mirror of
https://github.com/Creators-of-Create/Create.git
synced 2024-12-29 08:27:03 +01:00
Robust entry collisions
- Collision separation now supports motion sweeping in order to avoid tunnelling when entities drop onto contraptions from a greater height - Further improved the collision response - Entities can no longer be clipped into solid walls by the collision response
This commit is contained in:
simibubi
parent
85d10a7ce5
commit
ebc2944788
7 changed files with 508 additions and 208 deletions
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@ -1,20 +1,26 @@
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package com.simibubi.create.content.contraptions.components.structureMovement;
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import static java.util.concurrent.TimeUnit.SECONDS;
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import static net.minecraft.entity.Entity.collideBoundingBoxHeuristically;
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import static net.minecraft.entity.Entity.horizontalMag;
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import java.lang.ref.WeakReference;
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import java.util.ArrayList;
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import java.util.Iterator;
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import java.util.List;
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import java.util.concurrent.ExecutionException;
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import java.util.stream.Stream;
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import org.apache.commons.lang3.mutable.MutableBoolean;
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import org.apache.commons.lang3.mutable.MutableObject;
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import com.google.common.base.Predicates;
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import com.google.common.cache.Cache;
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import com.google.common.cache.CacheBuilder;
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import com.google.common.collect.ImmutableSet;
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import com.simibubi.create.AllBlocks;
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import com.simibubi.create.content.contraptions.components.actors.BlockBreakingMovementBehaviour;
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import com.simibubi.create.foundation.collision.ContinuousOBBCollider.ContinuousSeparationManifold;
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import com.simibubi.create.foundation.collision.Matrix3d;
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import com.simibubi.create.foundation.collision.OrientedBB;
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import com.simibubi.create.foundation.utility.AngleHelper;
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@ -29,7 +35,7 @@ import net.minecraft.entity.EntityType;
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import net.minecraft.entity.MoverType;
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import net.minecraft.entity.player.PlayerEntity;
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import net.minecraft.entity.player.ServerPlayerEntity;
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import net.minecraft.nbt.CompoundNBT;
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import net.minecraft.util.DamageSource;
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import net.minecraft.util.Direction;
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import net.minecraft.util.Direction.Axis;
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import net.minecraft.util.Direction.AxisDirection;
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@ -37,12 +43,14 @@ import net.minecraft.util.ReuseableStream;
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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.Vec3d;
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import net.minecraft.util.math.shapes.IBooleanFunction;
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import net.minecraft.util.math.shapes.ISelectionContext;
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import net.minecraft.util.math.shapes.VoxelShape;
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import net.minecraft.util.math.shapes.VoxelShapes;
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import net.minecraft.world.World;
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import net.minecraft.world.gen.feature.template.Template.BlockInfo;
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import net.minecraftforge.api.distmarker.Dist;
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import net.minecraftforge.api.distmarker.OnlyIn;
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import net.minecraftforge.common.util.Constants.NBT;
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import net.minecraftforge.event.TickEvent.ClientTickEvent;
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import net.minecraftforge.event.TickEvent.Phase;
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import net.minecraftforge.event.TickEvent.WorldTickEvent;
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@ -54,9 +62,11 @@ import net.minecraftforge.fml.common.Mod.EventBusSubscriber;
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@EventBusSubscriber
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public class ContraptionCollider {
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public static DamageSource damageSourceContraptionSuffocate =
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new DamageSource("create.contraption_suffocate").setDamageBypassesArmor();
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public static boolean wasClientPlayerGrounded;
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public static Cache<World, List<WeakReference<ContraptionEntity>>> activeContraptions = CacheBuilder.newBuilder()
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.expireAfterAccess(20, SECONDS)
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.expireAfterAccess(40, SECONDS)
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.build();
