Collision refinements
- Fixed reversed matrices and swapped rotation axes passed into the collision resolver - Temporarily reduced collision manifold generation to collisions that are NOT edge-to-edge collisions. - Enabled collision response for clockwork bearings
This commit is contained in:
simibubi
parent
56fe0c9c8a
commit
d9105b4e60
7 changed files with 203 additions and 51 deletions
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@ -73,6 +73,7 @@ public class ClientEvents {
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SuperRenderTypeBuffer buffer = SuperRenderTypeBuffer.getInstance();
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CreateClient.schematicHandler.render(ms, buffer);
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CreateClient.outliner.renderOutlines(ms, buffer);
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// CollisionDebugger.render(ms, buffer);
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buffer.draw();
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ms.pop();
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@ -110,6 +111,7 @@ public class ClientEvents {
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double delta = event.getScrollDelta();
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// CollisionDebugger.onScroll(delta);
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boolean cancelled = CreateClient.schematicHandler.mouseScrolled(delta)
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|| CreateClient.schematicAndQuillHandler.mouseScrolled(delta) || FilteringHandler.onScroll(delta)
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|| ScrollValueHandler.onScroll(delta);
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@ -109,6 +109,7 @@ public class CreateClient {
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KineticDebugger.tick();
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ZapperRenderHandler.tick();
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ExtendoGripRenderHandler.tick();
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// CollisionDebugger.tick();
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outliner.tickOutlines();
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}
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@ -65,32 +65,36 @@ public class ContraptionCollider {
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if (entity instanceof PlayerEntity && !world.isRemote)
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return;
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Vec3d centerOf = VecHelper.getCenterOf(BlockPos.ZERO);
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Vec3d centerOfBlock = VecHelper.getCenterOf(BlockPos.ZERO);
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Vec3d entityPosition = entity.getPositionVec();
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Vec3d centerY = new Vec3d(0, entity.getBoundingBox()
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.getYSize() / 2, 0);
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Vec3d position = entityPosition.subtract(contraptionPosition)
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.subtract(centerOf);
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.subtract(centerOfBlock)
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.add(centerY);
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position =
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VecHelper.rotate(position, -contraptionRotation.x, -contraptionRotation.y, -contraptionRotation.z);
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position = position.add(centerOf)
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VecHelper.rotate(position, -contraptionRotation.z, -contraptionRotation.y, -contraptionRotation.x);
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position = position.add(centerOfBlock)
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.subtract(centerY)
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.subtract(entityPosition);
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AxisAlignedBB localBB = entity.getBoundingBox()
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.offset(position)
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.grow(1.0E-7D);
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OrientedBB obb = new OrientedBB(localBB);
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if (!contraptionRotation.equals(Vec3d.ZERO)) {
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Matrix3d rotation = new Matrix3d().asIdentity();
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rotation.multiply(new Matrix3d().asXRotation(AngleHelper.rad(contraptionRotation.x)));
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rotation.multiply(new Matrix3d().asYRotation(AngleHelper.rad(contraptionRotation.y)));
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rotation.multiply(new Matrix3d().asZRotation(AngleHelper.rad(contraptionRotation.z)));
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obb.setRotation(rotation);
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}
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ReuseableStream<VoxelShape> potentialHits = getPotentiallyCollidedShapes(world, contraption, localBB);
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if (potentialHits.createStream()
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.count() == 0)
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continue;
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OrientedBB obb = new OrientedBB(localBB);
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if (!contraptionRotation.equals(Vec3d.ZERO)) {
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Matrix3d rotation = new Matrix3d().asIdentity();
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rotation.multiply(new Matrix3d().asXRotation(AngleHelper.rad(contraptionRotation.z)));
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rotation.multiply(new Matrix3d().asYRotation(AngleHelper.rad(contraptionRotation.y)));
