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changes from bullet physics conversion - JOML #51

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merged 6 commits into from
Nov 15, 2020
Merged

changes from bullet physics conversion - JOML #51

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6ecbd27
changes from bullet phsyics conversion - JOML
pollend Apr 18, 2020
ef982c0
Merge branch 'develop' into feature/joml-physics
jdrueckert Nov 10, 2020
02a0a56
fix: compile issues
jdrueckert Nov 10, 2020
515cb50
feat(joml): migrate `CartMotionSystem`
jdrueckert Nov 10, 2020
2624a95
feat(joml): migrate `CartJointSystem`
jdrueckert Nov 10, 2020
e5f0fd3
feat(joml): migrate `CartImpulseSystem`
jdrueckert Nov 10, 2020
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26 changes: 26 additions & 0 deletions src/main/java/org/terasology/minecarts/Util.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,34 @@

import org.joml.Vector3f;
import org.joml.Vector3fc;
import org.terasology.logic.location.LocationComponent;
import org.terasology.math.JomlUtil;

public class Util {
public static void bound(Vector3f v) {
if (Float.isNaN(v.x) || Float.isInfinite(v.x))
v.x = 0.0f;
if (Float.isNaN(v.y) || Float.isInfinite(v.y))
v.y = 0.0f;
if (Float.isNaN(v.z) || Float.isInfinite(v.z))
v.z = 0.0f;
}

public static Vector3f localToWorldPosition(Vector3f localPosition, LocationComponent locationComponent) {
Vector3f worldPosition = new Vector3f(localPosition);

LocationComponent parentLocation = locationComponent;
while (parentLocation != null) {
worldPosition.mul(parentLocation.getLocalScale());
parentLocation.getLocalRotation().rotate(JomlUtil.from(worldPosition), JomlUtil.from(worldPosition));
Vector3f parentLocalPosition = new Vector3f(JomlUtil.from(parentLocation.getLocalPosition()));
worldPosition.add(parentLocalPosition);
parentLocation = parentLocation.getParent().getComponent(LocationComponent.class);
}

return worldPosition;
}

public static Vector3f project(Vector3fc u, Vector3fc v, Vector3f dest) {
return dest.set(v).mul(u.dot(v) / v.lengthSquared());
}
Expand Down
30 changes: 15 additions & 15 deletions src/main/java/org/terasology/minecarts/controllers/CartImpulseSystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,6 @@
import org.terasology.logic.location.LocationComponent;
import org.terasology.math.JomlUtil;
import org.terasology.minecarts.Constants;
import org.terasology.minecarts.Util;
import org.terasology.minecarts.components.CartJointComponent;
import org.terasology.minecarts.components.CollisionFilterComponent;
import org.terasology.minecarts.components.RailVehicleComponent;
Expand Down Expand Up @@ -57,7 +56,7 @@ public static void removeCollisionFilter(EntityRef cart, EntityRef child) {


@ReceiveEvent(components = {RailVehicleComponent.class, PathFollowerComponent.class, LocationComponent.class,
RigidBodyComponent.class}, priority = EventPriority.PRIORITY_HIGH)
RigidBodyComponent.class}, priority = EventPriority.PRIORITY_HIGH)
public void onBump(CollideEvent event, EntityRef entity) {
CollisionFilterComponent collisionFilterComponent = entity.getComponent(CollisionFilterComponent.class);
if (collisionFilterComponent != null && collisionFilterComponent.filter.contains(event.getOtherEntity())) {
Expand Down Expand Up @@ -102,10 +101,11 @@ private void handleCharacterCollision(CollideEvent event, EntityRef entity) {
float effectiveMass = (1.0f / r1.mass) + (1.0f / Constants.PLAYER_MASS);

Vector3f df =
new Vector3f(JomlUtil.from(v2l.getWorldPosition())).sub(JomlUtil.from(v1l.getWorldPosition())).normalize();
new Vector3f(v2l.getWorldPosition(new Vector3f())).sub(v1l.getWorldPosition(new Vector3f())).normalize();

float b =
-df.dot(event.getNormal()) * (Constants.BAUMGARTE_COFF / time.getGameDelta()) * event.getPenetration();
-df.dot(event.getNormal()) * (Constants.BAUMGARTE_COFF / time.getGameDelta()) * event.getPenetration();


float lambda = -(jv + b) / effectiveMass;

Expand All @@ -114,15 +114,15 @@ private void handleCharacterCollision(CollideEvent event, EntityRef entity) {
}

Vector3f r1v = new Vector3f(
event.getNormal().x / r1.mass,
event.getNormal().y / r1.mass,
event.getNormal().z / r1.mass)
.mul(lambda);
event.getNormal().x / r1.mass,
event.getNormal().y / r1.mass,
event.getNormal().z / r1.mass)
.mul(lambda);
Vector3f r2v = new Vector3f(
event.getNormal().x / Constants.PLAYER_MASS,
event.getNormal().y / Constants.PLAYER_MASS,
event.getNormal().z / Constants.PLAYER_MASS)
.mul(lambda).mul(-1);
event.getNormal().x / Constants.PLAYER_MASS,
event.getNormal().y / Constants.PLAYER_MASS,
event.getNormal().z / Constants.PLAYER_MASS)
.mul(lambda).mul(-1);

v1.velocity.add(r1v);
event.getOtherEntity().send(new CharacterImpulseEvent(JomlUtil.from(r2v)));
Expand All @@ -142,9 +142,9 @@ private void handleCartCollision(CollideEvent event, EntityRef entity) {
LocationComponent v2l = event.getOtherEntity().getComponent(LocationComponent.class);


Vector3f df = new Vector3f(JomlUtil.from(v2l.getWorldPosition()))
.sub(JomlUtil.from(v1l.getWorldPosition()))
.add(new Vector3f(Float.MIN_VALUE, Float.MIN_VALUE, Float.MIN_VALUE)).normalize();
Vector3f df = new Vector3f(v2l.getWorldPosition(new Vector3f()))
.sub(v1l.getWorldPosition(new Vector3f()))
.add(new Vector3f(Float.MIN_VALUE, Float.MIN_VALUE, Float.MIN_VALUE)).normalize();

//calculate the half normal vector
Vector3f normal = new Vector3f(df);
Expand Down
47 changes: 29 additions & 18 deletions src/main/java/org/terasology/minecarts/controllers/CartJointSystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@

package org.terasology.minecarts.controllers;

import org.joml.Quaternionf;
import org.joml.Vector3f;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
Expand All @@ -13,7 +14,6 @@
import org.terasology.entitySystem.systems.RegisterSystem;
import org.terasology.entitySystem.systems.UpdateSubscriberSystem;
import org.terasology.logic.location.LocationComponent;
import org.terasology.math.JomlUtil;
import org.terasology.minecarts.Constants;
import org.terasology.minecarts.Util;
import org.terasology.minecarts.components.CartJointComponent;
Expand All @@ -25,7 +25,7 @@

@RegisterSystem(RegisterMode.AUTHORITY)
@Share(CartJointSystem.class)
public class CartJointSystem extends BaseComponentSystem implements UpdateSubscriberSystem {
public class CartJointSystem extends BaseComponentSystem implements UpdateSubscriberSystem {
private static final Logger LOGGER = LoggerFactory.getLogger(CartJointSystem.class);

@In
Expand All @@ -45,16 +45,20 @@ public boolean joinVehicles(EntityRef entity1, EntityRef entity2) {
boolean isJoined = false;

if (cartJointComponent1.back != null && cartJointComponent2.back != null) {
isJoined = tryJoin(new Vector3f(0, 0, -1), entity1, cartJointComponent1.back, new Vector3f(0, 0, -1), entity2, cartJointComponent2.back);
isJoined = tryJoin(new Vector3f(0, 0, -1), entity1, cartJointComponent1.back, new Vector3f(0, 0, -1),
entity2, cartJointComponent2.back);
}
if (!isJoined && cartJointComponent1.back != null && cartJointComponent2.front != null) {
isJoined = tryJoin(new Vector3f(0, 0, -1), entity1, cartJointComponent1.back, new Vector3f(0, 0, 1), entity2, cartJointComponent2.front);
isJoined = tryJoin(new Vector3f(0, 0, -1), entity1, cartJointComponent1.back, new Vector3f(0, 0, 1),
entity2, cartJointComponent2.front);
}
if (!isJoined && cartJointComponent1.front != null && cartJointComponent2.back != null) {
isJoined = tryJoin(new Vector3f(0, 0, 1), entity1, cartJointComponent1.front, new Vector3f(0, 0, -1), entity2, cartJointComponent2.back);
isJoined = tryJoin(new Vector3f(0, 0, 1), entity1, cartJointComponent1.front, new Vector3f(0, 0, -1),
entity2, cartJointComponent2.back);
}
if (!isJoined && cartJointComponent1.front != null && cartJointComponent2.front != null) {
isJoined = tryJoin(new Vector3f(0, 0, 1), entity1, cartJointComponent1.front, new Vector3f(0, 0, 1), entity2, cartJointComponent2.front);
isJoined = tryJoin(new Vector3f(0, 0, 1), entity1, cartJointComponent1.front, new Vector3f(0, 0, 1),
entity2, cartJointComponent2.front);
}

if (isJoined) {
Expand All @@ -66,14 +70,15 @@ public boolean joinVehicles(EntityRef entity1, EntityRef entity2) {
return isJoined;
}

private boolean tryJoin(Vector3f d1, EntityRef e1, CartJointComponent.CartJointSocket j1, Vector3f d2, EntityRef e2, CartJointComponent.CartJointSocket j2) {
private boolean tryJoin(Vector3f d1, EntityRef e1, CartJointComponent.CartJointSocket j1, Vector3f d2,
EntityRef e2, CartJointComponent.CartJointSocket j2) {
LocationComponent l1 = e1.getComponent(LocationComponent.class);
LocationComponent l2 = e2.getComponent(LocationComponent.class);

Vector3f cart1Direction = JomlUtil.from(l1.getWorldRotation()).transform(new Vector3f(d1));
Vector3f cart2Direction = JomlUtil.from(l2.getWorldRotation()).transform(new Vector3f(d2));
Vector3f cart1Direction = l1.getWorldRotation(new Quaternionf()).transform(d1);
Vector3f cart2Direction = l2.getWorldRotation(new Quaternionf()).transform(d2);
if (cart1Direction.dot(cart2Direction) < 0) {
if (l1.getWorldPosition().distanceSquared(l2.getWorldPosition()) < (j1.range + j2.range) * (j1.range + j2.range)) {
if (l1.getWorldPosition(new Vector3f()).distanceSquared(l2.getWorldPosition(new Vector3f())) < (j1.range + j2.range) * (j1.range + j2.range)) {
j1.entity = e2;
j1.isOwning = true;
j2.entity = e1;
Expand All @@ -86,10 +91,12 @@ private boolean tryJoin(Vector3f d1, EntityRef e1, CartJointComponent.CartJointS

@Override
public void update(float delta) {
for (EntityRef railVehicle : entityManager.getEntitiesWith(RailVehicleComponent.class, RigidBodyComponent.class, CartJointComponent.class)) {
for (EntityRef railVehicle : entityManager.getEntitiesWith(RailVehicleComponent.class,
RigidBodyComponent.class, CartJointComponent.class)) {
CartJointComponent cartJointComponent = railVehicle.getComponent(CartJointComponent.class);
if (cartJointComponent.front != null && cartJointComponent.front.isOwning) {
CartJointComponent frontCartJoint = cartJointComponent.front.entity.getComponent(CartJointComponent.class);
CartJointComponent frontCartJoint =
cartJointComponent.front.entity.getComponent(CartJointComponent.class);
if (frontCartJoint != null) {
applyImpulseOnSocket(delta, cartJointComponent.front, frontCartJoint.findJoint(railVehicle));
}
Expand All @@ -109,7 +116,8 @@ private void clearJoinSocket(CartJointComponent.CartJointSocket jointSocket) {
jointSocket.isOwning = false;
}

private void applyImpulseOnSocket(float delta, CartJointComponent.CartJointSocket j1, CartJointComponent.CartJointSocket j2) {
private void applyImpulseOnSocket(float delta, CartJointComponent.CartJointSocket j1,
CartJointComponent.CartJointSocket j2) {
if (j1.entity == null || j2.entity == null) {
return;
}
Expand All @@ -133,7 +141,8 @@ private void applyImpulseOnSocket(float delta, CartJointComponent.CartJointSocke
RigidBodyComponent rigidBody = j2.entity.getComponent(RigidBodyComponent.class);
RigidBodyComponent otherRigidBody = j1.entity.getComponent(RigidBodyComponent.class);

Vector3f normal = new Vector3f(JomlUtil.from(location.getWorldPosition())).sub(JomlUtil.from(otherLocation.getWorldPosition()));
Vector3f normal =
new Vector3f(location.getWorldPosition(new Vector3f())).sub(otherLocation.getWorldPosition(new Vector3f()));
float distance = normal.length();
if (distance > Constants.CART_JOINT_BREAK_DISTANCE) {
clearJoinSocket(j1);
Expand All @@ -142,17 +151,19 @@ private void applyImpulseOnSocket(float delta, CartJointComponent.CartJointSocke
return;
}

Vector3f projectedNormal = Util.project(segmentVehicle.heading, normal, new Vector3f()).normalize();//segmentVehicle.heading.project(normal).normalize();
Vector3f projectedNormal = Util.project(segmentVehicle.heading, normal, new Vector3f()).normalize();
//segmentVehicle.heading.project(normal).normalize();
Vector3f otherProjectedNormal = Util.project(otherSegmentVehicle.heading, normal, new Vector3f()).normalize();

float relVelAlongNormal = otherRailVehicle.velocity.dot(otherProjectedNormal) - railVehicle.velocity.dot(projectedNormal);
float relVelAlongNormal =
otherRailVehicle.velocity.dot(otherProjectedNormal) - railVehicle.velocity.dot(projectedNormal);
float inverseMassSum = 1 / rigidBody.mass + 1 / otherRigidBody.mass;
float bias = (Constants.BAUMGARTE_COFF / delta) * ((j1.range + j2.range) - distance);
float j = -(relVelAlongNormal + bias) / inverseMassSum;


railVehicle.velocity.sub(new Vector3f(projectedNormal).mul(j / rigidBody.mass));
otherRailVehicle.velocity.add(new Vector3f(otherProjectedNormal).mul(j / otherRigidBody.mass));
railVehicle.velocity.sub(projectedNormal.mul(j / rigidBody.mass));
otherRailVehicle.velocity.add(otherProjectedNormal.mul(j / otherRigidBody.mass));

if (!railVehicle.velocity.isFinite()) {
railVehicle.velocity.set(0);
Expand Down
35 changes: 21 additions & 14 deletions src/main/java/org/terasology/minecarts/controllers/CartMotionSystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,6 @@
import org.terasology.logic.inventory.InventoryManager;
import org.terasology.logic.location.LocationComponent;
import org.terasology.logic.players.LocalPlayer;
import org.terasology.math.JomlUtil;
import org.terasology.minecarts.Constants;
import org.terasology.minecarts.Util;
import org.terasology.minecarts.blocks.RailBlockSegmentMapper;
Expand Down Expand Up @@ -73,13 +72,15 @@ public class CartMotionSystem extends BaseComponentSystem implements UpdateSubsc

@Override
public void initialise() {
segmentMapping = new RailBlockSegmentMapper(blockEntityRegistry, pathFollowerSystem, segmentSystem, segmentCacheSystem);
segmentMapping = new RailBlockSegmentMapper(blockEntityRegistry, pathFollowerSystem, segmentSystem,
segmentCacheSystem);
}


@Override
public void update(float delta) {
for (EntityRef railVehicle : entityManager.getEntitiesWith(RailVehicleComponent.class, RigidBodyComponent.class)) {
for (EntityRef railVehicle : entityManager.getEntitiesWith(RailVehicleComponent.class,
RigidBodyComponent.class)) {
updateCart(railVehicle, delta);
}
}
Expand All @@ -105,7 +106,8 @@ private void updateCart(EntityRef railVehicle, float delta) {
}

//checks to see if the cart hits a rail segment
HitResult hit = physics.rayTrace(JomlUtil.from(location.getWorldPosition()), new Vector3f(0, -1, 0), 1.2f, StandardCollisionGroup.DEFAULT, StandardCollisionGroup.WORLD);
HitResult hit = physics.rayTrace(location.getWorldPosition(new Vector3f()), new Vector3f(0, -1, 0), 1.2f,
StandardCollisionGroup.DEFAULT, StandardCollisionGroup.WORLD);
if (hit == null || hit.getBlockPosition() == null) {
return;
}
Expand All @@ -122,14 +124,16 @@ private void updateCart(EntityRef railVehicle, float delta) {
Vector3f position = segmentSystem.segmentPosition(ref);
Quaternionf rotation = segmentSystem.segmentRotation(ref);

float segmentPosition = segment.nearestSegmentPosition(JomlUtil.from(location.getWorldPosition()), position, rotation);
float segmentPosition = segment.nearestSegmentPosition(location.getWorldPosition(new Vector3f()),
position, rotation);


segmentVehicleComponent.segmentMeta = new SegmentMeta(segmentPosition, ref, prefab);
railVehicle.addComponent(segmentVehicleComponent);
segmentVehicleComponent.heading = pathFollowerSystem.vehicleTangent(railVehicle);
rigidBodyComponent.collidesWith.remove(StandardCollisionGroup.WORLD);
railVehicleComponent.velocity = Util.project(segmentVehicleComponent.heading, rigidBodyComponent.velocity, new Vector3f());
railVehicleComponent.velocity = Util.project(segmentVehicleComponent.heading,
rigidBodyComponent.velocity, new Vector3f());
if (!railVehicleComponent.velocity.isFinite()) {
railVehicleComponent.velocity.set(.001f);
}
Expand All @@ -147,23 +151,25 @@ private void updateCart(EntityRef railVehicle, float delta) {

Vector3f normal = pathFollowerSystem.vehicleNormal(railVehicle);
Vector3f tangent = pathFollowerSystem.vehicleTangent(railVehicle);

Vector3f gravity = new Vector3f(0, -1, 0).mul(Constants.GRAVITY).mul(delta);

railVehicleComponent.velocity.add(Util.project(gravity, tangent, new Vector3f()));

//apply some friction based off the gravity vector projected on the normal multiplied against a friction coff
//apply some friction based off the gravity vector projected on the normal multiplied against a
// friction coff
RailComponent rail = segmentVehicleComponent.segmentMeta.association.getComponent(RailComponent.class);
Vector3f friction = Util.project(normal, gravity, new Vector3f()).mul(-1).mul(rail.frictionCoefficient);

float mag = railVehicleComponent.velocity.length() - friction.length();
//make sure the magnitude is not less then zero when the friction value is subtracted off of the velocity
//make sure the magnitude is not less then zero when the friction value is subtracted off of the
// velocity
if (mag < 0) {
mag = 0;
}

//apply the new velocity to the rail component
railVehicleComponent.velocity = Util.project(railVehicleComponent.velocity, segmentVehicleComponent.heading, new Vector3f()).normalize().mul(mag);
railVehicleComponent.velocity = Util.project(railVehicleComponent.velocity,
segmentVehicleComponent.heading, new Vector3f()).normalize().mul(mag);

//make sure the value is not nan or infinite
//occurs when the cart hits a perpendicular segment.
Expand All @@ -172,8 +178,9 @@ private void updateCart(EntityRef railVehicle, float delta) {
railVehicleComponent.velocity.set(0);
}

if (pathFollowerSystem.move(railVehicle, Math.signum(segmentVehicleComponent.heading.dot(railVehicleComponent.velocity)) * mag * delta, segmentMapping)) {

if (pathFollowerSystem.move(railVehicle,
Math.signum(segmentVehicleComponent.heading.dot(railVehicleComponent.velocity)) * mag * delta
, segmentMapping)) {
//calculate the cart rotation
Vector3f horzY = new Vector3f(segmentVehicleComponent.heading);
horzY.y = 0;
Expand All @@ -183,8 +190,8 @@ private void updateCart(EntityRef railVehicle, float delta) {
Quaternionf verticalRotation = new Quaternionf().rotateTo(horzY, segmentVehicleComponent.heading);

verticalRotation.mul(horizontalRotation);
location.setLocalRotation(JomlUtil.from(verticalRotation));
location.setWorldPosition(JomlUtil.from(position));
location.setLocalRotation(verticalRotation);
location.setWorldPosition(position);
rigidBodyComponent.kinematic = true;
} else {
detachFromRail(railVehicle);
Expand Down