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Collision various fixes (#9343)

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TheTermos 2020-04-08 22:45:05 +02:00 committed by GitHub
parent c1742b0901
commit 3ad5388c6d
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4 changed files with 141 additions and 149 deletions
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2
src/client/localplayer.h
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@ -141,6 +141,8 @@ public:
void setCollisionbox(const aabb3f &box) { m_collisionbox = box; }
const aabb3f& getCollisionbox() const { return m_collisionbox; }
float getZoomFOV() const { return m_zoom_fov; }
void setZoomFOV(float zoom_fov) { m_zoom_fov = zoom_fov; }

200
src/collision.cpp
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@ -25,16 +25,13 @@ with this program; if not, write to the Free Software Foundation, Inc.,
#include "gamedef.h"
#ifndef SERVER
#include "client/clientenvironment.h"
#include "client/localplayer.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,
@ -61,118 +58,102 @@ struct NearbyCollisionInfo {
// The time after which the collision occurs is stored in dtime.
CollisionAxis axisAlignedCollision(
const aabb3f &staticbox, const aabb3f &movingbox,
const v3f &speed, f32 d, f32 *dtime)
const v3f &speed, 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
movingbox.MaxEdge.X - movingbox.MinEdge.X + staticbox.MaxEdge.X - staticbox.MinEdge.X, // sum of the widths
movingbox.MaxEdge.Y - movingbox.MinEdge.Y + staticbox.MaxEdge.Y - staticbox.MinEdge.Y,
movingbox.MaxEdge.Z - movingbox.MinEdge.Z + staticbox.MaxEdge.Z - staticbox.MinEdge.Z,
std::max(movingbox.MaxEdge.X, staticbox.MaxEdge.X) - std::min(movingbox.MinEdge.X, staticbox.MinEdge.X), //outer bounding 'box' dimensions
std::max(movingbox.MaxEdge.Y, staticbox.MaxEdge.Y) - std::min(movingbox.MinEdge.Y, staticbox.MinEdge.Y),
std::max(movingbox.MaxEdge.Z, staticbox.MaxEdge.Z) - std::min(movingbox.MinEdge.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))
const f32 dtime_max = *dtime;
const f32 inner_margin = -1.5f;
f32 distance;
f32 time;
if (speed.X) {
distance = relbox.MaxEdge.X - relbox.MinEdge.X;
*dtime = distance >= 0 ? std::abs(distance / speed.X) : -std::abs(distance / speed.X);
time = std::max(*dtime, 0.0f);
if (distance > inner_margin) {
if (*dtime <= dtime_max) {
if ((speed.X > 0 && staticbox.MaxEdge.X > movingbox.MaxEdge.X) ||
(speed.X < 0 && staticbox.MinEdge.X < movingbox.MinEdge.X)) {
if (
(std::max(movingbox.MaxEdge.Y + speed.Y * time, staticbox.MaxEdge.Y)
- std::min(movingbox.MinEdge.Y + speed.Y * time, staticbox.MinEdge.Y)
- relbox.MinEdge.Y < 0) &&
(std::max(movingbox.MaxEdge.Z + speed.Z * time, staticbox.MaxEdge.Z)
- std::min(movingbox.MinEdge.Z + speed.Z * time, staticbox.MinEdge.Z)
- relbox.MinEdge.Z < 0)
)
return COLLISION_AXIS_X;
}
else if(relbox.MinEdge.X > xsize)
{
} else {
return COLLISION_AXIS_NONE;
}
}
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 COLLISION_AXIS_X;
}
else if(relbox.MaxEdge.X < 0)
{
return COLLISION_AXIS_NONE;
}
}
// 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))
if (speed.Y) {
distance = relbox.MaxEdge.Y - relbox.MinEdge.Y;
*dtime = distance >= 0 ? std::abs(distance / speed.Y) : -std::abs(distance / speed.Y);
time = std::max(*dtime, 0.0f);
if (distance > inner_margin) {
if (*dtime <= dtime_max) {
if ((speed.Y > 0 && staticbox.MaxEdge.Y > movingbox.MaxEdge.Y) ||
(speed.Y < 0 && staticbox.MinEdge.Y < movingbox.MinEdge.Y)) {
if (
(std::max(movingbox.MaxEdge.X + speed.X * time, staticbox.MaxEdge.X)
- std::min(movingbox.MinEdge.X + speed.X * time, staticbox.MinEdge.X)
- relbox.MinEdge.X < 0) &&
(std::max(movingbox.MaxEdge.Z + speed.Z * time, staticbox.MaxEdge.Z)
- std::min(movingbox.MinEdge.Z + speed.Z * time, staticbox.MinEdge.Z)
