Use true pitch/yaw/roll rotations without loss of precision by pgimeno (#8019)

Store the rotation in the node as a 4x4 transformation matrix internally (through IDummyTransformationSceneNode), which allows more manipulations without losing precision or having gimbal lock issues.

Network rotation is still transmitted as Eulers, though, not as matrix. But it will stay this way in 5.0.

doc/lua_api.txt

@@ -5074,9 +5074,10 @@ This is basically a reference to a C++ `ServerActiveObject`
     * `acc` is a vector
 * `get_acceleration()`: returns the acceleration, a vector
 * `set_rotation(rot)`
-    * `rot` is a vector (radians)
+    * `rot` is a vector (radians). X is pitch (elevation), Y is yaw (heading)
-* `get_rotation()` : returns the rotation, a vector (radians)
+      and Z is roll (bank).
-* `set_yaw(radians)`
+* `get_rotation()`: returns the rotation, a vector (radians)
+* `set_yaw(radians)`: sets the yaw (heading).
 * `get_yaw()`: returns number in radians
 * `set_texture_mod(mod)`
 * `get_texture_mod()` returns current texture modifier

src/client/content_cao.cpp

@@ -23,7 +23,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
 #include <IMeshManipulator.h>
 #include <IAnimatedMeshSceneNode.h>
 #include "content_cao.h"
-#include "util/numeric.h" // For IntervalLimiter
+#include "util/numeric.h" // For IntervalLimiter & setPitchYawRoll
 #include "util/serialize.h"
 #include "util/basic_macros.h"
 #include "client/sound.h"
@@ -402,10 +402,9 @@ bool GenericCAO::getSelectionBox(aabb3f *toset) const
 
 v3f GenericCAO::getPosition()
 {
-	if (getParent() != NULL) {
+	if (getParent() != nullptr) {
-		scene::ISceneNode *node = getSceneNode();
+		if (m_matrixnode)
-		if (node)
+			return m_matrixnode->getAbsolutePosition();
-			return node->getAbsolutePosition();
 
 		return m_position;
 	}
@@ -486,7 +485,7 @@ void GenericCAO::removeFromScene(bool permanent)
 
 		LocalPlayer* player = m_env->getLocalPlayer();
 		if (this == player->parent) {
-			player->parent = NULL;
+			player->parent = nullptr;
 			player->isAttached = false;
 		}
 	}
@@ -494,24 +493,30 @@ void GenericCAO::removeFromScene(bool permanent)
 	if (m_meshnode) {
 		m_meshnode->remove();
 		m_meshnode->drop();
-		m_meshnode = NULL;
+		m_meshnode = nullptr;
 	} else if (m_animated_meshnode)	{
 		m_animated_meshnode->remove();
 		m_animated_meshnode->drop();
-		m_animated_meshnode = NULL;
+		m_animated_meshnode = nullptr;
 	} else if (m_wield_meshnode) {
 		m_wield_meshnode->remove();
 		m_wield_meshnode->drop();
-		m_wield_meshnode = NULL;
+		m_wield_meshnode = nullptr;
 	} else if (m_spritenode) {
 		m_spritenode->remove();
 		m_spritenode->drop();
-		m_spritenode = NULL;
+		m_spritenode = nullptr;
+	}
+
+	if (m_matrixnode) {
+		m_matrixnode->remove();
+		m_matrixnode->drop();
+		m_matrixnode = nullptr;
 	}
 
 	if (m_nametag) {
 		m_client->getCamera()->removeNametag(m_nametag);
-		m_nametag = NULL;
+		m_nametag = nullptr;
 	}
 }
 
