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- /*
- Minetest
- Copyright (C) 2013 celeron55, Perttu Ahola <celeron55@gmail.com>
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU Lesser General Public License as published by
- the Free Software Foundation; either version 2.1 of the License, or
- (at your option) any later version.
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU Lesser General Public License for more details.
- You should have received a copy of the GNU Lesser General Public License along
- with this program; if not, write to the Free Software Foundation, Inc.,
- 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
- */
- #include "collision.h"
- #include "mapblock.h"
- #include "map.h"
- #include "nodedef.h"
- #include "gamedef.h"
- #include "log.h"
- #include "environment.h"
- #include "serverobject.h"
- #include <vector>
- #include <set>
- #include "util/timetaker.h"
- #include "main.h" // g_profiler
- #include "profiler.h"
- // float error is 10 - 9.96875 = 0.03125
- //#define COLL_ZERO 0.032 // broken unit tests
- #define COLL_ZERO 0
- // Helper function:
- // Checks for collision of a moving aabbox with a static aabbox
- // Returns -1 if no collision, 0 if X collision, 1 if Y collision, 2 if Z collision
- // The time after which the collision occurs is stored in dtime.
- int axisAlignedCollision(
- const aabb3f &staticbox, const aabb3f &movingbox,
- const v3f &speed, f32 d, f32 &dtime)
- {
- //TimeTaker tt("axisAlignedCollision");
- f32 xsize = (staticbox.MaxEdge.X - staticbox.MinEdge.X) - COLL_ZERO; // reduce box size for solve collision stuck (flying sand)
- f32 ysize = (staticbox.MaxEdge.Y - staticbox.MinEdge.Y); // - COLL_ZERO; // Y - no sense for falling, but maybe try later
- f32 zsize = (staticbox.MaxEdge.Z - staticbox.MinEdge.Z) - COLL_ZERO;
- aabb3f relbox(
- movingbox.MinEdge.X - staticbox.MinEdge.X,
- movingbox.MinEdge.Y - staticbox.MinEdge.Y,
- movingbox.MinEdge.Z - staticbox.MinEdge.Z,
- movingbox.MaxEdge.X - staticbox.MinEdge.X,
- movingbox.MaxEdge.Y - staticbox.MinEdge.Y,
- movingbox.MaxEdge.Z - staticbox.MinEdge.Z
- );
- if(speed.X > 0) // Check for collision with X- plane
- {
- if(relbox.MaxEdge.X <= d)
- {
- dtime = - relbox.MaxEdge.X / speed.X;
- if((relbox.MinEdge.Y + speed.Y * dtime < ysize) &&
- (relbox.MaxEdge.Y + speed.Y * dtime > COLL_ZERO) &&
- (relbox.MinEdge.Z + speed.Z * dtime < zsize) &&
- (relbox.MaxEdge.Z + speed.Z * dtime > COLL_ZERO))
- return 0;
- }
- else if(relbox.MinEdge.X > xsize)
- {
- return -1;
- }
- }
- else if(speed.X < 0) // Check for collision with X+ plane
- {
- if(relbox.MinEdge.X >= xsize - d)
- {
- dtime = (xsize - relbox.MinEdge.X) / speed.X;
- if((relbox.MinEdge.Y + speed.Y * dtime < ysize) &&
- (relbox.MaxEdge.Y + speed.Y * dtime > COLL_ZERO) &&
- (relbox.MinEdge.Z + speed.Z * dtime < zsize) &&
- (relbox.MaxEdge.Z + speed.Z * dtime > COLL_ZERO))
- return 0;
- }
- else if(relbox.MaxEdge.X < 0)
- {
- return -1;
- }
- }
- // NO else if here
- if(speed.Y > 0) // Check for collision with Y- plane
- {
- if(relbox.MaxEdge.Y <= d)
- {
- dtime = - relbox.MaxEdge.Y / speed.Y;
- if((relbox.MinEdge.X + speed.X * dtime < xsize) &&
- (relbox.MaxEdge.X + speed.X * dtime > COLL_ZERO) &&
- (relbox.MinEdge.Z + speed.Z * dtime < zsize) &&
- (relbox.MaxEdge.Z + speed.Z * dtime > COLL_ZERO))
- return 1;
- }
- else if(relbox.MinEdge.Y > ysize)
- {
- return -1;
- }
- }
- else if(speed.Y < 0) // Check for collision with Y+ plane
- {
- if(relbox.MinEdge.Y >= ysize - d)
- {
- dtime = (ysize - relbox.MinEdge.Y) / speed.Y;
- if((relbox.MinEdge.X + speed.X * dtime < xsize) &&
- (relbox.MaxEdge.X + speed.X * dtime > COLL_ZERO) &&
- (relbox.MinEdge.Z + speed.Z * dtime < zsize) &&
- (relbox.MaxEdge.Z + speed.Z * dtime > COLL_ZERO))
- return 1;
- }
- else if(relbox.MaxEdge.Y < 0)
- {
- return -1;
- }
- }
- // NO else if here
- if(speed.Z > 0) // Check for collision with Z- plane
- {
- if(relbox.MaxEdge.Z <= d)
- {
- dtime = - relbox.MaxEdge.Z / speed.Z;
- if((relbox.MinEdge.X + speed.X * dtime < xsize) &&
- (relbox.MaxEdge.X + speed.X * dtime > COLL_ZERO) &&
- (relbox.MinEdge.Y + speed.Y * dtime < ysize) &&
- (relbox.MaxEdge.Y + speed.Y * dtime > COLL_ZERO))
- return 2;
- }
- //else if(relbox.MinEdge.Z > zsize)
- //{
- // return -1;
- //}
- }
- else if(speed.Z < 0) // Check for collision with Z+ plane
- {
- if(relbox.MinEdge.Z >= zsize - d)
- {
- dtime = (zsize - relbox.MinEdge.Z) / speed.Z;
- if((relbox.MinEdge.X + speed.X * dtime < xsize) &&
- (relbox.MaxEdge.X + speed.X * dtime > COLL_ZERO) &&
- (relbox.MinEdge.Y + speed.Y * dtime < ysize) &&
- (relbox.MaxEdge.Y + speed.Y * dtime > COLL_ZERO))
- return 2;
- }
- //else if(relbox.MaxEdge.Z < 0)
- //{
- // return -1;
- //}
- }
- return -1;
- }
- // Helper function:
- // Checks if moving the movingbox up by the given distance would hit a ceiling.
- bool wouldCollideWithCeiling(
- const std::vector<aabb3f> &staticboxes,
- const aabb3f &movingbox,
- f32 y_increase, f32 d)
- {
- //TimeTaker tt("wouldCollideWithCeiling");
- assert(y_increase >= 0);
- for(std::vector<aabb3f>::const_iterator
- i = staticboxes.begin();
- i != staticboxes.end(); i++)
- {
- const aabb3f& staticbox = *i;
- if((movingbox.MaxEdge.Y - d <= staticbox.MinEdge.Y) &&
- (movingbox.MaxEdge.Y + y_increase > staticbox.MinEdge.Y) &&
- (movingbox.MinEdge.X < staticbox.MaxEdge.X) &&
- (movingbox.MaxEdge.X > staticbox.MinEdge.X) &&
- (movingbox.MinEdge.Z < staticbox.MaxEdge.Z) &&
- (movingbox.MaxEdge.Z > staticbox.MinEdge.Z))
- return true;
- }
- return false;
- }
- collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
- f32 pos_max_d, const aabb3f &box_0,
- f32 stepheight, f32 dtime,
- v3f &pos_f, v3f &speed_f,
- v3f &accel_f,ActiveObject* self,
- bool collideWithObjects)
- {
- Map *map = &env->getMap();
- //TimeTaker tt("collisionMoveSimple");
- ScopeProfiler sp(g_profiler, "collisionMoveSimple avg", SPT_AVG);
- collisionMoveResult result;
- /*
- Calculate new velocity
- */
- if( dtime > 0.5 ) {
- infostream<<"collisionMoveSimple: WARNING: maximum step interval exceeded, lost movement details!"<<std::endl;
- dtime = 0.5;
- }
- speed_f += accel_f * dtime;
- // If there is no speed, there are no collisions
- if(speed_f.getLength() == 0)
- return result;
- // Limit speed for avoiding hangs
- speed_f.Y=rangelim(speed_f.Y,-5000,5000);
- speed_f.X=rangelim(speed_f.X,-5000,5000);
- speed_f.Z=rangelim(speed_f.Z,-5000,5000);
- /*
- Collect node boxes in movement range
- */
- std::vector<aabb3f> cboxes;
- std::vector<bool> is_unloaded;
- std::vector<bool> is_step_up;
- std::vector<bool> is_object;
- std::vector<int> bouncy_values;
- std::vector<v3s16> node_positions;
- {
- //TimeTaker tt2("collisionMoveSimple collect boxes");
