[DEV] basic AABB collision

src/org/atriaSoft/etk/math/Vector3f.java

@@ -147,19 +147,24 @@ public class Vector3f {
 	}
 	/**
 	 * @brief Normalize this vector x^2 + y^2 + z^2 = 1 (check if not deviding by 0, if it is the case ==> return (1,0,0))
+	 * @return the current vector
 	 */
-	public void safeNormalize() {
+	public Vector3f safeNormalize() {
 		float length = length();
 		if (length != 0.0f) {
 			this.devide(length);
+			return this;
 		}
 		this.setValue(1,0,0);
+		return this;
 	}
 	/**
 	 * @brief Normalize this vector x^2 + y^2 + z^2 = 1
+	 * @return the current vector
 	 */
-	public void normalize() {
+	public Vector3f normalize() {
 		this.devide(this.length());
+		return this;
 	}
 	/**
 	 * @brief Return a normalized version of this vector

src/org/atriaSoft/gale/test/sample2/Log.java

@@ -1,12 +1,13 @@
 package org.atriaSoft.gale.test.sample2;
 
 public class Log {
-	private static String LIBNAME = "Sample1";
+	private static String LIBNAME = "Sample2";
 	public static void print(String data) {
 		System.out.println(data);
 	}
 	public static void critical(String data) {
 		System.out.println("[C] " + LIBNAME + " | " + data);
+		System.exit(-1);
 	}
 	public static void error(String data) {
 		System.out.println("[E] " + LIBNAME + " | " + data);

src/org/atriaSoft/gameEngine/Environement.java

@@ -18,6 +18,7 @@ import org.atriaSoft.gameEngine.camera.Camera;
 import org.atriaSoft.gameEngine.engines.EngineRender;
 import org.atriaSoft.gameEngine.engines.EngineAI;
 import org.atriaSoft.gameEngine.engines.EngineDynamicMeshs;
+import org.atriaSoft.gameEngine.engines.EngineGravity;
 import org.atriaSoft.gameEngine.engines.EngineLight;
 import org.atriaSoft.gameEngine.engines.EngineParticle;
 import org.atriaSoft.gameEngine.engines.EnginePhysics;
@@ -41,7 +42,7 @@ public class Environement {
 	//protected List<Mesh> listMeshToDrawFirst = new ArrayList<Mesh>();
 
 	public Environement() {
-		// we add the 4 classical engines (the order is used to the global rendering cycle ...
+		addEngine(new EngineGravity(this));
 		addEngine(new EnginePlayer(this));
 		addEngine(new EngineAI(this));
 		addEngine(new EngineDynamicMeshs(this));

src/org/atriaSoft/gameEngine/Log.java

@@ -7,6 +7,7 @@ public class Log {
 	}
 	public static void critical(String data) {
 		System.out.println("[C] " + LIBNAME + " | " + data);
+		System.exit(-1);
 	}
 	public static void error(String data) {
 		System.out.println("[E] " + LIBNAME + " | " + data);

src/org/atriaSoft/gameEngine/components/ComponentGravity.java

@@ -0,0 +1,16 @@
+package org.atriaSoft.gameEngine.components;
+
+import org.atriaSoft.etk.math.Vector3f;
+import org.atriaSoft.gameEngine.Component;
+import org.atriaSoft.gameEngine.Light;
+
+public abstract class ComponentGravity extends Component {
+	public ComponentGravity() {
+		super();
+	}
+	@Override
+	public String getType() {
+		return "gravity";
+	}
+	public abstract Vector3f getGravityAtPosition(Vector3f position);
+}

src/org/atriaSoft/gameEngine/components/ComponentGravityStatic.java

@@ -0,0 +1,23 @@
+package org.atriaSoft.gameEngine.components;
+
+import org.atriaSoft.etk.math.Vector3f;
+import org.atriaSoft.gameEngine.Component;
+import org.atriaSoft.gameEngine.Light;
+
+public class ComponentGravityStatic extends ComponentGravity {
+	private Vector3f gravity;
+	public ComponentGravityStatic(Vector3f gravity) {
+		super();
+		this.gravity = gravity;
+	}
+	@Override
+	public Vector3f getGravityAtPosition(Vector3f position) {
+		return gravity;
+	}
+	public Vector3f getGravity() {
+		return gravity;
+	}
+	public void setGravity(Vector3f gravity) {
+		this.gravity = gravity;
+	}
+}

src/org/atriaSoft/gameEngine/components/ComponentPhysics.java

@@ -5,10 +5,12 @@ import java.util.List;
 
 import org.atriaSoft.etk.Color;
 import org.atriaSoft.etk.math.Matrix4f;
+import org.atriaSoft.etk.math.Vector3f;
 import org.atriaSoft.gale.backend3d.OpenGL;
 import org.atriaSoft.gale.resource.ResourceColored3DObject;
 import org.atriaSoft.gale.test.sample2.Log;
 import org.atriaSoft.gameEngine.Component;
+import org.atriaSoft.gameEngine.engines.EngineGravity;
 import org.atriaSoft.gameEngine.physics.PhysicCollisionAABB;
 import org.atriaSoft.gameEngine.physics.PhysicShape;
 
@@ -16,12 +18,28 @@ import entities.Entity;
 
 public class ComponentPhysics extends Component {
 	private PhysicCollisionAABB aabb;
+	private List<ComponentPhysics> aabbIntersection = new ArrayList<ComponentPhysics>();
 	private List<PhysicShape> shapes = new ArrayList<PhysicShape>();
 	private ComponentPosition position;
+	private boolean manageGravity = false;
+	public static float globalMaxSpeed = Float.MAX_VALUE;
+	private float maxSpeed = globalMaxSpeed;
+	// current speed of the object
+	private Vector3f speed = new Vector3f(0,0,0);
+	// current acceleration of the object
+	private Vector3f acceleration = new Vector3f(0,0,0);
+	// Applied static force on it
+	private Vector3f staticForce = new Vector3f(0,0,0);
+	// Apply dynamic force on it
+	private Vector3f dynamicForce = new Vector3f(0,0,0);
 	@Override
 	public String getType() {
 		return "physics";
 	}
+	
+	public ComponentPhysics(boolean manageGravity) {
+		this.manageGravity = manageGravity;
+	}
 	@Override
 	public void addFriendComponent(Component component) {
 		if (component.getType().contentEquals("position")) {
@@ -46,16 +64,45 @@ public class ComponentPhysics extends Component {
 		aabb = aabb_new;
 	}
 	
-	public PhysicCollisionAABB getcurrentAABB() {
+	public PhysicCollisionAABB getAABB() {
 		return aabb;
 	}
-	public void applyForces(float timeStep) {
+	
-		// TODO Auto-generated method stub
+	public void applyForces(float timeStep, EngineGravity gravity) {
-		
+		// get the gravity at the specific position...
+		Vector3f gravityForce;
+		if (manageGravity == true) {
+			gravityForce = gravity.getGravityAtPosition(position.getTransform().getPosition()).multiply_new(timeStep);
+		} else {
+			gravityForce = new Vector3f(0,0,0);
+		}
+		// apply this force on the Object
+		Log.info("apply gravity: " + gravityForce);
+		// relative to the object
+		Vector3f staticForce = this.staticForce.multiply_new(timeStep);
+		float globalMass = 0;
+		for (PhysicShape shape : shapes) {
+			globalMass += shape.getMass();
+		}
+		// note the acceleration is not real, it depend on the current delta time...
+		this.acceleration = gravityForce.add(this.position.getTransform().getOrientation().multiply(staticForce)).add(this.position.getTransform().getOrientation().multiply(dynamicForce)).multiply(globalMass);
+		this.dynamicForce = new Vector3f(0,0,0);
+		this.speed.add(this.acceleration);
+		limitWithMaxSpeed();
+		Log.info("apply acceleration: " + this.acceleration);
+		Log.info("apply speed: " + this.speed);
+		this.position.getTransform().getPosition().add(this.speed.multiply_new(timeStep));
 	}
+	
 	public void renderDebug(ResourceColored3DObject debugDrawProperty) {
+		Color displayColor;
+		if (this.aabbIntersection.size() == 0) {
+			displayColor = new Color(1,1,1,1);
+		} else  {
+			displayColor = new Color(1,0,0,1);
+		}
 		if (aabb != null) {
-			debugDrawProperty.drawCubeLine(aabb.getMin(), aabb.getMax(), new Color(1,1,1,1), Matrix4f.identity(), true, true);
+			debugDrawProperty.drawCubeLine(aabb.getMin(), aabb.getMax(), displayColor, Matrix4f.identity(), true, true);
 			//debugDrawProperty.drawCubeLine(new Vector3f(0,0,0), new Vector3f(32,32,32), new Color(1,0,1,1), Matrix4f.identity(), true, true);
 		} else {
 			Log.error("no AABB");
@@ -70,4 +117,29 @@ public class ComponentPhysics extends Component {
 	public void clearShape() {
 		shapes.clear();
 	}
+	public boolean isManageGravity() {
+		return manageGravity;
+	}
+	public void setManageGravity(boolean manageGravity) {
+		this.manageGravity = manageGravity;
+	}
+	private void limitWithMaxSpeed() {
+		if (this.speed.length2() > this.maxSpeed*this.maxSpeed) {
+			this.speed.safeNormalize().multiply(this.maxSpeed);
+		}
+	}
+	public float getMaxSpeed() {
+		return maxSpeed;
+	}
+
+	public void setMaxSpeed(float maxSpeed) {
+		this.maxSpeed = maxSpeed;
+	}
+
+	public void clearAABBIntersection() {
+		this.aabbIntersection.clear();
+	}
+	public void addIntersection(ComponentPhysics component) {
+		this.aabbIntersection.add(component);
+	}
 }

src/org/atriaSoft/gameEngine/engines/EngineGravity.java

@@ -0,0 +1,66 @@
+package org.atriaSoft.gameEngine.engines;
+
+import java.util.Vector;
+
+import org.atriaSoft.etk.math.Vector3f;
+import org.atriaSoft.gameEngine.Component;
+import org.atriaSoft.gameEngine.Engine;
+import org.atriaSoft.gameEngine.Environement;
+import org.atriaSoft.gameEngine.Light;
+import org.atriaSoft.gameEngine.Log;
+import org.atriaSoft.gameEngine.camera.Camera;
+import org.atriaSoft.gameEngine.components.ComponentAI;
+import org.atriaSoft.gameEngine.components.ComponentGravity;
+import org.atriaSoft.gameEngine.components.ComponentLight;
+import org.atriaSoft.gameEngine.components.ComponentLightSun;
+
+public class EngineGravity extends Engine {
+	public static final String ENGINE_NAME = "gravity";
+	private Vector<ComponentGravity> components = new Vector<ComponentGravity>();
+	public EngineGravity(Environement env) {
+		super(env);
+		// TODO Auto-generated constructor stub
+	}
+
+	@Override
+	public void componentRemove(Component ref) {
+		components.remove(ref);
+	}
+
+	@Override
+	public void componentAdd(Component ref) {
+		if (ref instanceof ComponentGravity == true) {
+			components.add((ComponentGravity)ref);
+			return;
+		}
+	}
+
+	@Override
+	public void update(long deltaMili) {
+		// nothing to do ...
+	}
+
+	@Override
+	public void render(long deltaMili, Camera camera) {
+		// nothing to do ...
+	}
+
+	@Override
+	public void renderDebug(long deltaMili, Camera camera) {
+		// nothing to do ...
+	}
+
+	@Override
+	public String getType() {
+		// TODO Auto-generated method stub
+		return ENGINE_NAME;
+	}
+	public Vector3f getGravityAtPosition(Vector3f position) {
+		Vector3f out = new Vector3f();
+		for (ComponentGravity elem: components) {
+			out.add(elem.getGravityAtPosition(position));
+		}
+		return out;
+	}
+
+}

src/org/atriaSoft/gameEngine/engines/EnginePhysics.java

@@ -2,29 +2,29 @@ package org.atriaSoft.gameEngine.engines;
 
 import java.util.Vector;
 
-import org.atriaSoft.etk.Color;
-import org.atriaSoft.etk.math.Matrix4f;
-import org.atriaSoft.etk.math.Vector3f;
 import org.atriaSoft.gale.resource.ResourceColored3DObject;
-import org.atriaSoft.gale.test.sample2.Log;
+import org.atriaSoft.gameEngine.Log;
 import org.atriaSoft.gameEngine.Component;
 import org.atriaSoft.gameEngine.Engine;
 import org.atriaSoft.gameEngine.Environement;
 import org.atriaSoft.gameEngine.camera.Camera;
-import org.atriaSoft.gameEngine.components.ComponentAI;
 import org.atriaSoft.gameEngine.components.ComponentPhysics;
-import org.atriaSoft.gameEngine.components.ComponentRender;
+import org.atriaSoft.gameEngine.physics.PhysicCollisionAABB;
 
 public class EnginePhysics extends Engine {
 	public static final String ENGINE_NAME = "physics";
 	private float accumulator = 0;
-	private static float TIME_STEP = 0.02f;
+	private static float TIME_STEP = 0.005f;
+	private EngineGravity gravity;
 	private Vector<ComponentPhysics> components = new Vector<ComponentPhysics>();
 	private ResourceColored3DObject debugDrawProperty = ResourceColored3DObject.create();
 	
 	public EnginePhysics(Environement env) {
 		super(env);
-		// TODO Auto-generated constructor stub
+		this.gravity = (EngineGravity)env.getEngine("gravity");
+		if (this.gravity == null) {
+			Log.critical("Must initialyse Gravity before physics...");
+		}
 	}
 
 	@Override
@@ -47,8 +47,9 @@ public class EnginePhysics extends Engine {
 		// While there is enough accumulated time to take one or several physics steps
 		while (accumulator >= TIME_STEP) {
 			Log.info("update physic ... " + accumulator);
-			applyForces(TIME_STEP);
+			//applyForces(TIME_STEP);
 			updateAABB(TIME_STEP);
+			updateCollisionsAABB(TIME_STEP);
 			updateCollisions(TIME_STEP);
 			GenerateResultCollisionsForces(TIME_STEP);
 			// Decrease the accumulated time
@@ -59,7 +60,7 @@ public class EnginePhysics extends Engine {
 
 	private void applyForces(float timeStep) {
 		for (ComponentPhysics it: components) {
-			it.applyForces(TIME_STEP);
+			it.applyForces(TIME_STEP, gravity);
 		}
 	}
 	private void updateAABB(float timeStep) {
@@ -67,6 +68,24 @@ public class EnginePhysics extends Engine {
 			it.updateAABB();
 		}
 	}
+	private void updateCollisionsAABB(float timeStep) {
+		// clear all object intersection
+		for (ComponentPhysics it: components) {
+			it.clearAABBIntersection();
+		}
+		// update the current object intersection...
+		for (int iii=0; iii< components.size(); iii++) {
+			ComponentPhysics current = components.get(iii);
+			PhysicCollisionAABB currentAABB = current.getAABB();
+			for (int jjj=iii+1; jjj< components.size(); jjj++) {
+				ComponentPhysics remote = components.get(jjj);
+				if (currentAABB.intersect(components.get(jjj).getAABB()) == true) {
+					current.addIntersection(remote); 
+					remote.addIntersection(current);
+				}
+			}
+		}
+	}
 	private void updateCollisions(float timeStep) {
 		
 	}

src/org/atriaSoft/gameEngine/map/MapVoxel.java

@@ -74,7 +74,7 @@ public class MapVoxel extends EngineMap {
 				new Uri("DATA", "basicMaterial.vert"),
 				new Uri("DATA", "basicMaterial.frag"),
 				(EngineLight)env.getEngine(EngineLight.ENGINE_NAME)));
-		ComponentPhysics physics = new ComponentPhysics();
+		ComponentPhysics physics = new ComponentPhysics(false);
 		PhysicMapVoxel box = new PhysicMapVoxel(tmpVoxelChunk);
 		physics.addShape(box);
 		tmpEntity.addComponent(physics);

src/org/atriaSoft/gameEngine/physics/GravityMap.java

@@ -0,0 +1,7 @@
+package org.atriaSoft.gameEngine.physics;
+
+import org.atriaSoft.etk.math.Vector3f;
+
+public abstract class GravityMap {
+	public abstract Vector3f getGravityAtPosition(Vector3f position);
+}

src/org/atriaSoft/gameEngine/physics/PhysicCollisionAABB.java

@@ -19,6 +19,9 @@ public class PhysicCollisionAABB {
 		this.maxZ = maxZ;
 	}
 	public boolean intersect(PhysicCollisionAABB other) {
+		if (this == other) {
+			return false;
+		}
 		if (minX > other.maxX) {
 			return false;
 		}

src/org/atriaSoft/gameEngine/sample/LoxelEngine/LoxelApplication.java

@@ -20,6 +20,7 @@ import org.atriaSoft.gameEngine.GameStatus;
 import org.atriaSoft.gameEngine.Light;
 import org.atriaSoft.gameEngine.Material;
 import org.atriaSoft.gameEngine.camera.Camera;
+import org.atriaSoft.gameEngine.components.ComponentGravityStatic;
 import org.atriaSoft.gameEngine.components.ComponentLight;
 import org.atriaSoft.gameEngine.components.ComponentLightSun;
 import org.atriaSoft.gameEngine.components.ComponentMaterial;
@@ -57,14 +58,21 @@ public class LoxelApplication extends Application {
 	}
 	@Override
 	public void onCreate(Context _context) {
+		// set the system global max speed
+		ComponentPhysics.globalMaxSpeed = 3;
 		Gale.getContext().grabPointerEvents(true, new Vector2f(0,0));
 		env = new Environement();
 		this.canDraw = true;
 		setSize(new Vector2f(800, 600));
-		setTitle("Low Poly sample");
+		setTitle("Loxel sample");
 		map = new MapVoxel(this.env);
 		this.env.addEngine(map);
 		map.init();
+
+		// simple sun to have a global light ...
+		Entity globalGravity = new Entity(this.env);
+		globalGravity.addComponent(new ComponentGravityStatic(new Vector3f(0,0,-1)));
+		env.addEntity(globalGravity);
 		
 		// simple sun to have a global light ...
 		Entity sun = new Entity(this.env);
@@ -105,10 +113,11 @@ public class LoxelApplication extends Application {
 				new Uri("DATA", "basicMaterial.vert"),
 				new Uri("DATA", "basicMaterial.frag"),
 				(EngineLight)env.getEngine(EngineLight.ENGINE_NAME)));
-		ComponentPhysics physics = new ComponentPhysics();
+		ComponentPhysics physics = new ComponentPhysics(true);
 		PhysicBox box = new PhysicBox();
 		box.setSize(new Vector3f(0.6f,0.6f,1.8f));
 		box.setOrigin(new Vector3f(0,0,0.9f));
+		box.setMass(1);
 		physics.addShape(box);
 		player.addComponent(physics);
 		env.addEntity(player);