@@ -534,8 +539,11 @@ void GenericCAO::addToScene(ITextureSource *tsrc)
 
 	if (m_prop.visual == "sprite") {
 		infostream<<"GenericCAO::addToScene(): single_sprite"<<std::endl;
+		m_matrixnode = RenderingEngine::get_scene_manager()->
+				addDummyTransformationSceneNode();
+		m_matrixnode->grab();
 		m_spritenode = RenderingEngine::get_scene_manager()->addBillboardSceneNode(
-				NULL, v2f(1, 1), v3f(0,0,0), -1);
+				m_matrixnode, v2f(1, 1), v3f(0,0,0), -1);
 		m_spritenode->grab();
 		m_spritenode->setMaterialTexture(0,
 				tsrc->getTextureForMesh("unknown_node.png"));
@@ -608,17 +616,24 @@ void GenericCAO::addToScene(ITextureSource *tsrc)
 			mesh->addMeshBuffer(buf);
 			buf->drop();
 		}
-		m_meshnode = RenderingEngine::get_scene_manager()->addMeshSceneNode(mesh, NULL);
+		m_matrixnode = RenderingEngine::get_scene_manager()->
+			addDummyTransformationSceneNode();
+		m_matrixnode->grab();
+		m_meshnode = RenderingEngine::get_scene_manager()->
+			addMeshSceneNode(mesh, m_matrixnode);
 		m_meshnode->grab();
 		mesh->drop();
 		// Set it to use the materials of the meshbuffers directly.
 		// This is needed for changing the texture in the future
 		m_meshnode->setReadOnlyMaterials(true);
-	}
+	} else if (m_prop.visual == "cube") {
-	else if(m_prop.visual == "cube") {
 		infostream<<"GenericCAO::addToScene(): cube"<<std::endl;
 		scene::IMesh *mesh = createCubeMesh(v3f(BS,BS,BS));
-		m_meshnode = RenderingEngine::get_scene_manager()->addMeshSceneNode(mesh, NULL);
+		m_matrixnode = RenderingEngine::get_scene_manager()->
+			addDummyTransformationSceneNode(nullptr);
+		m_matrixnode->grab();
+		m_meshnode = RenderingEngine::get_scene_manager()->
+			addMeshSceneNode(mesh, m_matrixnode);
 		m_meshnode->grab();
 		mesh->drop();
 
@@ -630,14 +645,15 @@ void GenericCAO::addToScene(ITextureSource *tsrc)
 		m_meshnode->setMaterialFlag(video::EMF_BILINEAR_FILTER, false);
 		m_meshnode->setMaterialType(material_type);
 		m_meshnode->setMaterialFlag(video::EMF_FOG_ENABLE, true);
-	}
+	} else if (m_prop.visual == "mesh") {
-	else if(m_prop.visual == "mesh") {
 		infostream<<"GenericCAO::addToScene(): mesh"<<std::endl;
 		scene::IAnimatedMesh *mesh = m_client->getMesh(m_prop.mesh, true);
-		if(mesh)
+		if (mesh) {
-		{
+			m_matrixnode = RenderingEngine::get_scene_manager()->
+				addDummyTransformationSceneNode(nullptr);
+			m_matrixnode->grab();
 			m_animated_meshnode = RenderingEngine::get_scene_manager()->
-				addAnimatedMeshSceneNode(mesh, NULL);
+				addAnimatedMeshSceneNode(mesh, m_matrixnode);
 			m_animated_meshnode->grab();
 			mesh->drop(); // The scene node took hold of it
 			m_animated_meshnode->animateJoints(); // Needed for some animations
@@ -655,8 +671,7 @@ void GenericCAO::addToScene(ITextureSource *tsrc)
 			m_animated_meshnode->setMaterialFlag(video::EMF_FOG_ENABLE, true);
 			m_animated_meshnode->setMaterialFlag(video::EMF_BACK_FACE_CULLING,
 				m_prop.backface_culling);
-		}
+		} else
-		else
 			errorstream<<"GenericCAO::addToScene(): Could not load mesh "<<m_prop.mesh<<std::endl;
 	} else if (m_prop.visual == "wielditem" || m_prop.visual == "item") {
 		ItemStack item;
@@ -674,8 +689,12 @@ void GenericCAO::addToScene(ITextureSource *tsrc)
 			infostream << "serialized form: " << m_prop.wield_item << std::endl;
 			item.deSerialize(m_prop.wield_item, m_client->idef());
 		}
+		m_matrixnode = RenderingEngine::get_scene_manager()->
+			addDummyTransformationSceneNode(nullptr);
+		m_matrixnode->grab();
 		m_wield_meshnode = new WieldMeshSceneNode(
 			RenderingEngine::get_scene_manager(), -1);
+		m_wield_meshnode->setParent(m_matrixnode);
 		m_wield_meshnode->setItem(item, m_client,
 			(m_prop.visual == "wielditem"));
 
@@ -763,10 +782,12 @@ void GenericCAO::updateNodePos()
 
 	if (node) {
 		v3s16 camera_offset = m_env->getCameraOffset();
-		node->setPosition(pos_translator.val_current - intToFloat(camera_offset, BS));
+		v3f pos = pos_translator.val_current -
+				intToFloat(camera_offset, BS);
+		getPosRotMatrix().setTranslation(pos);
 		if (node != m_spritenode) { // rotate if not a sprite
 			v3f rot = m_is_local_player ? -m_rotation : -rot_translator.val_current;
-			node->setRotation(rot);
+			setPitchYawRoll(getPosRotMatrix(), rot);
 		}
 	}
 }
@@ -858,8 +879,10 @@ void GenericCAO::step(float dtime, ClientEnvironment *env)
 			ClientActiveObject *obj = m_env->getActiveObject(*ci);
 			if (obj) {
 				scene::ISceneNode *child_node = obj->getSceneNode();
+				// The node's parent is always an IDummyTraformationSceneNode,
+				// so we need to reparent that one instead.
 				if (child_node)
-					child_node->setParent(m_smgr->getRootSceneNode());
+					child_node->getParent()->setParent(m_smgr->getRootSceneNode());
 			}
 			++ci;
 		}
@@ -1266,16 +1289,13 @@ void GenericCAO::updateBonePosition()
 
 void GenericCAO::updateAttachments()
 {
-
+	ClientActiveObject *parent = getParent();
-	if (!getParent()) { // Detach or don't attach
+	if (!parent) { // Detach or don't attach
-		scene::ISceneNode *node = getSceneNode();
+		if (m_matrixnode) {
-		if (node) {
+			v3f old_pos = m_matrixnode->getAbsolutePosition();
-			v3f old_position = node->getAbsolutePosition();
+			m_matrixnode->setParent(m_smgr->getRootSceneNode());
-			v3f old_rotation = node->getRotation();
+			getPosRotMatrix().setTranslation(old_pos);
-			node->setParent(m_smgr->getRootSceneNode());
+			m_matrixnode->updateAbsolutePosition();
-			node->setPosition(old_position);
-			node->setRotation(old_rotation);
-			node->updateAbsolutePosition();
 		}
 		if (m_is_local_player) {
 			LocalPlayer *player = m_env->getLocalPlayer();
@@ -1284,20 +1304,20 @@ void GenericCAO::updateAttachments()
 	}
 	else // Attach
 	{
-		scene::ISceneNode *my_node = getSceneNode();
+		scene::ISceneNode *parent_node = parent->getSceneNode();
-
-		scene::ISceneNode *parent_node = getParent()->getSceneNode();
 		scene::IAnimatedMeshSceneNode *parent_animated_mesh_node =
-				getParent()->getAnimatedMeshSceneNode();
+				parent->getAnimatedMeshSceneNode();
 		if (parent_animated_mesh_node && !m_attachment_bone.empty()) {
 			parent_node = parent_animated_mesh_node->getJointNode(m_attachment_bone.c_str());
 		}
 
