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Improvement on rigid body rotation

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This commit is contained in:
austin 2022-03-29 22:42:27 -04:00
parent 3c10c0bf85
commit d85610ab17
5 changed files with 73 additions and 28 deletions
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11
src/main/java/electrosphere/engine/LoadingThread.java
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@ -5,6 +5,8 @@ import electrosphere.controls.ControlHandler;
import electrosphere.entity.Entity; import electrosphere.entity.Entity;
import electrosphere.entity.EntityDataStrings; import electrosphere.entity.EntityDataStrings;
import electrosphere.entity.EntityUtils; import electrosphere.entity.EntityUtils;
import electrosphere.entity.state.BehaviorTree;
import electrosphere.entity.state.collidable.Impulse;
import electrosphere.entity.state.movement.ApplyRotationTree; import electrosphere.entity.state.movement.ApplyRotationTree;
import electrosphere.game.collision.CollisionEngine; import electrosphere.game.collision.CollisionEngine;
import electrosphere.entity.types.creature.CreatureUtils; import electrosphere.entity.types.creature.CreatureUtils;
@ -679,6 +681,15 @@ public class LoadingThread extends Thread {
Entity sword = ItemUtils.spawnBasicItem("Katana"); Entity sword = ItemUtils.spawnBasicItem("Katana");
EntityUtils.getPosition(sword).set(new Vector3f(1,0.4f,2)); EntityUtils.getPosition(sword).set(new Vector3f(1,0.4f,2));
EntityUtils.getRotation(sword).set(new Quaternionf().rotationY(0.6f)); EntityUtils.getRotation(sword).set(new Quaternionf().rotationY(0.6f));
// Globals.entityManager.registerBehaviorTree(new BehaviorTree() {
// int i = 0;
// public void simulate(){
// if(i < 100){
// i++;
// CollisionObjUtils.getCollidable(sword).addImpulse(new Impulse(new Vector3d(0,0,1), new Vector3d(-1,0,0), 0.001, Collidable.TYPE_CREATURE));
// EntityUtils.getPosition(sword).set(1,0.2f,2);
// }
// }});
// Entity shorts = ItemUtils.spawnBasicItem("boots1"); // Entity shorts = ItemUtils.spawnBasicItem("boots1");
// EntityUtils.getPosition(shorts).set(new Vector3f(2,0.1f,2)); // EntityUtils.getPosition(shorts).set(new Vector3f(2,0.1f,2));

76
src/main/java/electrosphere/entity/state/collidable/CollidableTree.java
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@ -29,7 +29,7 @@ public class CollidableTree {
Entity parent; Entity parent;
CollisionObject body; CollisionObject body;
Collidable collidable; Collidable collidable;
// Quaternionf angularVelocity = new Quaternionf(0,0,0,1); Quaternionf angularVelocity = new Quaternionf(0,0,0,0);
Vector4d cumulativeTorque = new Vector4d(0,0,0,0); Vector4d cumulativeTorque = new Vector4d(0,0,0,0);
@ -77,13 +77,14 @@ public class CollidableTree {
!Double.isNaN(impulse.getCollisionPoint().z) && !Double.isNaN(impulse.getCollisionPoint().z) &&
!Double.isNaN(impulse.getDirection().x) && !Double.isNaN(impulse.getDirection().x) &&
!Double.isNaN(impulse.getDirection().y) && !Double.isNaN(impulse.getDirection().y) &&
!Double.isNaN(impulse.getDirection().z) !Double.isNaN(impulse.getDirection().z) &&
ItemUtils.isItem(parent)
){ ){
Vector3d collisionPoint = new Vector3d(impulse.getCollisionPoint()).normalize(); Vector3d collisionPoint = new Vector3d(impulse.getCollisionPoint()).normalize();
Vector3d forceDir = new Vector3d(impulse.getDirection()).normalize(); Vector3d forceDir = new Vector3d(impulse.getDirection().mul(-1.0f)).normalize();
Vector3d torqueVec = new Vector3d(collisionPoint).cross(forceDir).normalize(); Vector3d torqueVec = new Vector3d(collisionPoint).cross(forceDir).normalize();
double torqueMag = Math.abs(impulse.force); // double torqueMag = Math.abs(impulse.force);
// double torqueMag = impulse.getCollisionPoint().length() * impulse.getDirection().length(); double torqueMag = impulse.getCollisionPoint().length() * impulse.getDirection().length() * impulse.getForce();
// if(impulse.type.matches(Collidable.TYPE_ITEM) && ItemUtils.isItem(parent)){ // if(impulse.type.matches(Collidable.TYPE_ITEM) && ItemUtils.isItem(parent)){
// // System.out.println(rotation); // // System.out.println(rotation);
// if(impulse.collisionPoint.x < 0){ // if(impulse.collisionPoint.x < 0){
@ -97,7 +98,17 @@ public class CollidableTree {
// if(impulse.type.matches(Collidable.TYPE_ITEM)){ // if(impulse.type.matches(Collidable.TYPE_ITEM)){
// System.out.println("Impulse: " + torqueVec + " " + torqueMag); // System.out.println("Impulse: " + torqueVec + " " + torqueMag);
// } // }
cumulativeTorque.add(new Vector4d(torqueVec.x,torqueVec.y,torqueVec.z,torqueMag)); if(CreatureUtils.isCreature(parent) && forceDir.y < 0.5){
System.out.println(collisionPoint + " x " + forceDir + " => " + torqueVec + " " + torqueMag);
}
Quaternionf impulseRotation = new Quaternionf().rotationAxis((float)torqueMag,new Vector3f((float)torqueVec.x,(float)torqueVec.y,(float)torqueVec.z));
if(angularVelocity.lengthSquared() > 0.001){
angularVelocity.slerp(impulseRotation, (float)(torqueMag / Math.abs(angularVelocity.w)));
} else {
angularVelocity.set(impulseRotation);
}
// angularVelocity.add(new Vector4d((float)torqueVec.x,(float)torqueVec.y,(float)torqueVec.z,(float)torqueMag));
// cumulativeTorque.add(new Vector4d((float)torqueVec.x,(float)torqueVec.y,(float)torqueVec.z,(float)torqueMag));
} }
offsetVector.add(impulseForce); offsetVector.add(impulseForce);
} }
@ -105,25 +116,46 @@ public class CollidableTree {
// System.out.println(cumulativeTorque); // System.out.println(cumulativeTorque);
// } // }
//friction //friction
if(angularVelocity.lengthSquared() > 0.001){
angularVelocity.scale((float)(Math.sqrt(angularVelocity.lengthSquared()) * 0.9));
System.out.println(angularVelocity);
}
// if(cumulativeTorque.w > 0.001){ // if(cumulativeTorque.w > 0.001){
// Vector3d normalizedTorqueDir = new Vector3d(cumulativeTorque.x,cumulativeTorque.y,cumulativeTorque.z).normalize(); // Vector4f holder = inverseInertiaTensor.transform(new Vector4f((float)cumulativeTorque.x,(float)cumulativeTorque.y,(float)cumulativeTorque.z,(float)cumulativeTorque.w));
// double newMag = cumulativeTorque.w * 0.9; // cumulativeTorque = new Vector4d(holder.x,holder.y,holder.z,holder.w);
// cumulativeTorque.set(normalizedTorqueDir.x,normalizedTorqueDir.y,normalizedTorqueDir.z,newMag); // angularVelocity = angularVelocity.add(cumulativeTorque).normalize();
// cumulativeTorque.set(0,0,0,0);
// // Vector3d normalizedTorqueDir = new Vector3d(cumulativeTorque.x,cumulativeTorque.y,cumulativeTorque.z).normalize();
// // double newMag = cumulativeTorque.w * 0.9;
// // cumulativeTorque.set(normalizedTorqueDir.x,normalizedTorqueDir.y,normalizedTorqueDir.z,newMag);
// } // }
if(inverseInertiaTensor != null && cumulativeTorque.w > 0.01){ if(angularVelocity.lengthSquared() > 0.001){
Vector4f angularMomentum = inverseInertiaTensor.transform(new Vector4f((float)cumulativeTorque.x,(float)cumulativeTorque.x,(float)cumulativeTorque.x,(float)cumulativeTorque.w)); // System.out.println("-" + rotation);
// Quaternionf nextRotation = new Quaternionf(rotation).mul(new Quaternionf(angularMomentum.x,angularMomentum.y,angularMomentum.z,angularMomentum.w).scale(0.001f)).normalize(); Quaternionf newRotation = new Quaternionf(rotation).mul(angularVelocity).normalize();
// rotation = nextRotation; // if(new Quaternionf(newRotation).add(new Quaternionf(rotation).conjugate()).lengthSquared() > 0.2){
// rotation.mul(new Quaternionf((float)angularMomentum.x,(float)angularMomentum.y,(float)angularMomentum.z,(float)angularMomentum.w / 0.01f)); // newRotation.w = Math.copySign(newRotation.w, rotation.w);
if(ItemUtils.isItem(parent)){ // newRotation.x = Math.copySign(newRotation.x, rotation.x);
System.out.println("cumulative quat: " + cumulativeTorque); // newRotation.y = Math.copySign(newRotation.y, rotation.y);
} // newRotation.z = Math.copySign(newRotation.z, rotation.z);
rotation.x = rotation.x + rotation.x * (float)cumulativeTorque.x * 0.001f; // }
rotation.y = rotation.y + rotation.y * (float)cumulativeTorque.y * 0.001f; rotation.set(newRotation);
rotation.z = rotation.z + rotation.z * (float)cumulativeTorque.z * 0.001f; // System.out.println("=" + rotation);
rotation.w = rotation.w + rotation.w * (float)cumulativeTorque.w * 0.001f;
rotation.normalize();
} }
// if(inverseInertiaTensor != null && angularVelocity.w > 0.01){
// // Vector4f angularMomentum = inverseInertiaTensor.transform(new Vector4f((float)cumulativeTorque.x,(float)cumulativeTorque.x,(float)cumulativeTorque.x,(float)cumulativeTorque.w));
// // Quaternionf nextRotation = new Quaternionf(rotation).mul(new Quaternionf(angularMomentum.x,angularMomentum.y,angularMomentum.z,angularMomentum.w).scale(0.001f)).normalize();
// // rotation = nextRotation;
// // rotation.mul(new Quaternionf((float)angularMomentum.x,(float)angularMomentum.y,(float)angularMomentum.z,(float)angularMomentum.w / 0.01f));
// // if(ItemUtils.isItem(parent)){
// // System.out.println("cumulative quat: " + cumulativeTorque);
// // }
// rotation.x = rotation.x + rotation.x * (float)(angularVelocity.x * angularVelocity.w) * 0.01f;
// rotation.y = rotation.y + rotation.y * (float)(angularVelocity.y * angularVelocity.w) * 0.01f;
// rotation.z = rotation.z + rotation.z * (float)(angularVelocity.z * angularVelocity.w) * 0.01f;
// rotation.w = 1;
// // rotation.w = rotation.w + rotation.w * (float)cumulativeTorque.w * 0.001f;
// rotation.normalize();
// }
//the reasoning here is that if we have something above something else and it's pushing it into the terrain, //the reasoning here is that if we have something above something else and it's pushing it into the terrain,
//we should instead just not push into terrain and push along terrain //we should instead just not push into terrain and push along terrain

8
src/main/java/electrosphere/game/collision/CollisionEngine.java
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@ -106,8 +106,8 @@ public class CollisionEngine {
} }
} }
if (hit) { if (hit) {
resolveCollision(physicsObject1,physicsObject2, normal, localPosition1, magnitude); resolveCollision(physicsObject1,physicsObject2, normal, localPosition2, magnitude);
resolveCollision(physicsObject2,physicsObject1, new Vector3d(normal).mul(-1.0), localPosition2, magnitude); resolveCollision(physicsObject2,physicsObject1, new Vector3d(normal).mul(-1.0), localPosition1, magnitude);
// System.out.println("HIT + " + normal); // System.out.println("HIT + " + normal);
// Collision happened between physicsObject1 and physicsObject2. Collision normal is in variable 'normal'. // Collision happened between physicsObject1 and physicsObject2. Collision normal is in variable 'normal'.
