[DEV] collide sphere with triangle and sphere with triangle is good ==> need to add friction to stop object

samples/src/sample/atriasoft/ege/loxelEnginePerso/LoxelApplicationPerso.java

@@ -262,17 +262,23 @@ public class LoxelApplicationPerso extends GaleApplication {
 		//			env.addEntity(localBox);
 		//		}
 		
-		if (true) {
+		if (!this.disable) {
 			// add a cube to test collision ...
 			final Entity localBox = new Entity(this.env);
 			localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
 			localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png", "loxelEngine")));
 			localBox.addComponent(new ComponentLight(new Light(new Color(0.0f, 1.0f, 0.0f), new Vector3f(0, 0, 0), new Vector3f(0.8f, 0.03f, 0.002f))));
 			localBox.addComponent(new ComponentRenderTexturedStaticMesh(new Uri("DATA", "basic.vert", "loxelEngine"), new Uri("DATA", "basic.frag", "loxelEngine")));
-			localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(0, 4, 0))));
+			localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(0, 3, 0))));
 			final ComponentPhysicsPerso physics2 = new ComponentPhysicsPerso(this.env);
-			final PhysicTriangle box2 = new PhysicTriangle();
+			physics2.setBodyType(PhysicBodyType.BODY_STATIC);
-			box2.setPoints(new Vector3f(2, 0, 0), new Vector3f(0, 2, 0), new Vector3f(3, 3, 2));
+			PhysicTriangle box2 = new PhysicTriangle();
+			box2.setPoints(new Vector3f(4, 0, 0), new Vector3f(0, 4, 0), new Vector3f(-2, -2, 1));
+			box2.setOrigin(new Vector3f(0, 0, 0));
+			box2.setMass(0);
+			physics2.addShape(box2);
+			box2 = new PhysicTriangle();
+			box2.setPoints(new Vector3f(4, 0, 0), new Vector3f(0, 4, 0), new Vector3f(6, 6, 0));
 			box2.setOrigin(new Vector3f(0, 0, 0));
 			box2.setMass(0);
 			physics2.addShape(box2);
@@ -286,9 +292,28 @@ public class LoxelApplicationPerso extends GaleApplication {
 			localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png", "loxelEngine")));
 			localBox.addComponent(new ComponentLight(new Light(new Color(0.0f, 1.0f, 0.0f), new Vector3f(0, 0, 0), new Vector3f(0.8f, 0.03f, 0.002f))));
 			localBox.addComponent(new ComponentRenderTexturedStaticMesh(new Uri("DATA", "basic.vert", "loxelEngine"), new Uri("DATA", "basic.frag", "loxelEngine")));
-			localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(1, 5, 4))));
+			localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(1.1f, 5.1f, 1.0f), Quaternion.fromEulerAngles(new Vector3f(0.15f, 0.95f, 0.3f)))));
 			final ComponentPhysicsPerso physics2 = new ComponentPhysicsPerso(this.env);
 			final PhysicSphere box2 = new PhysicSphere();
+			physics2.setBodyType(PhysicBodyType.BODY_STATIC);
+			box2.setSize(1.0f);
+			box2.setOrigin(new Vector3f(0, 0, 0));
+			box2.setMass(0);
+			physics2.addShape(box2);
+			localBox.addComponent(physics2);
+			this.env.addEntity(localBox);
+		}
+		if (true) {
+			// add a cube to test collision ...
+			final Entity localBox = new Entity(this.env);
+			localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
+			localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png", "loxelEngine")));
+			localBox.addComponent(new ComponentLight(new Light(new Color(0.0f, 1.0f, 0.0f), new Vector3f(0, 0, 0), new Vector3f(0.8f, 0.03f, 0.002f))));
+			localBox.addComponent(new ComponentRenderTexturedStaticMesh(new Uri("DATA", "basic.vert", "loxelEngine"), new Uri("DATA", "basic.frag", "loxelEngine")));
+			localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(1, 5, 4), Quaternion.fromEulerAngles(new Vector3f(0.15f, 0.95f, 0.3f)))));
+			final ComponentPhysicsPerso physics2 = new ComponentPhysicsPerso(this.env);
+			physics2.setBodyType(PhysicBodyType.BODY_DYNAMIC);
+			final PhysicSphere box2 = new PhysicSphere();
 			box2.setSize(1.0f);
 			box2.setOrigin(new Vector3f(0, 0, 0));
 			box2.setMass(1);

src/org/atriasoft/ege/Environement.java

@@ -333,9 +333,13 @@ public class Environement {
 			this.startTime = System.nanoTime();
 			this.lastCallTime = this.startTime;
 		}
-		final long lastUpdate = this.lastCallTime;
+		long lastUpdate = this.lastCallTime;
 		this.lastCallTime = System.nanoTime();
 		Clock currentClock = Clock.systemUTC();
+		// in the simulation, we need to limit the delta...
+		if (this.lastCallTime - lastUpdate > 1000000000) {
+			lastUpdate = this.lastCallTime - 5100000;
+		}
 		final EventTime event = new EventTime(currentClock, this.startClock, this.lastCallTime, this.startTime, Duration.ofNanos(this.lastCallTime - lastUpdate),
 				Duration.ofNanos(this.lastCallTime - lastUpdate));
 		for (final ControlInterface elem : this.controls) {

src/org/atriasoft/ege/components/ComponentPhysicsPerso.java

@@ -1,7 +1,10 @@
 package org.atriasoft.ege.components;
 
 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
+import java.util.Map.Entry;
 
 import org.atriasoft.ege.Component;
 import org.atriasoft.ege.Environement;
@@ -29,11 +32,10 @@ public class ComponentPhysicsPerso extends Component {
 	public static float globalMaxSpeed = Float.MAX_VALUE;
 	private AABB aabb;
 	private List<ComponentPhysicsPerso> aabbIntersection = new ArrayList<>();
-	private List<ComponentPhysicsPerso> narrowIntersection = new ArrayList<>();
+	private Map<ComponentPhysicsPerso, List<ColisionPoint>> narrowIntersection = new HashMap<>();
-	List<ColisionPoint> collisionPoints = new ArrayList<>();
+	//List<ColisionPoint> collisionPoints = new ArrayList<>();
 	private List<PhysicShape> shapes = new ArrayList<>();
 	private ComponentPosition position;
-	private boolean staticObject = false;
 	private boolean manageGravity = true;
 	private float maxSpeed = globalMaxSpeed;
 	// current speed of the object
@@ -44,6 +46,8 @@ public class ComponentPhysicsPerso extends Component {
 	private Vector3f staticForce = new Vector3f(0, 0, 0);
 	// Apply dynamic force on it
 	private Vector3f dynamicForce = new Vector3f(0, 0, 0);
+	// Apply dynamic force on it
+	private Vector3f dynamicForceGlobal = new Vector3f(0, 0, 0);
 	private EnginePhysicsPerso engine;
 	private PhysicBodyType bodyType;
 	
@@ -75,37 +79,51 @@ public class ComponentPhysicsPerso extends Component {
 	}
 	
 	public void applyColisionForce() {
-		for (ColisionPoint impact : this.collisionPoints) {
+		Vector3f globalForce = Vector3f.ZERO;
-			this.position.applyForce(impact.force);
+		for (Entry<ComponentPhysicsPerso, List<ColisionPoint>> elem : this.narrowIntersection.entrySet()) {
+			for (ColisionPoint impact : elem.getValue()) {
+				globalForce = globalForce.add(impact.force);
 			}
-		
+		}
+		// this force is not depending on the mass...
+		this.speed = this.speed.add(globalForce);
+		this.position.applyForce(globalForce);
 	}
 	
 	public void applyForces(float timeStep, EngineGravity gravity) {
 		// get the gravity at the specific position...
-		Vector3f gravityForce;
+		Vector3f gravityAcceleration;
 		if (this.manageGravity) {
-			gravityForce = gravity.getGravityAtPosition(this.position.getTransform().getPosition()).multiply(timeStep);
+			gravityAcceleration = gravity.getGravityAtPosition(this.position.getTransform().getPosition());
 		} else {
-			gravityForce = new Vector3f(0, 0, 0);
+			gravityAcceleration = new Vector3f(0, 0, 0);
 		}
 		// apply this force on the Object
-		Log.info("apply gravity: " + gravityForce);
+		Log.info("apply gravity: " + gravityAcceleration);
 		// relative to the object
-		Vector3f staticForce = this.staticForce.multiply(timeStep);
+		Vector3f staticForce = this.staticForce;
 		float globalMass = 0;
 		for (PhysicShape shape : this.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(this.dynamicForce))
+		Vector3f staticforceOriented = this.position.getTransform().getOrientation().multiply(staticForce);
-				.multiply(globalMass);
+		Vector3f dynamicforceOriented = this.position.getTransform().getOrientation().multiply(this.dynamicForce);
-		this.dynamicForce = new Vector3f(0, 0, 0);
+		Vector3f globalForce = staticforceOriented.add(dynamicforceOriented);
-		this.speed = this.speed.add(this.acceleration);
+		if (globalMass > 0.0) {
+			globalForce = globalForce.divide(globalMass);
+		} else {
+			gravityAcceleration = Vector3f.ZERO;
+		}
+		if (this.bodyType != PhysicBodyType.BODY_DYNAMIC) {
+			gravityAcceleration = Vector3f.ZERO;
+		}
+		this.acceleration = gravityAcceleration.add(globalForce);
+		this.speed = this.speed.add(this.acceleration.multiply(timeStep));
 		limitWithMaxSpeed();
 		Log.info("apply acceleration: " + this.acceleration);
 		Log.info("apply speed: " + this.speed);
-		this.position.setTransform(this.position.getTransform().withPosition(this.position.getTransform().getPosition().add(this.speed.multiply(timeStep))));
+		this.position.setTransform(this.position.getTransform().withPosition(this.position.getTransform().getPosition().add(this.speed)));
 	}
 	
 	private boolean checkCollide(PhysicShape shapeCurrent) {
@@ -175,7 +193,7 @@ public class ComponentPhysicsPerso extends Component {
 	}
 	
 	public boolean checkNarrowCollision() {
-		if (this.staticObject) {
+		if (this.bodyType != PhysicBodyType.BODY_DYNAMIC) {
 			return false;
 		}
 		for (ComponentPhysicsPerso elem : this.aabbIntersection) {
@@ -187,8 +205,12 @@ public class ComponentPhysicsPerso extends Component {
 				}
 			}
 			if (collide) {
-				this.narrowIntersection.add(elem);
+				if (!this.narrowIntersection.containsKey(elem)) {
-				elem.narrowIntersection.add(this);
+					this.narrowIntersection.put(elem, new ArrayList<>());
+				}
+				if (!elem.narrowIntersection.containsKey(this)) {
+					elem.narrowIntersection.put(this, new ArrayList<>());
+				}
 			}
 		}
 		return isNarrowCollide();
@@ -199,7 +221,6 @@ public class ComponentPhysicsPerso extends Component {
 	}
 	
 	public void clearPreviousCollision() {
-		this.collisionPoints.clear();
 		this.aabbIntersection.clear();
 		this.narrowIntersection.clear();
 	}
@@ -259,16 +280,12 @@ public class ComponentPhysicsPerso extends Component {
 	}
 	
 	public boolean isNarrowCollide() {
-		if (this.narrowIntersection.size() == 0) {
+		if (this.narrowIntersection.isEmpty()) {
 			return false;
 		}
 		return true;
 	}
 	
-	public boolean isStaticObject() {
-		return this.staticObject;
-	}
-	
 	private void limitWithMaxSpeed() {
 		if (this.speed.length2() > this.maxSpeed * this.maxSpeed) {
 			this.speed = this.speed.safeNormalize().multiply(this.maxSpeed);
@@ -276,14 +293,13 @@ public class ComponentPhysicsPerso extends Component {
 	}
 	
 	public void narrowCollisionCreateContactAndForce() {
-		
+		if (this.bodyType != PhysicBodyType.BODY_DYNAMIC) {
-		if (this.staticObject) {
 			return;
 		}
 		if (this.narrowIntersection.size() == 0) {
 			return;
 		}
-		for (ComponentPhysicsPerso elem : this.narrowIntersection) {
+		for (Entry<ComponentPhysicsPerso, List<ColisionPoint>> elem : this.narrowIntersection.entrySet()) {
 			for (PhysicShape shapeCurrent : this.shapes) {
 				//TODO Do a better method we do this many times ...
 				/*
@@ -291,8 +307,8 @@ public class ComponentPhysicsPerso extends Component {
 					continue;
 				}
 				*/
-				List<ColisionPoint> points = elem.getCollidePoints(shapeCurrent);
+				List<ColisionPoint> points = elem.getKey().getCollidePoints(shapeCurrent);
-				this.collisionPoints.addAll(points);
+				elem.getValue().addAll(points);
 			}
 		}
 	}
@@ -305,9 +321,11 @@ public class ComponentPhysicsPerso extends Component {
 	public void renderDebug(ResourceColored3DObject debugDrawProperty) {
 		Color displayColor;
 		displayColor = new Color(1.0f, 0.0f, 0.0f, 1.0f);
-		for (ColisionPoint impact : this.collisionPoints) {
+		for (Entry<ComponentPhysicsPerso, List<ColisionPoint>> elem : this.narrowIntersection.entrySet()) {
+			for (ColisionPoint impact : elem.getValue()) {
 				debugDrawProperty.drawSquare(new Vector3f(0.02f, 0.02f, 0.02f), Matrix4f.createMatrixTranslate(impact.position), displayColor);
 			}
+		}
 		if (this.aabbIntersection.size() == 0) {
 			displayColor = new Color(1.0f, 1.0f, 1.0f, 1.0f);
 		} else {
@@ -342,10 +360,6 @@ public class ComponentPhysicsPerso extends Component {
 		this.maxSpeed = maxSpeed;
 	}
 	
-	public void setStaticObject(boolean staticObject) {
-		this.staticObject = staticObject;
-	}
-	
 	public void updateAABB() {
 		
 		if (this.position == null) {

src/org/atriasoft/ege/components/ComponentPosition.java

@@ -10,12 +10,14 @@ import org.atriasoft.etk.math.Vector3f;
 public class ComponentPosition extends Component implements PositionningInterface {
 	public final Signal<Transform3D> signalPosition = new Signal<>();
 	protected Transform3D transform;
+	//protected Vector3f speed;
 	
 	/**
 	 * Create a basic position component (no orientation and position (0,0,0))
 	 */
 	public ComponentPosition() {
 		this.transform = Transform3D.IDENTITY;
+		//this.speed = Vector3f.ZERO;
 	}
 	
 	/**
@@ -37,6 +39,10 @@ public class ComponentPosition extends Component implements PositionningInterfac
 		this.transform = this.transform.withPosition(this.transform.getPosition().add(force));
 	}
 	
+	//public Vector3f getSpeed() {
+	//	return this.speed;
+	//}
+	
 	/**
 	 * set a new transformation
 	 * @return Transformation of the position
@@ -51,6 +57,10 @@ public class ComponentPosition extends Component implements PositionningInterfac
 		return "position";
 	}
 	
+	//public void setSpeed(Vector3f speed) {
+	//	this.speed = speed;
+	//}
+	
 	/**
 	 * set a new transformation
 	 * @param transform transformation of the position

src/org/atriasoft/ege/components/PhysicBodyType.java

@@ -1,7 +1,7 @@
 package org.atriasoft.ege.components;
 
 public enum PhysicBodyType {
-	BODY_DYNAMIC,
+	BODY_DYNAMIC, // mobile object that move and interact with other (42)
-	BODY_STATIC,
+	BODY_STATIC, // static object that does not move (map, wall)
-	BODY_KINEMATIC,
+	BODY_KINEMATIC // static object that can change position by the user (like doors, lift ...)
 }

src/org/atriasoft/ege/engines/EngineAI.java

@@ -1,9 +1,9 @@
+
 package org.atriasoft.ege.engines;
 
 import java.util.ArrayList;
 import java.util.List;
 
-import org.atriasoft.ege.internal.Log;
 import org.atriasoft.ege.Component;
 import org.atriasoft.ege.Engine;
 import org.atriasoft.ege.Environement;
@@ -12,42 +12,32 @@ import org.atriasoft.ege.components.ComponentAI;
 
 public class EngineAI extends Engine {
 	public static final String ENGINE_NAME = "ia";
-	private float accumulator = 0;
 	private static final float TIME_STEP = 5.0f;
-	private final List<ComponentAI> components = new ArrayList<ComponentAI>();
+	private float accumulator = 0;
+	private final List<ComponentAI> components = new ArrayList<>();
+	
 	public EngineAI(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 ComponentAI)) {
 			return;
 		}
-		components.add((ComponentAI)ref);
+		this.components.add((ComponentAI) ref);
 	}
 	
 	@Override
-	public void update(long deltaMili) {
+	public void componentRemove(Component ref) {
-		// Add the time difference in the accumulator
+		this.components.remove(ref);
-		accumulator += (float)deltaMili*0.0001f;
-		// While there is enough accumulated time to take one or several physics steps
-		while (accumulator >= TIME_STEP) {
-			//Log.warning("AI: Generate for " + accumulator + " / " + TIME_STEP + "  for:" + components.size());
-			// call every object to usdate their constant forces applyed
-			for (ComponentAI it: components) {
-				it.update(TIME_STEP);
-			}
-			// Decrease the accumulated time
-			accumulator -= TIME_STEP;
 	}
 	
+	@Override
+	public String getType() {
+		// TODO Auto-generated method stub
+		return ENGINE_NAME;
 	}
 	
 	@Override
@@ -61,9 +51,20 @@ public class EngineAI extends Engine {
 	}
 	
 	@Override
-	public String getType() {
+	public void update(long deltaMili) {
-		// TODO Auto-generated method stub
+		// Add the time difference in the accumulator
-		return ENGINE_NAME;
+		this.accumulator += deltaMili * 0.0001f;
+		// While there is enough accumulated time to take one or several physics steps
+		while (this.accumulator >= TIME_STEP) {
+			//Log.warning("AI: Generate for " + accumulator + " / " + TIME_STEP + "  for:" + components.size());
+			// call every object to usdate their constant forces applyed
+			for (ComponentAI it : this.components) {
+				it.update(TIME_STEP);
+			}
+			// Decrease the accumulated time
+			this.accumulator -= TIME_STEP;
+		}
+		
 	}
 	
 }

src/org/atriasoft/ege/engines/EnginePhysicsPerso.java

@@ -7,6 +7,7 @@ import org.atriasoft.ege.Engine;
 import org.atriasoft.ege.Environement;
 import org.atriasoft.ege.camera.Camera;
 import org.atriasoft.ege.components.ComponentPhysicsPerso;
+import org.atriasoft.ege.components.PhysicBodyType;
 import org.atriasoft.ege.internal.Log;
 import org.atriasoft.gale.resource.ResourceColored3DObject;
 import org.atriasoft.phyligram.DebugDisplay;
@@ -149,6 +150,9 @@ public class EnginePhysicsPerso extends Engine {
 			AABB currentAABB = current.getAABB();
 			for (int jjj = iii + 1; jjj < this.components.size(); jjj++) {
 				ComponentPhysicsPerso remote = this.components.get(jjj);
+				if (current.getBodyType() != PhysicBodyType.BODY_DYNAMIC && remote.getBodyType() != PhysicBodyType.BODY_DYNAMIC) {
+					continue;
+				}
 				// prefer checking the collision, this a time-constant operation, check if collision already exist is a unpredictable time.
 				if (currentAABB.intersect(this.components.get(jjj).getAABB()) == true) {
 					current.addIntersection(remote);

src/org/atriasoft/phyligram/ToolCollisionSphereWithSphere.java

@@ -15,13 +15,16 @@ public class ToolCollisionSphereWithSphere {
 		Vector3f impact = force.multiply(shapeReference.getSize());
 		force = force.multiply(distance);
 		force = force.multiply(sphere1.getSize() + distance);
-		return new ColisionPoint(impact, force);
+		// set relative impact position:
+		//return new ColisionPoint(impact, force);
+		// set global position
+		return new ColisionPoint(shapeReference.narrowPhaseGlobalPos.add(impact), force);
 	}
 	
 	// Note sphere 2 is the reference ...
 	public static boolean testCollide(PhysicSphere sphere1, PhysicSphere shapeReference) {
 		float distance1 = sphere1.narrowPhaseGlobalPos.distance2(shapeReference.narrowPhaseGlobalPos);
-		float distance2 = sphere1.getSize() * shapeReference.getSize();
+		float distance2 = sphere1.getSize() + shapeReference.getSize();
 		distance2 = distance2 * distance2;
 		return distance1 <= distance2;
 	}

src/org/atriasoft/phyligram/ToolCollisionSphereWithTriangle.java

@@ -55,7 +55,7 @@ public class ToolCollisionSphereWithTriangle {
 			if (distance < 0) {
 				force = force.multiply(-(sphere1.getSize() + distance));
 			} else {
-				force = force.multiply(-(sphere1.getSize() + distance));
+				force = force.multiply(sphere1.getSize() - distance);
 			}
 			return new ColisionPoint(impact, force);
 		}