_CREATURE: case Collidable.TYPE_CREATURE: {
receiver.addImpulse(new Impulse(normal, localPosition, worldPos, magnitude, Collidable.TYPE_CREATURE)); receiver.addImpulse(new Impulse(normal, localPosition, worldPos, magnitude, Collidable.TYPE_CREATURE));
break; } break;
case Collidable.TYPE_OBJECT: case Collidable.TYPE_OBJECT: {
receiver.addImpulse(new Impulse(normal, localPosition, worldPos, magnitude, Collidable.TYPE_OBJECT)); receiver.addImpulse(new Impulse(normal, localPosition, worldPos, magnitude, Collidable.TYPE_OBJECT));
break; } break;
} }
break; } break;
} }
} }
@ -329,12 +324,6 @@ public class CollisionEngine {
){ ){
return false; return false;
} }
// //
// // are we below the terrain?
// //
// if(w.getElevationAtPoint(positionToCheck) > positionToCheck.y){
// return false;
// }
return rVal; return rVal;
} }
@ -711,18 +700,7 @@ public class CollisionEngine {
newRotation.mul(new Quaterniond(template.getRotX(),template.getRotY(),template.getRotZ(),template.getRotW()).invert()); newRotation.mul(new Quaterniond(template.getRotX(),template.getRotY(),template.getRotZ(),template.getRotW()).invert());
} }
} }
// if(rigidBody != null && suggestedPosition.distance(0,0,0) < 100){ EntityUtils.setPosition(physicsEntity, suggestedPosition);
// String message = "\n" +
// "this.floatingOrigin: " + this.floatingOrigin + "\n" +
// "calculatedPosition: " + calculatedPosition + "\n" +
// "suggestedPosition: " + suggestedPosition + "\n" +
// "rawPos: " + rawPos + "\n" +
// (rigidBody != null ? "body: " + rigidBody.getPosition() + "\n" : "\n") +
// (geom != null ? "geom: " + geom.getPosition() + "\n" : "\n") +
// "";
// throw new Error(message);
// }
EntityUtils.getPosition(physicsEntity).set(suggestedPosition);
EntityUtils.getRotation(physicsEntity).set(newRotation); EntityUtils.getRotation(physicsEntity).set(newRotation);
} }
} }
@ -741,16 +719,13 @@ public class CollisionEngine {
int collected = 0; int collected = 0;
Vector3d newOrigin = new Vector3d(); Vector3d newOrigin = new Vector3d();
//calculate new origin //calculate new origin
//only reference the rigid bodies because the rebase is principally concerned with physics sim
//pure colliders (no rigid body) don't do physics sim in ode so don't need to worry about being quite as close to 0,0,0
for(Collidable collidable : collidableList){ for(Collidable collidable : collidableList){
Entity physicsEntity = collidable.getParent(); Entity physicsEntity = collidable.getParent();
DBody rigidBody = PhysicsEntityUtils.getDBody(physicsEntity); DBody rigidBody = PhysicsEntityUtils.getDBody(physicsEntity);
if(rigidBody != null){ if(rigidBody != null){
Vector3d currentBodyOffset = PhysicsUtils.odeVecToJomlVec(rigidBody.getPosition()); Vector3d currentBodyOffset = PhysicsUtils.odeVecToJomlVec(rigidBody.getPosition());
// if(this.bodies.size() > 1 && currentBodyOffset.distance(0,0,0) > MAX_EXPECTED_DIST_FROM_LOCAL_ORIGIN && this.hasRebased){
// String message = "Body far outside expected range! " + currentBodyOffset + "\n";
// message = message + this.getDebugStatus();
// throw new Error(message);
// }
currentBodyOffset.add(this.floatingOrigin); currentBodyOffset.add(this.floatingOrigin);
if(collected == 0){ if(collected == 0){
newOrigin.set(currentBodyOffset); newOrigin.set(currentBodyOffset);
@ -771,18 +746,18 @@ public class CollisionEngine {
//only perform rebase if sufficiently far away //only perform rebase if sufficiently far away
if(delta.length() > REBASE_TRIGGER_DISTANCE){ if(delta.length() > REBASE_TRIGGER_DISTANCE){
//error checking //error checking
if(collected > 1 && delta.length() > MAX_EXPECTED_DIST_FROM_LOCAL_ORIGIN){ // if(collected > 1 && delta.length() > MAX_EXPECTED_DIST_FROM_LOCAL_ORIGIN){
System.out.println("newOrigin: " + newOrigin); // System.out.println("newOrigin: " + newOrigin);
System.out.println("delta: " + delta); // System.out.println("delta: " + delta);
throw new Error(this.getDebugStatus()); // throw new Error(this.getDebugStatus());
} // }
System.out.println("REbase"); // System.out.println("REbase");
System.out.println(this.getStatus()); // System.out.println(this.getStatus());
System.out.println("newOrigin: " + newOrigin); // System.out.println("newOrigin: " + newOrigin);
