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Collision: more accurate computation with acceleration and long dtime (#15408)
Co-authored-by: SmallJoker <mk939@ymail.com>
This commit is contained in:
Erich Schubert
GitHub
parent
319e270664
commit
567b9a997a
2 changed files with 243 additions and 126 deletions
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@ -51,7 +51,7 @@ namespace {
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#define UASSERTEQ_F(actual, expected) do { \
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f32 a = (actual); \
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f32 e = (expected); \
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UTEST(fabsf(a - e) <= 0.0001f, "actual: %.f expected: %.f", a, e) \
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UTEST(fabsf(a - e) <= 0.0001f, "actual: %.5f expected: %.5f", a, e) \
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} while (0)
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#define UASSERTEQ_V3F(actual, expected) do { \
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@ -86,7 +86,7 @@ void TestCollision::testAxisAlignedCollision()
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}
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{
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aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
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aabb3f m(bx-2, by+1.5, bz, bx-1, by+2.5, bz-1);
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aabb3f m(bx-2, by+1.5, bz, bx-1, by+2.5, bz+1);
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v3f v(1, 0, 0);
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f32 dtime = 1.0f;
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UASSERT(axisAlignedCollision(s, m, v, &dtime) == -1);
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@ -134,16 +134,16 @@ void TestCollision::testAxisAlignedCollision()
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{
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aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
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aabb3f m(bx+2, by-1.5, bz, bx+2.5, by-0.5, bz+1);
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v3f v(-0.5, 0.2, 0);
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f32 dtime = 2.5f;
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v3f v(-0.5, 0.2, 0); // 0.200000003 precisely
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f32 dtime = 2.51f;
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UASSERT(axisAlignedCollision(s, m, v, &dtime) == 1); // Y, not X!
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UASSERT(fabs(dtime - 2.500) < 0.001);
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}
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{
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aabb3f s(bx, by, bz, bx+1, by+1, bz+1);
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aabb3f m(bx+2, by-1.5, bz, bx+2.5, by-0.5, bz+1);
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v3f v(-0.5, 0.3, 0);
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f32 dtime = 2.0f;
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v3f v(-0.5, 0.3, 0); // 0.300000012 precisely
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f32 dtime = 2.1f;
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UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0);
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UASSERT(fabs(dtime - 2.000) < 0.001);
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}
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@ -179,7 +179,7 @@ void TestCollision::testAxisAlignedCollision()
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aabb3f s(bx, by, bz, bx+2, by+2, bz+2);
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aabb3f m(bx-4.2, by-4.2, bz-4.2, bx-2.3, by-2.29, bz-2.29);
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v3f v(1./7, 1./7, 1./7);
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f32 dtime = 17.0f;
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f32 dtime = 17.1f;
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UASSERT(axisAlignedCollision(s, m, v, &dtime) == 0);
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UASSERT(fabs(dtime - 16.1) < 0.001);
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}
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@ -224,18 +224,16 @@ void TestCollision::testCollisionMoveSimple(IGameDef *gamedef)
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res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 1.0f,
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&pos, &speed, accel);
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UASSERT(!res.touching_ground || !res.collides || !res.standing_on_object);
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UASSERT(!res.touching_ground && !res.collides && !res.standing_on_object);
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UASSERT(res.collisions.empty());
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// FIXME: it's easy to tell that this should be y=1.5f, but our code does it wrong.
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// It's unclear if/how this will be fixed.
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UASSERTEQ_V3F(pos, fpos(4, 2, 4));
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UASSERTEQ_V3F(pos, fpos(4, 1.5f, 4));
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UASSERTEQ_V3F(speed, fpos(0, 1, 0));
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/* standing on ground */
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pos = fpos(0, 0.5f, 0);
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speed = fpos(0, 0, 0);
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accel = fpos(0, -9.81f, 0);
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res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 0.04f,
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res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 0.05f,
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&pos, &speed, accel);
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UASSERT(res.collides);
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@ -251,6 +249,110 @@ void TestCollision::testCollisionMoveSimple(IGameDef *gamedef)
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UASSERTEQ(v3s16, ci.node_p, v3s16(0, 0, 0));
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}
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/* glitched into ground */
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pos = fpos(0, 0.499f, 0);
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speed = fpos(0, 0, 0);
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accel = fpos(0, -9.81f, 0);
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res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 0.05f,
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&pos, &speed, accel);
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UASSERTEQ_V3F(pos, fpos(0, 0.5f, 0)); // moved back out
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UASSERTEQ_V3F(speed, fpos(0, 0, 0));
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UASSERT(res.collides);
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UASSERT(res.touching_ground);
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UASSERT(!res.standing_on_object);
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UASSERT(res.collisions.size() == 1);
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{
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auto &ci = res.collisions.front();
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UASSERTEQ(int, ci.type, COLLISION_NODE);
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UASSERTEQ(int, ci.axis, COLLISION_AXIS_Y);
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UASSERTEQ(v3s16, ci.node_p, v3s16(0, 0, 0));
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}
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/* falling on ground */
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pos = fpos(0, 1.2345f, 0);
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speed = fpos(0, -3.f, 0);
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accel = fpos(0, -9.81f, 0);
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res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 0.5f,
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&pos, &speed, accel);
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UASSERT(res.collides);
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UASSERT(res.touching_ground);
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UASSERT(!res.standing_on_object);
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// Current collision code uses linear collision, which incorrectly yields a collision at 0.741 here
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// but usually this resolves itself in the next dtime, fortunately.
