[DEV] last development of the 3 physic engine (next step is migration to a generic engine)

src/org/atriasoft/gameengine/components/ComponentPhysics.java

@@ -117,12 +117,12 @@ public class ComponentPhysics extends Component {
 			return;
 		}
 		for (ComponentPhysics elem : narrowIntersection) {
-			for (PhysicShape shapeCurrent : shapes) {
+			for (PhysicShape shapeCurrent : this.shapes) {
 				//TODO Do a better method we do this many times ...
 				if (elem.checkCollide(shapeCurrent) == false) {
 					continue;
 				}
-				elem.getCollidePoints(shapeCurrent);
+				elem.getCollidePoints(shapeCurrent, this.staticObject);
 			}
 		}
 	}
@@ -173,13 +173,13 @@ public class ComponentPhysics extends Component {
 		}
 		return false;
 	}
-	private void getCollidePoints(PhysicShape shapeCurrent) {
+	private void getCollidePoints(PhysicShape shapeCurrent, boolean isStatic) {
 		if (shapeCurrent instanceof PhysicBox) {
 			PhysicBox shape111 = (PhysicBox)shapeCurrent;
-			for (PhysicShape shape : shapes) {
+			for (PhysicShape shape : this.shapes) {
 				if (shape instanceof PhysicBox) {
 					PhysicBox shape222 = (PhysicBox)shape;
-					ToolCollisionOBBWithOBB.getCollidePoints(shape111, shape222);
+					ToolCollisionOBBWithOBB.getCollidePoints(shape111, isStatic, shape222, this.staticObject);
 				} else if (shape instanceof PhysicSphere) {
 					
 				} else if (shape instanceof PhysicMapVoxel) {
@@ -189,7 +189,7 @@ public class ComponentPhysics extends Component {
 				}
 			}
 		} else if (shapeCurrent instanceof PhysicSphere) {
-			for (PhysicShape shape : shapes) {
+			for (PhysicShape shape : this.shapes) {
 				if (shape instanceof PhysicBox) {
 					
 				} else if (shape instanceof PhysicSphere) {
@@ -201,7 +201,7 @@ public class ComponentPhysics extends Component {
 				}
 			}
 		} else if (shapeCurrent instanceof PhysicMapVoxel) {
-			for (PhysicShape shape : shapes) {
+			for (PhysicShape shape : this.shapes) {
 				if (shape instanceof PhysicBox) {
 					
 				} else if (shape instanceof PhysicSphere) {
@@ -294,6 +294,12 @@ public class ComponentPhysics extends Component {
 		this.aabbIntersection.clear();
 	}
 	public void addIntersection(ComponentPhysics component) {
+		// do not add multiple times
+		for (ComponentPhysics elem : this.aabbIntersection) {
+			if (elem == component) {
+				return;
+			}
+		}
 		this.aabbIntersection.add(component);
 	}
 	public List<ComponentPhysics> getAabbIntersection() {

src/org/atriasoft/gameengine/engines/EnginePhysics.java

@@ -63,11 +63,19 @@ public class EnginePhysics extends Engine {
 			it.applyForces(TIME_STEP, gravity);
 		}
 	}
+	/**
+	 * Collision detection STEP 1: Upadte the AABB positioning of each elements
+	 * @param timeStep Delta time since the last check
+	 */
 	private void updateAABB(float timeStep) {
 		for (ComponentPhysics it: components) {
 			it.updateAABB();
 		}
 	}
+	/**
+	 * Collision Detection STEP 2: update the list of each element that collide together in the AABB Boxs (update is done between each boxes)
+	 * @param timeStep Delta time since the last check
+	 */
 	private void updateCollisionsAABB(float timeStep) {
 		// clear all object intersection
 		for (ComponentPhysics it: components) {
@@ -86,6 +94,10 @@ public class EnginePhysics extends Engine {
 			}
 		}
 	}
+	/**
+	 * Collision Detection STEP 3: Narrow phase: process the collision between every OBB boxes (or other..)  
+	 * @param timeStep Delta time since the last check
+	 */
 	private void updateCollisionsNarrowPhase(float timeStep) {
 		// clear all object intersection
 		for (ComponentPhysics it: components) {
@@ -103,6 +115,10 @@ public class EnginePhysics extends Engine {
 			current.narrowCollisionCreateContactAndForce();
 		}
 	}
+	/**
+	 * Collision Detection STEP 4: apply all calculated forces (with containts) 
+	 * @param timeStep 
+	 */
 	private void generateResultCollisionsForces(float timeStep) {
 		