System.out.println("delta: " + delta); // System.out.println("delta: " + delta);
if(delta.y > 100 || delta.y < -100){ // if(delta.y > 100 || delta.y < -100){
throw new Error(this.getDebugStatus()); // throw new Error(this.getDebugStatus());
} // }
this.floatingOrigin = newOrigin; this.floatingOrigin = newOrigin;
@ -826,30 +801,12 @@ public class CollisionEngine {
throw new Error("Collidable is null!"); throw new Error("Collidable is null!");
} }
spaceLock.lock(); spaceLock.lock();
// if(this.name.equals("serverPhysics") && position.distance(0,0,0) < 100){
// throw new Error("Invalid position " + position);
// }
// if(this.name.equals("serverPhysics") && this.hasRebased && this.bodies.size() > 1 && position.distance(this.floatingOrigin) > MAX_EXPECTED_DIST_FROM_LOCAL_ORIGIN){
// String message = "Position invalid!\n" +
// "position: " + position.x + "," + position.y + "," + position.z + "\n" +
// "floating origin: " + this.floatingOrigin.x + "," + this.floatingOrigin.y + "," + this.floatingOrigin.z + "\n" +
// "dist: " + position.distance(this.floatingOrigin) + "\n" +
// "ent pos: " + EntityUtils.getPosition(collidable.getParent()) + "\n" +
// this.getDebugStatus() +
// "";
// throw new Error(message);
// }
// if(this.name.equals("serverPhysics")){
// System.out.println("Register collidable at " + position);
// }
//Body transform needs to be set before the body is added to the collidable list //Body transform needs to be set before the body is added to the collidable list
//this makes sure that dynamic update transforms and floating origin work correctly //this makes sure that dynamic update transforms and floating origin work correctly
this.setBodyTransform(body, new Vector3d(position), new Quaterniond()); this.setBodyTransform(body, new Vector3d(position), new Quaterniond());
// if(this.name.equals("serverPhysics") && (body.getPosition().get0() != position.x || body.getPosition().get1() != position.y || body.getPosition().get2() != position.z)){ //actually attach to tracking structures
// System.out.println("Transform not set properly! " + body.getPosition() + " " + position);
// }
this.registerPhysicsObject(body); this.registerPhysicsObject(body);
bodyPointerMap.put(body,collidable); bodyPointerMap.put(body,collidable);
collidableList.add(collidable); collidableList.add(collidable);
@ -861,11 +818,16 @@ public class CollisionEngine {
* @param geom The geom * @param geom The geom
* @param collidable The corresponding collidable * @param collidable The corresponding collidable
*/ */
public void registerCollisionObject(DGeom geom, Collidable collidable){ public void registerCollisionObject(DGeom geom, Collidable collidable, Vector3d position){
if(collidable == null){ if(collidable == null){
throw new Error("Collidable is null!"); throw new Error("Collidable is null!");
} }
spaceLock.lock(); spaceLock.lock();
//Body transform needs to be set before the body is added to the collidable list
//this makes sure that dynamic update transforms and floating origin work correctly
this.setGeomTransform(geom, position, new Quaterniond());
geomPointerMap.put(geom,collidable); geomPointerMap.put(geom,collidable);
collidableList.add(collidable); collidableList.add(collidable);
spaceLock.unlock(); spaceLock.unlock();
@ -876,12 +838,16 @@ public class CollisionEngine {
* @param geoms The list of geoms * @param geoms The list of geoms
* @param collidable The corresponding collidable * @param collidable The corresponding collidable
*/ */
public void registerCollisionObject(List<DGeom> geoms, Collidable collidable){ public void registerCollisionObject(List<DGeom> geoms, Collidable collidable, Vector3d position){
if(collidable == null){ if(collidable == null){
throw new Error("Collidable is null!"); throw new Error("Collidable is null!");
} }
spaceLock.lock(); spaceLock.lock();
for(DGeom geom : geoms){ for(DGeom geom : geoms){
//Body transform needs to be set before the body is added to the collidable list
//this makes sure that dynamic update transforms and floating origin work correctly
this.setGeomTransform(geom, position, new Quaterniond());
geomPointerMap.put(geom,collidable); geomPointerMap.put(geom,collidable);
} }
collidableList.add(collidable); collidableList.add(collidable);

40
