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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"
- #ifndef SERVER
- #include "clientenvironment.h"
- #endif
- #include "serverenvironment.h"
- #include "serverobject.h"
- #include "util/timetaker.h"
- #include "profiler.h"
- // float error is 10 - 9.96875 = 0.03125
- //#define COLL_ZERO 0.032 // broken unit tests
- #define COLL_ZERO 0
- struct NearbyCollisionInfo {
- NearbyCollisionInfo(bool is_ul, bool is_obj, int bouncy,
- const v3s16 &pos, const aabb3f &box) :
- is_unloaded(is_ul),
- is_object(is_obj),
- bouncy(bouncy),
- position(pos),
- box(box)
- {}
- bool is_unloaded;
- bool is_step_up = false;
- bool is_object;
- int bouncy;
- v3s16 position;
- aabb3f box;
- };
- // 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<NearbyCollisionInfo> &cinfo,
- const aabb3f &movingbox,
- f32 y_increase, f32 d)
- {
- //TimeTaker tt("wouldCollideWithCeiling");
- assert(y_increase >= 0); // pre-condition
- for (const auto &it : cinfo) {
- const aabb3f &staticbox = it.box;
- 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;
- }
- static inline void getNeighborConnectingFace(const v3s16 &p,
- const NodeDefManager *nodedef, Map *map, MapNode n, int v, int *neighbors)
- {
- MapNode n2 = map->getNodeNoEx(p);
- if (nodedef->nodeboxConnects(n, n2, v))
- *neighbors |= v;
- }
- collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
- f32 pos_max_d, const aabb3f &box_0,
- f32 stepheight, f32 dtime,
- v3f *pos_f, v3f *speed_f,
- v3f accel_f, ActiveObject *self,
- bool collideWithObjects)
- {
- static bool time_notification_done = false;
- Map *map = &env->getMap();
- //TimeTaker tt("collisionMoveSimple");
- ScopeProfiler sp(g_profiler, "collisionMoveSimple avg", SPT_AVG);
- collisionMoveResult result;
- /*
- Calculate new velocity
- */
- if (dtime > 0.5f) {
- if (!time_notification_done) {
- time_notification_done = true;
- infostream << "collisionMoveSimple: maximum step interval exceeded,"
- " lost movement details!"<<std::endl;
- }
- dtime = 0.5f;
- } else {
- time_notification_done = false;
- }
- *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<NearbyCollisionInfo> cinfo;
- {
- //TimeTaker tt2("collisionMoveSimple collect boxes");
- ScopeProfiler sp2(g_profiler, "collisionMoveSimple collect boxes avg", SPT_AVG);
- v3f newpos_f = *pos_f + *speed_f * dtime;
- v3f minpos_f(
- MYMIN(pos_f->X, newpos_f.X),
- MYMIN(pos_f->Y, newpos_f.Y) + 0.01f * BS, // bias rounding, player often at +/-n.5
- MYMIN(pos_f->Z, newpos_f.Z)
- );
- v3f maxpos_f(
- MYMAX(pos_f->X, newpos_f.X),
- MYMAX(pos_f->Y, newpos_f.Y),
- MYMAX(pos_f->Z, newpos_f.Z)
- );
- v3s16 min = floatToInt(minpos_f + box_0.MinEdge, BS) - v3s16(1, 1, 1);
- v3s16 max = floatToInt(maxpos_f + box_0.MaxEdge, BS) + v3s16(1, 1, 1);
- bool any_position_valid = false;
- v3s16 p;
- for (p.X = min.X; p.X <= max.X; p.X++)
- for (p.Y = min.Y; p.Y <= max.Y; p.Y++)
- for (p.Z = min.Z; p.Z <= max.Z; p.Z++) {
- bool is_position_valid;
- MapNode n = map->getNodeNoEx(p, &is_position_valid);
- if (is_position_valid && n.getContent() != CONTENT_IGNORE) {
- // Object collides into walkable nodes
- any_position_valid = true;
- const NodeDefManager *nodedef = gamedef->getNodeDefManager();
- const ContentFeatures &f = nodedef->get(n);
- if (!f.walkable)
- continue;
- int n_bouncy_value = itemgroup_get(f.groups, "bouncy");
- int neighbors = 0;
- if (f.drawtype == NDT_NODEBOX &&
- f.node_box.type == NODEBOX_CONNECTED) {
- v3s16 p2 = p;
- p2.Y++;
- getNeighborConnectingFace(p2, nodedef, map, n, 1, &neighbors);
- p2 = p;
- p2.Y--;
- getNeighborConnectingFace(p2, nodedef, map, n, 2, &neighbors);
- p2 = p;
- p2.Z--;
- getNeighborConnectingFace(p2, nodedef, map, n, 4, &neighbors);
- p2 = p;
- p2.X--;
- getNeighborConnectingFace(p2, nodedef, map, n, 8, &neighbors);
- p2 = p;
- p2.Z++;
- getNeighborConnectingFace(p2, nodedef, map, n, 16, &neighbors);
- p2 = p;
- p2.X++;
- getNeighborConnectingFace(p2, nodedef, map, n, 32, &neighbors);
- }
- std::vector<aabb3f> nodeboxes;
- n.getCollisionBoxes(gamedef->ndef(), &nodeboxes, neighbors);
- for (auto box : nodeboxes) {
- box.MinEdge += intToFloat(p, BS);
- box.MaxEdge += intToFloat(p, BS);
- cinfo.emplace_back(false, false, n_bouncy_value, p, box);
- }
- } else {
- // Collide with unloaded nodes (position invalid) and loaded
- // CONTENT_IGNORE nodes (position valid)
- aabb3f box = getNodeBox(p, BS);
- cinfo.emplace_back(true, false, 0, p, box);
- }
- }
- // Do not move if world has not loaded yet, since custom node boxes
- // are not available for collision detection.
