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                         *dtime = -relbox.MaxEdge.X / speed.X;
  64                         if ((relbox.MinEdge.Y + speed.Y * (*dtime) < ysize) &&
  65                                         (relbox.MaxEdge.Y + speed.Y * (*dtime) > COLL_ZERO) &&
  66                                         (relbox.MinEdge.Z + speed.Z * (*dtime) < zsize) &&
  67                                         (relbox.MaxEdge.Z + speed.Z * (*dtime) > COLL_ZERO))
  68                                 return 0;
  69                 }
  70                 else if(relbox.MinEdge.X > xsize)
  71                 {
  72                         return -1;
  73                 }
  74         }
  75         else if(speed.X < 0) // Check for collision with X+ plane
  76         {
  77                 if (relbox.MinEdge.X >= xsize - d) {
  78                         *dtime = (xsize - relbox.MinEdge.X) / speed.X;
  79                         if ((relbox.MinEdge.Y + speed.Y * (*dtime) < ysize) &&
  80                                         (relbox.MaxEdge.Y + speed.Y * (*dtime) > COLL_ZERO) &&
  81                                         (relbox.MinEdge.Z + speed.Z * (*dtime) < zsize) &&
  82                                         (relbox.MaxEdge.Z + speed.Z * (*dtime) > COLL_ZERO))
  83                                 return 0;
  84                 }
  85                 else if(relbox.MaxEdge.X < 0)
  86                 {
  87                         return -1;
  88                 }
  89         }
  90
  91         // NO else if here
  92
  93         if(speed.Y > 0) // Check for collision with Y- plane
  94         {
  95                 if (relbox.MaxEdge.Y <= d) {
  96                         *dtime = -relbox.MaxEdge.Y / speed.Y;
  97                         if ((relbox.MinEdge.X + speed.X * (*dtime) < xsize) &&
  98                                         (relbox.MaxEdge.X + speed.X * (*dtime) > COLL_ZERO) &&
  99                                         (relbox.MinEdge.Z + speed.Z * (*dtime) < zsize) &&
 100                                         (relbox.MaxEdge.Z + speed.Z * (*dtime) > COLL_ZERO))
 101                                 return 1;
 102                 }
 103                 else if(relbox.MinEdge.Y > ysize)
 104                 {
 105                         return -1;
 106                 }
 107         }
 108         else if(speed.Y < 0) // Check for collision with Y+ plane
 109         {
 110                 if (relbox.MinEdge.Y >= ysize - d) {
 111                         *dtime = (ysize - relbox.MinEdge.Y) / speed.Y;
 112                         if ((relbox.MinEdge.X + speed.X * (*dtime) < xsize) &&
 113                                         (relbox.MaxEdge.X + speed.X * (*dtime) > COLL_ZERO) &&
 114                                         (relbox.MinEdge.Z + speed.Z * (*dtime) < zsize) &&
 115                                         (relbox.MaxEdge.Z + speed.Z * (*dtime) > COLL_ZERO))
 116                                 return 1;
 117                 }
 118                 else if(relbox.MaxEdge.Y < 0)
 119                 {
 120                         return -1;
 121                 }
 122         }
 123
 124         // NO else if here
 125
 126         if(speed.Z > 0) // Check for collision with Z- plane
 127         {
 128                 if (relbox.MaxEdge.Z <= d) {
 129                         *dtime = -relbox.MaxEdge.Z / speed.Z;
 130                         if ((relbox.MinEdge.X + speed.X * (*dtime) < xsize) &&
 131                                         (relbox.MaxEdge.X + speed.X * (*dtime) > COLL_ZERO) &&
 132                                         (relbox.MinEdge.Y + speed.Y * (*dtime) < ysize) &&
 133                                         (relbox.MaxEdge.Y + speed.Y * (*dtime) > COLL_ZERO))
 134                                 return 2;
 135                 }
 136                 //else if(relbox.MinEdge.Z > zsize)
 137                 //{
 138                 //      return -1;
 139                 //}
 140         }
 141         else if(speed.Z < 0) // Check for collision with Z+ plane
 142         {
 143                 if (relbox.MinEdge.Z >= zsize - d) {
 144                         *dtime = (zsize - relbox.MinEdge.Z) / speed.Z;
 145                         if ((relbox.MinEdge.X + speed.X * (*dtime) < xsize) &&
 146                                         (relbox.MaxEdge.X + speed.X * (*dtime) > COLL_ZERO) &&
 147                                         (relbox.MinEdge.Y + speed.Y * (*dtime) < ysize) &&
 148                                         (relbox.MaxEdge.Y + speed.Y * (*dtime) > COLL_ZERO))
 149                                 return 2;
 150                 }
 151                 //else if(relbox.MaxEdge.Z < 0)
 152                 //{
 153                 //      return -1;
 154                 //}
 155         }
 156
 157         return -1;
 158 }
 159
 160 // Helper function:
 161 // Checks if moving the movingbox up by the given distance would hit a ceiling.