src/main/java/electrosphere/collision/PhysicsEntityUtils.java
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@ -106,7 +106,7 @@ public class PhysicsEntityUtils {
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable); rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
Globals.clientState.clientScene.registerEntityToTag(rVal, EntityTags.COLLIDABLE); Globals.clientState.clientScene.registerEntityToTag(rVal, EntityTags.COLLIDABLE);
engine.registerCollisionObject(geom, collidable); engine.registerCollisionObject(geom, collidable, EntityUtils.getPosition(rVal));
} break; } break;
case CollidableTemplate.COLLIDABLE_TYPE_CUBE: { case CollidableTemplate.COLLIDABLE_TYPE_CUBE: {
// //
@ -134,7 +134,7 @@ public class PhysicsEntityUtils {
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable); rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
Globals.clientState.clientScene.registerEntityToTag(rVal, EntityTags.COLLIDABLE); Globals.clientState.clientScene.registerEntityToTag(rVal, EntityTags.COLLIDABLE);
engine.registerCollisionObject(geom, collidable); engine.registerCollisionObject(geom, collidable, EntityUtils.getPosition(rVal));
} break; } break;
case CollidableTemplate.COLLIDABLE_TYPE_CAPSULE: { case CollidableTemplate.COLLIDABLE_TYPE_CAPSULE: {
// //
@ -161,11 +161,10 @@ public class PhysicsEntityUtils {
rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform); rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform);
rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate); rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable); rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass); rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
Globals.clientState.clientScene.registerEntityToTag(rVal, EntityTags.COLLIDABLE); Globals.clientState.clientScene.registerEntityToTag(rVal, EntityTags.COLLIDABLE);
engine.registerCollisionObject(geom, collidable); engine.registerCollisionObject(geom, collidable, EntityUtils.getPosition(rVal));
} break; } break;
} }
} else { } else {
@ -231,7 +230,6 @@ public class PhysicsEntityUtils {
rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate); rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable); rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.CLIENT_COLLIDABLE_TREE, tree); rVal.putData(EntityDataStrings.CLIENT_COLLIDABLE_TREE, tree);
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass); rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
Globals.clientState.clientSceneWrapper.getCollisionEngine().registerCollisionObject(rigidBody, collidable, EntityUtils.getPosition(rVal)); Globals.clientState.clientSceneWrapper.getCollisionEngine().registerCollisionObject(rigidBody, collidable, EntityUtils.getPosition(rVal));
@ -295,7 +293,6 @@ public class PhysicsEntityUtils {
rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate); rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable); rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.CLIENT_COLLIDABLE_TREE, tree); rVal.putData(EntityDataStrings.CLIENT_COLLIDABLE_TREE, tree);
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass); rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
Globals.clientState.clientSceneWrapper.getCollisionEngine().registerCollisionObject(rigidBody, collidable, EntityUtils.getPosition(rVal)); Globals.clientState.clientSceneWrapper.getCollisionEngine().registerCollisionObject(rigidBody, collidable, EntityUtils.getPosition(rVal));
@ -399,7 +396,7 @@ public class PhysicsEntityUtils {
} }
CollisionEngine.lockOde(); CollisionEngine.lockOde();
if(physicsTemplate.getKinematic()){ if(physicsTemplate.getKinematic()){
PhysicsEntityUtils.serverAttachGeom(realm,rVal,physicsTemplate); PhysicsEntityUtils.serverAttachGeom(realm,rVal,physicsTemplate,position);
} else { } else {
DBody rigidBody = null; DBody rigidBody = null;
switch(physicsTemplate.getType()){ switch(physicsTemplate.getType()){
@ -619,7 +616,7 @@ public class PhysicsEntityUtils {
* @param physicsTemplate The collidable template * @param physicsTemplate The collidable template
* @return The geometry object * @return The geometry object
*/ */
public static DGeom serverAttachGeom(Realm realm, Entity rVal, CollidableTemplate physicsTemplate){ public static DGeom serverAttachGeom(Realm realm, Entity rVal, CollidableTemplate physicsTemplate, Vector3d position){
