src/collision.cpp

   1 /*
   2 Minetest
   3 Copyright (C) 2013 celeron55, Perttu Ahola <celeron55@gmail.com>
   4
   5 This program is free software; you can redistribute it and/or modify
   6 it under the terms of the GNU Lesser General Public License as published by
   7 the Free Software Foundation; either version 2.1 of the License, or
   8 (at your option) any later version.
   9
  10 This program is distributed in the hope that it will be useful,
  11 but WITHOUT ANY WARRANTY; without even the implied warranty of
  12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13 GNU Lesser General Public License for more details.
  14
  15 You should have received a copy of the GNU Lesser General Public License along
  16 with this program; if not, write to the Free Software Foundation, Inc.,
  17 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
  18 */
  19
  20 #include "collision.h"
  21 #include "mapblock.h"
  22 #include "map.h"
  23 #include "nodedef.h"
  24 #include "gamedef.h"
  25 #include "log.h"
  26 #include "environment.h"
  27 #include "serverobject.h"
  28 #include <vector>
  29 #include <set>
  30 #include "util/timetaker.h"
  31 #include "profiler.h"
  32
  33 // float error is 10 - 9.96875 = 0.03125
  34 //#define COLL_ZERO 0.032 // broken unit tests
  35 #define COLL_ZERO 0
  36
  37 // Helper function:
  38 // Checks for collision of a moving aabbox with a static aabbox
  39 // Returns -1 if no collision, 0 if X collision, 1 if Y collision, 2 if Z collision
  40 // The time after which the collision occurs is stored in dtime.
  41 int axisAlignedCollision(
  42                 const aabb3f &staticbox, const aabb3f &movingbox,
  43                 const v3f &speed, f32 d, f32 &dtime)
  44 {
  45         //TimeTaker tt("axisAlignedCollision");
  46
  47         f32 xsize = (staticbox.MaxEdge.X - staticbox.MinEdge.X) - COLL_ZERO;     // reduce box size for solve collision stuck (flying sand)
  48         f32 ysize = (staticbox.MaxEdge.Y - staticbox.MinEdge.Y); // - COLL_ZERO; // Y - no sense for falling, but maybe try later
  49         f32 zsize = (staticbox.MaxEdge.Z - staticbox.MinEdge.Z) - COLL_ZERO;
  50
  51         aabb3f relbox(
  52                         movingbox.MinEdge.X - staticbox.MinEdge.X,
  53                         movingbox.MinEdge.Y - staticbox.MinEdge.Y,
  54                         movingbox.MinEdge.Z - staticbox.MinEdge.Z,
  55                         movingbox.MaxEdge.X - staticbox.MinEdge.X,
  56                         movingbox.MaxEdge.Y - staticbox.MinEdge.Y,
  57                         movingbox.MaxEdge.Z - staticbox.MinEdge.Z
  58         );
  59
  60         if(speed.X > 0) // Check for collision with X- plane
  61         {
  62                 if(relbox.MaxEdge.X <= d)
  63                 {
  64                         dtime = - relbox.MaxEdge.X / speed.X;
  65                         if((relbox.MinEdge.Y + speed.Y * dtime < ysize) &&
  66                                         (relbox.MaxEdge.Y + speed.Y * dtime > COLL_ZERO) &&
  67                                         (relbox.MinEdge.Z + speed.Z * dtime < zsize) &&
  68                                         (relbox.MaxEdge.Z + speed.Z * dtime > COLL_ZERO))
  69                                 return 0;
  70                 }
  71                 else if(relbox.MinEdge.X > xsize)
  72                 {
  73                         return -1;
  74                 }
  75         }
  76         else if(speed.X < 0) // Check for collision with X+ plane
  77         {
  78                 if(relbox.MinEdge.X >= xsize - d)
  79                 {
  80                         dtime = (xsize - relbox.MinEdge.X) / speed.X;
  81                         if((relbox.MinEdge.Y + speed.Y * dtime < ysize) &&
  82                                         (relbox.MaxEdge.Y + speed.Y * dtime > COLL_ZERO) &&