-		if (my_node && parent_node) {
+		if (m_matrixnode && parent_node) {
-			my_node->setParent(parent_node);
+			m_matrixnode->setParent(parent_node);
-			my_node->setPosition(m_attachment_position);
+			getPosRotMatrix().setTranslation(m_attachment_position);
-			my_node->setRotation(m_attachment_rotation);
+			//setPitchYawRoll(getPosRotMatrix(), m_attachment_rotation);
-			my_node->updateAbsolutePosition();
+			// use Irrlicht eulers instead
+			getPosRotMatrix().setRotationDegrees(m_attachment_rotation);
+			m_matrixnode->updateAbsolutePosition();
 		}
 		if (m_is_local_player) {
 			LocalPlayer *player = m_env->getLocalPlayer();

src/client/content_cao.h

@@ -25,6 +25,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
 #include "object_properties.h"
 #include "itemgroup.h"
 #include "constants.h"
+#include <cassert>
 
 class Camera;
 class Client;
@@ -81,6 +82,7 @@ private:
 	scene::IAnimatedMeshSceneNode *m_animated_meshnode = nullptr;
 	WieldMeshSceneNode *m_wield_meshnode = nullptr;
 	scene::IBillboardSceneNode *m_spritenode = nullptr;
+	scene::IDummyTransformationSceneNode *m_matrixnode = nullptr;
 	Nametag *m_nametag = nullptr;
 	v3f m_position = v3f(0.0f, 10.0f * BS, 0);
 	v3f m_velocity;
@@ -163,6 +165,19 @@ public:
 
 	scene::IAnimatedMeshSceneNode *getAnimatedMeshSceneNode();
 
+	// m_matrixnode controls the position and rotation of the child node
+	// for all scene nodes, as a workaround for an Irrlicht problem with
+	// rotations. The child node's position can't be used because it's
+	// rotated, and must remain as 0.
+	// Note that m_matrixnode.setPosition() shouldn't be called. Use
+	// m_matrixnode->getRelativeTransformationMatrix().setTranslation()
+	// instead (aka getPosRotMatrix().setTranslation()).
+	inline core::matrix4 &getPosRotMatrix()
+	{
+		assert(m_matrixnode);
+		return m_matrixnode->getRelativeTransformationMatrix();
+	}
+
 	inline f32 getStepHeight() const
 	{
 		return m_prop.stepheight;

src/irrlichttypes_extrabloated.h

@@ -26,6 +26,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
 #include <IImage.h>
 #include <IrrlichtDevice.h>
 #include <IMeshSceneNode.h>
+#include <IDummyTransformationSceneNode.h>
 #include <SMesh.h>
 #include <ISceneManager.h>
 #include <IMeshBuffer.h>

src/network/networkprotocol.h

@@ -193,6 +193,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
 		Add TOCLIENT_NODEMETA_CHANGED
 		New network float format
 		ContentFeatures version 13
+		Add full Euler rotations instead of just yaw
 */
 
 #define LATEST_PROTOCOL_VERSION 37

src/unittest/test_utilities.cpp

@@ -53,6 +53,7 @@ public:
 	void testIsPowerOfTwo();
 	void testMyround();
 	void testStringJoin();
+	void testEulerConversion();
 };
 
 static TestUtilities g_test_instance;
@@ -82,6 +83,7 @@ void TestUtilities::runTests(IGameDef *gamedef)
 	TEST(testIsPowerOfTwo);
 	TEST(testMyround);
 	TEST(testStringJoin);
+	TEST(testEulerConversion);
 }
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -394,3 +396,115 @@ void TestUtilities::testStringJoin()
 	UASSERT(str_join(input, " and ") == "one and two and three");
 }
 
