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Collision: more accurate computation with acceleration and long dtime (#15408)

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Co-authored-by: SmallJoker <mk939@ymail.com>
This commit is contained in:
Erich Schubert 2025-02-15 12:17:44 +01:00 • committed by GitHub
parent 319e270664
commit 567b9a997a
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GPG key ID: B5690EEEBB952194
2 changed files with 243 additions and 126 deletions
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243
src/collision.cpp
View file

@ -72,6 +72,14 @@ inline v3f truncate(const v3f vec, const f32 factor)
);
}
inline v3f rangelimv(const v3f vec, const f32 low, const f32 high)
{
return v3f(
rangelim(vec.X, low, high),
rangelim(vec.Y, low, high),
rangelim(vec.Z, low, high)
);
}
}
// Helper function:
@ -101,6 +109,8 @@ CollisionAxis axisAlignedCollision(
if (speed.Y) {
distance = relbox.MaxEdge.Y - relbox.MinEdge.Y;
// FIXME: The dtime calculation is inaccurate without acceleration information.
// Exact formula: `dtime = (-vel ± sqrt(vel² + 2 * acc * distance)) / acc`
*dtime = distance / std::abs(speed.Y);
time = std::max(*dtime, 0.0f);
@ -335,6 +345,10 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
collisionMoveResult result;
// Assume no collisions when no velocity and no acceleration
if (*speed_f == v3f() && accel_f == v3f())
return result;
/*
Calculate new velocity
*/
@ -350,30 +364,19 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
time_notification_done = false;
}
v3f dpos_f = (*speed_f + accel_f * 0.5f * dtime) * dtime;
v3f newpos_f = *pos_f + dpos_f;
*speed_f += accel_f * dtime;
// If the object is static, there are no collisions
if (dpos_f == v3f())
return result;
// Average speed
v3f aspeed_f = *speed_f + accel_f * 0.5f * dtime;
// Limit speed for avoiding hangs
speed_f->Y = rangelim(speed_f->Y, -5000, 5000);
speed_f->X = rangelim(speed_f->X, -5000, 5000);
speed_f->Z = rangelim(speed_f->Z, -5000, 5000);
aspeed_f = truncate(rangelimv(aspeed_f, -5000.0f, 5000.0f), 10000.0f);
*speed_f = truncate(*speed_f, 10000.0f);
/*
Collect node boxes in movement range
*/
// Collect node boxes in movement range
// cached allocation
thread_local std::vector<NearbyCollisionInfo> cinfo;
cinfo.clear();
{
// Movement if no collisions
v3f newpos_f = *pos_f + aspeed_f * dtime;
v3f minpos_f(
MYMIN(pos_f->X, newpos_f.X),
MYMIN(pos_f->Y, newpos_f.Y) + 0.01f * BS, // bias rounding, player often at +/-n.5
@ -399,24 +402,14 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
}
}
/*
Collect object boxes in movement range
*/
// Collect object boxes in movement range
if (collide_with_objects) {
add_object_boxes(env, box_0, dtime, *pos_f, *speed_f, self, cinfo);
add_object_boxes(env, box_0, dtime, *pos_f, aspeed_f, self, cinfo);
}
/*
Collision detection
*/
// Collision detection
f32 d = 0.0f;
int loopcount = 0;
while(dtime > BS * 1e-10f) {
// Avoid infinite loop
loopcount++;
for (int loopcount = 0;; loopcount++) {
if (loopcount >= 100) {
warningstream << "collisionMoveSimple: Loop count exceeded, aborting to avoid infinite loop" << std::endl;
g_collision_problems_encountered = true;
@ -431,9 +424,7 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
f32 nearest_dtime = dtime;
int nearest_boxindex = -1;
/*
Go through every nodebox, find nearest collision
*/
// Go through every nodebox, find nearest collision
for (u32 boxindex = 0; boxindex < cinfo.size(); boxindex++) {
const NearbyCollisionInfo &box_info = cinfo[boxindex];
// Ignore if already stepped up this nodebox.
@ -443,8 +434,7 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
// Find nearest collision of the two boxes (raytracing-like)
f32 dtime_tmp = nearest_dtime;
CollisionAxis collided = axisAlignedCollision(box_info.box,
movingbox, *speed_f, &dtime_tmp);
movingbox, aspeed_f, &dtime_tmp);
if (collided == -1 || dtime_tmp >= nearest_dtime)
continue;
@ -455,95 +445,119 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
if (nearest_collided == COLLISION_AXIS_NONE) {
// No collision with any collision box.