- ScopeProfiler sp(g_profiler, "collisionMoveSimple collect boxes avg", SPT_AVG);
- v3s16 oldpos_i = floatToInt(pos_f, BS);
- v3s16 newpos_i = floatToInt(pos_f + speed_f * dtime, BS);
- s16 min_x = MYMIN(oldpos_i.X, newpos_i.X) + (box_0.MinEdge.X / BS) - 1;
- s16 min_y = MYMIN(oldpos_i.Y, newpos_i.Y) + (box_0.MinEdge.Y / BS) - 1;
- s16 min_z = MYMIN(oldpos_i.Z, newpos_i.Z) + (box_0.MinEdge.Z / BS) - 1;
- s16 max_x = MYMAX(oldpos_i.X, newpos_i.X) + (box_0.MaxEdge.X / BS) + 1;
- s16 max_y = MYMAX(oldpos_i.Y, newpos_i.Y) + (box_0.MaxEdge.Y / BS) + 1;
- s16 max_z = MYMAX(oldpos_i.Z, newpos_i.Z) + (box_0.MaxEdge.Z / BS) + 1;
- for(s16 x = min_x; x <= max_x; x++)
- for(s16 y = min_y; y <= max_y; y++)
- for(s16 z = min_z; z <= max_z; z++)
- {
- v3s16 p(x,y,z);
- try{
- // Object collides into walkable nodes
- MapNode n = map->getNode(p);
- const ContentFeatures &f = gamedef->getNodeDefManager()->get(n);
- if(f.walkable == false)
- continue;
- int n_bouncy_value = itemgroup_get(f.groups, "bouncy");
- std::vector<aabb3f> nodeboxes = n.getNodeBoxes(gamedef->ndef());
- for(std::vector<aabb3f>::iterator
- i = nodeboxes.begin();
- i != nodeboxes.end(); i++)
- {
- aabb3f box = *i;
- box.MinEdge += v3f(x, y, z)*BS;
- box.MaxEdge += v3f(x, y, z)*BS;
- cboxes.push_back(box);
- is_unloaded.push_back(false);
- is_step_up.push_back(false);
- bouncy_values.push_back(n_bouncy_value);
- node_positions.push_back(p);
- is_object.push_back(false);
- }
- }
- catch(InvalidPositionException &e)
- {
- // Collide with unloaded nodes
- aabb3f box = getNodeBox(p, BS);
- cboxes.push_back(box);
- is_unloaded.push_back(true);
- is_step_up.push_back(false);
- bouncy_values.push_back(0);
- node_positions.push_back(p);
- is_object.push_back(false);
- }
- }
- } // tt2
- if(collideWithObjects)
- {
- ScopeProfiler sp(g_profiler, "collisionMoveSimple objects avg", SPT_AVG);
- //TimeTaker tt3("collisionMoveSimple collect object boxes");
- /* add object boxes to cboxes */
- std::list<ActiveObject*> objects;
- #ifndef SERVER
- ClientEnvironment *c_env = dynamic_cast<ClientEnvironment*>(env);
- if (c_env != 0)
- {
- f32 distance = speed_f.getLength();
- std::vector<DistanceSortedActiveObject> clientobjects;
- c_env->getActiveObjects(pos_f,distance * 1.5,clientobjects);
- for (size_t i=0; i < clientobjects.size(); i++)
- {
- if ((self == 0) || (self != clientobjects[i].obj)) {
- objects.push_back((ActiveObject*)clientobjects[i].obj);
- }
- }
- }
- else
- #endif
- {
- ServerEnvironment *s_env = dynamic_cast<ServerEnvironment*>(env);
- if (s_env != 0)
- {
- f32 distance = speed_f.getLength();
- std::set<u16> s_objects = s_env->getObjectsInsideRadius(pos_f,distance * 1.5);
- for (std::set<u16>::iterator iter = s_objects.begin(); iter != s_objects.end(); iter++)
- {
- ServerActiveObject *current = s_env->getActiveObject(*iter);
- if ((self == 0) || (self != current)) {
- objects.push_back((ActiveObject*)current);
- }
- }
- }
- }
- for (std::list<ActiveObject*>::const_iterator iter = objects.begin();iter != objects.end(); ++iter)
- {
- ActiveObject *object = *iter;
- if (object != NULL)
- {
- aabb3f object_collisionbox;
- if (object->getCollisionBox(&object_collisionbox) &&
- object->collideWithObjects())
- {
- cboxes.push_back(object_collisionbox);
- is_unloaded.push_back(false);
- is_step_up.push_back(false);
- bouncy_values.push_back(0);
- node_positions.push_back(v3s16(0,0,0));
- is_object.push_back(true);
- }
- }
- }
- } //tt3
- assert(cboxes.size() == is_unloaded.size());
- assert(cboxes.size() == is_step_up.size());
- assert(cboxes.size() == bouncy_values.size());
- assert(cboxes.size() == node_positions.size());
- assert(cboxes.size() == is_object.size());
- /*
- Collision detection
- */
- /*
- Collision uncertainty radius
- Make it a bit larger than the maximum distance of movement
- */
- f32 d = pos_max_d * 1.1;
- // A fairly large value in here makes moving smoother
- //f32 d = 0.15*BS;
- // This should always apply, otherwise there are glitches
- assert(d > pos_max_d);
- int loopcount = 0;
- while(dtime > BS*1e-10)
- {
- //TimeTaker tt3("collisionMoveSimple dtime loop");
- ScopeProfiler sp(g_profiler, "collisionMoveSimple dtime loop avg", SPT_AVG);
- // Avoid infinite loop
- loopcount++;
- if(loopcount >= 100)
- {
- infostream<<"collisionMoveSimple: WARNING: Loop count exceeded, aborting to avoid infiniite loop"<<std::endl;
- dtime = 0;
- break;
- }
- aabb3f movingbox = box_0;
- movingbox.MinEdge += pos_f;
- movingbox.MaxEdge += pos_f;
- int nearest_collided = -1;
- f32 nearest_dtime = dtime;
- u32 nearest_boxindex = -1;
- /*
- Go through every nodebox, find nearest collision
- */
- for(u32 boxindex = 0; boxindex < cboxes.size(); boxindex++)
- {
- // Ignore if already stepped up this nodebox.
- if(is_step_up[boxindex])
- continue;
- // Find nearest collision of the two boxes (raytracing-like)
- f32 dtime_tmp;
- int collided = axisAlignedCollision(
- cboxes[boxindex], movingbox, speed_f, d, dtime_tmp);
- if(collided == -1 || dtime_tmp >= nearest_dtime)
- continue;
- nearest_dtime = dtime_tmp;
- nearest_collided = collided;
- nearest_boxindex = boxindex;
- }
- if(nearest_collided == -1)
- {
- // No collision with any collision box.
- pos_f += speed_f * dtime;
- dtime = 0; // Set to 0 to avoid "infinite" loop due to small FP numbers
- }
- else
- {
- // Otherwise, a collision occurred.
- const aabb3f& cbox = cboxes[nearest_boxindex];
- // Check for stairs.
- bool step_up = (nearest_collided != 1) && // must not be Y direction
- (movingbox.MinEdge.Y < cbox.MaxEdge.Y) &&
- (movingbox.MinEdge.Y + stepheight > cbox.MaxEdge.Y) &&
- (!wouldCollideWithCeiling(cboxes, movingbox,
- cbox.MaxEdge.Y - movingbox.MinEdge.Y,
- d));
- // Get bounce multiplier
- bool bouncy = (bouncy_values[nearest_boxindex] >= 1);
- float bounce = -(float)bouncy_values[nearest_boxindex] / 100.0;
- // Move to the point of collision and reduce dtime by nearest_dtime
- if(nearest_dtime < 0)
- {
- // Handle negative nearest_dtime (can be caused by the d allowance)
- if(!step_up)
- {
- if(nearest_collided == 0)
- pos_f.X += speed_f.X * nearest_dtime;
- if(nearest_collided == 1)
- pos_f.Y += speed_f.Y * nearest_dtime;
- if(nearest_collided == 2)
- pos_f.Z += speed_f.Z * nearest_dtime;
- }
- }
- else
- {
- pos_f += speed_f * nearest_dtime;
- dtime -= nearest_dtime;
- }
-
- bool is_collision = true;
- if(is_unloaded[nearest_boxindex])
- is_collision = false;
- CollisionInfo info;
- if (is_object[nearest_boxindex]) {
- info.type = COLLISION_OBJECT;
- }
- else {
- info.type = COLLISION_NODE;
- }
- info.node_p = node_positions[nearest_boxindex];
- 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
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