- relbox.MinEdge.Z < 0)
)
return COLLISION_AXIS_Y;
}
else if(relbox.MinEdge.Y > ysize)
{
} else {
return COLLISION_AXIS_NONE;
}
}
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 COLLISION_AXIS_Y;
}
else if(relbox.MaxEdge.Y < 0)
{
return COLLISION_AXIS_NONE;
}
}
// 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))
if (speed.Z) {
distance = relbox.MaxEdge.Z - relbox.MinEdge.Z;
*dtime = distance >= 0 ? std::abs(distance / speed.Z) : -std::abs(distance / speed.Z);
time = std::max(*dtime, 0.0f);
if (distance > inner_margin) {
if (*dtime <= dtime_max) {
if ((speed.Z > 0 && staticbox.MaxEdge.Z > movingbox.MaxEdge.Z) ||
(speed.Z < 0 && staticbox.MinEdge.Z < movingbox.MinEdge.Z)) {
if (
(std::max(movingbox.MaxEdge.X + speed.X * time, staticbox.MaxEdge.X)
- std::min(movingbox.MinEdge.X + speed.X * time, staticbox.MinEdge.X)
- relbox.MinEdge.X < 0) &&
(std::max(movingbox.MaxEdge.Y + speed.Y * time, staticbox.MaxEdge.Y)
- std::min(movingbox.MinEdge.Y + speed.Y * time, staticbox.MinEdge.Y)
- relbox.MinEdge.Y < 0)
)
return COLLISION_AXIS_Z;
}
//else if(relbox.MinEdge.Z > zsize)
//{
// return COLLISION_AXIS_NONE;
//}
}
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 COLLISION_AXIS_Z;
}
//else if(relbox.MaxEdge.Z < 0)
//{
// return COLLISION_AXIS_NONE;
//}
}
return COLLISION_AXIS_NONE;
@ -405,22 +386,25 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
}
}
}
#ifndef SERVER
if (self && c_env) {
LocalPlayer *lplayer = c_env->getLocalPlayer();
if (lplayer->getParent() == nullptr) {
aabb3f lplayer_collisionbox = lplayer->getCollisionbox();
v3f lplayer_pos = lplayer->getPosition();
lplayer_collisionbox.MinEdge += lplayer_pos;
lplayer_collisionbox.MaxEdge += lplayer_pos;
cinfo.emplace_back(false, true, 0, v3s16(), lplayer_collisionbox);
}
}
#endif
} //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
f32 d = 0.0f;
int loopcount = 0;
@ -450,9 +434,9 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
continue;
// Find nearest collision of the two boxes (raytracing-like)
f32 dtime_tmp;
f32 dtime_tmp = nearest_dtime;
CollisionAxis collided = axisAlignedCollision(box_info.box,
movingbox, *speed_f, d, &dtime_tmp);
movingbox, *speed_f, &dtime_tmp);
if (collided == -1 || dtime_tmp >= nearest_dtime)
continue;
@ -470,11 +454,18 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
// Otherwise, a collision occurred.
NearbyCollisionInfo &nearest_info = cinfo[nearest_boxindex];
const aabb3f& cbox = nearest_info.box;
//movingbox except moved to the horizontal position it would be after step up
aabb3f stepbox = movingbox;
stepbox.MinEdge.X += speed_f->X * dtime;
stepbox.MinEdge.Z += speed_f->Z * dtime;
stepbox.MaxEdge.X += speed_f->X * dtime;
stepbox.MaxEdge.Z += speed_f->Z * dtime;
// Check for stairs.
bool step_up = (nearest_collided != COLLISION_AXIS_Y) && // must not be Y direction
(movingbox.MinEdge.Y < cbox.MaxEdge.Y) &&
(movingbox.MinEdge.Y + stepheight > cbox.MaxEdge.Y) &&
(!wouldCollideWithCeiling(cinfo, movingbox,
(!wouldCollideWithCeiling(cinfo, stepbox,
cbox.MaxEdge.Y - movingbox.MinEdge.Y,
d));
@ -483,7 +474,7 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
// 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)
// Handle negative nearest_dtime
if (!step_up) {
if (nearest_collided == COLLISION_AXIS_X)
pos_f->X += speed_f->X * nearest_dtime;
@ -562,9 +553,8 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
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) {
@ -574,7 +564,7 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
box.MinEdge += *pos_f;
box.MaxEdge += *pos_f;
}
if (std::fabs(cbox.MaxEdge.Y - box.MinEdge.Y) < 0.15f * BS) {
if (std::fabs(cbox.MaxEdge.Y - box.MinEdge.Y) < 0.05f) {
result.touching_ground = true;
if (box_info.is_object)

2
src/collision.h
View File

@ -77,7 +77,7 @@ collisionMoveResult collisionMoveSimple(Environment *env,IGameDef *gamedef,
// dtime receives time until first collision, invalid if -1 is returned
CollisionAxis axisAlignedCollision(
const aabb3f &staticbox, const aabb3f &movingbox,
const v3f &speed, f32 d, f32 *dtime);
const v3f &speed, f32 *dtime);
// Helper function:
// Checks if moving the movingbox up by the given distance would hit a ceiling.

64
src/unittest/test_collision.cpp
View File

@ -50,38 +50,38 @@ void TestCollision::testAxisAlignedCollision()
aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
aabb3f m(bx-2, by, bz, bx-1, by+1, bz+1);
v3f v(1, 0, 0);
f32 dtime = 0;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == 0);
f32 dtime = 1.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0);
UASSERT(fabs(dtime - 1.000) < 0.001);
}
{
aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
aabb3f m(bx-2, by, bz, bx-1, by+1, bz+1);
v3f v(-1, 0, 0);
f32 dtime = 0;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == -1);
f32 dtime = 1.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == -1);
}
{
aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
aabb3f m(bx-2, by+1.5, bz, bx-1, by+2.5, bz-1);
v3f v(1, 0, 0);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == -1);
f32 dtime = 1.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == -1);
}
{
aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
aabb3f m(bx-2, by-1.5, bz, bx-1.5, by+0.5, bz+1);
v3f v(0.5, 0.1, 0);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == 0);
f32 dtime = 3.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0);
UASSERT(fabs(dtime - 3.000) < 0.001);
}
{
aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
aabb3f m(bx-2, by-1.5, bz, bx-1.5, by+0.5, bz+1);
v3f v(0.5, 0.1, 0);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == 0);
f32 dtime = 3.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0);
UASSERT(fabs(dtime - 3.000) < 0.001);
}
@ -90,38 +90,38 @@ void TestCollision::testAxisAlignedCollision()
aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
aabb3f m(bx+2, by, bz, bx+3, by+1, bz+1);
v3f v(-1, 0, 0);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == 0);
f32 dtime = 1.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0);
UASSERT(fabs(dtime - 1.000) < 0.001);
}
{
aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
aabb3f m(bx+2, by, bz, bx+3, by+1, bz+1);
v3f v(1, 0, 0);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == -1);
f32 dtime = 1.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == -1);
}
{
aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
aabb3f m(bx+2, by, bz+1.5, bx+3, by+1, bz+3.5);
v3f v(-1, 0, 0);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == -1);
f32 dtime = 1.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == -1);
}
{
aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
aabb3f m(bx+2, by-1.5, bz, bx+2.5, by-0.5, bz+1);
v3f v(-0.5, 0.2, 0);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == 1); // Y, not X!
f32 dtime = 2.5f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == 1); // Y, not X!
UASSERT(fabs(dtime - 2.500) < 0.001);
}
{
aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
aabb3f m(bx+2, by-1.5, bz, bx+2.5, by-0.5, bz+1);
v3f v(-0.5, 0.3, 0);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == 0);
f32 dtime = 2.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0);
UASSERT(fabs(dtime - 2.000) < 0.001);
}
@ -132,48 +132,48 @@ void TestCollision::testAxisAlignedCollision()
aabb3f s(bx, by, bz, bx+2, by+2, bz+2);
aabb3f m(bx+2.3, by+2.29, bz+2.29, bx+4.2, by+4.2, bz+4.2);
v3f v(-1./3, -1./3, -1./3);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == 0);
f32 dtime = 1.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0);
UASSERT(fabs(dtime - 0.9) < 0.001);
}
{
aabb3f s(bx, by, bz, bx+2, by+2, bz+2);
aabb3f m(bx+2.29, by+2.3, bz+2.29, bx+4.2, by+4.2, bz+4.2);
v3f v(-1./3, -1./3, -1./3);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == 1);
f32 dtime = 1.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == 1);
UASSERT(fabs(dtime - 0.9) < 0.001);
}
{
aabb3f s(bx, by, bz, bx+2, by+2, bz+2);
aabb3f m(bx+2.29, by+2.29, bz+2.3, bx+4.2, by+4.2, bz+4.2);
v3f v(-1./3, -1./3, -1./3);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == 2);
f32 dtime = 1.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == 2);
UASSERT(fabs(dtime - 0.9) < 0.001);
}
{
aabb3f s(bx, by, bz, bx+2, by+2, bz+2);
aabb3f m(bx-4.2, by-4.2, bz-4.2, bx-2.3, by-2.29, bz-2.29);
v3f v(1./7, 1./7, 1./7);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == 0);
f32 dtime = 17.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0);
UASSERT(fabs(dtime - 16.1) < 0.001);
}
{
aabb3f s(bx, by, bz, bx+2, by+2, bz+2);
aabb3f m(bx-4.2, by-4.2, bz-4.2, bx-2.29, by-2.3, bz-2.29);
v3f v(1./7, 1./7, 1./7);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == 1);
f32 dtime = 17.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == 1);
UASSERT(fabs(dtime - 16.1) < 0.001);
}
{
aabb3f s(bx, by, bz, bx+2, by+2, bz+2);
aabb3f m(bx-4.2, by-4.2, bz-4.2, bx-2.29, by-2.29, bz-2.3);
v3f v(1./7, 1./7, 1./7);
f32 dtime;
UASSERT(axisAlignedCollision(s, m, v, 0, &dtime) == 2);
f32 dtime = 17.0f;
UASSERT(axisAlignedCollision(s, m, v, &dtime) == 2);
UASSERT(fabs(dtime - 16.1) < 0.001);
}
}