} }
@ -146,7 +146,7 @@ public class CollisionEngine {
// System.out.println("Structure-creature collision"); // System.out.println("Structure-creature collision");
break; break;
case Collidable.TYPE_ITEM: case Collidable.TYPE_ITEM:
receiver.addImpulse(new Impulse(normal, localPosition, magnitude * 0.5, Collidable.TYPE_ITEM)); receiver.addImpulse(new Impulse(normal, localPosition, magnitude, Collidable.TYPE_ITEM));
break; break;
} }
break; break;
@ -172,7 +172,7 @@ public class CollisionEngine {
// System.out.println("Structure-creature collision"); // System.out.println("Structure-creature collision");
break; break;
case Collidable.TYPE_ITEM: case Collidable.TYPE_ITEM:
receiver.addImpulse(new Impulse(normal, localPosition, magnitude * 0.5, Collidable.TYPE_ITEM)); receiver.addImpulse(new Impulse(normal, localPosition, magnitude, Collidable.TYPE_ITEM));
break; break;
} }
break; break;

1
src/main/java/electrosphere/net/server/ServerConnectionHandler.java
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@ -105,6 +105,7 @@ public class ServerConnectionHandler implements Runnable {
newPlayerObject.setPlayerEntity(newPlayerCharacter); newPlayerObject.setPlayerEntity(newPlayerCharacter);
newPlayerObject.setWorldX(Globals.serverWorldData.convertRealToChunkSpace(Globals.spawnPoint.x)); newPlayerObject.setWorldX(Globals.serverWorldData.convertRealToChunkSpace(Globals.spawnPoint.x));
newPlayerObject.setWorldY(Globals.serverWorldData.convertRealToChunkSpace(Globals.spawnPoint.z)); newPlayerObject.setWorldY(Globals.serverWorldData.convertRealToChunkSpace(Globals.spawnPoint.z));
System.out.println(EntityUtils.getRotation(newPlayerCharacter).set(0,1,0,1).normalize());
Globals.dataCellManager.addPlayer(newPlayerObject); Globals.dataCellManager.addPlayer(newPlayerObject);
Globals.dataCellManager.movePlayer(newPlayerObject, Globals.serverWorldData.convertRealToChunkSpace(Globals.spawnPoint.x), Globals.serverWorldData.convertRealToChunkSpace(Globals.spawnPoint.z)); Globals.dataCellManager.movePlayer(newPlayerObject, Globals.serverWorldData.convertRealToChunkSpace(Globals.spawnPoint.x), Globals.serverWorldData.convertRealToChunkSpace(Globals.spawnPoint.z));
IronSightTree.attachIronSightTree(newPlayerCharacter); IronSightTree.attachIronSightTree(newPlayerCharacter);

1
src/main/java/electrosphere/util/Utilities.java
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@ -25,6 +25,7 @@ import java.util.concurrent.TimeUnit;
import java.util.logging.Level; import java.util.logging.Level;
import java.util.logging.Logger; import java.util.logging.Logger;
import org.joml.Matrix4f; import org.joml.Matrix4f;
import org.joml.Quaternionf;
import org.joml.Vector3f; import org.joml.Vector3f;
import org.lwjgl.BufferUtils; import org.lwjgl.BufferUtils;
import org.lwjgl.assimp.AIMatrix4x4; import org.lwjgl.assimp.AIMatrix4x4;