if(physicsTemplate == null){ if(physicsTemplate == null){
throw new Error("Physics template is null!"); throw new Error("Physics template is null!");
} }
@ -646,6 +643,7 @@ public class PhysicsEntityUtils {
// //
//create collidable and attach tracking //create collidable and attach tracking
collidable = new Collidable(rVal, Collidable.TYPE_CREATURE, true); collidable = new Collidable(rVal, Collidable.TYPE_CREATURE, true);
ServerCollidableTree tree = new ServerCollidableTree(rVal,collidable,geom);
PhysicsEntityUtils.setDGeom(rVal, geom); PhysicsEntityUtils.setDGeom(rVal, geom);
// //
@ -658,11 +656,11 @@ public class PhysicsEntityUtils {
rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform); rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform);
rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate); rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable); rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.SERVER_COLLIDABLE_TREE, tree);
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass); rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
ServerEntityTagUtils.attachTagToEntity(rVal, EntityTags.COLLIDABLE); ServerEntityTagUtils.attachTagToEntity(rVal, EntityTags.COLLIDABLE);
realm.getCollisionEngine().registerCollisionObject(geom, collidable); realm.getCollisionEngine().registerCollisionObject(geom, collidable, position);
} break; } break;
case CollidableTemplate.COLLIDABLE_TYPE_CUBE: { case CollidableTemplate.COLLIDABLE_TYPE_CUBE: {
// //
@ -676,6 +674,7 @@ public class PhysicsEntityUtils {
// //
//create collidable and attach tracking //create collidable and attach tracking
collidable = new Collidable(rVal, Collidable.TYPE_CREATURE, true); collidable = new Collidable(rVal, Collidable.TYPE_CREATURE, true);
ServerCollidableTree tree = new ServerCollidableTree(rVal,collidable,geom);
PhysicsEntityUtils.setDGeom(rVal, geom); PhysicsEntityUtils.setDGeom(rVal, geom);
// //
@ -688,11 +687,11 @@ public class PhysicsEntityUtils {
rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform); rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform);
rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate); rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable); rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.SERVER_COLLIDABLE_TREE, tree);
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass); rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
ServerEntityTagUtils.attachTagToEntity(rVal, EntityTags.COLLIDABLE); ServerEntityTagUtils.attachTagToEntity(rVal, EntityTags.COLLIDABLE);
realm.getCollisionEngine().registerCollisionObject(geom, collidable); realm.getCollisionEngine().registerCollisionObject(geom, collidable, position);
} break; } break;
case CollidableTemplate.COLLIDABLE_TYPE_CAPSULE: { case CollidableTemplate.COLLIDABLE_TYPE_CAPSULE: {
// //
@ -707,6 +706,7 @@ public class PhysicsEntityUtils {
// //
//create collidable and attach tracking //create collidable and attach tracking
collidable = new Collidable(rVal, Collidable.TYPE_CREATURE, true); collidable = new Collidable(rVal, Collidable.TYPE_CREATURE, true);
ServerCollidableTree tree = new ServerCollidableTree(rVal,collidable,geom);
PhysicsEntityUtils.setDGeom(rVal, geom); PhysicsEntityUtils.setDGeom(rVal, geom);
// //
@ -719,11 +719,11 @@ public class PhysicsEntityUtils {
rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform); rVal.putData(EntityDataStrings.PHYSICS_COLLISION_BODY_TRANSFORM, offsetTransform);
rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate); rVal.putData(EntityDataStrings.PHYSICS_MODEL_TEMPLATE, physicsTemplate);
rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable); rVal.putData(EntityDataStrings.PHYSICS_COLLIDABLE, collidable);
rVal.putData(EntityDataStrings.SERVER_COLLIDABLE_TREE, tree);
rVal.putData(EntityDataStrings.PHYSICS_MASS, mass); rVal.putData(EntityDataStrings.PHYSICS_MASS, mass);
ServerEntityTagUtils.attachTagToEntity(rVal, EntityTags.COLLIDABLE); ServerEntityTagUtils.attachTagToEntity(rVal, EntityTags.COLLIDABLE);
realm.getCollisionEngine().registerCollisionObject(geom, collidable); realm.getCollisionEngine().registerCollisionObject(geom, collidable, position);