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rotation.multiply(new Matrix3d().asZRotation(AngleHelper.rad(contraptionRotation.x)));
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obb.setRotation(rotation);
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}
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MutableBoolean onCollide = new MutableBoolean(true);
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potentialHits.createStream()
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.forEach(shape -> {
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@ -98,12 +102,12 @@ public class ContraptionCollider {
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Vec3d intersect = obb.intersect(bb);
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if (intersect == null)
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return;
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intersect = VecHelper.rotate(intersect, contraptionRotation.x, contraptionRotation.y,
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contraptionRotation.z);
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intersect = VecHelper.rotate(intersect, contraptionRotation.z, contraptionRotation.y,
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contraptionRotation.x);
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obb.setCenter(obb.getCenter()
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.add(intersect));
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entity.move(MoverType.PISTON, intersect);
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entity.move(MoverType.PLAYER, intersect);
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Vec3d entityMotion = entity.getMotion();
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if (entityMotion.getX() > 0 == intersect.getX() < 0)
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@ -47,6 +47,10 @@ public class ClockworkBearingTileEntity extends KineticTileEntity implements IBe
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if (running && Contraption.isFrozen())
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disassemble();
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if (hourHand != null)
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hourHand.collisionTick();
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if (minuteHand != null)
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minuteHand.collisionTick();
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if (!world.isRemote && assembleNextTick) {
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assembleNextTick = false;
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@ -0,0 +1,82 @@
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package com.simibubi.create.foundation.collision;
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import com.mojang.blaze3d.matrix.MatrixStack;
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import com.simibubi.create.AllSpecialTextures;
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import com.simibubi.create.CreateClient;
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import com.simibubi.create.foundation.renderState.SuperRenderTypeBuffer;
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import com.simibubi.create.foundation.utility.AngleHelper;
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import com.simibubi.create.foundation.utility.MatrixStacker;
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import com.simibubi.create.foundation.utility.outliner.AABBOutline;
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import net.minecraft.client.Minecraft;
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import net.minecraft.util.math.AxisAlignedBB;
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import net.minecraft.util.math.BlockPos;
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import net.minecraft.util.math.BlockRayTraceResult;
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import net.minecraft.util.math.RayTraceResult;
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import net.minecraft.util.math.RayTraceResult.Type;
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import net.minecraft.util.math.Vec3d;
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public class CollisionDebugger {
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static AxisAlignedBB staticBB = new AxisAlignedBB(BlockPos.ZERO.up(10));
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static OrientedBB movingBB = new OrientedBB(new AxisAlignedBB(BlockPos.ZERO));
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static Vec3d seperation;
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static double angle = 0;
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static AABBOutline outline;
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public static void onScroll(double delta) {
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angle += delta;
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movingBB.setRotation(new Matrix3d().asZRotation(AngleHelper.rad(angle)));
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}
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public static void render(MatrixStack ms, SuperRenderTypeBuffer buffer) {
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ms.push();
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outline = new AABBOutline(movingBB.getAsAxisAlignedBB());
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outline.getParams()
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.withFaceTexture(seperation == null ? AllSpecialTextures.CHECKERED : null)
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.colored(0xffffff);
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if (seperation != null)
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outline.getParams()
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.lineWidth(1 / 64f)
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.colored(0xff6544);
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MatrixStacker.of(ms)
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.translate(movingBB.center);
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ms.peek()
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.getModel()
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.multiply(movingBB.rotation.getAsMatrix4f());
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MatrixStacker.of(ms)
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.translateBack(movingBB.center);
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outline.render(ms, buffer);
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ms.pop();
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ms.push();
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if (seperation != null) {
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outline.getParams()
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.colored(0x65ff44)
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.lineWidth(1 / 32f);
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MatrixStacker.of(ms)
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.translate(seperation)
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.translate(movingBB.center);
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ms.peek()
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.getModel()
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.multiply(movingBB.rotation.getAsMatrix4f());
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MatrixStacker.of(ms)
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.translateBack(movingBB.center);
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outline.render(ms, buffer);
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}
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ms.pop();
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}
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public static void tick() {
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staticBB = new AxisAlignedBB(BlockPos.ZERO.up(60));
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RayTraceResult mouse = Minecraft.getInstance().objectMouseOver;
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if (mouse != null && mouse.getType() == Type.BLOCK) {
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BlockRayTraceResult hit = (BlockRayTraceResult) mouse;
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movingBB.setCenter(hit.getHitVec());
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seperation = movingBB.intersect(staticBB);
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}
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CreateClient.outliner.showAABB(staticBB, staticBB)
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.withFaceTexture(seperation == null ? AllSpecialTextures.CHECKERED : null);
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}
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}
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@ -1,7 +1,10 @@
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package com.simibubi.create.foundation.collision;
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import net.minecraft.client.renderer.Matrix4f;
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import net.minecraft.util.math.MathHelper;
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import net.minecraft.util.math.Vec3d;
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import net.minecraftforge.api.distmarker.Dist;
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import net.minecraftforge.api.distmarker.OnlyIn;
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public class Matrix3d {
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@ -114,4 +117,25 @@ public class Matrix3d {
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return new Matrix3d().add(this);
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}
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float[] conversionBuffer = new float[16];
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@OnlyIn(Dist.CLIENT)
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public Matrix4f getAsMatrix4f() {
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for (int i = 0; i < 4; i++)
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for (int j = 0; j < 4; j++)
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conversionBuffer[j * 4 + i] = i == j ? 1 : 0;
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conversionBuffer[0] = (float) m00;
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conversionBuffer[1] = (float) m01;
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conversionBuffer[2] = (float) m02;
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conversionBuffer[4] = (float) m10;
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conversionBuffer[5] = (float) m11;
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conversionBuffer[6] = (float) m12;
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conversionBuffer[8] = (float) m20;
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conversionBuffer[9] = (float) m21;
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conversionBuffer[10] = (float) m22;
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return new Matrix4f(conversionBuffer);
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}
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}
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@ -5,6 +5,8 @@ import static java.lang.Math.abs;
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import org.apache.commons.lang3.mutable.MutableDouble;
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import org.apache.commons.lang3.mutable.MutableObject;
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import com.simibubi.create.CreateClient;
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import net.minecraft.util.math.AxisAlignedBB;
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import net.minecraft.util.math.Vec3d;