+
+static bool within(const f32 value1, const f32 value2, const f32 precision)
+{
+	return std::fabs(value1 - value2) <= precision;
+}
+
+static bool within(const v3f &v1, const v3f &v2, const f32 precision)
+{
+	return within(v1.X, v2.X, precision) && within(v1.Y, v2.Y, precision)
+		&& within(v1.Z, v2.Z, precision);
+}
+
+static bool within(const core::matrix4 &m1, const core::matrix4 &m2,
+		const f32 precision)
+{
+	const f32 *M1 = m1.pointer();
+	const f32 *M2 = m2.pointer();
+	for (int i = 0; i < 16; i++)
+		if (! within(M1[i], M2[i], precision))
+			return false;
+	return true;
+}
+
+static bool roundTripsDeg(const v3f &v, const f32 precision)
+{
+	core::matrix4 m;
+	setPitchYawRoll(m, v);
+	return within(v, getPitchYawRoll(m), precision);
+}
+
+void TestUtilities::testEulerConversion()
+{
+	// This test may fail on non-IEEE systems.
+	// Low tolerance is 4 ulp(1.0) for binary floats with 24 bit mantissa.
+	// (ulp = unit in the last place; ulp(1.0) = 2^-23).
+	const f32 tolL = 4.76837158203125e-7f;
+	// High tolerance is 2 ulp(180.0), needed for numbers in degrees.
+	// ulp(180.0) = 2^-16
+	const f32 tolH = 3.0517578125e-5f;
+	v3f v1, v2;
+	core::matrix4 m1, m2;
+	const f32 *M1 = m1.pointer();
+	const f32 *M2 = m2.pointer();
+
+	// Check that the radians version and the degrees version
+	// produce the same results. Check also that the conversion
+	// works both ways for these values.
+	v1 = v3f(M_PI/3.0, M_PI/5.0, M_PI/4.0);
+	v2 = v3f(60.0f, 36.0f, 45.0f);
+	setPitchYawRollRad(m1, v1);
+	setPitchYawRoll(m2, v2);
+	UASSERT(within(m1, m2, tolL));
+	UASSERT(within(getPitchYawRollRad(m1), v1, tolL));
+	UASSERT(within(getPitchYawRoll(m2), v2, tolH));
+
+	// Check the rotation matrix produced.
+	UASSERT(within(M1[0], 0.932004869f, tolL));
+	UASSERT(within(M1[1], 0.353553385f, tolL));
+	UASSERT(within(M1[2], 0.0797927827f, tolL));
+	UASSERT(within(M1[4], -0.21211791f, tolL));
+	UASSERT(within(M1[5], 0.353553355f, tolL));
+	UASSERT(within(M1[6], 0.911046684f, tolL));
+	UASSERT(within(M1[8], 0.293892622f, tolL));
+	UASSERT(within(M1[9], -0.866025448f, tolL));
+	UASSERT(within(M1[10], 0.404508471f, tolL));
+
+	// Check that the matrix is still homogeneous with no translation
+	UASSERT(M1[3] == 0.0f);
+	UASSERT(M1[7] == 0.0f);
+	UASSERT(M1[11] == 0.0f);
+	UASSERT(M1[12] == 0.0f);
+	UASSERT(M1[13] == 0.0f);
+	UASSERT(M1[14] == 0.0f);
+	UASSERT(M1[15] == 1.0f);
+	UASSERT(M2[3] == 0.0f);
+	UASSERT(M2[7] == 0.0f);
+	UASSERT(M2[11] == 0.0f);
+	UASSERT(M2[12] == 0.0f);
+	UASSERT(M2[13] == 0.0f);
+	UASSERT(M2[14] == 0.0f);
+	UASSERT(M2[15] == 1.0f);
+
+	// Compare to Irrlicht's results. To be comparable, the
+	// angles must come in a different order and the matrix
+	// elements to compare are different too.
+	m2.setRotationRadians(v3f(v1.Z, v1.X, v1.Y));
+	UASSERT(within(M1[0], M2[5], tolL));
+	UASSERT(within(M1[1], M2[6], tolL));
+	UASSERT(within(M1[2], M2[4], tolL));
+
+	UASSERT(within(M1[4], M2[9], tolL));
+	UASSERT(within(M1[5], M2[10], tolL));
+	UASSERT(within(M1[6], M2[8], tolL));
+
+	UASSERT(within(M1[8], M2[1], tolL));
+	UASSERT(within(M1[9], M2[2], tolL));
+	UASSERT(within(M1[10], M2[0], tolL));
+
+	// Check that Eulers that produce near gimbal-lock still round-trip
+	UASSERT(roundTripsDeg(v3f(89.9999f, 17.f, 0.f), tolH));
+	UASSERT(roundTripsDeg(v3f(89.9999f, 0.f, 19.f), tolH));
+	UASSERT(roundTripsDeg(v3f(89.9999f, 17.f, 19.f), tolH));
+
+	// Check that Eulers at an angle > 90 degrees may not round-trip...
+	v1 = v3f(90.00001f, 1.f, 1.f);
+	setPitchYawRoll(m1, v1);
+	v2 = getPitchYawRoll(m1);
+	//UASSERT(within(v1, v2, tolL)); // this is typically false
+	// ... however the rotation matrix is the same for both
+	setPitchYawRoll(m2, v2);
+	UASSERT(within(m1, m2, tolL));
+}

src/util/numeric.cpp

@@ -174,3 +174,38 @@ s16 adjustDist(s16 dist, float zoom_fov)
 	return std::round(dist * std::cbrt((1.0f - std::cos(threshold_fov)) /
 		(1.0f - std::cos(zoom_fov / 2.0f))));
 }
+
+void setPitchYawRollRad(core::matrix4 &m, const v3f &rot)
+{
+	f64 a1 = rot.Z, a2 = rot.X, a3 = rot.Y;
+	f64 c1 = cos(a1), s1 = sin(a1);
+	f64 c2 = cos(a2), s2 = sin(a2);
+	f64 c3 = cos(a3), s3 = sin(a3);
+	f32 *M = m.pointer();
+
+	M[0] = s1 * s2 * s3 + c1 * c3;
+	M[1] = s1 * c2;
+	M[2] = s1 * s2 * c3 - c1 * s3;
+
+	M[4] = c1 * s2 * s3 - s1 * c3;
+	M[5] = c1 * c2;
+	M[6] = c1 * s2 * c3 + s1 * s3;
+
+	M[8] = c2 * s3;
+	M[9] = -s2;
+	M[10] = c2 * c3;
+}
+
+v3f getPitchYawRollRad(const core::matrix4 &m)
+{
+	const f32 *M = m.pointer();
+
+	f64 a1 = atan2(M[1], M[5]);
+	f64 c2 = sqrt(M[10]*M[10] + M[8]*M[8]);
+	f32 a2 = atan2f(-M[9], c2);
+	f64 c1 = cos(a1);
+	f64 s1 = sin(a1);
+	f32 a3 = atan2f(s1*M[6] - c1*M[2], c1*M[0] - s1*M[4]);
+
+	return v3f(a2, a3, a1);
+}

src/util/numeric.h

@@ -24,6 +24,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
 #include "irr_v2d.h"
 #include "irr_v3d.h"
 #include "irr_aabb3d.h"
+#include <matrix4.h>
 
 #define rangelim(d, min, max) ((d) < (min) ? (min) : ((d) > (max) ? (max) : (d)))
 #define myfloor(x) ((x) < 0.0 ? (int)(x) - 1 : (int)(x))
@@ -417,3 +418,17 @@ inline void wrappedApproachShortest(T &current, const T target, const T stepsize
 		current = target;
 	}
 }
+
+void setPitchYawRollRad(core::matrix4 &m, const v3f &rot);
+
+inline void setPitchYawRoll(core::matrix4 &m, const v3f &rot)
+{
+	setPitchYawRollRad(m, rot * core::DEGTORAD64);
+}
+
+v3f getPitchYawRollRad(const core::matrix4 &m);
+
+inline v3f getPitchYawRoll(const core::matrix4 &m)
+{
+	return getPitchYawRollRad(m) * core::RADTODEG64;
+}