} break; } break;
} }
CollisionEngine.unlockOde(); CollisionEngine.unlockOde();
@ -759,7 +759,7 @@ public class PhysicsEntityUtils {
DGeom terrainGeom = CollisionBodyCreation.generateGeomFromTerrainData(Globals.clientState.clientSceneWrapper.getCollisionEngine(), data, Collidable.TYPE_STATIC_BIT); DGeom terrainGeom = CollisionBodyCreation.generateGeomFromTerrainData(Globals.clientState.clientSceneWrapper.getCollisionEngine(), data, Collidable.TYPE_STATIC_BIT);
Collidable collidable = new Collidable(terrain,Collidable.TYPE_STATIC, true); Collidable collidable = new Collidable(terrain,Collidable.TYPE_STATIC, true);
PhysicsEntityUtils.setCollidable(terrain, collidable); PhysicsEntityUtils.setCollidable(terrain, collidable);
Globals.clientState.clientSceneWrapper.getCollisionEngine().registerCollisionObject(terrainGeom, collidable); Globals.clientState.clientSceneWrapper.getCollisionEngine().registerCollisionObject(terrainGeom, collidable, EntityUtils.getPosition(terrain));
CollisionEngine.unlockOde(); CollisionEngine.unlockOde();
PhysicsEntityUtils.setDGeom(terrain,terrainGeom); PhysicsEntityUtils.setDGeom(terrain,terrainGeom);
} }
@ -789,7 +789,7 @@ public class PhysicsEntityUtils {
DGeom terrainBody = CollisionBodyCreation.generateColliderFromMultiShapeMeshData(Globals.clientState.clientSceneWrapper.getCollisionEngine(), data, Collidable.TYPE_STATIC_BIT); DGeom terrainBody = CollisionBodyCreation.generateColliderFromMultiShapeMeshData(Globals.clientState.clientSceneWrapper.getCollisionEngine(), data, Collidable.TYPE_STATIC_BIT);
Collidable collidable = new Collidable(terrain,Collidable.TYPE_STATIC, false); Collidable collidable = new Collidable(terrain,Collidable.TYPE_STATIC, false);
PhysicsEntityUtils.setCollidable(terrain, collidable); PhysicsEntityUtils.setCollidable(terrain, collidable);
Globals.clientState.clientSceneWrapper.getCollisionEngine().registerCollisionObject(terrainBody, collidable); Globals.clientState.clientSceneWrapper.getCollisionEngine().registerCollisionObject(terrainBody, collidable, EntityUtils.getPosition(terrain));
PhysicsEntityUtils.setDGeom(terrain,terrainBody); PhysicsEntityUtils.setDGeom(terrain,terrainBody);
} }
@ -823,7 +823,7 @@ public class PhysicsEntityUtils {
Collidable collidable = new Collidable(terrain,Collidable.TYPE_STATIC, true); Collidable collidable = new Collidable(terrain,Collidable.TYPE_STATIC, true);
PhysicsEntityUtils.setCollidable(terrain, collidable); PhysicsEntityUtils.setCollidable(terrain, collidable);
realm.getCollisionEngine().registerCollisionObject(terrainCollider, collidable); realm.getCollisionEngine().registerCollisionObject(terrainCollider, collidable, EntityUtils.getPosition(terrain));
PhysicsEntityUtils.setDGeom(terrain,terrainCollider); PhysicsEntityUtils.setDGeom(terrain,terrainCollider);
return terrainCollider; return terrainCollider;
@ -858,7 +858,7 @@ public class PhysicsEntityUtils {
Collidable collidable = new Collidable(terrain,Collidable.TYPE_STATIC, false); Collidable collidable = new Collidable(terrain,Collidable.TYPE_STATIC, false);
PhysicsEntityUtils.setCollidable(terrain, collidable); PhysicsEntityUtils.setCollidable(terrain, collidable);
realm.getCollisionEngine().registerCollisionObject(terrainBody, collidable); realm.getCollisionEngine().registerCollisionObject(terrainBody, collidable, EntityUtils.getPosition(terrain));
PhysicsEntityUtils.setDGeom(terrain,terrainBody); PhysicsEntityUtils.setDGeom(terrain,terrainBody);
return terrainBody; return terrainBody;
@ -882,6 +882,10 @@ public class PhysicsEntityUtils {
if(body != null && body.isEnabled() && !body.isKinematic()){ if(body != null && body.isEnabled() && !body.isKinematic()){
toReposition.add(entity); toReposition.add(entity);
} }
DGeom geom = PhysicsEntityUtils.getDGeom(entity);
if(geom != null && geom.getCategoryBits() != Collidable.TYPE_STATIC_BIT){
toReposition.add(entity);
}
} }
ServerWorldData worldDat = realm.getServerWorldData(); ServerWorldData worldDat = realm.getServerWorldData();
for(Entity parent : toReposition){ for(Entity parent : toReposition){

2
src/main/java/electrosphere/engine/loadingthreads/ClientLoading.java
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@ -280,7 +280,7 @@ public class ClientLoading {