 162 bool wouldCollideWithCeiling(
 163                 const std::vector<aabb3f> &staticboxes,
 164                 const aabb3f &movingbox,
 165                 f32 y_increase, f32 d)
 166 {
 167         //TimeTaker tt("wouldCollideWithCeiling");
 168
 169         assert(y_increase >= 0);        // pre-condition
 170
 171         for(std::vector<aabb3f>::const_iterator
 172                         i = staticboxes.begin();
 173                         i != staticboxes.end(); ++i)
 174         {
 175                 const aabb3f& staticbox = *i;
 176                 if((movingbox.MaxEdge.Y - d <= staticbox.MinEdge.Y) &&
 177                                 (movingbox.MaxEdge.Y + y_increase > staticbox.MinEdge.Y) &&
 178                                 (movingbox.MinEdge.X < staticbox.MaxEdge.X) &&
 179                                 (movingbox.MaxEdge.X > staticbox.MinEdge.X) &&
 180                                 (movingbox.MinEdge.Z < staticbox.MaxEdge.Z) &&
 181                                 (movingbox.MaxEdge.Z > staticbox.MinEdge.Z))
 182                         return true;
 183         }
 184
 185         return false;
 186 }
 187
 188
 189 collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
 190                 f32 pos_max_d, const aabb3f &box_0,
 191                 f32 stepheight, f32 dtime,
 192                 v3f *pos_f, v3f *speed_f,
 193                 v3f accel_f, ActiveObject *self,
 194                 bool collideWithObjects)
 195 {
 196         static bool time_notification_done = false;
 197         Map *map = &env->getMap();
 198         //TimeTaker tt("collisionMoveSimple");
 199         ScopeProfiler sp(g_profiler, "collisionMoveSimple avg", SPT_AVG);
 200
 201         collisionMoveResult result;
 202
 203         /*
 204                 Calculate new velocity
 205         */
 206         if (dtime > 0.5) {
 207                 if (!time_notification_done) {
 208                         time_notification_done = true;
 209                         infostream << "collisionMoveSimple: maximum step interval exceeded,"
 210                                         " lost movement details!"<<std::endl;
 211                 }
 212                 dtime = 0.5;
 213         } else {
 214                 time_notification_done = false;
 215         }
 216         *speed_f += accel_f * dtime;
 217
 218         // If there is no speed, there are no collisions
 219         if (speed_f->getLength() == 0)
 220                 return result;
 221
 222         // Limit speed for avoiding hangs
 223         speed_f->Y = rangelim(speed_f->Y, -5000, 5000);
 224         speed_f->X = rangelim(speed_f->X, -5000, 5000);
 225         speed_f->Z = rangelim(speed_f->Z, -5000, 5000);
 226
 227         /*
 228                 Collect node boxes in movement range
 229         */
 230         std::vector<aabb3f> cboxes;
 231         std::vector<bool> is_unloaded;
 232         std::vector<bool> is_step_up;
 233         std::vector<bool> is_object;
 234         std::vector<int> bouncy_values;
 235         std::vector<v3s16> node_positions;
 236         {
 237         //TimeTaker tt2("collisionMoveSimple collect boxes");
 238     ScopeProfiler sp(g_profiler, "collisionMoveSimple collect boxes avg", SPT_AVG);
 239
 240         v3s16 oldpos_i = floatToInt(*pos_f, BS);
 241         v3s16 newpos_i = floatToInt(*pos_f + *speed_f * dtime, BS);
 242         s16 min_x = MYMIN(oldpos_i.X, newpos_i.X) + (box_0.MinEdge.X / BS) - 1;
 243         s16 min_y = MYMIN(oldpos_i.Y, newpos_i.Y) + (box_0.MinEdge.Y / BS) - 1;
 244         s16 min_z = MYMIN(oldpos_i.Z, newpos_i.Z) + (box_0.MinEdge.Z / BS) - 1;
 245         s16 max_x = MYMAX(oldpos_i.X, newpos_i.X) + (box_0.MaxEdge.X / BS) + 1;
 246         s16 max_y = MYMAX(oldpos_i.Y, newpos_i.Y) + (box_0.MaxEdge.Y / BS) + 1;
 247         s16 max_z = MYMAX(oldpos_i.Z, newpos_i.Z) + (box_0.MaxEdge.Z / BS) + 1;
 248
 249         bool any_position_valid = false;
 250
 251         for(s16 x = min_x; x <= max_x; x++)
 252         for(s16 y = min_y; y <= max_y; y++)
 253         for(s16 z = min_z; z <= max_z; z++)
 254         {
 255                 v3s16 p(x,y,z);
 256
 257                 bool is_position_valid;
 258                 MapNode n = map->getNodeNoEx(p, &is_position_valid);
 259
 260                 if (is_position_valid) {
 261                         // Object collides into walkable nodes
 262
 263                         any_position_valid = true;
 264                         const ContentFeatures &f = gamedef->getNodeDefManager()->get(n);
 265                         if(f.walkable == false)
 266                                 continue;
 267                         int n_bouncy_value = itemgroup_get(f.groups, "bouncy");
 268
 269                         std::vector<aabb3f> nodeboxes = n.getCollisionBoxes(gamedef->ndef());
 270                         for(std::vector<aabb3f>::iterator
 271                                         i = nodeboxes.begin();
 272                                         i != nodeboxes.end(); ++i)
 273                         {
 274                                 aabb3f box = *i;
 275                                 box.MinEdge += v3f(x, y, z)*BS;
 276                                 box.MaxEdge += v3f(x, y, z)*BS;
 277                                 cboxes.push_back(box);
 278                                 is_unloaded.push_back(false);
 279                                 is_step_up.push_back(false);
 280                                 bouncy_values.push_back(n_bouncy_value);
 281                                 node_positions.push_back(p);
 282                                 is_object.push_back(false);
 283                         }
 284                 }
 285                 else {
 286                         // Collide with unloaded nodes
 287                         aabb3f box = getNodeBox(p, BS);
 288                         cboxes.push_back(box);
 289                         is_unloaded.push_back(true);
 290                         is_step_up.push_back(false);
 291                         bouncy_values.push_back(0);
 292                         node_positions.push_back(p);
 293                         is_object.push_back(false);
 294                 }
 295         }
 296
 297         // Do not move if world has not loaded yet, since custom node boxes
 298         // are not available for collision detection.
 299         if (!any_position_valid)
 300                 return result;
 301
 302         } // tt2
 303
 304         if(collideWithObjects)
 305         {
 306                 ScopeProfiler sp(g_profiler, "collisionMoveSimple objects avg", SPT_AVG);
 307                 //TimeTaker tt3("collisionMoveSimple collect object boxes");
 308
 309                 /* add object boxes to cboxes */
 310
 311                 std::vector<ActiveObject*> objects;
 312 #ifndef SERVER
 313                 ClientEnvironment *c_env = dynamic_cast<ClientEnvironment*>(env);
 314                 if (c_env != 0) {
 315                         f32 distance = speed_f->getLength();
 316                         std::vector<DistanceSortedActiveObject> clientobjects;
 317                         c_env->getActiveObjects(*pos_f, distance * 1.5, clientobjects);
 318                         for (size_t i=0; i < clientobjects.size(); i++) {
 319                                 if ((self == 0) || (self != clientobjects[i].obj)) {
 320                                         objects.push_back((ActiveObject*)clientobjects[i].obj);
 321                                 }
 322                         }
 323                 }
 324                 else
 325 #endif
 326                 {
 327                         ServerEnvironment *s_env = dynamic_cast<ServerEnvironment*>(env);
 328                         if (s_env != 0) {
 329                                 f32 distance = speed_f->getLength();
 330                                 std::vector<u16> s_objects;
 331                                 s_env->getObjectsInsideRadius(s_objects, *pos_f, distance * 1.5);
 332                                 for (std::vector<u16>::iterator iter = s_objects.begin(); iter != s_objects.end(); ++iter) {
 333                                         ServerActiveObject *current = s_env->getActiveObject(*iter);
 334                                         if ((self == 0) || (self != current)) {
 335                                                 objects.push_back((ActiveObject*)current);
 336                                         }
 337                                 }
 338                         }
 339                 }
 340
 341                 for (std::vector<ActiveObject*>::const_iterator iter = objects.begin();
 342                                 iter != objects.end(); ++iter) {
 343                         ActiveObject *object = *iter;
 344
 345                         if (object != NULL) {
 346                                 aabb3f object_collisionbox;
 347                                 if (object->getCollisionBox(&object_collisionbox) &&
 348                                                 object->collideWithObjects()) {
 349                                         cboxes.push_back(object_collisionbox);
 350                                         is_unloaded.push_back(false);
 351                                         is_step_up.push_back(false);
 352                                         bouncy_values.push_back(0);
 353                                         node_positions.push_back(v3s16(0,0,0));
 354                                         is_object.push_back(true);
 355                                 }
 356                         }
 357                 }
 358         } //tt3
 359
 360         assert(cboxes.size() == is_unloaded.size());    // post-condition
 361         assert(cboxes.size() == is_step_up.size());     // post-condition
 362         assert(cboxes.size() == bouncy_values.size());  // post-condition
 363         assert(cboxes.size() == node_positions.size()); // post-condition
 364         assert(cboxes.size() == is_object.size());      // post-condition
 365
 366         /*
 367                 Collision detection
 368         */
 369
 370         /*
 371                 Collision uncertainty radius
 372                 Make it a bit larger than the maximum distance of movement
 373         */
 374         f32 d = pos_max_d * 1.1;
 375         // A fairly large value in here makes moving smoother
 376         //f32 d = 0.15*BS;
 377
 378         // This should always apply, otherwise there are glitches
 379         assert(d > pos_max_d);  // invariant
 380
 381         int loopcount = 0;
 382
 383         while(dtime > BS * 1e-10) {
 384                 //TimeTaker tt3("collisionMoveSimple dtime loop");
 385         ScopeProfiler sp(g_profiler, "collisionMoveSimple dtime loop avg", SPT_AVG);
 386
 387                 // Avoid infinite loop
 388                 loopcount++;
 389                 if (loopcount >= 100) {
 390                         warningstream << "collisionMoveSimple: Loop count exceeded, aborting to avoid infiniite loop" << std::endl;
 391                         dtime = 0;
 392                         break;
 393                 }
 394
 395                 aabb3f movingbox = box_0;
 396                 movingbox.MinEdge += *pos_f;
 397                 movingbox.MaxEdge += *pos_f;
 398
 399                 int nearest_collided = -1;
 400                 f32 nearest_dtime = dtime;
 401                 u32 nearest_boxindex = -1;
 402
 403                 /*
 404                         Go through every nodebox, find nearest collision
 405                 */
 406                 for (u32 boxindex = 0; boxindex < cboxes.size(); boxindex++) {
 407                         // Ignore if already stepped up this nodebox.
 408                         if(is_step_up[boxindex])
 409                                 continue;
 410
 411                         // Find nearest collision of the two boxes (raytracing-like)
 412                         f32 dtime_tmp;
 413                         int collided = axisAlignedCollision(
 414                                         cboxes[boxindex], movingbox, *speed_f, d, &dtime_tmp);
 415
 416                         if (collided == -1 || dtime_tmp >= nearest_dtime)
 417                                 continue;
 418
 419                         nearest_dtime = dtime_tmp;
 420                         nearest_collided = collided;
 421                         nearest_boxindex = boxindex;
 422                 }
 423
 424                 if (nearest_collided == -1) {
 425                         // No collision with any collision box.
 426                         *pos_f += *speed_f * dtime;
 427                         dtime = 0;  // Set to 0 to avoid "infinite" loop due to small FP numbers
 428                 } else {
 429                         // Otherwise, a collision occurred.
 430
 431                         const aabb3f& cbox = cboxes[nearest_boxindex];
 432                         // Check for stairs.
 433                         bool step_up = (nearest_collided != 1) && // must not be Y direction
 434                                         (movingbox.MinEdge.Y < cbox.MaxEdge.Y) &&
 435                                         (movingbox.MinEdge.Y + stepheight > cbox.MaxEdge.Y) &&
 436                                         (!wouldCollideWithCeiling(cboxes, movingbox,
 437                                                         cbox.MaxEdge.Y - movingbox.MinEdge.Y,
 438                                                         d));
 439
 440                         // Get bounce multiplier
 441                         bool bouncy = (bouncy_values[nearest_boxindex] >= 1);
 442                         float bounce = -(float)bouncy_values[nearest_boxindex] / 100.0;
 443
 444                         // Move to the point of collision and reduce dtime by nearest_dtime
 445                         if (nearest_dtime < 0) {
 446                                 // Handle negative nearest_dtime (can be caused by the d allowance)
 447                                 if (!step_up) {
 448                                         if (nearest_collided == 0)
 449                                                 pos_f->X += speed_f->X * nearest_dtime;
 450                                         if (nearest_collided == 1)
 451                                                 pos_f->Y += speed_f->Y * nearest_dtime;
 452                                         if (nearest_collided == 2)
 453                                                 pos_f->Z += speed_f->Z * nearest_dtime;
 454                                 }
 455                         } else {
 456                                 *pos_f += *speed_f * nearest_dtime;
 457                                 dtime -= nearest_dtime;
 458                         }
 459
 460                         bool is_collision = true;
 461                         if (is_unloaded[nearest_boxindex])
 462                                 is_collision = false;
 463
 464                         CollisionInfo info;
 465                         if (is_object[nearest_boxindex])
 466                                 info.type = COLLISION_OBJECT;
 467                         else
 468                                 info.type = COLLISION_NODE;
 469
 470                         info.node_p = node_positions[nearest_boxindex];
 471                         info.bouncy = bouncy;
 472                         info.old_speed = *speed_f;
 473
 474                         // Set the speed component that caused the collision to zero
 475                         if (step_up) {
 476                                 // Special case: Handle stairs
 477                                 is_step_up[nearest_boxindex] = true;
 478                                 is_collision = false;
 479                         } else if(nearest_collided == 0) { // X
 480                                 if (fabs(speed_f->X) > BS * 3)
 481                                         speed_f->X *= bounce;
 482                                 else
 483                                         speed_f->X = 0;
 484                                 result.collides = true;
 485                                 result.collides_xz = true;
 486                         }
 487                         else if(nearest_collided == 1) { // Y
 488                                 if (fabs(speed_f->Y) > BS * 3)
 489                                         speed_f->Y *= bounce;
 490                                 else
 491                                         speed_f->Y = 0;
 492                                 result.collides = true;
 493                         } else if(nearest_collided == 2) { // Z
 494                                 if (fabs(speed_f->Z) > BS * 3)
 495                                         speed_f->Z *= bounce;
 496                                 else
 497                                         speed_f->Z = 0;
 498                                 result.collides = true;
 499                                 result.collides_xz = true;
 500                         }
 501
 502                         info.new_speed = *speed_f;
 503                         if (info.new_speed.getDistanceFrom(info.old_speed) < 0.1 * BS)
 504                                 is_collision = false;
 505
 506                         if (is_collision) {
 507                                 result.collisions.push_back(info);
 508                         }
 509                 }
 510         }
 511
 512         /*
 513                 Final touches: Check if standing on ground, step up stairs.
 514         */
 515         aabb3f box = box_0;
 516         box.MinEdge += *pos_f;
 517         box.MaxEdge += *pos_f;
 518         for (u32 boxindex = 0; boxindex < cboxes.size(); boxindex++) {
 519                 const aabb3f& cbox = cboxes[boxindex];
 520
 521                 /*
 522                         See if the object is touching ground.
 523
 524                         Object touches ground if object's minimum Y is near node's
 525                         maximum Y and object's X-Z-area overlaps with the node's
 526                         X-Z-area.
 527
 528                         Use 0.15*BS so that it is easier to get on a node.
 529                 */
 530                 if (cbox.MaxEdge.X - d > box.MinEdge.X && cbox.MinEdge.X + d < box.MaxEdge.X &&
 531                                 cbox.MaxEdge.Z - d > box.MinEdge.Z &&
 532                                 cbox.MinEdge.Z + d < box.MaxEdge.Z) {
 533                         if (is_step_up[boxindex]) {
 534                                 pos_f->Y += (cbox.MaxEdge.Y - box.MinEdge.Y);
 535                                 box = box_0;
 536                                 box.MinEdge += *pos_f;
 537                                 box.MaxEdge += *pos_f;
 538                         }
 539                         if (fabs(cbox.MaxEdge.Y - box.MinEdge.Y) < 0.15 * BS) {
 540                                 result.touching_ground = true;
 541
 542                                 if (is_object[boxindex])
 543                                         result.standing_on_object = true;
 544                                 if (is_unloaded[boxindex])
 545                                         result.standing_on_unloaded = true;
 546                         }
 547                 }
 548         }
 549
 550         return result;
 551 }