mirror of https://github.com/minetest/minetest.git
575 lines
16 KiB
C++
575 lines
16 KiB
C++
/*
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Minetest
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Copyright (C) 2013 celeron55, Perttu Ahola <celeron55@gmail.com>
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation; either version 2.1 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License along
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with this program; if not, write to the Free Software Foundation, Inc.,
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51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*/
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#include "collision.h"
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#include "mapblock.h"
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#include "map.h"
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#include "nodedef.h"
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#include "gamedef.h"
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#ifndef SERVER
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#include "clientenvironment.h"
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#endif
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#include "serverenvironment.h"
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#include "serverobject.h"
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#include "util/timetaker.h"
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#include "profiler.h"
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// float error is 10 - 9.96875 = 0.03125
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//#define COLL_ZERO 0.032 // broken unit tests
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#define COLL_ZERO 0
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struct NearbyCollisionInfo {
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NearbyCollisionInfo(bool is_ul, bool is_obj, int bouncy,
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const v3s16 &pos, const aabb3f &box) :
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is_unloaded(is_ul),
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is_object(is_obj),
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bouncy(bouncy),
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position(pos),
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box(box)
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{}
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bool is_unloaded;
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bool is_step_up = false;
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bool is_object;
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int bouncy;
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v3s16 position;
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aabb3f box;
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};
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// Helper function:
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// Checks for collision of a moving aabbox with a static aabbox
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// Returns -1 if no collision, 0 if X collision, 1 if Y collision, 2 if Z collision
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// The time after which the collision occurs is stored in dtime.
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int axisAlignedCollision(
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const aabb3f &staticbox, const aabb3f &movingbox,
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const v3f &speed, f32 d, f32 *dtime)
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{
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//TimeTaker tt("axisAlignedCollision");
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f32 xsize = (staticbox.MaxEdge.X - staticbox.MinEdge.X) - COLL_ZERO; // reduce box size for solve collision stuck (flying sand)
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f32 ysize = (staticbox.MaxEdge.Y - staticbox.MinEdge.Y); // - COLL_ZERO; // Y - no sense for falling, but maybe try later
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f32 zsize = (staticbox.MaxEdge.Z - staticbox.MinEdge.Z) - COLL_ZERO;
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aabb3f relbox(
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movingbox.MinEdge.X - staticbox.MinEdge.X,
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movingbox.MinEdge.Y - staticbox.MinEdge.Y,
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movingbox.MinEdge.Z - staticbox.MinEdge.Z,
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movingbox.MaxEdge.X - staticbox.MinEdge.X,
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movingbox.MaxEdge.Y - staticbox.MinEdge.Y,
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movingbox.MaxEdge.Z - staticbox.MinEdge.Z
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);
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if(speed.X > 0) // Check for collision with X- plane
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{
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if (relbox.MaxEdge.X <= d) {
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*dtime = -relbox.MaxEdge.X / speed.X;
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if ((relbox.MinEdge.Y + speed.Y * (*dtime) < ysize) &&
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(relbox.MaxEdge.Y + speed.Y * (*dtime) > COLL_ZERO) &&
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(relbox.MinEdge.Z + speed.Z * (*dtime) < zsize) &&
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(relbox.MaxEdge.Z + speed.Z * (*dtime) > COLL_ZERO))
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return 0;
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}
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else if(relbox.MinEdge.X > xsize)
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{
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return -1;
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}
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}
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else if(speed.X < 0) // Check for collision with X+ plane
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{
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if (relbox.MinEdge.X >= xsize - d) {
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*dtime = (xsize - relbox.MinEdge.X) / speed.X;
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if ((relbox.MinEdge.Y + speed.Y * (*dtime) < ysize) &&
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(relbox.MaxEdge.Y + speed.Y * (*dtime) > COLL_ZERO) &&
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(relbox.MinEdge.Z + speed.Z * (*dtime) < zsize) &&
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(relbox.MaxEdge.Z + speed.Z * (*dtime) > COLL_ZERO))
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return 0;
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}
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else if(relbox.MaxEdge.X < 0)
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{
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return -1;
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}
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}
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// NO else if here
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if(speed.Y > 0) // Check for collision with Y- plane
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{
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if (relbox.MaxEdge.Y <= d) {
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*dtime = -relbox.MaxEdge.Y / speed.Y;
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if ((relbox.MinEdge.X + speed.X * (*dtime) < xsize) &&
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(relbox.MaxEdge.X + speed.X * (*dtime) > COLL_ZERO) &&
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(relbox.MinEdge.Z + speed.Z * (*dtime) < zsize) &&
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(relbox.MaxEdge.Z + speed.Z * (*dtime) > COLL_ZERO))
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return 1;
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}
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else if(relbox.MinEdge.Y > ysize)
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{
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return -1;
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}
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}
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else if(speed.Y < 0) // Check for collision with Y+ plane
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{
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if (relbox.MinEdge.Y >= ysize - d) {
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*dtime = (ysize - relbox.MinEdge.Y) / speed.Y;
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if ((relbox.MinEdge.X + speed.X * (*dtime) < xsize) &&
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(relbox.MaxEdge.X + speed.X * (*dtime) > COLL_ZERO) &&
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(relbox.MinEdge.Z + speed.Z * (*dtime) < zsize) &&
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(relbox.MaxEdge.Z + speed.Z * (*dtime) > COLL_ZERO))
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return 1;
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}
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else if(relbox.MaxEdge.Y < 0)
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{
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return -1;
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}
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}
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// NO else if here
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if(speed.Z > 0) // Check for collision with Z- plane
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{
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if (relbox.MaxEdge.Z <= d) {
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*dtime = -relbox.MaxEdge.Z / speed.Z;
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if ((relbox.MinEdge.X + speed.X * (*dtime) < xsize) &&
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(relbox.MaxEdge.X + speed.X * (*dtime) > COLL_ZERO) &&
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(relbox.MinEdge.Y + speed.Y * (*dtime) < ysize) &&
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(relbox.MaxEdge.Y + speed.Y * (*dtime) > COLL_ZERO))
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return 2;
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}
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//else if(relbox.MinEdge.Z > zsize)
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//{
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// return -1;
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//}
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}
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else if(speed.Z < 0) // Check for collision with Z+ plane
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{
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if (relbox.MinEdge.Z >= zsize - d) {
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*dtime = (zsize - relbox.MinEdge.Z) / speed.Z;
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if ((relbox.MinEdge.X + speed.X * (*dtime) < xsize) &&
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(relbox.MaxEdge.X + speed.X * (*dtime) > COLL_ZERO) &&
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(relbox.MinEdge.Y + speed.Y * (*dtime) < ysize) &&
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(relbox.MaxEdge.Y + speed.Y * (*dtime) > COLL_ZERO))
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return 2;
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}
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//else if(relbox.MaxEdge.Z < 0)
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//{
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// return -1;
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//}
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}
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return -1;
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}
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// Helper function:
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// Checks if moving the movingbox up by the given distance would hit a ceiling.
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bool wouldCollideWithCeiling(
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const std::vector<NearbyCollisionInfo> &cinfo,
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const aabb3f &movingbox,
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f32 y_increase, f32 d)
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{
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//TimeTaker tt("wouldCollideWithCeiling");
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assert(y_increase >= 0); // pre-condition
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for (const auto &it : cinfo) {
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const aabb3f &staticbox = it.box;
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if ((movingbox.MaxEdge.Y - d <= staticbox.MinEdge.Y) &&
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(movingbox.MaxEdge.Y + y_increase > staticbox.MinEdge.Y) &&
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(movingbox.MinEdge.X < staticbox.MaxEdge.X) &&
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(movingbox.MaxEdge.X > staticbox.MinEdge.X) &&
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(movingbox.MinEdge.Z < staticbox.MaxEdge.Z) &&
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(movingbox.MaxEdge.Z > staticbox.MinEdge.Z))
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return true;
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}
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return false;
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}
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static inline void getNeighborConnectingFace(const v3s16 &p,
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const NodeDefManager *nodedef, Map *map, MapNode n, int v, int *neighbors)
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{
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MapNode n2 = map->getNodeNoEx(p);
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if (nodedef->nodeboxConnects(n, n2, v))
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*neighbors |= v;
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}
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collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
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f32 pos_max_d, const aabb3f &box_0,
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f32 stepheight, f32 dtime,
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v3f *pos_f, v3f *speed_f,
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v3f accel_f, ActiveObject *self,
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bool collideWithObjects)
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{
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static bool time_notification_done = false;
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Map *map = &env->getMap();
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//TimeTaker tt("collisionMoveSimple");
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ScopeProfiler sp(g_profiler, "collisionMoveSimple avg", SPT_AVG);
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collisionMoveResult result;
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/*
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Calculate new velocity
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*/
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if (dtime > 0.5f) {
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if (!time_notification_done) {
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time_notification_done = true;
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infostream << "collisionMoveSimple: maximum step interval exceeded,"
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" lost movement details!"<<std::endl;
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}
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dtime = 0.5f;
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} else {
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time_notification_done = false;
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}
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*speed_f += accel_f * dtime;
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// If there is no speed, there are no collisions
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if (speed_f->getLength() == 0)
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return result;
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// Limit speed for avoiding hangs
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speed_f->Y = rangelim(speed_f->Y, -5000, 5000);
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speed_f->X = rangelim(speed_f->X, -5000, 5000);
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speed_f->Z = rangelim(speed_f->Z, -5000, 5000);
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/*
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Collect node boxes in movement range
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*/
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std::vector<NearbyCollisionInfo> cinfo;
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{
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//TimeTaker tt2("collisionMoveSimple collect boxes");
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ScopeProfiler sp2(g_profiler, "collisionMoveSimple collect boxes avg", SPT_AVG);
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v3f newpos_f = *pos_f + *speed_f * dtime;
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v3f minpos_f(
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MYMIN(pos_f->X, newpos_f.X),
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MYMIN(pos_f->Y, newpos_f.Y) + 0.01f * BS, // bias rounding, player often at +/-n.5
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MYMIN(pos_f->Z, newpos_f.Z)
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);
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v3f maxpos_f(
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MYMAX(pos_f->X, newpos_f.X),
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MYMAX(pos_f->Y, newpos_f.Y),
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MYMAX(pos_f->Z, newpos_f.Z)
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);
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v3s16 min = floatToInt(minpos_f + box_0.MinEdge, BS) - v3s16(1, 1, 1);
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v3s16 max = floatToInt(maxpos_f + box_0.MaxEdge, BS) + v3s16(1, 1, 1);
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bool any_position_valid = false;
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v3s16 p;
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for (p.X = min.X; p.X <= max.X; p.X++)
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for (p.Y = min.Y; p.Y <= max.Y; p.Y++)
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for (p.Z = min.Z; p.Z <= max.Z; p.Z++) {
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bool is_position_valid;
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MapNode n = map->getNodeNoEx(p, &is_position_valid);
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if (is_position_valid) {
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// Object collides into walkable nodes
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any_position_valid = true;
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const NodeDefManager *nodedef = gamedef->getNodeDefManager();
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const ContentFeatures &f = nodedef->get(n);
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if (!f.walkable)
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continue;
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int n_bouncy_value = itemgroup_get(f.groups, "bouncy");
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int neighbors = 0;
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if (f.drawtype == NDT_NODEBOX &&
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f.node_box.type == NODEBOX_CONNECTED) {
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v3s16 p2 = p;
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p2.Y++;
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getNeighborConnectingFace(p2, nodedef, map, n, 1, &neighbors);
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p2 = p;
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p2.Y--;
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getNeighborConnectingFace(p2, nodedef, map, n, 2, &neighbors);
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p2 = p;
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p2.Z--;
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getNeighborConnectingFace(p2, nodedef, map, n, 4, &neighbors);
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p2 = p;
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p2.X--;
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getNeighborConnectingFace(p2, nodedef, map, n, 8, &neighbors);
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p2 = p;
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p2.Z++;
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getNeighborConnectingFace(p2, nodedef, map, n, 16, &neighbors);
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p2 = p;
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p2.X++;
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getNeighborConnectingFace(p2, nodedef, map, n, 32, &neighbors);
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}
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std::vector<aabb3f> nodeboxes;
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n.getCollisionBoxes(gamedef->ndef(), &nodeboxes, neighbors);
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for (auto box : nodeboxes) {
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box.MinEdge += intToFloat(p, BS);
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box.MaxEdge += intToFloat(p, BS);
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cinfo.emplace_back(false, false, n_bouncy_value, p, box);
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}
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} else {
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// Collide with unloaded nodes
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aabb3f box = getNodeBox(p, BS);
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cinfo.emplace_back(true, false, 0, p, box);
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}
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}
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// Do not move if world has not loaded yet, since custom node boxes
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// are not available for collision detection.