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@SubscribeEvent
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@ -86,7 +96,7 @@ public class ContraptionCollider {
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@SubscribeEvent
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public static void entityCollisionHappensPreWorldTick(WorldTickEvent event) {
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if (event.phase == Phase.START)
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if (event.phase == Phase.END)
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return;
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World world = event.world;
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runCollisions(world);
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@ -124,15 +134,17 @@ public class ContraptionCollider {
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double conRotY = contraptionRotation.y;
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double conRotZ = contraptionRotation.x;
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for (Entity entity : world.getEntitiesWithinAABB((EntityType<?>) null, bounds.grow(2),
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contraptionEntity::canCollideWith)) {
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if (entity instanceof PlayerEntity && !world.isRemote)
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return;
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for (Entity entity : world.getEntitiesWithinAABB((EntityType<?>) null, bounds.grow(2)
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.expand(0, 32, 0), contraptionEntity::canCollideWith)) {
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boolean serverPlayer = entity instanceof PlayerEntity && !world.isRemote;
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// Transform entity position and motion to local space
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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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AxisAlignedBB entityBounds = entity.getBoundingBox();
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Vec3d centerY = new Vec3d(0, entityBounds.getYSize() / 2, 0);
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Vec3d motion = entity.getMotion();
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boolean axisAlignedCollision = contraptionRotation.equals(Vec3d.ZERO);
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Vec3d position =
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entityPosition.subtract(contraptionEntity.stationary ? centerOfBlock : Vec3d.ZERO.add(0, 0.5, 0))
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@ -143,27 +155,22 @@ public class ContraptionCollider {
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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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// Find all potential block shapes to collide with
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AxisAlignedBB localBB = entityBounds.offset(position)
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.grow(1.0E-7D);
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String nbtMotionKey = "ContraptionCollisionFeedback";
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CompoundNBT entityData = entity.getPersistentData();
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Vec3d previousIntersection = Vec3d.ZERO;
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if (entityData.contains(nbtMotionKey)) {
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previousIntersection = VecHelper.readNBT(entityData.getList(nbtMotionKey, NBT.TAG_DOUBLE));
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entity.setMotion(entity.getMotion()
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.subtract(previousIntersection.mul(1, 0, 1)));
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entityData.remove(nbtMotionKey);
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}
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ReuseableStream<VoxelShape> potentialHits = getPotentiallyCollidedShapes(world, contraption, localBB);
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ReuseableStream<VoxelShape> potentialHits =
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getPotentiallyCollidedShapes(world, contraption, localBB.expand(motion));
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if (potentialHits.createStream()
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.count() == 0)
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continue;
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if (!axisAlignedCollision)
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motion = VecHelper.rotate(motion, -conRotX, -conRotY, -conRotZ);
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// Prepare entity bounds
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OrientedBB obb = new OrientedBB(localBB);
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if (!contraptionRotation.equals(Vec3d.ZERO)) {
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if (!axisAlignedCollision) {
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Matrix3d rotation = new Matrix3d().asIdentity();
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rotation.multiply(new Matrix3d().asXRotation(AngleHelper.rad(-conRotX)));
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rotation.multiply(new Matrix3d().asYRotation(AngleHelper.rad(conRotY)));
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@ -171,32 +178,87 @@ public class ContraptionCollider {
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obb.setRotation(rotation);
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}
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// Vec3d visualizerOrigin = new Vec3d(10, 64, 0);
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// CollisionDebugger.OBB = obb.copy();
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// CollisionDebugger.OBB.move(visualizerOrigin);
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MutableObject<Vec3d> collisionResponse = new MutableObject<>(Vec3d.ZERO);
