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Merge pull request #3493 from ZappoMan/moreWorkOnCollidingEntitites

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handled multiple collisions correctly, and don't collide if fully enclosed
This commit is contained in:
Philip Rosedale 2014-09-26 15:33:54 -07:00
commit 3ea9923240
2 changed files with 87 additions and 76 deletions
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159
libraries/entities/src/EntityCollisionSystem.cpp
View file

@ -78,6 +78,11 @@ void EntityCollisionSystem::emitGlobalEntityCollisionWithEntity(EntityItem* enti
}
void EntityCollisionSystem::updateCollisionWithVoxels(EntityItem* entity) {
if (entity->getIgnoreForCollisions() || !entity->getCollisionsWillMove()) {
return; // bail early if this entity is to be ignored or wont move
}
glm::vec3 center = entity->getPosition() * (float)(TREE_SCALE);
float radius = entity->getRadius() * (float)(TREE_SCALE);
const float ELASTICITY = 0.4f;
@ -120,95 +125,95 @@ void EntityCollisionSystem::updateCollisionWithEntities(EntityItem* entityA) {
bool shapeCollisions = _entities->findShapeCollisions(&entityA->getCollisionShapeInMeters(),
collisions, Octree::NoLock, &shapeCollisionsAccurate);
if (shapeCollisions) {
for(int i = 0; i < collisions.size(); i++) {
CollisionInfo* collision = collisions[i];
penetration = collision->_penetration;
entityB = static_cast<EntityItem*>(collision->_extraData);
// TODO: how to handle multiple collisions?
break;
}
}
if (shapeCollisions) {
// NOTE: 'penetration' is the depth that 'entityA' overlaps 'entityB'. It points from A into B.
glm::vec3 penetrationInTreeUnits = penetration / (float)(TREE_SCALE);
// NOTE: 'penetration' is the depth that 'entityA' overlaps 'entityB'. It points from A into B.
glm::vec3 penetrationInTreeUnits = penetration / (float)(TREE_SCALE);
// Even if the Entities overlap... when the Entities are already moving appart
// we don't want to count this as a collision.
glm::vec3 relativeVelocity = entityA->getVelocity() - entityB->getVelocity();
bool wantToMoveA = entityA->getCollisionsWillMove();
bool wantToMoveB = entityB->getCollisionsWillMove();
bool movingTowardEachOther = glm::dot(relativeVelocity, penetrationInTreeUnits) > 0.0f;
// only do collisions if the entities are moving toward each other and one or the other
// of the entities are movable from collisions
bool doCollisions = movingTowardEachOther && (wantToMoveA || wantToMoveB);
if (doCollisions) {
quint64 now = usecTimestampNow();
CollisionInfo collision;
collision._penetration = penetration;
// for now the contactPoint is the average between the the two paricle centers
collision._contactPoint = (0.5f * (float)TREE_SCALE) * (entityA->getPosition() + entityB->getPosition());
emitGlobalEntityCollisionWithEntity(entityA, entityB, collision);
glm::vec3 axis = glm::normalize(penetration);
glm::vec3 axialVelocity = glm::dot(relativeVelocity, axis) * axis;
float massA = entityA->getMass();
float massB = entityB->getMass();
float totalMass = massA + massB;
float massRatioA = (2.0f * massB / totalMass);
float massRatioB = (2.0f * massA / totalMass);
// in the event that one of our entities is non-moving, then fix up these ratios
if (wantToMoveA && !wantToMoveB) {
massRatioA = 2.0f;
massRatioB = 0.0f;
}
if (!wantToMoveA && wantToMoveB) {
massRatioA = 0.0f;
massRatioB = 2.0f;
}
// Even if the Entities overlap... when the Entities are already moving appart
// we don't want to count this as a collision.
glm::vec3 relativeVelocity = entityA->getVelocity() - entityB->getVelocity();
// unless the entity is configured to not be moved by collision, calculate it's new position
// and velocity and apply it
if (wantToMoveA) {
// handle Entity A
glm::vec3 newVelocityA = entityA->getVelocity() - axialVelocity * massRatioA;
glm::vec3 newPositionA = entityA->getPosition() - 0.5f * penetrationInTreeUnits;
bool fullyEnclosedCollision = glm::length(penetrationInTreeUnits) > entityA->getLargestDimension();
EntityItemProperties propertiesA = entityA->getProperties();
EntityItemID idA(entityA->getID());
propertiesA.setVelocity(newVelocityA * (float)TREE_SCALE);
propertiesA.setPosition(newPositionA * (float)TREE_SCALE);
propertiesA.setLastEdited(now);
bool wantToMoveA = entityA->getCollisionsWillMove();
bool wantToMoveB = entityB->getCollisionsWillMove();
bool movingTowardEachOther = glm::dot(relativeVelocity, penetrationInTreeUnits) > 0.0f;