DrawableUtils.disableCulling(skybox); DrawableUtils.disableCulling(skybox);
EntityUtils.getScale(skybox).mul(SKYSPHERE_SCALE); EntityUtils.getScale(skybox).mul(SKYSPHERE_SCALE);
Globals.clientState.clientScene.registerBehaviorTree(() -> { Globals.clientState.clientScene.registerBehaviorTree(() -> {
EntityUtils.getPosition(skybox).set(EntityUtils.getPosition(Globals.clientState.playerEntity)); EntityUtils.setPosition(skybox, EntityUtils.getPosition(Globals.clientState.playerEntity));
}); });
Globals.assetManager.queueOverrideMeshShader(EntityUtils.getActor(skybox).getBaseModelPath(), GeometryMeshGen.SPHERE_MESH_NAME, AssetDataStrings.SHADER_SKYBOX_VERT, AssetDataStrings.SHADER_SKYBOX_FRAG); Globals.assetManager.queueOverrideMeshShader(EntityUtils.getActor(skybox).getBaseModelPath(), GeometryMeshGen.SPHERE_MESH_NAME, AssetDataStrings.SHADER_SKYBOX_VERT, AssetDataStrings.SHADER_SKYBOX_FRAG);

2
src/main/java/electrosphere/entity/ClientEntityUtils.java
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@ -40,7 +40,7 @@ public class ClientEntityUtils {
public static void repositionEntity(Entity entity, Vector3d position, Quaterniond rotation){ public static void repositionEntity(Entity entity, Vector3d position, Quaterniond rotation){
//reposition entity //reposition entity
CollisionObjUtils.clientPositionCharacter(entity, position, rotation); CollisionObjUtils.clientPositionCharacter(entity, position, rotation);
EntityUtils.getPosition(entity).set(position); EntityUtils.setPosition(entity, position);
} }
/** /**

16
src/main/java/electrosphere/entity/EntityUtils.java
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@ -16,8 +16,22 @@ import org.joml.Vector3f;
*/ */
public class EntityUtils { public class EntityUtils {
/**
* Gets the position of the entity
* @param e The entity
* @return The position of the entity
*/
public static Vector3d getPosition(Entity e){ public static Vector3d getPosition(Entity e){
return (Vector3d)e.getData(EntityDataStrings.DATA_STRING_POSITION); return new Vector3d((Vector3d)e.getData(EntityDataStrings.DATA_STRING_POSITION));
}
/**
* Sets the position of the entity
* @param e The entity
* @param newVec The new position
*/
public static void setPosition(Entity e, Vector3d newVec){
((Vector3d)e.getData(EntityDataStrings.DATA_STRING_POSITION)).set(newVec);
} }
public static Quaterniond getRotation(Entity e){ public static Quaterniond getRotation(Entity e){

12
src/main/java/electrosphere/entity/state/collidable/ServerCollidableTree.java
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@ -8,6 +8,7 @@ import electrosphere.entity.state.gravity.ServerGravityTree;
import electrosphere.entity.state.movement.fall.ServerFallTree; import electrosphere.entity.state.movement.fall.ServerFallTree;
import org.ode4j.ode.DBody; import org.ode4j.ode.DBody;
import org.ode4j.ode.DGeom;
/** /**
* Server collidable tree * Server collidable tree
@ -41,6 +42,17 @@ public class ServerCollidableTree implements BehaviorTree {
this.collidable = collidable; this.collidable = collidable;
this.body = body; this.body = body;
} }
/**
* Constructor
* @param e The entity
* @param collidable The collidable
* @param geom The Geom
*/
public ServerCollidableTree(Entity e, Collidable collidable, DGeom geom){
parent = e;
this.collidable = collidable;
}
/** /**
* Simulates the collidable tree * Simulates the collidable tree

2
src/main/java/electrosphere/entity/state/lod/ServerLODComponent.java
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@ -79,7 +79,7 @@ public class ServerLODComponent implements BehaviorTree {
if(CreatureUtils.hasControllerPlayerId(parent)){ if(CreatureUtils.hasControllerPlayerId(parent)){
throw new Error("Should not be attaching a geometry to a player entity!"); throw new Error("Should not be attaching a geometry to a player entity!");
} }
PhysicsEntityUtils.serverAttachGeom(realm, parent, type.getCollidable()); PhysicsEntityUtils.serverAttachGeom(realm, parent, type.getCollidable(), EntityUtils.getPosition(parent));
} }
} }
} }

2
src/main/java/electrosphere/entity/state/movement/groundmove/ClientGroundMovementTree.java
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@ -282,7 +282,7 @@ public class ClientGroundMovementTree implements BehaviorTree {