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MutableObject<Vec3d> allowedMotion = new MutableObject<>(motion);
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MutableBoolean futureCollision = new MutableBoolean(false);
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MutableBoolean surfaceCollision = new MutableBoolean(false);
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Vec3d obbCenter = obb.getCenter();
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// Apply separation maths
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List<AxisAlignedBB> bbs = new ArrayList<>();
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potentialHits.createStream()
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.forEach(shape -> {
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Vec3d currentResponse = collisionResponse.getValue();
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shape.toBoundingBoxList()
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.parallelStream()
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.forEach(bb -> {
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obb.setCenter(obbCenter.add(currentResponse));
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Vec3d intersect = obb.intersect(bb);
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if (intersect != null)
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collisionResponse.setValue(currentResponse.add(intersect));
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});
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});
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.forEach(shape -> shape.toBoundingBoxList()
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.forEach(bbs::add));
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for (AxisAlignedBB bb : bbs) {
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Vec3d currentResponse = collisionResponse.getValue();
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obb.setCenter(obbCenter.add(currentResponse));
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ContinuousSeparationManifold intersect = obb.intersect(bb, allowedMotion.getValue());
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// OutlineParams params = CreateClient.outliner.showAABB(bb, bb.offset(visualizerOrigin))
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// .withFaceTexture(AllSpecialTextures.HIGHLIGHT_CHECKERED);
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// params.colored(0xffffff);
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if (intersect == null)
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continue;
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if (surfaceCollision.isFalse())
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surfaceCollision.setValue(intersect.isSurfaceCollision());
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double timeOfImpact = intersect.getTimeOfImpact();
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if (timeOfImpact > 0 && timeOfImpact < 1) {
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futureCollision.setTrue();
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// Vec3d prev = allowedMotion.getValue();
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allowedMotion.setValue(intersect.getAllowedMotion(allowedMotion.getValue()));
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// Debug.debugChat("Allowed Motion FROM " + prev.toString());
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// Debug.debugChat("Allowed Motion TO " + allowedMotion.getValue()
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// .toString());
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// params.colored(0x4499ff);
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continue;
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}
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Vec3d separation = intersect.asSeparationVec();
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if (separation != null && !separation.equals(Vec3d.ZERO)) {
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collisionResponse.setValue(currentResponse.add(separation));
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// Debug.debugChat("Collision " + currentResponse.add(separation)
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// .toString());
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// params.colored(0xff9944);
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}
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}
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// Debug.debugChat("----");
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// Resolve collision
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Vec3d entityMotion = entity.getMotion();
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Vec3d totalResponse = collisionResponse.getValue();
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Vec3d motionResponse = allowedMotion.getValue();
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if (totalResponse == Vec3d.ZERO)
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if (futureCollision.isTrue() && !serverPlayer) {
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if (!axisAlignedCollision)
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motionResponse = VecHelper.rotate(motionResponse, conRotX, conRotY, conRotZ);
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if (motionResponse.y != entityMotion.y) {
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entity.setMotion(entityMotion.mul(1, 0, 1)
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.add(0, motionResponse.y, 0));
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entityMotion = entity.getMotion();
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}
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}
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if (!axisAlignedCollision)
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totalResponse = VecHelper.rotate(totalResponse, conRotX, conRotY, conRotZ);
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if (surfaceCollision.isTrue()) {
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// entity.handleFallDamage(entity.fallDistance, 1); tunnelling issue
