mirror of https://github.com/minetest/minetest.git
637 lines
17 KiB
C++
637 lines
17 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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#include "log.h"
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#include "environment.h"
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#include "serverobject.h"
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#include <vector>
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#include <set>
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#include "util/timetaker.h"
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#include "main.h" // g_profiler
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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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// 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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{
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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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{
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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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{
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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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{
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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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{
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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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{
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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<aabb3f> &staticboxes,
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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);
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for(std::vector<aabb3f>::const_iterator
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i = staticboxes.begin();
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i != staticboxes.end(); i++)
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{
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const aabb3f& staticbox = *i;
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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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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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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 > 0.5 ) {
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infostream<<"collisionMoveSimple: WARNING: maximum step interval exceeded, lost movement details!"<<std::endl;
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dtime = 0.5;
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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<aabb3f> cboxes;
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std::vector<bool> is_unloaded;
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std::vector<bool> is_step_up;
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std::vector<bool> is_object;
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std::vector<int> bouncy_values;
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std::vector<v3s16> node_positions;
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{
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//TimeTaker tt2("collisionMoveSimple collect boxes");
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ScopeProfiler sp(g_profiler, "collisionMoveSimple collect boxes avg", SPT_AVG);
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v3s16 oldpos_i = floatToInt(pos_f, BS);
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v3s16 newpos_i = floatToInt(pos_f + speed_f * dtime, BS);
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s16 min_x = MYMIN(oldpos_i.X, newpos_i.X) + (box_0.MinEdge.X / BS) - 1;
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s16 min_y = MYMIN(oldpos_i.Y, newpos_i.Y) + (box_0.MinEdge.Y / BS) - 1;
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s16 min_z = MYMIN(oldpos_i.Z, newpos_i.Z) + (box_0.MinEdge.Z / BS) - 1;
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s16 max_x = MYMAX(oldpos_i.X, newpos_i.X) + (box_0.MaxEdge.X / BS) + 1;
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s16 max_y = MYMAX(oldpos_i.Y, newpos_i.Y) + (box_0.MaxEdge.Y / BS) + 1;
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s16 max_z = MYMAX(oldpos_i.Z, newpos_i.Z) + (box_0.MaxEdge.Z / BS) + 1;
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for(s16 x = min_x; x <= max_x; x++)
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for(s16 y = min_y; y <= max_y; y++)
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for(s16 z = min_z; z <= max_z; z++)
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{
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v3s16 p(x,y,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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const ContentFeatures &f = gamedef->getNodeDefManager()->get(n);
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if(f.walkable == false)
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continue;
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int n_bouncy_value = itemgroup_get(f.groups, "bouncy");
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std::vector<aabb3f> nodeboxes = n.getCollisionBoxes(gamedef->ndef());
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for(std::vector<aabb3f>::iterator
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i = nodeboxes.begin();
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i != nodeboxes.end(); i++)
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{
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aabb3f box = *i;
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box.MinEdge += v3f(x, y, z)*BS;
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box.MaxEdge += v3f(x, y, z)*BS;
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cboxes.push_back(box);
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is_unloaded.push_back(false);
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is_step_up.push_back(false);
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bouncy_values.push_back(n_bouncy_value);
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node_positions.push_back(p);
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is_object.push_back(false);
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}
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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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cboxes.push_back(box);
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is_unloaded.push_back(true);
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is_step_up.push_back(false);
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bouncy_values.push_back(0);
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node_positions.push_back(p);
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is_object.push_back(false);
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}
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}
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} // tt2
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if(collideWithObjects)
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{
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ScopeProfiler sp(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 cboxes */
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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 * 1.5,clientobjects);
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for (size_t i=0; i < clientobjects.size(); i++) {
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if ((self == 0) || (self != clientobjects[i].obj)) {
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objects.push_back((ActiveObject*)clientobjects[i].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 != 0) {
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f32 distance = speed_f.getLength();
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std::set<u16> s_objects = s_env->getObjectsInsideRadius(pos_f,distance * 1.5);
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for (std::set<u16>::iterator iter = s_objects.begin(); iter != s_objects.end(); iter++) {
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ServerActiveObject *current = s_env->getActiveObject(*iter);
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if ((self == 0) || (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 != NULL) {
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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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cboxes.push_back(object_collisionbox);
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is_unloaded.push_back(false);
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is_step_up.push_back(false);
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bouncy_values.push_back(0);
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node_positions.push_back(v3s16(0,0,0));
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is_object.push_back(true);
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}
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}
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}
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} //tt3
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assert(cboxes.size() == is_unloaded.size());
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assert(cboxes.size() == is_step_up.size());
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assert(cboxes.size() == bouncy_values.size());
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assert(cboxes.size() == node_positions.size());
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assert(cboxes.size() == is_object.size());
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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 * 1.1;
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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);
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int loopcount = 0;
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while(dtime > BS*1e-10)
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{
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//TimeTaker tt3("collisionMoveSimple dtime loop");
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ScopeProfiler sp(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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{
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infostream<<"collisionMoveSimple: WARNING: Loop count exceeded, aborting to avoid infiniite loop"<<std::endl;
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dtime = 0;
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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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u32 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 < cboxes.size(); boxindex++)
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{
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// Ignore if already stepped up this nodebox.
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if(is_step_up[boxindex])
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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(
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cboxes[boxindex], 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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{
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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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}
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else
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{
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// Otherwise, a collision occurred.
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const aabb3f& cbox = cboxes[nearest_boxindex];
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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(cboxes, 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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bool bouncy = (bouncy_values[nearest_boxindex] >= 1);
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float bounce = -(float)bouncy_values[nearest_boxindex] / 100.0;
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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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{
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// Handle negative nearest_dtime (can be caused by the d allowance)
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if(!step_up)
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{
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if(nearest_collided == 0)
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pos_f.X += speed_f.X * nearest_dtime;
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if(nearest_collided == 1)
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pos_f.Y += speed_f.Y * nearest_dtime;
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if(nearest_collided == 2)
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pos_f.Z += speed_f.Z * nearest_dtime;
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}
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}
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else
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{
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pos_f += speed_f * nearest_dtime;
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dtime -= nearest_dtime;
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}
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bool is_collision = true;
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if(is_unloaded[nearest_boxindex])
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is_collision = false;
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CollisionInfo info;
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if (is_object[nearest_boxindex]) {
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info.type = COLLISION_OBJECT;
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}
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else {
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info.type = COLLISION_NODE;
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}
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info.node_p = node_positions[nearest_boxindex];
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info.bouncy = bouncy;
|
|
info.old_speed = speed_f;
|
|
|
|
// 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.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;
|
|
}
|
|
|
|
info.new_speed = speed_f;
|
|
if(info.new_speed.getDistanceFrom(info.old_speed) < 0.1*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(u32 boxindex = 0; boxindex < cboxes.size(); boxindex++)
|
|
{
|
|
const aabb3f& cbox = cboxes[boxindex];
|
|
|
|
/*
|
|
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(is_step_up[boxindex])
|
|
{
|
|
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) < 0.15*BS)
|
|
{
|
|
result.touching_ground = true;
|
|
if(is_unloaded[boxindex])
|
|
result.standing_on_unloaded = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
#if 0
|
|
// This doesn't seem to work and isn't used
|
|
collisionMoveResult collisionMovePrecise(Map *map, IGameDef *gamedef,
|
|
f32 pos_max_d, const aabb3f &box_0,
|
|
f32 stepheight, f32 dtime,
|
|
v3f &pos_f, v3f &speed_f, v3f &accel_f)
|
|
{
|
|
//TimeTaker tt("collisionMovePrecise");
|
|
ScopeProfiler sp(g_profiler, "collisionMovePrecise avg", SPT_AVG);
|
|
|
|
collisionMoveResult final_result;
|
|
|
|
// If there is no speed, there are no collisions
|
|
if(speed_f.getLength() == 0)
|
|
return final_result;
|
|
|
|
// Don't allow overly huge dtime
|
|
if(dtime > 2.0)
|
|
dtime = 2.0;
|
|
|
|
f32 dtime_downcount = dtime;
|
|
|
|
u32 loopcount = 0;
|
|
do
|
|
{
|
|
loopcount++;
|
|
|
|
// Maximum time increment (for collision detection etc)
|
|
// time = distance / speed
|
|
f32 dtime_max_increment = 1.0;
|
|
if(speed_f.getLength() != 0)
|
|
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;
|
|
|
|
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;
|
|
}
|
|
|
|
collisionMoveResult result = collisionMoveSimple(map, gamedef,
|
|
pos_max_d, box_0, stepheight, dtime_part,
|
|
pos_f, speed_f, accel_f);
|
|
|
|
if(result.touching_ground)
|
|
final_result.touching_ground = true;
|
|
if(result.collides)
|
|
final_result.collides = true;
|
|
if(result.collides_xz)
|
|
final_result.collides_xz = true;
|
|
if(result.standing_on_unloaded)
|
|
final_result.standing_on_unloaded = true;
|
|
}
|
|
while(dtime_downcount > 0.001);
|
|
|
|
return final_result;
|
|
}
|
|
#endif
|