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if (!any_position_valid) {
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*speed_f = v3f(0, 0, 0);
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return result;
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}
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} // tt2
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if(collideWithObjects)
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{
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ScopeProfiler sp2(g_profiler, "collisionMoveSimple objects avg", SPT_AVG);
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//TimeTaker tt3("collisionMoveSimple collect object boxes");
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/* add object boxes to cinfo */
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std::vector<ActiveObject*> objects;
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#ifndef SERVER
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ClientEnvironment *c_env = dynamic_cast<ClientEnvironment*>(env);
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if (c_env != 0) {
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f32 distance = speed_f->getLength();
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std::vector<DistanceSortedActiveObject> clientobjects;
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c_env->getActiveObjects(*pos_f, distance * 1.5f, clientobjects);
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for (auto &clientobject : clientobjects) {
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if (!self || (self != clientobject.obj)) {
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objects.push_back((ActiveObject*) clientobject.obj);
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}
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}
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}
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else
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#endif
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{
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ServerEnvironment *s_env = dynamic_cast<ServerEnvironment*>(env);
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if (s_env != NULL) {
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f32 distance = speed_f->getLength();
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std::vector<u16> s_objects;
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s_env->getObjectsInsideRadius(s_objects, *pos_f, distance * 1.5f);
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for (u16 obj_id : s_objects) {
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ServerActiveObject *current = s_env->getActiveObject(obj_id);
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if (!self || (self != current)) {
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objects.push_back((ActiveObject*)current);
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}
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}
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}
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}
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for (std::vector<ActiveObject*>::const_iterator iter = objects.begin();
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iter != objects.end(); ++iter) {
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ActiveObject *object = *iter;
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if (object) {
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aabb3f object_collisionbox;
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if (object->getCollisionBox(&object_collisionbox) &&
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object->collideWithObjects()) {
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cinfo.emplace_back(false, true, 0, v3s16(), object_collisionbox);
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}
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}
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}
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} //tt3
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/*
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Collision detection
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*/
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/*
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Collision uncertainty radius
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Make it a bit larger than the maximum distance of movement
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*/
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f32 d = pos_max_d * 1.1f;
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// A fairly large value in here makes moving smoother
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//f32 d = 0.15*BS;
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// This should always apply, otherwise there are glitches
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assert(d > pos_max_d); // invariant
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int loopcount = 0;
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while(dtime > BS * 1e-10f) {
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//TimeTaker tt3("collisionMoveSimple dtime loop");
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ScopeProfiler sp2(g_profiler, "collisionMoveSimple dtime loop avg", SPT_AVG);
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// Avoid infinite loop
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loopcount++;
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if (loopcount >= 100) {
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warningstream << "collisionMoveSimple: Loop count exceeded, aborting to avoid infiniite loop" << std::endl;
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break;
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}
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aabb3f movingbox = box_0;
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movingbox.MinEdge += *pos_f;
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movingbox.MaxEdge += *pos_f;
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int nearest_collided = -1;
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f32 nearest_dtime = dtime;
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int nearest_boxindex = -1;
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/*
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Go through every nodebox, find nearest collision
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*/
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for (u32 boxindex = 0; boxindex < cinfo.size(); boxindex++) {
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NearbyCollisionInfo box_info = cinfo[boxindex];
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// Ignore if already stepped up this nodebox.
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if (box_info.is_step_up)
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continue;
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// Find nearest collision of the two boxes (raytracing-like)
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f32 dtime_tmp;
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int collided = axisAlignedCollision(box_info.box,
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movingbox, *speed_f, d, &dtime_tmp);
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if (collided == -1 || dtime_tmp >= nearest_dtime)
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continue;
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nearest_dtime = dtime_tmp;
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nearest_collided = collided;
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nearest_boxindex = boxindex;
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}
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if (nearest_collided == -1) {
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// No collision with any collision box.
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*pos_f += *speed_f * dtime;
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dtime = 0; // Set to 0 to avoid "infinite" loop due to small FP numbers
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} else {
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// Otherwise, a collision occurred.
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NearbyCollisionInfo &nearest_info = cinfo[nearest_boxindex];
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const aabb3f& cbox = nearest_info.box;
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// Check for stairs.
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bool step_up = (nearest_collided != 1) && // must not be Y direction
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(movingbox.MinEdge.Y < cbox.MaxEdge.Y) &&
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(movingbox.MinEdge.Y + stepheight > cbox.MaxEdge.Y) &&
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(!wouldCollideWithCeiling(cinfo, movingbox,
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cbox.MaxEdge.Y - movingbox.MinEdge.Y,
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d));
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// Get bounce multiplier
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float bounce = -(float)nearest_info.bouncy / 100.0f;
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// Move to the point of collision and reduce dtime by nearest_dtime
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if (nearest_dtime < 0) {
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// 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;
|
|
}
|
|
|
|
bool is_collision = true;
|
|
if (nearest_info.is_unloaded)
|
|
is_collision = false;
|
|
|
|
CollisionInfo info;
|
|
if (nearest_info.is_object)
|
|
info.type = COLLISION_OBJECT;
|
|
else
|
|
info.type = COLLISION_NODE;
|
|
|
|
info.node_p = nearest_info.position;
|
|
info.old_speed = *speed_f;
|
|
|
|
// Set the speed component that caused the collision to zero
|
|
if (step_up) {
|
|
// Special case: Handle stairs
|
|
nearest_info.is_step_up = 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;
|
|
} else if (nearest_collided == 1) { // Y
|
|
if(fabs(speed_f->Y) > BS * 3)
|
|
speed_f->Y *= bounce;
|
|
else
|
|
speed_f->Y = 0;
|
|
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;
|
|
}
|
|
|
|
info.new_speed = *speed_f;
|
|
if (info.new_speed.getDistanceFrom(info.old_speed) < 0.1f * BS)
|
|
is_collision = false;
|
|
|
|
if (is_collision) {
|
|
result.collisions.push_back(info);
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
Final touches: Check if standing on ground, step up stairs.
|
|
*/
|
|
aabb3f box = box_0;
|
|
box.MinEdge += *pos_f;
|
|
box.MaxEdge += *pos_f;
|
|
for (const auto &box_info : cinfo) {
|
|
const aabb3f &cbox = box_info.box;
|
|
|
|
/*
|
|
See if the object is touching ground.
|
|
|
|
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.
|
|
|
|
Use 0.15*BS so that it is easier to get on a node.
|
|
*/
|
|
if (cbox.MaxEdge.X - d > box.MinEdge.X && cbox.MinEdge.X + d < box.MaxEdge.X &&
|
|
cbox.MaxEdge.Z - d > box.MinEdge.Z &&
|
|
cbox.MinEdge.Z + d < box.MaxEdge.Z) {
|
|
if (box_info.is_step_up) {
|
|
pos_f->Y += cbox.MaxEdge.Y - box.MinEdge.Y;
|
|
box = box_0;
|
|
box.MinEdge += *pos_f;
|
|
box.MaxEdge += *pos_f;
|
|
}
|
|
if (fabs(cbox.MaxEdge.Y - box.MinEdge.Y) < 0.15f * BS) {
|
|
result.touching_ground = true;
|
|
|
|
if (box_info.is_object)
|
|
result.standing_on_object = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|