// only do collisions if the entities are moving toward each other and one or the other
// of the entities are movable from collisions
bool doCollisions = !fullyEnclosedCollision && movingTowardEachOther && (wantToMoveA || wantToMoveB);
if (doCollisions) {
quint64 now = usecTimestampNow();
_entities->updateEntity(idA, propertiesA);
_packetSender->queueEditEntityMessage(PacketTypeEntityAddOrEdit, idA, propertiesA);
}
CollisionInfo collision;
collision._penetration = penetration;
// for now the contactPoint is the average between the the two paricle centers
collision._contactPoint = (0.5f * (float)TREE_SCALE) * (entityA->getPosition() + entityB->getPosition());
emitGlobalEntityCollisionWithEntity(entityA, entityB, collision);
// unless the entity is configured to not be moved by collision, calculate it's new position
// and velocity and apply it
if (wantToMoveB) {
glm::vec3 newVelocityB = entityB->getVelocity() + axialVelocity * massRatioB;
glm::vec3 newPositionB = entityB->getPosition() + 0.5f * penetrationInTreeUnits;
glm::vec3 axis = glm::normalize(penetration);
glm::vec3 axialVelocity = glm::dot(relativeVelocity, axis) * axis;
EntityItemProperties propertiesB = entityB->getProperties();
float massA = entityA->getMass();
float massB = entityB->getMass();
float totalMass = massA + massB;
float massRatioA = (2.0f * massB / totalMass);
float massRatioB = (2.0f * massA / totalMass);
EntityItemID idB(entityB->getID());
propertiesB.setVelocity(newVelocityB * (float)TREE_SCALE);
propertiesB.setPosition(newPositionB * (float)TREE_SCALE);
propertiesB.setLastEdited(now);
// in the event that one of our entities is non-moving, then fix up these ratios
if (wantToMoveA && !wantToMoveB) {
massRatioA = 2.0f;
massRatioB = 0.0f;
}
_entities->updateEntity(idB, propertiesB);
_packetSender->queueEditEntityMessage(PacketTypeEntityAddOrEdit, idB, propertiesB);
}
if (!wantToMoveA && wantToMoveB) {
massRatioA = 0.0f;
massRatioB = 2.0f;
}
// unless the entity is configured to not be moved by collision, calculate it's new position
// and velocity and apply it
if (wantToMoveA) {
// handle Entity A
glm::vec3 newVelocityA = entityA->getVelocity() - axialVelocity * massRatioA;
glm::vec3 newPositionA = entityA->getPosition() - 0.5f * penetrationInTreeUnits;
EntityItemProperties propertiesA = entityA->getProperties();
EntityItemID idA(entityA->getID());
propertiesA.setVelocity(newVelocityA * (float)TREE_SCALE);
propertiesA.setPosition(newPositionA * (float)TREE_SCALE);
propertiesA.setLastEdited(now);
_entities->updateEntity(idA, propertiesA);
_packetSender->queueEditEntityMessage(PacketTypeEntityAddOrEdit, idA, propertiesA);
}
// unless the entity is configured to not be moved by collision, calculate it's new position
// and velocity and apply it
if (wantToMoveB) {
glm::vec3 newVelocityB = entityB->getVelocity() + axialVelocity * massRatioB;
glm::vec3 newPositionB = entityB->getPosition() + 0.5f * penetrationInTreeUnits;
EntityItemProperties propertiesB = entityB->getProperties();
EntityItemID idB(entityB->getID());
propertiesB.setVelocity(newVelocityB * (float)TREE_SCALE);
propertiesB.setPosition(newPositionB * (float)TREE_SCALE);
propertiesB.setLastEdited(now);
_entities->updateEntity(idB, propertiesB);
_packetSender->queueEditEntityMessage(PacketTypeEntityAddOrEdit, idB, propertiesB);
}
}
}
}
}
@ -220,6 +225,10 @@ void EntityCollisionSystem::updateCollisionWithAvatars(EntityItem* entity) {
return;
}
if (entity->getIgnoreForCollisions() || !entity->getCollisionsWillMove()) {
return; // bail early if this entity is to be ignored or wont move
}
glm::vec3 center = entity->getPosition() * (float)(TREE_SCALE);
float radius = entity->getRadius() * (float)(TREE_SCALE);
const float ELASTICITY = 0.9f;

4
libraries/entities/src/EntityTreeElement.cpp
View file

@ -558,7 +558,9 @@ bool EntityTreeElement::findShapeCollisions(const Shape* shape, CollisionList& c
// entities that are set for ignore for collisions then don't consider them for collision
const Shape* otherCollisionShape = &entity->getCollisionShapeInMeters();
if (shape != otherCollisionShape && !entity->getIgnoreForCollisions()) {
bool ignoreForCollisions = entity->getIgnoreForCollisions();
if (shape != otherCollisionShape && !ignoreForCollisions) {
if (ShapeCollider::collideShapes(shape, otherCollisionShape, collisions)) {
CollisionInfo* lastCollision = collisions.getLastCollision();
lastCollision->_extraData = entity;