- // This also intentionally occurs in the case of the object being positioned
- // solely on loaded CONTENT_IGNORE nodes, no matter where they come from.
- if (!any_position_valid) {
- *speed_f = v3f(0, 0, 0);
- return result;
- }
- } // tt2
- if(collideWithObjects)
- {
- ScopeProfiler sp2(g_profiler, "collisionMoveSimple objects avg", SPT_AVG);
- //TimeTaker tt3("collisionMoveSimple collect object boxes");
- /* add object boxes to cinfo */
- std::vector<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 * 1.5f, clientobjects);
- for (auto &clientobject : clientobjects) {
- if (!self || (self != clientobject.obj)) {
- objects.push_back((ActiveObject*) clientobject.obj);
- }
- }
- }
- else
- #endif
- {
- ServerEnvironment *s_env = dynamic_cast<ServerEnvironment*>(env);
- if (s_env != NULL) {
- f32 distance = speed_f->getLength();
- std::vector<u16> s_objects;
- s_env->getObjectsInsideRadius(s_objects, *pos_f, distance * 1.5f);
- for (u16 obj_id : s_objects) {
- ServerActiveObject *current = s_env->getActiveObject(obj_id);
- if (!self || (self != current)) {
- objects.push_back((ActiveObject*)current);
- }
- }
- }
- }
- for (std::vector<ActiveObject*>::const_iterator iter = objects.begin();
- iter != objects.end(); ++iter) {
- ActiveObject *object = *iter;
- if (object) {
- aabb3f object_collisionbox;
- if (object->getCollisionBox(&object_collisionbox) &&
- object->collideWithObjects()) {
- cinfo.emplace_back(false, true, 0, v3s16(), object_collisionbox);
- }
- }
- }
- } //tt3
- /*
- Collision detection
- */
- /*
- Collision uncertainty radius
- Make it a bit larger than the maximum distance of movement
- */
- f32 d = pos_max_d * 1.1f;
- // 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); // invariant
- int loopcount = 0;
- while(dtime > BS * 1e-10f) {
- //TimeTaker tt3("collisionMoveSimple dtime loop");
- ScopeProfiler sp2(g_profiler, "collisionMoveSimple dtime loop avg", SPT_AVG);
- // Avoid infinite loop
- loopcount++;
- if (loopcount >= 100) {
- warningstream << "collisionMoveSimple: Loop count exceeded, aborting to avoid infiniite loop" << std::endl;
- break;
- }
- aabb3f movingbox = box_0;
- movingbox.MinEdge += *pos_f;
- movingbox.MaxEdge += *pos_f;
- int nearest_collided = -1;
- f32 nearest_dtime = dtime;
- int nearest_boxindex = -1;
- /*
- Go through every nodebox, find nearest collision
- */
- for (u32 boxindex = 0; boxindex < cinfo.size(); boxindex++) {
- NearbyCollisionInfo box_info = cinfo[boxindex];
- // Ignore if already stepped up this nodebox.
- if (box_info.is_step_up)
- continue;
- // Find nearest collision of the two boxes (raytracing-like)
- f32 dtime_tmp;
- int collided = axisAlignedCollision(box_info.box,
- 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.
- NearbyCollisionInfo &nearest_info = cinfo[nearest_boxindex];
- const aabb3f& cbox = nearest_info.box;
- // 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(cinfo, movingbox,
- cbox.MaxEdge.Y - movingbox.MinEdge.Y,
- d));
- // Get bounce multiplier
- float bounce = -(float)nearest_info.bouncy / 100.0f;
- // 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 (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;
- }
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