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entity.fallDistance = 0;
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entity.onGround = true;
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if (!serverPlayer) {
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DistExecutor.runWhenOn(Dist.CLIENT, () -> () -> checkForClientPlayerCollision(entity));
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}
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}
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if (totalResponse.equals(Vec3d.ZERO))
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continue;
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totalResponse = VecHelper.rotate(totalResponse, conRotX, Axis.X);
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totalResponse = VecHelper.rotate(totalResponse, conRotY, Axis.Y);
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totalResponse = VecHelper.rotate(totalResponse, conRotZ, Axis.Z);
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double motionX = entityMotion.getX();
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double motionY = entityMotion.getY();
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double motionZ = entityMotion.getZ();
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@ -205,7 +267,6 @@ public class ContraptionCollider {
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double intersectZ = totalResponse.getZ();
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double horizonalEpsilon = 1 / 128f;
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if (motionX != 0 && Math.abs(intersectX) > horizonalEpsilon && motionX > 0 == intersectX < 0)
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entityMotion = entityMotion.mul(0, 1, 1);
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if (motionY != 0 && intersectY != 0 && motionY > 0 == intersectY < 0)
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@ -213,28 +274,62 @@ public class ContraptionCollider {
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if (motionZ != 0 && Math.abs(intersectZ) > horizonalEpsilon && motionZ > 0 == intersectZ < 0)
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entityMotion = entityMotion.mul(1, 1, 0);
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entityMotion = entityMotion.add(totalResponse.mul(1, 0, 1));
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contraptionEntity.collidingEntities.add(entity);
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entity.velocityChanged = true;
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if (totalResponse.y > 0) {
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entity.handleFallDamage(entity.fallDistance, 1);
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entity.fallDistance = 0;
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entity.onGround = true;
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DistExecutor.runWhenOn(Dist.CLIENT, () -> () -> checkForClientPlayerCollision(entity));
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}
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if (entity instanceof ServerPlayerEntity)
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((ServerPlayerEntity) entity).connection.floatingTickCount = 0;
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if (!serverPlayer) {
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Vec3d allowedMovement = getAllowedMovement(totalResponse, entity);
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contraptionEntity.collidingEntities.add(entity);
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entity.velocityChanged = true;
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entity.setPosition(entityPosition.x + allowedMovement.x, entityPosition.y + allowedMovement.y,
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entityPosition.z + allowedMovement.z);
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entity.setMotion(entityMotion);
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Vec3d epos = entityPosition;
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entity.setPosition(epos.x, epos.y + totalResponse.y, epos.z);
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entityData.put(nbtMotionKey, VecHelper.writeNBT(totalResponse));
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}
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}
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}
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/** From Entity#getAllowedMovement **/
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static Vec3d getAllowedMovement(Vec3d movement, Entity e) {
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AxisAlignedBB bb = e.getBoundingBox();
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ISelectionContext ctx = ISelectionContext.forEntity(e);
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World world = e.world;
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VoxelShape voxelshape = world.getWorldBorder()
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.getShape();
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Stream<VoxelShape> stream =
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VoxelShapes.compare(voxelshape, VoxelShapes.create(bb.shrink(1.0E-7D)), IBooleanFunction.AND)
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? Stream.empty()
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: Stream.of(voxelshape);
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Stream<VoxelShape> stream1 = world.getEmptyCollisionShapes(e, bb.expand(movement), ImmutableSet.of());
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ReuseableStream<VoxelShape> reuseablestream = new ReuseableStream<>(Stream.concat(stream1, stream));
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Vec3d vec3d = movement.lengthSquared() == 0.0D ? movement
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: collideBoundingBoxHeuristically(e, movement, bb, world, ctx, reuseablestream);
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boolean flag = movement.x != vec3d.x;
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boolean flag1 = movement.y != vec3d.y;
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boolean flag2 = movement.z != vec3d.z;
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boolean flag3 = e.onGround || flag1 && movement.y < 0.0D;
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if (e.stepHeight > 0.0F && flag3 && (flag || flag2)) {
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Vec3d vec3d1 = collideBoundingBoxHeuristically(e, new Vec3d(movement.x, (double) e.stepHeight, movement.z),
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bb, world, ctx, reuseablestream);
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Vec3d vec3d2 = collideBoundingBoxHeuristically(e, new Vec3d(0.0D, (double) e.stepHeight, 0.0D),
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bb.expand(movement.x, 0.0D, movement.z), world, ctx, reuseablestream);
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if (vec3d2.y < (double) e.stepHeight) {
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Vec3d vec3d3 = collideBoundingBoxHeuristically(e, new Vec3d(movement.x, 0.0D, movement.z),
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bb.offset(vec3d2), world, ctx, reuseablestream).add(vec3d2);
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if (horizontalMag(vec3d3) > horizontalMag(vec3d1)) {
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vec3d1 = vec3d3;
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}
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}
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if (horizontalMag(vec3d1) > horizontalMag(vec3d)) {
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return vec3d1.add(collideBoundingBoxHeuristically(e, new Vec3d(0.0D, -vec3d1.y + movement.y, 0.0D),
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bb.offset(vec3d1), world, ctx, reuseablestream));
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}
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}
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return vec3d;
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}
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@OnlyIn(Dist.CLIENT)
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private static void checkForClientPlayerCollision(Entity entity) {
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if (entity != Minecraft.getInstance().player)
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@ -310,7 +405,7 @@ public class ContraptionCollider {
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double width = localBB.getXSize();
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double horizontalFactor = (height > width && width != 0) ? height / width : 1;
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double verticalFactor = (width > height && height != 0) ? width / height : 1;
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AxisAlignedBB blockScanBB = localBB.grow(.5f);
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AxisAlignedBB blockScanBB = localBB.grow(0.5f);
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blockScanBB = blockScanBB.grow(horizontalFactor, verticalFactor, horizontalFactor);
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BlockPos min = new BlockPos(blockScanBB.minX, blockScanBB.minY, blockScanBB.minZ);
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@ -3,30 +3,35 @@ 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.collision.ContinuousOBBCollider.ContinuousSeparationManifold;
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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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public static AxisAlignedBB AABB = null;
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public static OrientedBB OBB = null;
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static Vec3d seperation;
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public static AxisAlignedBB AABB = new AxisAlignedBB(BlockPos.ZERO.up(10));
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public static OrientedBB OBB = new OrientedBB(new AxisAlignedBB(BlockPos.ZERO));
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public static Vec3d motion = Vec3d.ZERO;
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static ContinuousSeparationManifold 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 = new OrientedBB(new AxisAlignedBB(BlockPos.ZERO).expand(0, 1, 0));
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// movingBB.setRotation(new Matrix3d().asZRotation(AngleHelper.rad(angle)));
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angle += delta;
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OBB.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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if (OBB == null)
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return;
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ms.push();
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outline = new AABBOutline(OBB.getAsAxisAlignedBB());
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outline.getParams()
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@ -47,12 +52,12 @@ public class CollisionDebugger {
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ms.pop();
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ms.push();
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if (seperation != null) {
|
||||
if (motion.length() != 0 && (seperation == null || seperation.getTimeOfImpact() != 1)) {
|
||||
outline.getParams()
|
||||
.colored(0x65ff44)
|
||||
.colored(0x6544ff)
|
||||
.lineWidth(1 / 32f);
|
||||
MatrixStacker.of(ms)
|
||||
.translate(seperation)
|
||||
.translate(seperation != null ? seperation.getAllowedMotion(motion) : motion)
|
||||
.translate(OBB.center);
|
||||
ms.peek()
|
||||
.getModel()
|
||||
|
|
@ -62,16 +67,47 @@ public class CollisionDebugger {
|
|||
outline.render(ms, buffer);
|
||||
}
|
||||
ms.pop();
|
||||
|
||||
ms.push();
|
||||
if (seperation != null) {
|
||||
Vec3d asSeparationVec = seperation.asSeparationVec();
|
||||
if (asSeparationVec != null) {
|
||||
outline.getParams()
|
||||
.colored(0x65ff44)
|
||||
.lineWidth(1 / 32f);
|
||||
MatrixStacker.of(ms)
|
||||
.translate(asSeparationVec)
|
||||
.translate(OBB.center);
|
||||
ms.peek()
|
||||
.getModel()
|
||||
.multiply(OBB.rotation.getAsMatrix4f());
|
||||
MatrixStacker.of(ms)
|
||||
.translateBack(OBB.center);
|
||||
outline.render(ms, buffer);
|
||||
}
|
||||
}
|
||||
ms.pop();
|
||||
}
|
||||
|
||||
public static void tick() {
|
||||
if (OBB == null)
|
||||
return;
|
||||
if (AABB == null)
|
||||
return;
|
||||
seperation = OBB.intersect(AABB);
|
||||
AABB = new AxisAlignedBB(BlockPos.ZERO.up(60)).offset(.5, 0, .5);
|
||||
motion = new Vec3d(0, -2, -.5f);
|
||||
RayTraceResult mouse = Minecraft.getInstance().objectMouseOver;
|
||||
if (mouse != null && mouse.getType() == Type.BLOCK) {
|
||||
BlockRayTraceResult hit = (BlockRayTraceResult) mouse;
|
||||
OBB.setCenter(hit.getHitVec());
|
||||
seperation = OBB.intersect(AABB, motion);
|
||||
}
|
||||
CreateClient.outliner.showAABB(AABB, AABB)
|
||||
.withFaceTexture(seperation == null ? AllSpecialTextures.CHECKERED : null);
|
||||
}
|
||||
|
||||
static void showDebugLine(Vec3d relativeStart, Vec3d relativeEnd, int color, String id, int offset) {
|
||||
Vec3d center = CollisionDebugger.AABB.getCenter()
|
||||
.add(0, 1 + offset / 16f, 0);
|
||||
CreateClient.outliner.showLine(id + OBBCollider.checkCount, center.add(relativeStart), center.add(relativeEnd))
|
||||
.colored(color)
|
||||
.lineWidth(1 / 32f);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,146 @@
|
|||
package com.simibubi.create.foundation.collision;
|
||||
|
||||
import static java.lang.Math.abs;
|
||||
import static java.lang.Math.signum;
|
||||
|
||||
import net.minecraft.util.math.Vec3d;
|
||||
|
||||
public class ContinuousOBBCollider extends OBBCollider {
|
||||
|
||||
public static ContinuousSeparationManifold separateBBs(Vec3d cA, Vec3d cB, Vec3d eA, Vec3d eB, Matrix3d m,
|
||||
Vec3d motion) {
|
||||
ContinuousSeparationManifold mf = new ContinuousSeparationManifold();
|
||||
|
||||
Vec3d diff = cB.subtract(cA);
|
||||
|
||||
m.transpose();
|
||||
Vec3d diff2 = m.transform(diff);
|
||||
Vec3d motion2 = m.transform(motion);
|
||||
m.transpose();
|
||||
|
||||
double a00 = abs(m.m00);
|
||||
double a01 = abs(m.m01);
|
||||
double a02 = abs(m.m02);
|
||||
double a10 = abs(m.m10);
|
||||
double a11 = abs(m.m11);
|
||||
double a12 = abs(m.m12);
|
||||
double a20 = abs(m.m20);
|
||||
double a21 = abs(m.m21);
|
||||
double a22 = abs(m.m22);
|
||||
|
||||
Vec3d uB0 = new Vec3d(m.m00, m.m10, m.m20);
|
||||
Vec3d uB1 = new Vec3d(m.m01, m.m11, m.m21);
|
||||
Vec3d uB2 = new Vec3d(m.m02, m.m12, m.m22);
|
||||
|
||||
checkCount = 0;
|
||||
|
||||
if (
|
||||
// Separate along A's local axes (global XYZ)
|
||||
!(separate(mf, uA0, diff.x, eA.x, a00 * eB.x + a01 * eB.y + a02 * eB.z, motion.x)
|
||||
|| separate(mf, uA1, diff.y, eA.y, a10 * eB.x + a11 * eB.y + a12 * eB.z, motion.y)
|
||||
|| separate(mf, uA2, diff.z, eA.z, a20 * eB.x + a21 * eB.y + a22 * eB.z, motion.z)
|
||||
|
||||
// Separate along B's local axes
|
||||
|| separate(mf, uB0, diff2.x, eA.x * a00 + eA.y * a10 + eA.z * a20, eB.x, motion2.x)
|
||||
|| separate(mf, uB1, diff2.y, eA.x * a01 + eA.y * a11 + eA.z * a21, eB.y, motion2.y)
|
||||
|| separate(mf, uB2, diff2.z, eA.x * a02 + eA.y * a12 + eA.z * a22, eB.z, motion2.z)))
|
||||
return mf;
|
||||
|
||||
return null;
|
||||
}
|
||||
|
||||
static boolean separate(ContinuousSeparationManifold mf, Vec3d axis, double TL, double rA, double rB,
|
||||
double projectedMotion) {
|
||||
checkCount++;
|
||||
double distance = abs(TL);
|
||||
double diff = distance - (rA + rB);
|
||||
|
||||
boolean discreteCollision = diff <= 0;
|
||||
if (!discreteCollision && signum(projectedMotion) == signum(TL))
|
||||
return true;
|
||||
|
||||
double sTL = signum(TL);
|
||||
double value = sTL * abs(diff);
|
||||
|
||||
double entryTime = 0;
|
||||
double exitTime = Double.MAX_VALUE;
|
||||
if (!discreteCollision) {
|
||||
mf.isDiscreteCollision = false;
|
||||
|
||||
if (abs(value) > abs(projectedMotion))
|
||||
return true;
|
||||
|
||||
entryTime = abs(value) / abs(projectedMotion);
|
||||
exitTime = (diff + abs(rA) + abs(rB)) / abs(projectedMotion);
|
||||
mf.latestCollisionEntryTime = Math.max(entryTime, mf.latestCollisionEntryTime);
|
||||
mf.earliestCollisionExitTime = Math.min(exitTime, mf.earliestCollisionExitTime);
|
||||
}
|
||||
|
||||
boolean isBestSeperation = distance != 0 && -(diff) <= abs(mf.separation);
|
||||
// boolean isBestSeperation = discreteCollision && checkCount == 5; // Debug specific separations
|
||||
|
||||
if (isBestSeperation) {
|
||||
|
||||
mf.axis = axis.normalize();
|
||||
mf.separation = value;
|
||||
|
||||
// Visualize values
|
||||
// if (CollisionDebugger.AABB != null) {
|
||||
// Vec3d normalizedAxis = axis.normalize();
|
||||
// showDebugLine(Vec3d.ZERO, normalizedAxis.scale(projectedMotion), 0x111155, "motion", 5);
|
||||
// showDebugLine(Vec3d.ZERO, normalizedAxis.scale(TL), 0xbb00bb, "tl", 4);
|
||||
// showDebugLine(Vec3d.ZERO, normalizedAxis.scale(sTL * rA), 0xff4444, "ra", 3);
|
||||
// showDebugLine(normalizedAxis.scale(sTL * rA),
|
||||
// normalizedAxis.scale(sTL * rA - entryTime * projectedMotion), 0x44ff44, "entry", 0);
|
||||
// showDebugLine(normalizedAxis.scale(sTL * rA - entryTime * projectedMotion),
|
||||
// normalizedAxis.scale(sTL * rA - entryTime * projectedMotion + exitTime * projectedMotion), 0x44ffff,
|
||||
// "exit", -1);
|
||||
// showDebugLine(normalizedAxis.scale(sTL * (distance - rB)), normalizedAxis.scale(TL), 0x4444ff, "rb", 2);
|
||||
// showDebugLine(normalizedAxis.scale(sTL * (distance - rB)),
|
||||
// normalizedAxis.scale(sTL * (distance - rB) + value), 0xff9966, "separation", 1);
|
||||
//// System.out.println("TL:" + TL + ", rA: " + rA + ", rB: " + rB);
|
||||
// }
|
||||
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
public static class ContinuousSeparationManifold extends SeparationManifold {
|
||||
|
||||
static final double UNDEFINED = -1;
|
||||
double latestCollisionEntryTime = UNDEFINED;
|
||||
double earliestCollisionExitTime = Double.MAX_VALUE;
|
||||
boolean isDiscreteCollision = true;
|
||||
|
||||
public double getTimeOfImpact() {
|
||||
if (latestCollisionEntryTime == UNDEFINED)
|
||||
return UNDEFINED;
|
||||
if (latestCollisionEntryTime > earliestCollisionExitTime)
|
||||
return UNDEFINED;
|
||||
return latestCollisionEntryTime;
|
||||
}
|
||||
|
||||
public boolean isSurfaceCollision() {
|
||||
return true;
|
||||
}
|
||||
|
||||
public Vec3d getAllowedMotion(Vec3d motion) {
|
||||
double length = motion.length();
|
||||
return motion.normalize()
|
||||
.scale(getTimeOfImpact() * length);
|
||||
}
|
||||
|
||||
@Override
|
||||
public Vec3d asSeparationVec() {
|
||||
if (isDiscreteCollision)
|
||||
return super.asSeparationVec();
|
||||
double t = getTimeOfImpact();
|
||||
if (t == UNDEFINED)
|
||||
return null;
|
||||
return Vec3d.ZERO;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -20,6 +20,9 @@ public class Matrix3d {
|
|||
|
||||
public Matrix3d asXRotation(float radians) {
|
||||
asIdentity();
|
||||
if (radians == 0)
|
||||
return this;
|
||||
|
||||
double s = MathHelper.sin(radians);
|
||||
double c = MathHelper.cos(radians);
|
||||
m22 = m11 = c;
|
||||
|
|
@ -30,6 +33,9 @@ public class Matrix3d {
|
|||
|
||||
public Matrix3d asYRotation(float radians) {
|
||||
asIdentity();
|
||||
if (radians == 0)
|
||||
return this;
|
||||
|
||||
double s = MathHelper.sin(radians);
|
||||
double c = MathHelper.cos(radians);
|
||||
m00 = m22 = c;
|
||||
|
|
@ -40,6 +46,9 @@ public class Matrix3d {
|
|||
|
||||
public Matrix3d asZRotation(float radians) {
|
||||
asIdentity();
|
||||
if (radians == 0)
|
||||
return this;
|
||||
|
||||
double s = MathHelper.sin(radians);
|
||||
double c = MathHelper.cos(radians);
|
||||
m00 = m11 = c;
|
||||
|
|
@ -104,12 +113,9 @@ public class Matrix3d {
|
|||
}
|
||||
|
||||
public Vec3d transform(Vec3d vec) {
|
||||
double x = vec.x;
|
||||
double y = vec.y;
|
||||
double z = vec.z;
|
||||
x = x * m00 + y * m01 + z * m02;
|
||||
y = x * m10 + y * m11 + z * m12;
|
||||
z = x * m20 + y * m21 + z * m22;
|
||||
double x = vec.x * m00 + vec.y * m01 + vec.z * m02;
|
||||
double y = vec.x * m10 + vec.y * m11 + vec.z * m12;
|
||||
double z = vec.x * m20 + vec.y * m21 + vec.z * m22;
|
||||
return new Vec3d(x, y, z);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,103 @@
|
|||
package com.simibubi.create.foundation.collision;
|
||||
|
||||
import static com.simibubi.create.foundation.collision.CollisionDebugger.showDebugLine;
|
||||
import static java.lang.Math.abs;
|
||||
import static java.lang.Math.signum;
|
||||
|
||||
import net.minecraft.util.math.Vec3d;
|
||||
|
||||
public class OBBCollider {
|
||||
|
||||
static final Vec3d uA0 = new Vec3d(1, 0, 0);
|
||||
static final Vec3d uA1 = new Vec3d(0, 1, 0);
|
||||
static final Vec3d uA2 = new Vec3d(0, 0, 1);
|
||||
|
||||
public static Vec3d separateBBs(Vec3d cA, Vec3d cB, Vec3d eA, Vec3d eB, Matrix3d m) {
|
||||
SeparationManifold mf = new SeparationManifold();
|
||||
|
||||
Vec3d t = cB.subtract(cA);
|
||||
|
||||
double a00 = abs(m.m00);
|
||||
double a01 = abs(m.m01);
|
||||
double a02 = abs(m.m02);
|
||||
double a10 = abs(m.m10);
|
||||
double a11 = abs(m.m11);
|
||||
double a12 = abs(m.m12);
|
||||
double a20 = abs(m.m20);
|
||||
double a21 = abs(m.m21);
|
||||
double a22 = abs(m.m22);
|
||||
|
||||
Vec3d uB0 = new Vec3d(m.m00, m.m10, m.m20);
|
||||
Vec3d uB1 = new Vec3d(m.m01, m.m11, m.m21);
|
||||
Vec3d uB2 = new Vec3d(m.m02, m.m12, m.m22);
|
||||
|
||||
checkCount = 0;
|
||||
|
||||
if (
|
||||
// Separate along A's local axes (global XYZ)
|
||||
!(isSeparatedAlong(mf, uA0, t.x, eA.x, a00 * eB.x + a01 * eB.y + a02 * eB.z)
|
||||
|| isSeparatedAlong(mf, uA1, t.y, eA.y, a10 * eB.x + a11 * eB.y + a12 * eB.z)
|
||||
|| isSeparatedAlong(mf, uA2, t.z, eA.z, a20 * eB.x + a21 * eB.y + a22 * eB.z)
|
||||
|
||||
// Separate along B's local axes
|
||||
|| isSeparatedAlong(mf, uB0, (t.x * m.m00 + t.y * m.m10 + t.z * m.m20),
|
||||
eA.x * a00 + eA.y * a10 + eA.z * a20, eB.x)
|
||||
|| isSeparatedAlong(mf, uB1, (t.x * m.m01 + t.y * m.m11 + t.z * m.m21),
|
||||
eA.x * a01 + eA.y * a11 + eA.z * a21, eB.y)
|
||||
|| isSeparatedAlong(mf, uB2, (t.x * m.m02 + t.y * m.m12 + t.z * m.m22),
|
||||
eA.x * a02 + eA.y * a12 + eA.z * a22, eB.z)))
|
||||
return mf.asSeparationVec();
|
||||
|
||||
return null;
|
||||
}
|
||||
|
||||
static int checkCount = 0;
|
||||
|
||||
static boolean isSeparatedAlong(SeparationManifold mf, Vec3d axis, double TL, double rA, double rB) {
|
||||
checkCount++;
|
||||
double distance = abs(TL);
|
||||
double diff = distance - (rA + rB);
|
||||
if (diff > 0)
|
||||
return true;
|
||||
|
||||
// boolean isBestSeperation = distance != 0 && -(diff) <= abs(bestSeparation.getValue());
|
||||
boolean isBestSeperation = checkCount == 2; // Debug specific separations
|
||||
|
||||
if (isBestSeperation) {
|
||||
double sTL = signum(TL);
|
||||
double value = sTL * abs(diff);
|
||||
mf.axis = axis.normalize();
|
||||
mf.separation = value;
|
||||
|
||||
// Visualize values
|
||||
if (CollisionDebugger.AABB != null) {
|
||||
Vec3d normalizedAxis = axis.normalize();
|
||||
showDebugLine(Vec3d.ZERO, normalizedAxis.scale(TL), 0xbb00bb, "tl", 4);
|
||||
showDebugLine(Vec3d.ZERO, normalizedAxis.scale(sTL * rA), 0xff4444, "ra", 3);
|
||||
showDebugLine(normalizedAxis.scale(sTL * (distance - rB)), normalizedAxis.scale(TL), 0x4444ff, "rb", 2);
|
||||
showDebugLine(normalizedAxis.scale(sTL * (distance - rB)),
|
||||
normalizedAxis.scale(sTL * (distance - rB) + value), 0xff9966, "separation", 1);
|
||||
System.out.println("TL:" + TL + ", rA: " + rA + ", rB: " + rB);
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
static class SeparationManifold {
|
||||
Vec3d axis;
|
||||
double separation;
|
||||
|
||||
public SeparationManifold() {
|
||||
axis = Vec3d.ZERO;
|
||||
separation = Double.MAX_VALUE;
|
||||
}
|
||||
|
||||
public Vec3d asSeparationVec() {
|
||||
double sep = separation;
|
||||
return axis.normalize()
|
||||
.scale(signum(sep) * (abs(sep) + 1E-4));
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -1,11 +1,6 @@
|
|||
package com.simibubi.create.foundation.collision;
|
||||
|
||||
import static java.lang.Math.abs;
|
||||
|
||||
import org.apache.commons.lang3.mutable.MutableDouble;
|
||||
import org.apache.commons.lang3.mutable.MutableObject;
|
||||
|
||||
import com.simibubi.create.CreateClient;
|
||||
import com.simibubi.create.foundation.collision.ContinuousOBBCollider.ContinuousSeparationManifold;
|
||||
|
||||
import net.minecraft.util.math.AxisAlignedBB;
|
||||
import net.minecraft.util.math.Vec3d;
|
||||
|
|
@ -36,53 +31,43 @@ public class OrientedBB {
|
|||
|
||||
public Vec3d intersect(AxisAlignedBB bb) {
|
||||
Vec3d extentsA = extentsFromBB(bb);
|
||||
Vec3d intersects = separateBBs(bb.getCenter(), center, extentsA, extents, rotation);
|
||||
Vec3d intersects = OBBCollider.separateBBs(bb.getCenter(), center, extentsA, extents, rotation);
|
||||
return intersects;
|
||||
}
|
||||
|
||||
public ContinuousSeparationManifold intersect(AxisAlignedBB bb, Vec3d motion) {
|
||||
Vec3d extentsA = extentsFromBB(bb);
|
||||
return ContinuousOBBCollider.separateBBs(bb.getCenter(), center, extentsA, extents, rotation, motion);
|
||||
}
|
||||
|
||||
private static Vec3d extentsFromBB(AxisAlignedBB bb) {
|
||||
return new Vec3d(bb.getXSize() / 2, bb.getYSize() / 2, bb.getZSize() / 2);
|
||||
}
|
||||
|
||||
public static Vec3d separateBBs(Vec3d cA, Vec3d cB, Vec3d eA, Vec3d eB, Matrix3d m) {
|
||||
Vec3d t = cB.subtract(cA);
|
||||
double a00 = abs(m.m00);
|
||||
double a01 = abs(m.m01);
|
||||
double a02 = abs(m.m02);
|
||||
double a10 = abs(m.m10);
|
||||
double a11 = abs(m.m11);
|
||||
double a12 = abs(m.m12);
|
||||
double a20 = abs(m.m20);
|
||||
double a21 = abs(m.m21);
|
||||
double a22 = abs(m.m22);
|
||||
public Matrix3d getRotation() {
|
||||
return rotation;
|
||||
}
|
||||
|
||||
MutableObject<Vec3d> bestAxis = new MutableObject<>(Vec3d.ZERO);
|
||||
MutableDouble bestSep = new MutableDouble(Double.MAX_VALUE);
|
||||
public void setRotation(Matrix3d rotation) {
|
||||
this.rotation = rotation;
|
||||
}
|
||||
|
||||
Vec3d uA0 = new Vec3d(1, 0, 0);
|
||||
Vec3d uA1 = new Vec3d(0, 1, 0);
|
||||
Vec3d uA2 = new Vec3d(0, 0, 1);
|
||||
public Vec3d getCenter() {
|
||||
return center;
|
||||
}
|
||||
|
||||
Vec3d uB0 = new Vec3d(m.m00, m.m10, m.m20);
|
||||
Vec3d uB1 = new Vec3d(m.m01, m.m11, m.m21);
|
||||
Vec3d uB2 = new Vec3d(m.m02, m.m12, m.m22);
|
||||
public void setCenter(Vec3d center) {
|
||||
this.center = center;
|
||||
}
|
||||
|
||||
checkCount = 0;
|
||||
public void move(Vec3d offset) {
|
||||
setCenter(getCenter().add(offset));
|
||||
}
|
||||
|
||||
if (
|
||||
|
||||
// Separate along A's local axes (global XYZ)
|
||||
!(isSeparatedAlong(bestAxis, bestSep, uA0, t.x, eA.x, a00 * eB.x + a01 * eB.y + a02 * eB.z)
|
||||
|| isSeparatedAlong(bestAxis, bestSep, uA1, t.y, eA.y, a10 * eB.x + a11 * eB.y + a12 * eB.z)
|
||||
|| isSeparatedAlong(bestAxis, bestSep, uA2, t.z, eA.z, a20 * eB.x + a21 * eB.y + a22 * eB.z)
|
||||
|
||||
// Separate along B's local axes
|
||||
|| isSeparatedAlong(bestAxis, bestSep, uB0, (t.x * m.m00 + t.y * m.m10 + t.z * m.m20),
|
||||
eA.x * a00 + eA.y * a10 + eA.z * a20, eB.x)
|
||||
|| isSeparatedAlong(bestAxis, bestSep, uB1, (t.x * m.m01 + t.y * m.m11 + t.z * m.m21),
|
||||
eA.x * a01 + eA.y * a11 + eA.z * a21, eB.y)
|
||||
|| isSeparatedAlong(bestAxis, bestSep, uB2, (t.x * m.m02 + t.y * m.m12 + t.z * m.m22),
|
||||
eA.x * a02 + eA.y * a12 + eA.z * a22, eB.z)
|
||||
public AxisAlignedBB getAsAxisAlignedBB() {
|
||||
return new AxisAlignedBB(0, 0, 0, 0, 0, 0).offset(center)
|
||||
.grow(extents.x, extents.y, extents.z);
|
||||
}
|
||||
|
||||
/*
|
||||
* The following checks (edge-to-edge) need special separation logic. They are
|
||||
|
|
@ -112,80 +97,5 @@ public class OrientedBB {
|
|||
// eA.x * a11 + eA.y * a01, eB.x * a22 + eB.z * a20)
|
||||
// || isSeparatedAlong(bestAxis, bestSep, uA2.crossProduct(uB2), t.y * m.m02 - t.x * m.m12,
|
||||
// eA.x * a12 + eA.y * a02, eB.x * a21 + eB.y * a20)
|
||||
))
|
||||
|
||||
return bestAxis.getValue()
|
||||
.normalize()
|
||||
.scale(bestSep.getValue());
|
||||
|
||||
return null;
|
||||
}
|
||||
|
||||
static int checkCount = 0;
|
||||
|
||||
static boolean isSeparatedAlong(MutableObject<Vec3d> bestAxis, MutableDouble bestSeparation, Vec3d axis, double TL,
|
||||
double rA, double rB) {
|
||||
double distance = abs(TL);
|
||||
|
||||
checkCount++;
|
||||
|
||||
double diff = distance - (rA + rB);
|
||||
if (diff > 0)
|
||||
return true;
|
||||
boolean isBestSeperation = distance != 0 && -(diff) <= abs(bestSeparation.getValue());
|
||||
// boolean isBestSeperation = checkCount == 12; // Debug specific separations
|
||||
if (isBestSeperation) {
|
||||
bestAxis.setValue(axis.normalize());
|
||||
double sTL = Math.signum(TL);
|
||||
double value = sTL * abs(diff);
|
||||
bestSeparation.setValue(value);
|
||||
|
||||
// Visualize values
|
||||
// if (CollisionDebugger.staticBB != null) {
|
||||
// Vec3d normalizedAxis = axis.normalize();
|
||||
// showDebugLine(Vec3d.ZERO, normalizedAxis.scale(TL), 0xbb00bb, "tl", 4);
|
||||
// showDebugLine(Vec3d.ZERO, normalizedAxis.scale(sTL * rA), 0xff4444, "ra", 3);
|
||||
// showDebugLine(normalizedAxis.scale(sTL * (distance - rB)), normalizedAxis.scale(TL), 0x4444ff, "rb", 2);
|
||||
// showDebugLine(normalizedAxis.scale(sTL * (distance - rB)),
|
||||
// normalizedAxis.scale(sTL * (distance - rB) + value), 0xff9966, "separation", 1);
|
||||
// System.out.println("TL:" + TL + ", rA: " + rA + ", rB: " + rB);
|
||||
// }
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
static void showDebugLine(Vec3d relativeStart, Vec3d relativeEnd, int color, String id, int offset) {
|
||||
Vec3d center = CollisionDebugger.AABB.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;
|
||||
}
|
||||
|
||||
public void setRotation(Matrix3d rotation) {
|
||||
this.rotation = rotation;
|
||||
}
|
||||
|
||||
public Vec3d getCenter() {
|
||||
return center;
|
||||
}
|
||||
|
||||
public void setCenter(Vec3d center) {
|
||||
this.center = center;
|
||||
}
|
||||
|
||||
public void move(Vec3d offset) {
|
||||
setCenter(getCenter().add(offset));
|
||||
}
|
||||
|
||||
public AxisAlignedBB getAsAxisAlignedBB() {
|
||||
return new AxisAlignedBB(0, 0, 0, 0, 0, 0).offset(center)
|
||||
.grow(extents.x, extents.y, extents.z);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -28,10 +28,14 @@ public class AngleHelper {
|
|||
}
|
||||
|
||||
public static float rad(double angle) {
|
||||
if (angle == 0)
|
||||
return 0;
|
||||
return (float) (angle / 180 * Math.PI);
|
||||
}
|
||||
|
||||
public static float deg(double angle) {
|
||||
if (angle == 0)
|
||||
return 0;
|
||||
return (float) (angle * 180 / Math.PI);
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue