X-Git-Url: https://git.lizzy.rs/?a=blobdiff_plain;f=src%2Fcollision.cpp;h=a2d17d51ab50b554884ffb112807e084a4cb76ed;hb=60dc01dc258db842e229351b871d0989e3e7d62c;hp=f8db42d2690ebe5649313200cc5964157f556670;hpb=037b2591971d752e67fa7d47095b996b3f56da5a;p=minetest.git diff --git a/src/collision.cpp b/src/collision.cpp index f8db42d26..a2d17d51a 100644 --- a/src/collision.cpp +++ b/src/collision.cpp @@ -1,6 +1,6 @@ /* -Minetest-c55 -Copyright (C) 2010 celeron55, Perttu Ahola +Minetest +Copyright (C) 2013 celeron55, Perttu Ahola This program is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by @@ -22,32 +22,352 @@ with this program; if not, write to the Free Software Foundation, Inc., #include "map.h" #include "nodedef.h" #include "gamedef.h" +#include "log.h" +#include "environment.h" +#include "serverobject.h" +#include +#include +#include "util/timetaker.h" +#include "profiler.h" -collisionMoveResult collisionMoveSimple(Map *map, IGameDef *gamedef, - f32 pos_max_d, const core::aabbox3d &box_0, - f32 dtime, v3f &pos_f, v3f &speed_f) +// float error is 10 - 9.96875 = 0.03125 +//#define COLL_ZERO 0.032 // broken unit tests +#define COLL_ZERO 0 + +// Helper function: +// Checks for collision of a moving aabbox with a static aabbox +// Returns -1 if no collision, 0 if X collision, 1 if Y collision, 2 if Z collision +// The time after which the collision occurs is stored in dtime. +int axisAlignedCollision( + const aabb3f &staticbox, const aabb3f &movingbox, + const v3f &speed, f32 d, f32 *dtime) +{ + //TimeTaker tt("axisAlignedCollision"); + + f32 xsize = (staticbox.MaxEdge.X - staticbox.MinEdge.X) - COLL_ZERO; // reduce box size for solve collision stuck (flying sand) + f32 ysize = (staticbox.MaxEdge.Y - staticbox.MinEdge.Y); // - COLL_ZERO; // Y - no sense for falling, but maybe try later + f32 zsize = (staticbox.MaxEdge.Z - staticbox.MinEdge.Z) - COLL_ZERO; + + aabb3f relbox( + movingbox.MinEdge.X - staticbox.MinEdge.X, + movingbox.MinEdge.Y - staticbox.MinEdge.Y, + movingbox.MinEdge.Z - staticbox.MinEdge.Z, + movingbox.MaxEdge.X - staticbox.MinEdge.X, + movingbox.MaxEdge.Y - staticbox.MinEdge.Y, + movingbox.MaxEdge.Z - staticbox.MinEdge.Z + ); + + if(speed.X > 0) // Check for collision with X- plane + { + if (relbox.MaxEdge.X <= d) { + *dtime = -relbox.MaxEdge.X / speed.X; + if ((relbox.MinEdge.Y + speed.Y * (*dtime) < ysize) && + (relbox.MaxEdge.Y + speed.Y * (*dtime) > COLL_ZERO) && + (relbox.MinEdge.Z + speed.Z * (*dtime) < zsize) && + (relbox.MaxEdge.Z + speed.Z * (*dtime) > COLL_ZERO)) + return 0; + } + else if(relbox.MinEdge.X > xsize) + { + return -1; + } + } + else if(speed.X < 0) // Check for collision with X+ plane + { + if (relbox.MinEdge.X >= xsize - d) { + *dtime = (xsize - relbox.MinEdge.X) / speed.X; + if ((relbox.MinEdge.Y + speed.Y * (*dtime) < ysize) && + (relbox.MaxEdge.Y + speed.Y * (*dtime) > COLL_ZERO) && + (relbox.MinEdge.Z + speed.Z * (*dtime) < zsize) && + (relbox.MaxEdge.Z + speed.Z * (*dtime) > COLL_ZERO)) + return 0; + } + else if(relbox.MaxEdge.X < 0) + { + return -1; + } + } + + // NO else if here + + if(speed.Y > 0) // Check for collision with Y- plane + { + if (relbox.MaxEdge.Y <= d) { + *dtime = -relbox.MaxEdge.Y / speed.Y; + if ((relbox.MinEdge.X + speed.X * (*dtime) < xsize) && + (relbox.MaxEdge.X + speed.X * (*dtime) > COLL_ZERO) && + (relbox.MinEdge.Z + speed.Z * (*dtime) < zsize) && + (relbox.MaxEdge.Z + speed.Z * (*dtime) > COLL_ZERO)) + return 1; + } + else if(relbox.MinEdge.Y > ysize) + { + return -1; + } + } + else if(speed.Y < 0) // Check for collision with Y+ plane + { + if (relbox.MinEdge.Y >= ysize - d) { + *dtime = (ysize - relbox.MinEdge.Y) / speed.Y; + if ((relbox.MinEdge.X + speed.X * (*dtime) < xsize) && + (relbox.MaxEdge.X + speed.X * (*dtime) > COLL_ZERO) && + (relbox.MinEdge.Z + speed.Z * (*dtime) < zsize) && + (relbox.MaxEdge.Z + speed.Z * (*dtime) > COLL_ZERO)) + return 1; + } + else if(relbox.MaxEdge.Y < 0) + { + return -1; + } + } + + // NO else if here + + if(speed.Z > 0) // Check for collision with Z- plane + { + if (relbox.MaxEdge.Z <= d) { + *dtime = -relbox.MaxEdge.Z / speed.Z; + if ((relbox.MinEdge.X + speed.X * (*dtime) < xsize) && + (relbox.MaxEdge.X + speed.X * (*dtime) > COLL_ZERO) && + (relbox.MinEdge.Y + speed.Y * (*dtime) < ysize) && + (relbox.MaxEdge.Y + speed.Y * (*dtime) > COLL_ZERO)) + return 2; + } + //else if(relbox.MinEdge.Z > zsize) + //{ + // return -1; + //} + } + else if(speed.Z < 0) // Check for collision with Z+ plane + { + if (relbox.MinEdge.Z >= zsize - d) { + *dtime = (zsize - relbox.MinEdge.Z) / speed.Z; + if ((relbox.MinEdge.X + speed.X * (*dtime) < xsize) && + (relbox.MaxEdge.X + speed.X * (*dtime) > COLL_ZERO) && + (relbox.MinEdge.Y + speed.Y * (*dtime) < ysize) && + (relbox.MaxEdge.Y + speed.Y * (*dtime) > COLL_ZERO)) + return 2; + } + //else if(relbox.MaxEdge.Z < 0) + //{ + // return -1; + //} + } + + return -1; +} + +// Helper function: +// Checks if moving the movingbox up by the given distance would hit a ceiling. +bool wouldCollideWithCeiling( + const std::vector &staticboxes, + const aabb3f &movingbox, + f32 y_increase, f32 d) +{ + //TimeTaker tt("wouldCollideWithCeiling"); + + assert(y_increase >= 0); // pre-condition + + for(std::vector::const_iterator + i = staticboxes.begin(); + i != staticboxes.end(); ++i) + { + const aabb3f& staticbox = *i; + if((movingbox.MaxEdge.Y - d <= staticbox.MinEdge.Y) && + (movingbox.MaxEdge.Y + y_increase > staticbox.MinEdge.Y) && + (movingbox.MinEdge.X < staticbox.MaxEdge.X) && + (movingbox.MaxEdge.X > staticbox.MinEdge.X) && + (movingbox.MinEdge.Z < staticbox.MaxEdge.Z) && + (movingbox.MaxEdge.Z > staticbox.MinEdge.Z)) + return true; + } + + return false; +} + + +collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef, + f32 pos_max_d, const aabb3f &box_0, + f32 stepheight, f32 dtime, + v3f *pos_f, v3f *speed_f, + v3f accel_f, ActiveObject *self, + bool collideWithObjects) { + static bool time_notification_done = false; + Map *map = &env->getMap(); + //TimeTaker tt("collisionMoveSimple"); + ScopeProfiler sp(g_profiler, "collisionMoveSimple avg", SPT_AVG); + collisionMoveResult result; + /* + Calculate new velocity + */ + if (dtime > 0.5) { + if (!time_notification_done) { + time_notification_done = true; + infostream << "collisionMoveSimple: maximum step interval exceeded," + " lost movement details!"<getLength() == 0) return result; - v3f oldpos_f = pos_f; - v3s16 oldpos_i = floatToInt(oldpos_f, BS); + // Limit speed for avoiding hangs + speed_f->Y = rangelim(speed_f->Y, -5000, 5000); + speed_f->X = rangelim(speed_f->X, -5000, 5000); + speed_f->Z = rangelim(speed_f->Z, -5000, 5000); /* - Calculate new position + Collect node boxes in movement range */ - pos_f += speed_f * dtime; + std::vector cboxes; + std::vector is_unloaded; + std::vector is_step_up; + std::vector is_object; + std::vector bouncy_values; + std::vector node_positions; + { + //TimeTaker tt2("collisionMoveSimple collect boxes"); + ScopeProfiler sp(g_profiler, "collisionMoveSimple collect boxes avg", SPT_AVG); + + v3s16 oldpos_i = floatToInt(*pos_f, BS); + v3s16 newpos_i = floatToInt(*pos_f + *speed_f * dtime, BS); + s16 min_x = MYMIN(oldpos_i.X, newpos_i.X) + (box_0.MinEdge.X / BS) - 1; + s16 min_y = MYMIN(oldpos_i.Y, newpos_i.Y) + (box_0.MinEdge.Y / BS) - 1; + s16 min_z = MYMIN(oldpos_i.Z, newpos_i.Z) + (box_0.MinEdge.Z / BS) - 1; + s16 max_x = MYMAX(oldpos_i.X, newpos_i.X) + (box_0.MaxEdge.X / BS) + 1; + s16 max_y = MYMAX(oldpos_i.Y, newpos_i.Y) + (box_0.MaxEdge.Y / BS) + 1; + s16 max_z = MYMAX(oldpos_i.Z, newpos_i.Z) + (box_0.MaxEdge.Z / BS) + 1; + + bool any_position_valid = false; + + // The order is important here, must be y first + for(s16 y = max_y; y >= min_y; y--) + for(s16 x = min_x; x <= max_x; x++) + for(s16 z = min_z; z <= max_z; z++) + { + v3s16 p(x,y,z); + + bool is_position_valid; + MapNode n = map->getNodeNoEx(p, &is_position_valid); + + if (is_position_valid) { + // Object collides into walkable nodes + + any_position_valid = true; + const ContentFeatures &f = gamedef->getNodeDefManager()->get(n); + if(f.walkable == false) + continue; + int n_bouncy_value = itemgroup_get(f.groups, "bouncy"); + + std::vector nodeboxes = n.getCollisionBoxes(gamedef->ndef()); + for(std::vector::iterator + i = nodeboxes.begin(); + i != nodeboxes.end(); ++i) + { + aabb3f box = *i; + box.MinEdge += v3f(x, y, z)*BS; + box.MaxEdge += v3f(x, y, z)*BS; + cboxes.push_back(box); + is_unloaded.push_back(false); + is_step_up.push_back(false); + bouncy_values.push_back(n_bouncy_value); + node_positions.push_back(p); + is_object.push_back(false); + } + } + else { + // Collide with unloaded nodes + aabb3f box = getNodeBox(p, BS); + cboxes.push_back(box); + is_unloaded.push_back(true); + is_step_up.push_back(false); + bouncy_values.push_back(0); + node_positions.push_back(p); + is_object.push_back(false); + } + } + + // Do not move if world has not loaded yet, since custom node boxes + // are not available for collision detection. + if (!any_position_valid) + return result; + + } // tt2 + + if(collideWithObjects) + { + ScopeProfiler sp(g_profiler, "collisionMoveSimple objects avg", SPT_AVG); + //TimeTaker tt3("collisionMoveSimple collect object boxes"); + + /* add object boxes to cboxes */ + + std::vector objects; +#ifndef SERVER + ClientEnvironment *c_env = dynamic_cast(env); + if (c_env != 0) { + f32 distance = speed_f->getLength(); + std::vector clientobjects; + c_env->getActiveObjects(*pos_f, distance * 1.5, clientobjects); + for (size_t i=0; i < clientobjects.size(); i++) { + if ((self == 0) || (self != clientobjects[i].obj)) { + objects.push_back((ActiveObject*)clientobjects[i].obj); + } + } + } + else +#endif + { + ServerEnvironment *s_env = dynamic_cast(env); + if (s_env != 0) { + f32 distance = speed_f->getLength(); + std::vector s_objects; + s_env->getObjectsInsideRadius(s_objects, *pos_f, distance * 1.5); + for (std::vector::iterator iter = s_objects.begin(); iter != s_objects.end(); ++iter) { + ServerActiveObject *current = s_env->getActiveObject(*iter); + if ((self == 0) || (self != current)) { + objects.push_back((ActiveObject*)current); + } + } + } + } + + for (std::vector::const_iterator iter = objects.begin(); + iter != objects.end(); ++iter) { + ActiveObject *object = *iter; + + if (object != NULL) { + aabb3f object_collisionbox; + if (object->getCollisionBox(&object_collisionbox) && + object->collideWithObjects()) { + cboxes.push_back(object_collisionbox); + is_unloaded.push_back(false); + is_step_up.push_back(false); + bouncy_values.push_back(0); + node_positions.push_back(v3s16(0,0,0)); + is_object.push_back(true); + } + } + } + } //tt3 + + assert(cboxes.size() == is_unloaded.size()); // post-condition + assert(cboxes.size() == is_step_up.size()); // post-condition + assert(cboxes.size() == bouncy_values.size()); // post-condition + assert(cboxes.size() == node_positions.size()); // post-condition + assert(cboxes.size() == is_object.size()); // post-condition /* Collision detection */ - - // position in nodes - v3s16 pos_i = floatToInt(pos_f, BS); - + /* Collision uncertainty radius Make it a bit larger than the maximum distance of movement @@ -57,202 +377,143 @@ collisionMoveResult collisionMoveSimple(Map *map, IGameDef *gamedef, //f32 d = 0.15*BS; // This should always apply, otherwise there are glitches - assert(d > pos_max_d); - - /* - Calculate collision box - */ - core::aabbox3d box = box_0; - box.MaxEdge += pos_f; - box.MinEdge += pos_f; - core::aabbox3d oldbox = box_0; - oldbox.MaxEdge += oldpos_f; - oldbox.MinEdge += oldpos_f; + assert(d > pos_max_d); // invariant - /* - If the object lies on a walkable node, this is set to true. - */ - result.touching_ground = false; - - /* - Go through every node around the object - */ - s16 min_x = (box_0.MinEdge.X / BS) - 2; - s16 min_y = (box_0.MinEdge.Y / BS) - 2; - s16 min_z = (box_0.MinEdge.Z / BS) - 2; - s16 max_x = (box_0.MaxEdge.X / BS) + 1; - s16 max_y = (box_0.MaxEdge.Y / BS) + 1; - s16 max_z = (box_0.MaxEdge.Z / BS) + 1; - for(s16 y = oldpos_i.Y + min_y; y <= oldpos_i.Y + max_y; y++) - for(s16 z = oldpos_i.Z + min_z; z <= oldpos_i.Z + max_z; z++) - for(s16 x = oldpos_i.X + min_x; x <= oldpos_i.X + max_x; x++) - { - try{ - // Object collides into walkable nodes - MapNode n = map->getNode(v3s16(x,y,z)); - if(gamedef->getNodeDefManager()->get(n).walkable == false) - continue; - } - catch(InvalidPositionException &e) - { - // Doing nothing here will block the object from - // walking over map borders + int loopcount = 0; + + while(dtime > BS * 1e-10) { + //TimeTaker tt3("collisionMoveSimple dtime loop"); + ScopeProfiler sp(g_profiler, "collisionMoveSimple dtime loop avg", SPT_AVG); + + // Avoid infinite loop + loopcount++; + if (loopcount >= 100) { + warningstream << "collisionMoveSimple: Loop count exceeded, aborting to avoid infiniite loop" << std::endl; + dtime = 0; + break; } - core::aabbox3d nodebox = getNodeBox(v3s16(x,y,z), BS); - - /* - See if the object is touching ground. + aabb3f movingbox = box_0; + movingbox.MinEdge += *pos_f; + movingbox.MaxEdge += *pos_f; - Object touches ground if object's minimum Y is near node's - maximum Y and object's X-Z-area overlaps with the node's - X-Z-area. + int nearest_collided = -1; + f32 nearest_dtime = dtime; + u32 nearest_boxindex = -1; - Use 0.15*BS so that it is easier to get on a node. - */ - if( - //fabs(nodebox.MaxEdge.Y-box.MinEdge.Y) < d - fabs(nodebox.MaxEdge.Y-box.MinEdge.Y) < 0.15*BS - && nodebox.MaxEdge.X-d > box.MinEdge.X - && nodebox.MinEdge.X+d < box.MaxEdge.X - && nodebox.MaxEdge.Z-d > box.MinEdge.Z - && nodebox.MinEdge.Z+d < box.MaxEdge.Z - ){ - result.touching_ground = true; - } - - // If object doesn't intersect with node, ignore node. - if(box.intersectsWithBox(nodebox) == false) - continue; - /* - Go through every axis + Go through every nodebox, find nearest collision */ - v3f dirs[3] = { - v3f(0,0,1), // back-front - v3f(0,1,0), // top-bottom - v3f(1,0,0), // right-left - }; - for(u16 i=0; i<3; i++) - { - /* - Calculate values along the axis - */ - f32 nodemax = nodebox.MaxEdge.dotProduct(dirs[i]); - f32 nodemin = nodebox.MinEdge.dotProduct(dirs[i]); - f32 objectmax = box.MaxEdge.dotProduct(dirs[i]); - f32 objectmin = box.MinEdge.dotProduct(dirs[i]); - f32 objectmax_old = oldbox.MaxEdge.dotProduct(dirs[i]); - f32 objectmin_old = oldbox.MinEdge.dotProduct(dirs[i]); - - /* - Check collision for the axis. - Collision happens when object is going through a surface. - */ - bool negative_axis_collides = - (nodemax > objectmin && nodemax <= objectmin_old + d - && speed_f.dotProduct(dirs[i]) < 0); - bool positive_axis_collides = - (nodemin < objectmax && nodemin >= objectmax_old - d - && speed_f.dotProduct(dirs[i]) > 0); - bool main_axis_collides = - negative_axis_collides || positive_axis_collides; - - /* - Check overlap of object and node in other axes - */ - bool other_axes_overlap = true; - for(u16 j=0; j<3; j++) - { - if(j == i) - continue; - f32 nodemax = nodebox.MaxEdge.dotProduct(dirs[j]); - f32 nodemin = nodebox.MinEdge.dotProduct(dirs[j]); - f32 objectmax = box.MaxEdge.dotProduct(dirs[j]); - f32 objectmin = box.MinEdge.dotProduct(dirs[j]); - if(!(nodemax - d > objectmin && nodemin + d < objectmax)) - { - other_axes_overlap = false; - break; + for (u32 boxindex = 0; boxindex < cboxes.size(); boxindex++) { + // Find nearest collision of the two boxes (raytracing-like) + f32 dtime_tmp; + int collided = axisAlignedCollision( + cboxes[boxindex], movingbox, *speed_f, d, &dtime_tmp); + + // Ignore if already stepped up this nodebox. + if (is_step_up[boxindex]) { + pos_f->Y += (cboxes[boxindex].MaxEdge.Y - movingbox.MinEdge.Y); + continue; + } + + if (collided == -1 || dtime_tmp >= nearest_dtime) + continue; + + nearest_dtime = dtime_tmp; + nearest_collided = collided; + nearest_boxindex = boxindex; + } + + if (nearest_collided == -1) { + // No collision with any collision box. + *pos_f += *speed_f * dtime; + dtime = 0; // Set to 0 to avoid "infinite" loop due to small FP numbers + } else { + // Otherwise, a collision occurred. + + const aabb3f& cbox = cboxes[nearest_boxindex]; + // Check for stairs. + bool step_up = (nearest_collided != 1) && // must not be Y direction + (movingbox.MinEdge.Y < cbox.MaxEdge.Y) && + (movingbox.MinEdge.Y + stepheight > cbox.MaxEdge.Y) && + (!wouldCollideWithCeiling(cboxes, movingbox, + cbox.MaxEdge.Y - movingbox.MinEdge.Y, + d)); + + // Get bounce multiplier + bool bouncy = (bouncy_values[nearest_boxindex] >= 1); + float bounce = -(float)bouncy_values[nearest_boxindex] / 100.0; + + // Move to the point of collision and reduce dtime by nearest_dtime + if (nearest_dtime < 0) { + // Handle negative nearest_dtime (can be caused by the d allowance) + if (!step_up) { + if (nearest_collided == 0) + pos_f->X += speed_f->X * nearest_dtime; + if (nearest_collided == 1) + pos_f->Y += speed_f->Y * nearest_dtime; + if (nearest_collided == 2) + pos_f->Z += speed_f->Z * nearest_dtime; } + } else { + *pos_f += *speed_f * nearest_dtime; + dtime -= nearest_dtime; } - - /* - If this is a collision, revert the pos_f in the main - direction. - */ - if(other_axes_overlap && main_axis_collides) - { - speed_f -= speed_f.dotProduct(dirs[i]) * dirs[i]; - pos_f -= pos_f.dotProduct(dirs[i]) * dirs[i]; - pos_f += oldpos_f.dotProduct(dirs[i]) * dirs[i]; - result.collides = true; + + bool is_collision = true; + if (is_unloaded[nearest_boxindex]) + is_collision = false; + + CollisionInfo info; + if (is_object[nearest_boxindex]) { + info.type = COLLISION_OBJECT; + result.standing_on_object = true; + } else { + info.type = COLLISION_NODE; } - - } - } // xyz - - return result; -} -collisionMoveResult collisionMovePrecise(Map *map, IGameDef *gamedef, - f32 pos_max_d, const core::aabbox3d &box_0, - f32 dtime, v3f &pos_f, v3f &speed_f) -{ - collisionMoveResult final_result; - - // If there is no speed, there are no collisions - if(speed_f.getLength() == 0) - return final_result; - - // Maximum time increment (for collision detection etc) - // time = distance / speed - f32 dtime_max_increment = pos_max_d / speed_f.getLength(); - - // Maximum time increment is 10ms or lower - if(dtime_max_increment > 0.01) - dtime_max_increment = 0.01; - - // Don't allow overly huge dtime - if(dtime > 2.0) - dtime = 2.0; - - f32 dtime_downcount = dtime; - - u32 loopcount = 0; - do - { - loopcount++; + info.node_p = node_positions[nearest_boxindex]; + info.bouncy = bouncy; + info.old_speed = *speed_f; - f32 dtime_part; - if(dtime_downcount > dtime_max_increment) - { - dtime_part = dtime_max_increment; - dtime_downcount -= dtime_part; - } - else - { - dtime_part = dtime_downcount; - /* - Setting this to 0 (no -=dtime_part) disables an infinite loop - when dtime_part is so small that dtime_downcount -= dtime_part - does nothing - */ - dtime_downcount = 0; - } + // Set the speed component that caused the collision to zero + if (step_up) { + // Special case: Handle stairs + is_step_up[nearest_boxindex] = true; + is_collision = false; + } else if(nearest_collided == 0) { // X + if (fabs(speed_f->X) > BS * 3) + speed_f->X *= bounce; + else + speed_f->X = 0; + result.collides = true; + result.collides_xz = true; + } else if(nearest_collided == 1) { // Y + if (fabs(speed_f->Y) > BS * 3) { + speed_f->Y *= bounce; + } else { + speed_f->Y = 0; + result.touching_ground = true; + } + result.collides = true; + } else if(nearest_collided == 2) { // Z + if (fabs(speed_f->Z) > BS * 3) + speed_f->Z *= bounce; + else + speed_f->Z = 0; + result.collides = true; + result.collides_xz = true; + } - collisionMoveResult result = collisionMoveSimple(map, gamedef, - pos_max_d, box_0, dtime_part, pos_f, speed_f); + info.new_speed = *speed_f; + if (info.new_speed.getDistanceFrom(info.old_speed) < 0.1 * BS) + is_collision = false; - if(result.touching_ground) - final_result.touching_ground = true; - if(result.collides) - final_result.collides = true; + if (is_collision) { + result.collisions.push_back(info); + } + } } - while(dtime_downcount > 0.001); - - return final_result; + return result; } - -