  83                                         (relbox.MinEdge.Z + speed.Z * dtime < zsize) &&
  84                                         (relbox.MaxEdge.Z + speed.Z * dtime > COLL_ZERO))
  85                                 return 0;
  86                 }
  87                 else if(relbox.MaxEdge.X < 0)
  88                 {
  89                         return -1;
  90                 }
  91         }
  92
  93         // NO else if here
  94
  95         if(speed.Y > 0) // Check for collision with Y- plane
  96         {
  97                 if(relbox.MaxEdge.Y <= d)
  98                 {
  99                         dtime = - relbox.MaxEdge.Y / speed.Y;
 100                         if((relbox.MinEdge.X + speed.X * dtime < xsize) &&
 101                                         (relbox.MaxEdge.X + speed.X * dtime > COLL_ZERO) &&
 102                                         (relbox.MinEdge.Z + speed.Z * dtime < zsize) &&
 103                                         (relbox.MaxEdge.Z + speed.Z * dtime > COLL_ZERO))
 104                                 return 1;
 105                 }
 106                 else if(relbox.MinEdge.Y > ysize)
 107                 {
 108                         return -1;
 109                 }
 110         }
 111         else if(speed.Y < 0) // Check for collision with Y+ plane
 112         {
 113                 if(relbox.MinEdge.Y >= ysize - d)
 114                 {
 115                         dtime = (ysize - relbox.MinEdge.Y) / speed.Y;
 116                         if((relbox.MinEdge.X + speed.X * dtime < xsize) &&
 117                                         (relbox.MaxEdge.X + speed.X * dtime > COLL_ZERO) &&
 118                                         (relbox.MinEdge.Z + speed.Z * dtime < zsize) &&
 119                                         (relbox.MaxEdge.Z + speed.Z * dtime > COLL_ZERO))
 120                                 return 1;
 121                 }
 122                 else if(relbox.MaxEdge.Y < 0)
 123                 {
 124                         return -1;
 125                 }
 126         }
 127
 128         // NO else if here
 129
 130         if(speed.Z > 0) // Check for collision with Z- plane
 131         {
 132                 if(relbox.MaxEdge.Z <= d)
 133                 {
 134                         dtime = - relbox.MaxEdge.Z / speed.Z;
 135                         if((relbox.MinEdge.X + speed.X * dtime < xsize) &&
 136                                         (relbox.MaxEdge.X + speed.X * dtime > COLL_ZERO) &&
 137                                         (relbox.MinEdge.Y + speed.Y * dtime < ysize) &&
 138                                         (relbox.MaxEdge.Y + speed.Y * dtime > COLL_ZERO))
 139                                 return 2;
 140                 }
 141                 //else if(relbox.MinEdge.Z > zsize)
 142                 //{
 143                 //      return -1;
 144                 //}
 145         }
 146         else if(speed.Z < 0) // Check for collision with Z+ plane
 147         {
 148                 if(relbox.MinEdge.Z >= zsize - d)
 149                 {
 150                         dtime = (zsize - relbox.MinEdge.Z) / speed.Z;
 151                         if((relbox.MinEdge.X + speed.X * dtime < xsize) &&
 152                                         (relbox.MaxEdge.X + speed.X * dtime > COLL_ZERO) &&
 153                                         (relbox.MinEdge.Y + speed.Y * dtime < ysize) &&
 154                                         (relbox.MaxEdge.Y + speed.Y * dtime > COLL_ZERO))
 155                                 return 2;
 156                 }
 157                 //else if(relbox.MaxEdge.Z < 0)
 158                 //{
 159                 //      return -1;
 160                 //}
 161         }
 162
 163         return -1;
 164 }
 165
 166 // Helper function:
 167 // Checks if moving the movingbox up by the given distance would hit a ceiling.
 168 bool wouldCollideWithCeiling(
 169                 const std::vector<aabb3f> &staticboxes,
 170                 const aabb3f &movingbox,
 171                 f32 y_increase, f32 d)
 172 {
 173         //TimeTaker tt("wouldCollideWithCeiling");
 174
 175         assert(y_increase >= 0);        // pre-condition
 176
 177         for(std::vector<aabb3f>::const_iterator
 178                         i = staticboxes.begin();
 179                         i != staticboxes.end(); ++i)
 180         {
 181                 const aabb3f& staticbox = *i;
 182                 if((movingbox.MaxEdge.Y - d <= staticbox.MinEdge.Y) &&
 183                                 (movingbox.MaxEdge.Y + y_increase > staticbox.MinEdge.Y) &&
 184                                 (movingbox.MinEdge.X < staticbox.MaxEdge.X) &&
 185                                 (movingbox.MaxEdge.X > staticbox.MinEdge.X) &&
 186                                 (movingbox.MinEdge.Z < staticbox.MaxEdge.Z) &&
 187                                 (movingbox.MaxEdge.Z > staticbox.MinEdge.Z))
 188                         return true;
 189         }
 190
 191         return false;
 192 }
 193
 194
 195 collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
 196                 f32 pos_max_d, const aabb3f &box_0,
 197                 f32 stepheight, f32 dtime,
 198                 v3f &pos_f, v3f &speed_f,
 199                 v3f &accel_f,ActiveObject* self,
 200                 bool collideWithObjects)
 201 {
 202         Map *map = &env->getMap();
 203         //TimeTaker tt("collisionMoveSimple");
 204     ScopeProfiler sp(g_profiler, "collisionMoveSimple avg", SPT_AVG);
 205
 206         collisionMoveResult result;
 207
 208         /*
 209                 Calculate new velocity
 210         */
 211         if( dtime > 0.5 ) {
 212                 warningstream<<"collisionMoveSimple: maximum step interval exceeded, lost movement details!"<<std::endl;
 213                 dtime = 0.5;
 214         }
 215         speed_f += accel_f * dtime;
 216
 217         // If there is no speed, there are no collisions
 218         if(speed_f.getLength() == 0)
 219                 return result;
 220
 221         // Limit speed for avoiding hangs
 222         speed_f.Y=rangelim(speed_f.Y,-5000,5000);
 223         speed_f.X=rangelim(speed_f.X,-5000,5000);
 224         speed_f.Z=rangelim(speed_f.Z,-5000,5000);
 225
 226         /*
 227                 Collect node boxes in movement range
 228         */
 229         std::vector<aabb3f> cboxes;
 230         std::vector<bool> is_unloaded;
 231         std::vector<bool> is_step_up;
 232         std::vector<bool> is_object;
 233         std::vector<int> bouncy_values;
 234         std::vector<v3s16> node_positions;
 235         {
 236         //TimeTaker tt2("collisionMoveSimple collect boxes");
 237     ScopeProfiler sp(g_profiler, "collisionMoveSimple collect boxes avg", SPT_AVG);
 238
 239         v3s16 oldpos_i = floatToInt(pos_f, BS);
 240         v3s16 newpos_i = floatToInt(pos_f + speed_f * dtime, BS);
 241         s16 min_x = MYMIN(oldpos_i.X, newpos_i.X) + (box_0.MinEdge.X / BS) - 1;
 242         s16 min_y = MYMIN(oldpos_i.Y, newpos_i.Y) + (box_0.MinEdge.Y / BS) - 1;
 243         s16 min_z = MYMIN(oldpos_i.Z, newpos_i.Z) + (box_0.MinEdge.Z / BS) - 1;
 244         s16 max_x = MYMAX(oldpos_i.X, newpos_i.X) + (box_0.MaxEdge.X / BS) + 1;
 245         s16 max_y = MYMAX(oldpos_i.Y, newpos_i.Y) + (box_0.MaxEdge.Y / BS) + 1;
 246         s16 max_z = MYMAX(oldpos_i.Z, newpos_i.Z) + (box_0.MaxEdge.Z / BS) + 1;
 247
 248         bool any_position_valid = false;
 249
 250         for(s16 x = min_x; x <= max_x; x++)
 251         for(s16 y = min_y; y <= max_y; y++)
 252         for(s16 z = min_z; z <= max_z; z++)
 253         {
 254                 v3s16 p(x,y,z);
 255
 256                 bool is_position_valid;
 257                 MapNode n = map->getNodeNoEx(p, &is_position_valid);
 258
 259                 if (is_position_valid) {
 260                         // Object collides into walkable nodes
 261
 262                         any_position_valid = true;
 263                         const ContentFeatures &f = gamedef->getNodeDefManager()->get(n);
 264                         if(f.walkable == false)
 265                                 continue;
 266                         int n_bouncy_value = itemgroup_get(f.groups, "bouncy");
 267
 268                         std::vector<aabb3f> nodeboxes = n.getCollisionBoxes(gamedef->ndef());
 269                         for(std::vector<aabb3f>::iterator
 270                                         i = nodeboxes.begin();
 271                                         i != nodeboxes.end(); ++i)
 272                         {
 273                                 aabb3f box = *i;
 274                                 box.MinEdge += v3f(x, y, z)*BS;
 275                                 box.MaxEdge += v3f(x, y, z)*BS;
 276                                 cboxes.push_back(box);
 277                                 is_unloaded.push_back(false);
 278                                 is_step_up.push_back(false);
 279                                 bouncy_values.push_back(n_bouncy_value);
 280                                 node_positions.push_back(p);
 281                                 is_object.push_back(false);
 282                         }
 283                 }
 284                 else {
 285                         // Collide with unloaded nodes
 286                         aabb3f box = getNodeBox(p, BS);
 287                         cboxes.push_back(box);
 288                         is_unloaded.push_back(true);
 289                         is_step_up.push_back(false);
 290                         bouncy_values.push_back(0);
 291                         node_positions.push_back(p);
 292                         is_object.push_back(false);
 293                 }
 294         }
 295
 296         // Do not move if world has not loaded yet, since custom node boxes
 297         // are not available for collision detection.
 298         if (!any_position_valid)
 299                 return result;
 300
 301         } // tt2
 302
 303         if(collideWithObjects)
 304         {
 305                 ScopeProfiler sp(g_profiler, "collisionMoveSimple objects avg", SPT_AVG);
 306                 //TimeTaker tt3("collisionMoveSimple collect object boxes");
 307
 308                 /* add object boxes to cboxes */
 309
 310                 std::vector<ActiveObject*> objects;
 311 #ifndef SERVER
 312                 ClientEnvironment *c_env = dynamic_cast<ClientEnvironment*>(env);
 313                 if (c_env != 0) {
 314                         f32 distance = speed_f.getLength();
 315                         std::vector<DistanceSortedActiveObject> clientobjects;
 316                         c_env->getActiveObjects(pos_f,distance * 1.5,clientobjects);
 317                         for (size_t i=0; i < clientobjects.size(); i++) {
 318                                 if ((self == 0) || (self != clientobjects[i].obj)) {
 319                                         objects.push_back((ActiveObject*)clientobjects[i].obj);
 320                                 }
 321                         }
 322                 }
 323                 else
 324 #endif
 325                 {
 326                         ServerEnvironment *s_env = dynamic_cast<ServerEnvironment*>(env);
 327                         if (s_env != 0) {
 328                                 f32 distance = speed_f.getLength();
 329                                 std::vector<u16> s_objects;
 330                                 s_env->getObjectsInsideRadius(s_objects, pos_f, distance * 1.5);
 331                                 for (std::vector<u16>::iterator iter = s_objects.begin(); iter != s_objects.end(); ++iter) {
 332                                         ServerActiveObject *current = s_env->getActiveObject(*iter);
 333                                         if ((self == 0) || (self != current)) {
 334                                                 objects.push_back((ActiveObject*)current);
 335                                         }
 336                                 }
 337                         }
 338                 }
 339
 340                 for (std::vector<ActiveObject*>::const_iterator iter = objects.begin();
 341                                 iter != objects.end(); ++iter) {
 342                         ActiveObject *object = *iter;
 343
 344                         if (object != NULL) {
 345                                 aabb3f object_collisionbox;
 346                                 if (object->getCollisionBox(&object_collisionbox) &&
 347                                                 object->collideWithObjects()) {
 348                                         cboxes.push_back(object_collisionbox);
 349                                         is_unloaded.push_back(false);
 350                                         is_step_up.push_back(false);
 351                                         bouncy_values.push_back(0);
 352                                         node_positions.push_back(v3s16(0,0,0));
 353                                         is_object.push_back(true);
 354                                 }
 355                         }
 356                 }
 357         } //tt3
 358
 359         assert(cboxes.size() == is_unloaded.size());    // post-condition
 360         assert(cboxes.size() == is_step_up.size());     // post-condition
 361         assert(cboxes.size() == bouncy_values.size());  // post-condition
 362         assert(cboxes.size() == node_positions.size()); // post-condition
 363         assert(cboxes.size() == is_object.size());      // post-condition
 364
 365         /*
 366                 Collision detection
 367         */
 368
 369         /*
 370                 Collision uncertainty radius
 371                 Make it a bit larger than the maximum distance of movement
 372         */
 373         f32 d = pos_max_d * 1.1;
 374         // A fairly large value in here makes moving smoother
 375         //f32 d = 0.15*BS;
 376
 377         // This should always apply, otherwise there are glitches
 378         assert(d > pos_max_d);  // invariant
 379
 380         int loopcount = 0;
 381
 382         while(dtime > BS * 1e-10) {
 383                 //TimeTaker tt3("collisionMoveSimple dtime loop");
 384         ScopeProfiler sp(g_profiler, "collisionMoveSimple dtime loop avg", SPT_AVG);
 385
 386                 // Avoid infinite loop
 387                 loopcount++;
 388                 if (loopcount >= 100) {
 389                         warningstream << "collisionMoveSimple: Loop count exceeded, aborting to avoid infiniite loop" << std::endl;
 390                         dtime = 0;
 391                         break;
 392                 }
 393
 394                 aabb3f movingbox = box_0;
 395                 movingbox.MinEdge += pos_f;
 396                 movingbox.MaxEdge += pos_f;
 397
 398                 int nearest_collided = -1;
 399                 f32 nearest_dtime = dtime;
 400                 u32 nearest_boxindex = -1;
 401
 402                 /*
 403                         Go through every nodebox, find nearest collision
 404                 */
 405                 for (u32 boxindex = 0; boxindex < cboxes.size(); boxindex++) {
 406                         // Ignore if already stepped up this nodebox.
 407                         if(is_step_up[boxindex])
 408                                 continue;
 409
 410                         // Find nearest collision of the two boxes (raytracing-like)
 411                         f32 dtime_tmp;
 412                         int collided = axisAlignedCollision(
 413                                         cboxes[boxindex], movingbox, speed_f, d, dtime_tmp);
 414
 415                         if (collided == -1 || dtime_tmp >= nearest_dtime)
 416                                 continue;
 417
 418                         nearest_dtime = dtime_tmp;
 419                         nearest_collided = collided;
 420                         nearest_boxindex = boxindex;
 421                 }
 422
 423                 if (nearest_collided == -1) {
 424                         // No collision with any collision box.
 425                         pos_f += speed_f * dtime;
 426                         dtime = 0;  // Set to 0 to avoid "infinite" loop due to small FP numbers
 427                 } else {
 428                         // Otherwise, a collision occurred.
 429
 430                         const aabb3f& cbox = cboxes[nearest_boxindex];
 431                         // Check for stairs.
 432                         bool step_up = (nearest_collided != 1) && // must not be Y direction
 433                                         (movingbox.MinEdge.Y < cbox.MaxEdge.Y) &&
 434                                         (movingbox.MinEdge.Y + stepheight > cbox.MaxEdge.Y) &&
 435                                         (!wouldCollideWithCeiling(cboxes, movingbox,
 436                                                         cbox.MaxEdge.Y - movingbox.MinEdge.Y,
 437                                                         d));
 438
 439                         // Get bounce multiplier
 440                         bool bouncy = (bouncy_values[nearest_boxindex] >= 1);
 441                         float bounce = -(float)bouncy_values[nearest_boxindex] / 100.0;
 442
 443                         // Move to the point of collision and reduce dtime by nearest_dtime
 444                         if (nearest_dtime < 0) {
 445                                 // Handle negative nearest_dtime (can be caused by the d allowance)
 446                                 if (!step_up) {
 447                                         if (nearest_collided == 0)
 448                                                 pos_f.X += speed_f.X * nearest_dtime;
 449                                         if (nearest_collided == 1)
 450                                                 pos_f.Y += speed_f.Y * nearest_dtime;
 451                                         if (nearest_collided == 2)
 452                                                 pos_f.Z += speed_f.Z * nearest_dtime;
 453                                 }
 454                         } else {
 455                                 pos_f += speed_f * nearest_dtime;
 456                                 dtime -= nearest_dtime;
 457                         }
 458
 459                         bool is_collision = true;
 460                         if (is_unloaded[nearest_boxindex])
 461                                 is_collision = false;
 462
 463                         CollisionInfo info;
 464                         if (is_object[nearest_boxindex])
 465                                 info.type = COLLISION_OBJECT;
 466                         else
 467                                 info.type = COLLISION_NODE;
 468
 469                         info.node_p = node_positions[nearest_boxindex];
 470                         info.bouncy = bouncy;
 471                         info.old_speed = speed_f;
 472
 473                         // Set the speed component that caused the collision to zero
 474                         if (step_up) {
 475                                 // Special case: Handle stairs
 476                                 is_step_up[nearest_boxindex] = true;
 477                                 is_collision = false;
 478                         } else if(nearest_collided == 0) { // X
 479                                 if (fabs(speed_f.X) > BS * 3)
 480                                         speed_f.X *= bounce;
 481                                 else
 482                                         speed_f.X = 0;
 483                                 result.collides = true;
 484                                 result.collides_xz = true;
 485                         }
 486                         else if(nearest_collided == 1) { // Y
 487                                 if(fabs(speed_f.Y) > BS * 3)
 488                                         speed_f.Y *= bounce;
 489                                 else
 490                                         speed_f.Y = 0;
 491                                 result.collides = true;
 492                         } else if(nearest_collided == 2) { // Z
 493                                 if (fabs(speed_f.Z) > BS * 3)
 494                                         speed_f.Z *= bounce;
 495                                 else
 496                                         speed_f.Z = 0;
 497                                 result.collides = true;
 498                                 result.collides_xz = true;
 499                         }
 500
 501                         info.new_speed = speed_f;
 502                         if (info.new_speed.getDistanceFrom(info.old_speed) < 0.1 * BS)
 503                                 is_collision = false;
 504
 505                         if (is_collision) {
 506                                 result.collisions.push_back(info);
 507                         }
 508                 }
 509         }
 510
 511         /*
 512                 Final touches: Check if standing on ground, step up stairs.
 513         */
 514         aabb3f box = box_0;
 515         box.MinEdge += pos_f;
 516         box.MaxEdge += pos_f;
 517         for (u32 boxindex = 0; boxindex < cboxes.size(); boxindex++) {
 518                 const aabb3f& cbox = cboxes[boxindex];
 519
 520                 /*
 521                         See if the object is touching ground.
 522
 523                         Object touches ground if object's minimum Y is near node's
 524                         maximum Y and object's X-Z-area overlaps with the node's
 525                         X-Z-area.
 526
 527                         Use 0.15*BS so that it is easier to get on a node.
 528                 */
 529                 if (cbox.MaxEdge.X - d > box.MinEdge.X && cbox.MinEdge.X + d < box.MaxEdge.X &&
 530                                 cbox.MaxEdge.Z - d > box.MinEdge.Z &&
 531                                 cbox.MinEdge.Z + d < box.MaxEdge.Z) {
 532                         if (is_step_up[boxindex]) {
 533                                 pos_f.Y += (cbox.MaxEdge.Y - box.MinEdge.Y);
 534                                 box = box_0;
 535                                 box.MinEdge += pos_f;
 536                                 box.MaxEdge += pos_f;
 537                         }
 538                         if (fabs(cbox.MaxEdge.Y - box.MinEdge.Y) < 0.15 * BS) {
 539                                 result.touching_ground = true;
 540
 541                                 if (is_object[boxindex])
 542                                         result.standing_on_object = true;
 543                                 if (is_unloaded[boxindex])
 544                                         result.standing_on_unloaded = true;
 545                         }
 546                 }
 547         }
 548
 549         return result;
 550 }