*pos_f += truncate(*speed_f * dtime, 100.0f);
dtime = 0; // Set to 0 to avoid "infinite" loop due to small FP numbers
} else {
// Otherwise, a collision occurred.
NearbyCollisionInfo &nearest_info = cinfo[nearest_boxindex];
const aabb3f& cbox = nearest_info.box;
*pos_f += aspeed_f * dtime;
// Final speed:
*speed_f += accel_f * dtime;
// Limit speed for avoiding hangs
*speed_f = truncate(rangelimv(*speed_f, -5000.0f, 5000.0f), 10000.0f);
break;
}
// Otherwise, a collision occurred.
NearbyCollisionInfo &nearest_info = cinfo[nearest_boxindex];
const aabb3f& cbox = nearest_info.box;
//movingbox except moved to the horizontal position it would be after step up
//movingbox except moved to the horizontal position it would be after step up
bool step_up = false;
if (nearest_collided != COLLISION_AXIS_Y) {
aabb3f stepbox = movingbox;
stepbox.MinEdge.X += speed_f->X * dtime;
stepbox.MinEdge.Z += speed_f->Z * dtime;
stepbox.MaxEdge.X += speed_f->X * dtime;
stepbox.MaxEdge.Z += speed_f->Z * dtime;
// Look slightly ahead for checking the height when stepping
// to ensure we also check above the node we collided with
// otherwise, might allow glitches such as a stack of stairs
float extra_dtime = nearest_dtime + 0.1f * fabsf(dtime - nearest_dtime);
stepbox.MinEdge.X += aspeed_f.X * extra_dtime;
stepbox.MinEdge.Z += aspeed_f.Z * extra_dtime;
stepbox.MaxEdge.X += aspeed_f.X * extra_dtime;
stepbox.MaxEdge.Z += aspeed_f.Z * extra_dtime;
// Check for stairs.
bool step_up = (nearest_collided != COLLISION_AXIS_Y) && // must not be Y direction
(movingbox.MinEdge.Y < cbox.MaxEdge.Y) &&
(movingbox.MinEdge.Y + stepheight > cbox.MaxEdge.Y) &&
(!wouldCollideWithCeiling(cinfo, stepbox,
cbox.MaxEdge.Y - movingbox.MinEdge.Y,
d));
step_up = (movingbox.MinEdge.Y < cbox.MaxEdge.Y) &&
(movingbox.MinEdge.Y + stepheight > cbox.MaxEdge.Y) &&
(!wouldCollideWithCeiling(cinfo, stepbox,
cbox.MaxEdge.Y - movingbox.MinEdge.Y,
d));
}
// Get bounce multiplier
float bounce = -(float)nearest_info.bouncy / 100.0f;
// Get bounce multiplier
float bounce = -(float)nearest_info.bouncy / 100.0f;
// Move to the point of collision and reduce dtime by nearest_dtime
if (nearest_dtime < 0) {
// Handle negative nearest_dtime
if (!step_up) {
if (nearest_collided == COLLISION_AXIS_X)
pos_f->X += speed_f->X * nearest_dtime;
if (nearest_collided == COLLISION_AXIS_Y)
pos_f->Y += speed_f->Y * nearest_dtime;
if (nearest_collided == COLLISION_AXIS_Z)
pos_f->Z += speed_f->Z * nearest_dtime;
}
} else {
*pos_f += truncate(*speed_f * nearest_dtime, 100.0f);
dtime -= nearest_dtime;
// Move to the point of collision and reduce dtime by nearest_dtime
if (nearest_dtime < 0) {
// Handle negative nearest_dtime
// This largely means an "instant" collision, e.g., with the floor.