 	}

src/org/atriasoft/gameengine/physics/ColisionPoints.java

@@ -7,7 +7,6 @@ public class ColisionPoints {
 	public Vector3f force;
 
 	public ColisionPoints(Vector3f position, Vector3f force) {
-		super();
 		this.position = position;
 		this.force = force;
 	}

src/org/atriasoft/gameengine/physics/Collision.java

@@ -0,0 +1,17 @@
+package org.atriasoft.gameengine.physics;
+
+public class Collision {
+	public final ColisionPoints[] colisionPointLocal;
+	public final PhysicShape shapeRemote;
+	public final ColisionPoints[] colisionPointRemote;
+	public final boolean staticRemote;
+	public Collision(ColisionPoints[] colisionPointLocal, PhysicShape shapeRemote,
+			ColisionPoints[] colisionPointRemote, boolean staticRemote) {
+		super();
+		this.colisionPointLocal = colisionPointLocal;
+		this.shapeRemote = shapeRemote;
+		this.colisionPointRemote = colisionPointRemote;
+		this.staticRemote = staticRemote;
+	}
+	
+}

src/org/atriasoft/gameengine/physics/PhysicBox.java

@@ -1,10 +1,14 @@
 package org.atriasoft.gameengine.physics;
 
+import java.util.ArrayList;
+import java.util.List;
+
 import org.atriasoft.etk.Color;
 import org.atriasoft.etk.math.Matrix4f;
 import org.atriasoft.etk.math.Transform3D;
 import org.atriasoft.etk.math.Vector3f;
 import org.atriasoft.gale.resource.ResourceColored3DObject;
+import org.atriasoft.gameengine.internal.Log;
 
 public class PhysicBox extends PhysicShape {
 	// Box size property in X, Y and Z
@@ -26,6 +30,7 @@ public class PhysicBox extends PhysicShape {
 	public void updateAABB(Transform3D transformGlobal, PhysicCollisionAABB aabb) {
 		// store it, many time usefull...
 		this.transformGlobal = transformGlobal;
+		this.colisionPoints.clear();
 		// TODO Auto-generated method stub
 		aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(this.size.x * 0.5f, this.size.y * 0.5f, this.size.z * 0.5f))));
 		aabb.update(transformGlobal.multiply(this.transform.multiply(new Vector3f(-this.size.x * 0.5f, this.size.y * 0.5f, this.size.z * 0.5f))));
@@ -56,7 +61,7 @@ public class PhysicBox extends PhysicShape {
 	private void renderPoint(Vector3f subPosition, Transform3D transformGlobal, ResourceColored3DObject debugDrawProperty) {
 		Matrix4f transformation = transformGlobal.getOpenGLMatrix().multiplyNew(this.transform.getOpenGLMatrix()).multiply(Matrix4f.createMatrixTranslate(subPosition));
 
-		debugDrawProperty.drawSquare(new Vector3f(0.1f, 0.1f, 0.1f), transformation, new Color(0, 0, 1, 1));
+		debugDrawProperty.drawSquare(new Vector3f(0.08f, 0.08f, 0.08f), transformation, new Color(0, 0, 1, 1));
 	}
 
 	private void renderPoint2(Vector3f subPosition, Transform3D transformGlobal, ResourceColored3DObject debugDrawProperty) {
@@ -71,9 +76,12 @@ public class PhysicBox extends PhysicShape {
 
 	}
 
-	private void renderPoint4(Vector3f subPosition, ResourceColored3DObject debugDrawProperty) {
+	private void renderPoint4(Vector3f subPosition, Vector3f force, ResourceColored3DObject debugDrawProperty) {
 		debugDrawProperty.drawSquare(new Vector3f(0.1f, 0.1f, 0.1f), Matrix4f.identity().multiply(Matrix4f.createMatrixTranslate(subPosition)), new Color(1, 0, 0, 1));
-
+		List<Vector3f> tmp = new ArrayList<>();
+		tmp.add(new Vector3f(0,0,0));
+		tmp.add(force); 
+		debugDrawProperty.drawLine(tmp, new Color(1, 0, 0, 1), Matrix4f.identity().multiply(Matrix4f.createMatrixTranslate(subPosition)), true, false);
 	}
 
 	@Override
@@ -88,10 +96,17 @@ public class PhysicBox extends PhysicShape {
 		renderPoint(new Vector3f(-dimention.x, +dimention.y, -dimention.z), transformGlobal, debugDrawProperty);
 		renderPoint(new Vector3f(+dimention.x, -dimention.y, -dimention.z), transformGlobal, debugDrawProperty);
 		renderPoint3(new Vector3f(-dimention.x, -dimention.y, -dimention.z), transformGlobal, debugDrawProperty);
-		if (this.colisionPointTest != null) {
+		for (Collision elem: this.colisionPoints) {
-			for (int iii = 0; iii < this.colisionPointTest.length; iii++) {
+			if (elem != null) {
-				renderPoint4(this.colisionPointTest[iii].position, debugDrawProperty);
+				if (elem.colisionPointLocal == null) {
+					Log.error("colision point must be set !!!");
+					continue;
+				}
+				for (int iii = 0; iii < elem.colisionPointLocal.length; iii++) {
+					renderPoint4(elem.colisionPointLocal[iii].position, elem.colisionPointLocal[iii].force, debugDrawProperty);
+				}
 			}
 		}
 	}
+
 }

src/org/atriasoft/gameengine/physics/PhysicMapVoxel.java

@@ -17,6 +17,7 @@ public class PhysicMapVoxel extends PhysicShape {
 		if (this.chunk == null) {
 			return;
 		}
+		this.colisionPoints.clear();
 		aabb.update(new Vector3f(this.chunk.getPosition().x,this.chunk.getPosition().y,this.chunk.getPosition().z));
 		aabb.update(new Vector3f(
 				this.chunk.getPosition().x + VoxelChunk.VOXEL_CHUNK_SIZE,

src/org/atriasoft/gameengine/physics/PhysicShape.java

@@ -1,12 +1,21 @@
 package org.atriasoft.gameengine.physics;
 
+import java.util.ArrayList;
+import java.util.List;
+
 import org.atriasoft.etk.math.Quaternion;
 import org.atriasoft.etk.math.Transform3D;
 import org.atriasoft.etk.math.Vector3f;
 import org.atriasoft.gale.resource.ResourceColored3DObject;
 
+
+
+
 public abstract class PhysicShape {
-	public ColisionPoints[] colisionPointTest;
+
+	
+	
+	protected List<Collision> colisionPoints = new ArrayList<>();
 	// protected Quaternion quaternion;
 	// protected Vector3f origin;
 	protected Transform3D transform;
@@ -78,6 +87,11 @@ public abstract class PhysicShape {
 		return type;
 	}
 
+	public void addColision(Collision colision) {
+		colisionPoints.add(colision);
+	}
+	
+	
 	public abstract void updateAABB(Transform3D transform, PhysicCollisionAABB aabb);
 
 	public abstract void updateForNarrowCollision(Transform3D transform);

src/org/atriasoft/gameengine/physics/ToolCollisionOBBWithOBB.java

@@ -44,42 +44,42 @@ public class ToolCollisionOBBWithOBB {
 				|| getSeparatingPlane(rPos, box1.axisZ.cross(box2.axisZ), box1, box2);
 		return !ret;
 	}
-
+//
-	// a quick test to see the code working
+//	// a quick test to see the code working
-	public static void main(String[] args) {
+//	public static void main(String[] args) {
-		// create two obbs
+//		// create two obbs
-		OBB aaa = new OBB();
+//		OBB aaa = new OBB();
-		OBB bbb = new OBB();
+//		OBB bbb = new OBB();
-
+//
-		// set the first obb's properties
+//		// set the first obb's properties
-		aaa.position = new Vector3f(0.0f, 0.0f, 0.0f); // set its center position
+//		aaa.position = new Vector3f(0.0f, 0.0f, 0.0f); // set its center position
-
+//
-		// set the half size
+//		// set the half size
-		aaa.halfSize = new Vector3f(10.0f, 1.0f, 1.0f);
+//		aaa.halfSize = new Vector3f(10.0f, 1.0f, 1.0f);
-
+//
-		// set the axes orientation
+//		// set the axes orientation
-		aaa.axisX = new Vector3f(1.0f, 0.0f, 0.0f);
+//		aaa.axisX = new Vector3f(1.0f, 0.0f, 0.0f);
-		aaa.axisY = new Vector3f(0.0f, 1.0f, 0.0f);
+//		aaa.axisY = new Vector3f(0.0f, 1.0f, 0.0f);
-		aaa.axisZ = new Vector3f(0.0f, 0.0f, 1.0f);
+//		aaa.axisZ = new Vector3f(0.0f, 0.0f, 1.0f);
-
+//
-		// set the second obb's properties
+//		// set the second obb's properties
-		bbb.position = new Vector3f(20.0f, 0.0f, 0.0f); // set its center position
+//		bbb.position = new Vector3f(20.0f, 0.0f, 0.0f); // set its center position
-
+//
-		// set the half size
+//		// set the half size
-		bbb.halfSize = new Vector3f(10.0f, 1.0f, 1.0f);
+//		bbb.halfSize = new Vector3f(10.0f, 1.0f, 1.0f);
-
+//
-		// set the axes orientation
+//		// set the axes orientation
-		bbb.axisX = new Vector3f(1.0f, 0.0f, 0.0f);
+//		bbb.axisX = new Vector3f(1.0f, 0.0f, 0.0f);
-		bbb.axisY = new Vector3f(0.0f, 1.0f, 0.0f);
+//		bbb.axisY = new Vector3f(0.0f, 1.0f, 0.0f);
-		bbb.axisZ = new Vector3f(0.0f, 0.0f, 1.0f);
+//		bbb.axisZ = new Vector3f(0.0f, 0.0f, 1.0f);
-
+//
-		// run the code and get the result as a message
+//		// run the code and get the result as a message
-		if (getCollision(aaa, bbb)) {
+//		if (getCollision(aaa, bbb)) {
-			Log.info("Collision!!!");
+//			Log.info("Collision!!!");
-		} else {
+//		} else {
-			Log.info("NO Collision!!!");
+//			Log.info("NO Collision!!!");
-		}
+//		}
-	}
+//	}
 
 	// check if there's a separating plane in between the selected axes
 	private static boolean getSeparatingPlane222(Vector3f rPos, Vector3f plane, PhysicBox box1, PhysicBox box2) {
@@ -107,7 +107,7 @@ public class ToolCollisionOBBWithOBB {
 		return !ret;
 	}
 
-	public static void getCollidePoints(PhysicBox box1, PhysicBox box2) {
+	public static void getCollidePoints(PhysicBox box1, boolean isStatic1, PhysicBox box2, boolean isStatic2) {
 		// Log.info("Try to calculare reverse force ........");
 		Vector3f rPos1 = box1.narrowPhaseGlobalPos.lessNew(box2.narrowPhaseGlobalPos);
 		Vector3f rPos2 = box2.narrowPhaseGlobalPos.lessNew(box1.narrowPhaseGlobalPos);
@@ -143,11 +143,11 @@ public class ToolCollisionOBBWithOBB {
 		// fonctionne quand le block est trourner de 90% petit pb de positionnement en hauteur....
 		// getCollidePointsAABBCenteredWithOBB(box2.narrowPhaseHalfSize, box1.narrowPhaseHalfSize, quatTransfer2, quat2.multiply(rPos2));
 		ColisionPoints[] collide1 = getCollidePointsAABBCenteredWithOBB(box2.narrowPhaseHalfSize, box1.narrowPhaseHalfSize, quatTransfer2, quat2.inverseNew().getMatrix4().multiply(rPos1));
-		box1.colisionPointTest = collide1;
 		// transfer detection point collision in global environement:
 		if (collide1 != null) {
 			for (int iii = 0; iii < collide1.length; iii++) {
 				collide1[iii].position = quat1.multiply(collide1[iii].position).add(box1.narrowPhaseGlobalPos);
+				collide1[iii].force = quat2.multiply(collide1[iii].force);//.add(box1.narrowPhaseGlobalPos);
 			}
 		}
 		/* res = trensfert in generic plan the new res ... */
@@ -157,12 +157,21 @@ public class ToolCollisionOBBWithOBB {
 		LoxelApplication.box1HalfSize = box1.narrowPhaseHalfSize;
 		LoxelApplication.box2HalfSize = box2.narrowPhaseHalfSize;
 		ColisionPoints[] collide2 = getCollidePointsAABBCenteredWithOBB(box1.narrowPhaseHalfSize, box2.narrowPhaseHalfSize, quatTransfer1, quat1.inverseNew().getMatrix4().multiply(rPos2));
-		box2.colisionPointTest = collide2;
 		if (collide2 != null) {
 			for (int iii = 0; iii < collide2.length; iii++) {
 				collide2[iii].position = quat2.multiply(collide2[iii].position).add(box2.narrowPhaseGlobalPos);
+				collide2[iii].force = quat1.multiply(collide2[iii].force);//.add(box2.narrowPhaseGlobalPos);
 			}
 		}
+		// add only if NOT static, when static no colision is performed
+		if (true) { //!isStatic1) {
+			Collision colision = new Collision(collide1, box2, collide2, isStatic2);
+			box1.addColision(colision);
+		}
+		if (true) { //!isStatic1) {
+			Collision colision = new Collision(collide2, box1, collide1, isStatic1);
+			box2.addColision(colision);
+		}
 
 	}
 
@@ -273,13 +282,15 @@ public class ToolCollisionOBBWithOBB {
 		}
 		if (count != 0) {
 			// Find a point inside the BOX ...
+			/*
 			Log.info("Detect point inside ... " + insideTopBackRight + "  " + insideTopBackLeft + "  " + insideTopFrontRight + "  " + insideTopFrontLeft + "  " + insideBottomBackRight + "  "
 					+ insideBottomBackLeft + "  " + insideBottomFrontRight + "  " + insideBottomFrontLeft);
-
+			*/
 			return out;
 		}
 		// line in AABB
-		Log.info("Need to detect line inside ...");
+		// TODO: 
+		// Log.info("Need to detect line inside ..."); // pas tot a fait... si ca colisione déja avec un point de l'autre ...
 		return null;
 	}
 
@@ -294,46 +305,61 @@ public class ToolCollisionOBBWithOBB {
 		Vector3f out = new Vector3f();
 		if (point.x < 0) {
 			if (point.x > -halfSize.x) {
-				out.x = -halfSize.x + point.x;
+				
+				out.x = -(halfSize.x + point.x);
+				
+				//out.x = -halfSize.x - point.x;
+				//out.x = -halfSize.x + point.x;
+				//out.x = + point.x;
 			} else {
 				return null;
 			}
 		} else {
 			if (point.x < halfSize.x) {
+				//out.x = halfSize.x + point.x;
 				out.x = halfSize.x - point.x;
+				//out.x = - point.x;
 			} else {
 				return null;
 			}
 		}
 		if (point.y < 0) {
 			if (point.y > -halfSize.y) {
-				out.y = -halfSize.y + point.y;
+				out.y = -halfSize.y - point.y;
+				//out.y = -halfSize.y + point.y;
+				//out.y = point.y;
 			} else {
 				return null;
 			}
 		} else {
 			if (point.y < halfSize.y) {
+				//out.y = halfSize.y + point.y;
 				out.y = halfSize.y - point.y;
+				//out.y = - point.y;
 			} else {
 				return null;
 			}
 		}
 		if (point.z < 0) {
 			if (point.z > -halfSize.z) {
-				out.z = -halfSize.z + point.z;
+				out.z = -halfSize.z - point.z;
+				//out.z = -halfSize.z + point.z;
+				//out.z = + point.z;
 			} else {
 				return null;
 			}
 		} else {
 			if (point.z < halfSize.z) {
+				//out.z = halfSize.z + point.z;
 				out.z = halfSize.z - point.z;
+				//out.z = - point.z;
 			} else {
 				return null;
 			}
 		}
-		if (out.x < out.y) {
+		if (Math.abs(out.x) < Math.abs(out.y)) {
 			out.y = 0;
-			if (out.x < out.z) {
+			if (Math.abs(out.x) < Math.abs(out.z)) {
 				out.z = 0;
 				return out;
 			}
@@ -341,7 +367,7 @@ public class ToolCollisionOBBWithOBB {
 			return out;
 		}
 		out.x = 0;
-		if (out.y < out.z) {
+		if (Math.abs(out.y) < Math.abs(out.z)) {
 			out.z = 0;
 			return out;
 		}

src/org/atriasoft/gameengine/samples/LoxelEngine/LoxelApplication.java

@@ -184,6 +184,26 @@ public class LoxelApplication extends Application {
 			Entity localBox = new Entity(this.env);
 			Quaternion transform = new Quaternion(0.5f,0.2f,0.4f,1);
 			transform.normalize();
+			localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(15,15,14), transform)));
+			localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
+			localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png")));
+			localBox.addComponent(new ComponentRenderTexturedStaticMesh(
+					new Uri("DATA", "basic.vert"),
+					new Uri("DATA", "basic.frag")));
+			ComponentPhysics physics2 = new ComponentPhysics(true);
+			PhysicBox box2 = new PhysicBox();
+			box2.setSize(new Vector3f(8,8,8));
+			box2.setOrigin(new Vector3f(0,0,0));
+			box2.setMass(1);
+			physics2.addShape(box2);
+			localBox.addComponent(physics2);
+			env.addEntity(localBox);
+		}
+		{
+			// add a cube to test collision ...
+			Entity localBox = new Entity(this.env);
+			Quaternion transform = new Quaternion(0.3f,0.3f,0.4f,1);
+			transform.normalize();
 			localBox.addComponent(new ComponentPosition(new Transform3D(new Vector3f(2,-2,14.2f),transform)));
 			localBox.addComponent(new ComponentStaticMesh(new Uri("RES", "cube-one.obj")));
 			localBox.addComponent(new ComponentTexture(new Uri("DATA", "blocks/clay.png")));

src/org/atriasoft/gameengine/samples/lowPoly/Main.java

@@ -5,7 +5,7 @@ import org.atriasoft.gale.Gale;
 
 public class Main {
 	public static void main(String[] args) {
-		Uri.setGroup("DATA", "src/org/atriasoft/gameengine/sample/lowPoly/");
+		Uri.setGroup("DATA", "src/org/atriasoft/gameengine/samples/lowPoly/");
 		Uri.setGroup("DATA_EGE", "src/org/atriasoft/gameengine/data/");
 		Uri.setGroup("RES", "res");
 		Gale.run(new LowPolyApplication(), args);