//this should only fire on the client, we don't want the server snap updating due to client position reporting //this should only fire on the client, we don't want the server snap updating due to client position reporting
lastServerPosition = new Vector3d(message.getpositionX(),message.getpositionY(),message.getpositionZ()); lastServerPosition = new Vector3d(message.getpositionX(),message.getpositionY(),message.getpositionZ());
if(position.distance(lastServerPosition) > STATE_DIFFERENCE_HARD_UPDATE_THRESHOLD){ if(position.distance(lastServerPosition) > STATE_DIFFERENCE_HARD_UPDATE_THRESHOLD){
EntityUtils.getPosition(parent).set(lastServerPosition); EntityUtils.setPosition(parent, lastServerPosition);
} else if(position.distance(lastServerPosition) > STATE_DIFFERENCE_SOFT_UPDATE_THRESHOLD){ } else if(position.distance(lastServerPosition) > STATE_DIFFERENCE_SOFT_UPDATE_THRESHOLD){
EntityUtils.getPosition(parent).lerp(lastServerPosition,SOFT_UPDATE_MULTIPLIER); EntityUtils.getPosition(parent).lerp(lastServerPosition,SOFT_UPDATE_MULTIPLIER);
} }

2
src/main/java/electrosphere/entity/state/physicssync/ClientPhysicsSyncTree.java
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@ -75,7 +75,7 @@ public class ClientPhysicsSyncTree implements BehaviorTree {
// //
//Synchronize data //Synchronize data
EntityUtils.getPosition(parent).set(position); EntityUtils.setPosition(parent, position);
EntityUtils.getRotation(parent).set(rotationFromServer); EntityUtils.getRotation(parent).set(rotationFromServer);
PhysicsUtils.synchronizeData(Globals.clientState.clientSceneWrapper.getCollisionEngine(), body, position, rotationFromServer, linearVelocity, angularVelocity, linearForce, angularForce, enabled); PhysicsUtils.synchronizeData(Globals.clientState.clientSceneWrapper.getCollisionEngine(), body, position, rotationFromServer, linearVelocity, angularVelocity, linearForce, angularForce, enabled);

2
src/main/java/electrosphere/entity/state/physicssync/upright/ClientAlwaysUprightTree.java
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@ -41,7 +41,7 @@ public class ClientAlwaysUprightTree implements BehaviorTree {
//make sure rotation is vertical //make sure rotation is vertical
// sourceRotation = sourceRotation.mul(0.001, 1, 0.001, 1).normalize(); // sourceRotation = sourceRotation.mul(0.001, 1, 0.001, 1).normalize();
EntityUtils.getPosition(parent).set(position); EntityUtils.setPosition(parent, position);
EntityUtils.getRotation(parent).set(sourceRotation); EntityUtils.getRotation(parent).set(sourceRotation);
PhysicsUtils.synchronizeData(Globals.clientState.clientSceneWrapper.getCollisionEngine(), body, position, sourceRotation, linearVelocity, angularVelocity, linearForce, angularForce); PhysicsUtils.synchronizeData(Globals.clientState.clientSceneWrapper.getCollisionEngine(), body, position, sourceRotation, linearVelocity, angularVelocity, linearForce, angularForce);
} }

2
src/main/java/electrosphere/entity/state/physicssync/upright/ServerAlwaysUprightTree.java
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@ -51,7 +51,7 @@ public class ServerAlwaysUprightTree implements BehaviorTree {
sourceRotation = new Quaterniond().rotationTo(SpatialMathUtils.getOriginVector(), new Vector3d(facingVector.x,0,facingVector.z)).normalize(); sourceRotation = new Quaterniond().rotationTo(SpatialMathUtils.getOriginVector(), new Vector3d(facingVector.x,0,facingVector.z)).normalize();
} }
EntityUtils.getPosition(parent).set(position); EntityUtils.setPosition(parent, position);
EntityUtils.getRotation(parent).set(sourceRotation); EntityUtils.getRotation(parent).set(sourceRotation);
PhysicsUtils.synchronizeData(realm.getCollisionEngine(), body, position, sourceRotation, linearVelocity, angularVelocity, linearForce, angularForce); PhysicsUtils.synchronizeData(realm.getCollisionEngine(), body, position, sourceRotation, linearVelocity, angularVelocity, linearForce, angularForce);
} }

14
src/main/java/electrosphere/entity/types/collision/CollisionObjUtils.java
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@ -77,8 +77,8 @@ public class CollisionObjUtils {
double startX = position.x; double startX = position.x;
double startY = position.y; double startY = position.y;
double startZ = position.z; double startZ = position.z;
EntityUtils.setPosition(e, position);
Vector3d entPos = EntityUtils.getPosition(e); Vector3d entPos = EntityUtils.getPosition(e);
entPos.set(position);
if(startX != entPos.x || startX != entPos.x || startX != entPos.x){ if(startX != entPos.x || startX != entPos.x || startX != entPos.x){
throw new Error("Failed to position entity! " + startX + "," + startY + "," + startZ + " " + entPos.x + "," + entPos.y + "," + entPos.z); throw new Error("Failed to position entity! " + startX + "," + startY + "," + startZ + " " + entPos.x + "," + entPos.y + "," + entPos.z);
} }
@ -107,12 +107,12 @@ public class CollisionObjUtils {
); );
} }
} }
Vector3d finalRef = EntityUtils.getPosition(e); // Vector3d finalRef = EntityUtils.getPosition(e);
if(finalRef != entPos){ // if(finalRef != entPos){
throw new Error("Reference changed while positioning character! " + entPos + " " + finalRef); // throw new Error("Reference changed while positioning character! " + entPos.x + "," + entPos.y + "," + entPos.z + " " + finalRef.x + "," + finalRef.y + "," + finalRef.z);
} // }
if(startX != entPos.x || startX != entPos.x || startX != entPos.x){ if(startX != entPos.x || startX != entPos.x || startX != entPos.x){
throw new Error("Position not preserved while positioning entity! " + startX + "," + startY + "," + startZ + " " + entPos.x + "," + entPos.y + "," + entPos.z + " " + position); throw new Error("Position not preserved while positioning entity! " + startX + "," + startY + "," + startZ + " " + entPos.x + "," + entPos.y + "," + entPos.z + " " + position.x + "," + position.y + "," + position.z);
} }
CollisionEngine.unlockOde(); CollisionEngine.unlockOde();
} }
@ -124,7 +124,7 @@ public class CollisionObjUtils {
* @param rotation The rotation * @param rotation The rotation
*/ */
public static void clientPositionCharacter(Entity e, Vector3d position, Quaterniond rotation){ public static void clientPositionCharacter(Entity e, Vector3d position, Quaterniond rotation){
EntityUtils.getPosition(e).set(position); EntityUtils.setPosition(e, position);
DBody body = PhysicsEntityUtils.getDBody(e); DBody body = PhysicsEntityUtils.getDBody(e);
if(body != null){ if(body != null){
PhysicsUtils.setRigidBodyTransform(Globals.clientState.clientSceneWrapper.getCollisionEngine(), position, rotation, body); PhysicsUtils.setRigidBodyTransform(Globals.clientState.clientSceneWrapper.getCollisionEngine(), position, rotation, body);

2
src/main/java/electrosphere/entity/types/common/CommonEntityUtils.java
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@ -519,7 +519,7 @@ public class CommonEntityUtils {
if(Globals.serverState.lodEmitterService.isFullLod(position)){ if(Globals.serverState.lodEmitterService.isFullLod(position)){
PhysicsEntityUtils.serverAttachCollidableTemplate(realm, entity, physicsTemplate,position); PhysicsEntityUtils.serverAttachCollidableTemplate(realm, entity, physicsTemplate,position);
} else { } else {
PhysicsEntityUtils.serverAttachGeom(realm, entity, physicsTemplate); PhysicsEntityUtils.serverAttachGeom(realm, entity, physicsTemplate, position);
} }
ServerLODComponent.attachTree(entity); ServerLODComponent.attachTree(entity);
} }

2
src/test/java/electrosphere/collision/CollisionEngineStaticSpaceTests.java
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@ -58,7 +58,7 @@ public class CollisionEngineStaticSpaceTests extends EntityTestTemplate {
CollisionEngine collisionEngine = realm.getCollisionEngine(); CollisionEngine collisionEngine = realm.getCollisionEngine();
Entity ent1 = EntityCreationUtils.createServerEntity(realm, new Vector3d(0)); Entity ent1 = EntityCreationUtils.createServerEntity(realm, new Vector3d(0));
PhysicsEntityUtils.serverAttachGeom(realm, ent1, CollidableTemplate.getBoxTemplate(new Vector3d(1,1,1))); PhysicsEntityUtils.serverAttachGeom(realm, ent1, CollidableTemplate.getBoxTemplate(new Vector3d(1,1,1)), new Vector3d(0));
PhysicsEntityUtils.serverAttachCollidableTemplate(realm, ent1, CollidableTemplate.getBoxTemplate(new Vector3d(1,1,1)), new Vector3d(0)); PhysicsEntityUtils.serverAttachCollidableTemplate(realm, ent1, CollidableTemplate.getBoxTemplate(new Vector3d(1,1,1)), new Vector3d(0));