// We use aspeed and nearest_dtime to be consistent with above and resolve this collision
if (!step_up) {
if (nearest_collided == COLLISION_AXIS_X)
pos_f->X += aspeed_f.X * nearest_dtime;
if (nearest_collided == COLLISION_AXIS_Y)
pos_f->Y += aspeed_f.Y * nearest_dtime;
if (nearest_collided == COLLISION_AXIS_Z)
pos_f->Z += aspeed_f.Z * nearest_dtime;
}
} else if (nearest_dtime > 0) {
// updated average speed for the sub-interval up to nearest_dtime
aspeed_f = *speed_f + accel_f * 0.5f * nearest_dtime;
*pos_f += aspeed_f * nearest_dtime;
// Speed at (approximated) collision:
*speed_f += accel_f * nearest_dtime;
// Limit speed for avoiding hangs
*speed_f = truncate(rangelimv(*speed_f, -5000.0f, 5000.0f), 10000.0f);
dtime -= nearest_dtime;
}
bool is_collision = true;
if (nearest_info.is_unloaded)
is_collision = false;
v3f old_speed_f = *speed_f;
// Set the speed component that caused the collision to zero
if (step_up) {
// Special case: Handle stairs
nearest_info.is_step_up = true;
} else if (nearest_collided == COLLISION_AXIS_X) {
if (bounce < -1e-4 && fabsf(speed_f->X) > BS * 3) {
speed_f->X *= bounce;
} else {
speed_f->X = 0;
accel_f.X = 0; // avoid colliding in the next interations
}
} else if (nearest_collided == COLLISION_AXIS_Y) {
if (bounce < -1e-4 && fabsf(speed_f->Y) > BS * 3) {
speed_f->Y *= bounce;
} else {
if (speed_f->Y < 0.0f) {
// FIXME: This code is necessary until `axisAlignedCollision` takes acceleration
// into consideration for the time calculation. Otherwise, the colliding faces
// never line up, especially at high step (dtime) intervals.
result.touching_ground = true;
result.standing_on_object = nearest_info.isObject();
}
speed_f->Y = 0;
accel_f.Y = 0; // avoid colliding in the next interations
}
} else { /* nearest_collided == COLLISION_AXIS_Z */
if (bounce < -1e-4 && fabsf(speed_f->Z) > BS * 3) {
speed_f->Z *= bounce;
} else {
speed_f->Z = 0;
accel_f.Z = 0; // avoid colliding in the next interations
}
}
if (!nearest_info.is_unloaded && !step_up) {
CollisionInfo info;
if (nearest_info.isObject())
info.type = COLLISION_OBJECT;
else
info.type = COLLISION_NODE;
info.axis = nearest_collided;
info.type = nearest_info.isObject() ? COLLISION_OBJECT : COLLISION_NODE;
info.node_p = nearest_info.position;
info.object = nearest_info.obj;
info.new_pos = *pos_f;
info.old_speed = *speed_f;
// Set the speed component that caused the collision to zero
if (step_up) {
// Special case: Handle stairs
nearest_info.is_step_up = true;
is_collision = false;
} else if (nearest_collided == COLLISION_AXIS_X) {
if (fabs(speed_f->X) > BS * 3)
speed_f->X *= bounce;
else
speed_f->X = 0;
result.collides = true;
} else if (nearest_collided == COLLISION_AXIS_Y) {
if(fabs(speed_f->Y) > BS * 3)
speed_f->Y *= bounce;
else
speed_f->Y = 0;
result.collides = true;
} else if (nearest_collided == COLLISION_AXIS_Z) {
if (fabs(speed_f->Z) > BS * 3)
speed_f->Z *= bounce;
else
speed_f->Z = 0;
result.collides = true;
}
info.old_speed = old_speed_f;
info.new_speed = *speed_f;
if (info.new_speed.getDistanceFrom(info.old_speed) < 0.1f * BS)
is_collision = false;
if (is_collision) {
info.axis = nearest_collided;
result.collisions.push_back(std::move(info));
}
result.collisions.push_back(info);
}
if (dtime < BS * 1e-10f)
break;
// Speed for finding the next collision
aspeed_f = *speed_f + accel_f * 0.5f * dtime;
// Limit speed for avoiding hangs
aspeed_f = truncate(rangelimv(aspeed_f, -5000.0f, 5000.0f), 10000.0f);
}
/*
@ -573,14 +587,15 @@ collisionMoveResult collisionMoveSimple(Environment *env, IGameDef *gamedef,
box.MaxEdge += *pos_f;
}
if (std::fabs(cbox.MaxEdge.Y - box.MinEdge.Y) < 0.05f) {
// This is code is technically only required if `box_info.is_step_up == true`.
// However, players rely on this check/condition to climb stairs faster. See PR #10587.
result.touching_ground = true;
if (box_info.isObject())
result.standing_on_object = true;
result.standing_on_object = box_info.isObject();
}
}
}
result.collides = !result.collisions.empty();
return result;
}

126
src/unittest/test_collision.cpp
View file

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