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// Parabolic collision should correctly find this in one step.
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// UASSERTEQ_V3F(pos, fpos(0, 0.5f, 0));
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UASSERTEQ_V3F(speed, fpos(0, 0, 0));
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UASSERT(res.collisions.size() == 1);
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{
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auto &ci = res.collisions.front();
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UASSERTEQ(int, ci.type, COLLISION_NODE);
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UASSERTEQ(int, ci.axis, COLLISION_AXIS_Y);
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UASSERTEQ(v3s16, ci.node_p, v3s16(0, 0, 0));
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}
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/* jumping on ground */
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pos = fpos(0, 0.5f, 0);
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speed = fpos(0, 2.0f, 0);
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accel = fpos(0, -9.81f, 0);
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res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 0.2f,
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&pos, &speed, accel);
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UASSERT(!res.collides && !res.touching_ground && !res.standing_on_object);
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res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 0.5f,
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&pos, &speed, accel);
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UASSERT(res.collides);
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UASSERT(res.touching_ground);
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UASSERT(!res.standing_on_object);
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// Current collision code uses linear collision, which incorrectly yields a collision at 0.672 here
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// but usually this resolves itself in the next dtime, fortunately.
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// Parabolic collision should correctly find this in one step.
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// UASSERTEQ_V3F(pos, fpos(0, 0.5f, 0));
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UASSERTEQ_V3F(speed, fpos(0, 0, 0));
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UASSERT(res.collisions.size() == 1);
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{
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auto &ci = res.collisions.front();
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UASSERTEQ(int, ci.type, COLLISION_NODE);
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UASSERTEQ(int, ci.axis, COLLISION_AXIS_Y);
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UASSERTEQ(v3s16, ci.node_p, v3s16(0, 0, 0));
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}
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/* moving over ground, no gravity */
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pos = fpos(0, 0.5f, 0);
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speed = fpos(-1.6f, 0, -1.7f);
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accel = fpos(0, 0.0f, 0);
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res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 1.0f,
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&pos, &speed, accel);
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UASSERT(!res.collides);
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// UASSERT(res.touching_ground); // no gravity, so not guaranteed
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UASSERT(!res.standing_on_object);
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UASSERTEQ_V3F(pos, fpos(-1.6f, 0.5f, -1.7f));
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UASSERTEQ_V3F(speed, fpos(-1.6f, 0, -1.7f));
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UASSERT(res.collisions.empty());
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/* moving over ground, with gravity */
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pos = fpos(5.5f, 0.5f, 5.5f);
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speed = fpos(-1.0f, 0.0f, -0.1f);
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accel = fpos(0, -9.81f, 0);
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res = collisionMoveSimple(env.get(), gamedef, box, 0.0f, 1.0f,
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&pos, &speed, accel);
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UASSERT(res.collides);
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UASSERT(res.touching_ground);
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UASSERT(!res.standing_on_object);
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UASSERTEQ_V3F(pos, fpos(4.5f, 0.5f, 5.4f));
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UASSERTEQ_V3F(speed, fpos(-1.0f, 0, -0.1f));
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UASSERT(res.collisions.size() == 1);
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{ // first collision on y axis zeros speed and acceleration.
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auto &ci = res.collisions.front();
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UASSERTEQ(int, ci.type, COLLISION_NODE);
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UASSERTEQ(int, ci.axis, COLLISION_AXIS_Y);
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UASSERTEQ(v3s16, ci.node_p, v3s16(5, 0, 5));
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}
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/* not moving never collides */
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pos = fpos(0, -100, 0);
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speed = fpos(0, 0, 0);
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