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@ -30,10 +32,7 @@ public class OrientedBB {
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public Vec3d intersect(AxisAlignedBB bb) {
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Vec3d extentsA = extentsFromBB(bb);
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// Inverse rotation, to bring our OBB to AA space
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Vec3d intersects = separateBBs(bb.getCenter(), center, extentsA, extents, rotation.transpose());
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// clean up
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rotation.transpose();
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Vec3d intersects = separateBBs(bb.getCenter(), center, extentsA, extents, rotation);
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return intersects;
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}
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@ -60,9 +59,9 @@ public class OrientedBB {
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Vec3d uA1 = new Vec3d(0, 1, 0);
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Vec3d uA2 = new Vec3d(0, 0, 1);
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Vec3d uB0 = new Vec3d(m.m00, m.m01, m.m02);
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Vec3d uB1 = new Vec3d(m.m10, m.m11, m.m12);
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Vec3d uB2 = new Vec3d(m.m20, m.m21, m.m22);
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Vec3d uB0 = new Vec3d(m.m00, m.m10, m.m20);
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Vec3d uB1 = new Vec3d(m.m01, m.m11, m.m21);
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Vec3d uB2 = new Vec3d(m.m02, m.m12, m.m22);
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checkCount = 0;
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@ -74,34 +73,42 @@ public class OrientedBB {
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|| isSeparatedAlong(bestAxis, bestSep, uA2, t.z, eA.z, a20 * eB.x + a21 * eB.y + a22 * eB.z)
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// Separate along B's local axes
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|| isSeparatedAlong(bestAxis, bestSep, uB0, t.x * m.m00 + t.y * m.m10 + t.z * m.m20,
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|| isSeparatedAlong(bestAxis, bestSep, uB0, (t.x * m.m00 + t.y * m.m10 + t.z * m.m20),
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eA.x * a00 + eA.y * a10 + eA.z * a20, eB.x)
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|| isSeparatedAlong(bestAxis, bestSep, uB1, t.x * m.m01 + t.y * m.m11 + t.z * m.m21,
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|| isSeparatedAlong(bestAxis, bestSep, uB1, (t.x * m.m01 + t.y * m.m11 + t.z * m.m21),
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eA.x * a01 + eA.y * a11 + eA.z * a21, eB.y)
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|| isSeparatedAlong(bestAxis, bestSep, uB2, t.x * m.m02 + t.y * m.m12 + t.z * m.m22,
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|| isSeparatedAlong(bestAxis, bestSep, uB2, (t.x * m.m02 + t.y * m.m12 + t.z * m.m22),
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eA.x * a02 + eA.y * a12 + eA.z * a22, eB.z)
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// Separate along axes perpendicular to AxB
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|| isSeparatedAlong(bestAxis, bestSep, uA0.crossProduct(uB0), t.z * m.m10 - t.y * m.m20,
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eA.y * a20 + eA.z * a10, eB.y * a02 + eB.z * a01)
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|| isSeparatedAlong(bestAxis, bestSep, uA0.crossProduct(uB1), t.z * m.m11 - t.y * m.m21,
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eA.y * a21 + eA.z * a11, eB.x * a02 + eB.z * a00)
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|| isSeparatedAlong(bestAxis, bestSep, uA0.crossProduct(uB2), t.z * m.m12 - t.y * m.m22,
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eA.y * a22 + eA.z * a12, eB.x * a01 + eB.y * a00)
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/*
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* The following checks (edge-to-edge) need special separation logic. They are
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* not necessary as long as the obb is only rotated around one axis at a time
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* (Which is the case for contraptions at the moment)
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*
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*/
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|| isSeparatedAlong(bestAxis, bestSep, uA1.crossProduct(uB0), t.x * m.m20 - t.z * m.m00,
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eA.x * a20 + eA.z * a00, eB.y * a12 + eB.z * a11)
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|| isSeparatedAlong(bestAxis, bestSep, uA1.crossProduct(uB1), t.x * m.m21 - t.z * m.m01,
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eA.x * a21 + eA.z * a01, eB.x * a12 + eB.z * a10)
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|| isSeparatedAlong(bestAxis, bestSep, uA1.crossProduct(uB2), t.x * m.m22 - t.z * m.m02,
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eA.x * a22 + eA.z * a02, eB.x * a11 + eB.y * a10)
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|| isSeparatedAlong(bestAxis, bestSep, uA2.crossProduct(uB0), t.y * m.m00 - t.x * m.m10,
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eA.x * a10 + eA.y * a00, eB.y * a22 + eB.z * a21)
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|| isSeparatedAlong(bestAxis, bestSep, uA2.crossProduct(uB1), t.y * m.m01 - t.x * m.m11,
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eA.x * a11 + eA.y * a01, eB.x * a22 + eB.z * a20)
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|| isSeparatedAlong(bestAxis, bestSep, uA2.crossProduct(uB2), t.y * m.m02 - t.x * m.m12,
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eA.x * a12 + eA.y * a02, eB.x * a21 + eB.y * a20)))
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// Separate along axes perpendicular to AxB
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// || isSeparatedAlong(bestAxis, bestSep, uA0.crossProduct(uB0), t.z * m.m10 - t.y * m.m20,
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// eA.y * a20 + eA.z * a10, eB.y * a02 + eB.z * a01)
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// || isSeparatedAlong(bestAxis, bestSep, uA0.crossProduct(uB1), t.z * m.m11 - t.y * m.m21,
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// eA.y * a21 + eA.z * a11, eB.x * a02 + eB.z * a00)
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// || isSeparatedAlong(bestAxis, bestSep, uA0.crossProduct(uB2), t.z * m.m12 - t.y * m.m22,
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// eA.y * a22 + eA.z * a12, eB.x * a01 + eB.y * a00)
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//
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// || isSeparatedAlong(bestAxis, bestSep, uA1.crossProduct(uB0), t.x * m.m20 - t.z * m.m00,
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// eA.x * a20 + eA.z * a00, eB.y * a12 + eB.z * a11)
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// || isSeparatedAlong(bestAxis, bestSep, uA1.crossProduct(uB1), t.x * m.m21 - t.z * m.m01,
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// eA.x * a21 + eA.z * a01, eB.x * a12 + eB.z * a10)
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// || isSeparatedAlong(bestAxis, bestSep, uA1.crossProduct(uB2), t.x * m.m22 - t.z * m.m02,
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// eA.x * a22 + eA.z * a02, eB.x * a11 + eB.y * a10)
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//
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// || isSeparatedAlong(bestAxis, bestSep, uA2.crossProduct(uB0), t.y * m.m00 - t.x * m.m10,
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// eA.x * a10 + eA.y * a00, eB.y * a22 + eB.z * a21)
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// || isSeparatedAlong(bestAxis, bestSep, uA2.crossProduct(uB1), t.y * m.m01 - t.x * m.m11,
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// eA.x * a11 + eA.y * a01, eB.x * a22 + eB.z * a20)
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// || isSeparatedAlong(bestAxis, bestSep, uA2.crossProduct(uB2), t.y * m.m02 - t.x * m.m12,
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// eA.x * a12 + eA.y * a02, eB.x * a21 + eB.y * a20)
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))
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return bestAxis.getValue()
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.normalize()
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@ -121,14 +128,37 @@ public class OrientedBB {
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double diff = distance - (rA + rB);
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if (diff > 0)
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return true;
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if (distance != 0 && -diff < abs(bestSeparation.getValue())) {
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bestAxis.setValue(axis);
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bestSeparation.setValue(Math.signum(TL) * abs(diff));
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boolean isBestSeperation = distance != 0 && -(diff) <= abs(bestSeparation.getValue());
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// boolean isBestSeperation = checkCount == 12; // Debug specific separations
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if (isBestSeperation) {
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bestAxis.setValue(axis.normalize());
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double sTL = Math.signum(TL);
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double value = sTL * abs(diff);
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bestSeparation.setValue(value);
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// Visualize values
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// if (CollisionDebugger.staticBB != null) {
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// Vec3d normalizedAxis = axis.normalize();
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// showDebugLine(Vec3d.ZERO, normalizedAxis.scale(TL), 0xbb00bb, "tl", 4);
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// showDebugLine(Vec3d.ZERO, normalizedAxis.scale(sTL * rA), 0xff4444, "ra", 3);
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// showDebugLine(normalizedAxis.scale(sTL * (distance - rB)), normalizedAxis.scale(TL), 0x4444ff, "rb", 2);
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// showDebugLine(normalizedAxis.scale(sTL * (distance - rB)),
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// normalizedAxis.scale(sTL * (distance - rB) + value), 0xff9966, "separation", 1);
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// System.out.println("TL:" + TL + ", rA: " + rA + ", rB: " + rB);
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// }
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}
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return false;
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}
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||||
|
||||
static void showDebugLine(Vec3d relativeStart, Vec3d relativeEnd, int color, String id, int offset) {
|
||||
Vec3d center = CollisionDebugger.staticBB.getCenter()
|
||||
.add(0, 1 + offset / 16f, 0);
|
||||
CreateClient.outliner.showLine(id + checkCount, center.add(relativeStart), center.add(relativeEnd))
|
||||
.colored(color)
|
||||
.lineWidth(1 / 32f);
|
||||
}
|
||||
|
||||
public Matrix3d getRotation() {
|
||||
return rotation;
|
||||
}
|
||||
|
|
@ -145,4 +175,9 @@ public class OrientedBB {
|
|||
this.center = center;
|
||||
}
|
||||
|
||||
public AxisAlignedBB getAsAxisAlignedBB() {
|
||||
return new AxisAlignedBB(0, 0, 0, 0, 0, 0).offset(center)
|
||||
.grow(extents.x, extents.y, extents.z);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue