Physics corrections

resources/models/cube/Cube.json

@@ -0,0 +1,15 @@
+{
+  "ID": "Cube",
+  "Meshes": [
+    {
+      "ID": "mesh_0",
+      "MaterialID": "Cube-mat-1",
+      "OffsetVertex": 0,
+      "VertexSize": 1344,
+      "OffsetIndex": 0,
+      "IndexSize": 144
+    }
+  ],
+  "VertexPath": "resources/models/cube/Cube.vtx",
+  "IndexPath": "resources/models/cube/Cube.idx"
+}

resources/models/cube/Cube.mtl

@@ -0,0 +1,4 @@
+# Made in Blockbench 5.1.4
+newmtl m_69683abb-0cbc-2632-be2c-1aa8a2ddc888
+map_Kd cubetexture.png
+newmtl none

resources/models/cube/Cube.obj

@@ -0,0 +1,49 @@
+# Made in Blockbench 5.1.4
+mtllib Cube.mtl
+
+o mesh
+v 0.5 0.75 0.5
+v 0.5 0.75 -0.5
+v 0.5 -0.25 0.5
+v 0.5 -0.25 -0.5
+v -0.5 0.75 0.5
+v -0.5 0.75 -0.5
+v -0.5 -0.25 0.5
+v -0.5 -0.25 -0.5
+vt 0.25 1
+vt 0 1
+vt 0 0.75
+vt 0.25 0.75
+vt 0.25 0.484375
+vt 0.25 0.734375
+vt 0 0.734375
+vt 0 0.484375
+vt 0.265625 0.75
+vt 0.515625 0.75
+vt 0.515625 1
+vt 0.265625 1
+vt 0.515625 0.484375
+vt 0.515625 0.734375
+vt 0.265625 0.734375
+vt 0.265625 0.484375
+vt 0.25 0.21875
+vt 0.25 0.46875
+vt 0 0.46875
+vt 0 0.21875
+vt 0.78125 1
+vt 0.53125 1
+vt 0.53125 0.75
+vt 0.78125 0.75
+vn 1 0 0
+vn -1 0 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 0 1
+vn 0 0 -1
+usemtl m_69683abb-0cbc-2632-be2c-1aa8a2ddc888
+f 2/1/1 1/2/1 3/3/1 4/4/1
+f 7/5/2 5/6/2 6/7/2 8/8/2
+f 5/9/3 1/10/3 2/11/3 6/12/3
+f 4/13/4 3/14/4 7/15/4 8/16/4
+f 3/17/5 1/18/5 5/19/5 7/20/5
+f 6/21/6 2/22/6 4/23/6 8/24/6

resources/models/cube/Cube_mat.json

@@ -0,0 +1,44 @@
+[
+  {
+    "ID": "Cube-mat-0",
+    "TexturePath": "",
+    "NormalTexturePath": "",
+    "MetalRoughnessMap": "",
+    "DiffuseColour": {
+      "X": 0.6,
+      "Y": 0.6,
+      "Z": 0.6,
+      "W": 1.0
+    },
+    "Roughness": 0.0,
+    "Metallic": 0.0
+  },
+  {
+    "ID": "Cube-mat-1",
+    "TexturePath": "resources\\models\\cube\\cubetexture.png",
+    "NormalTexturePath": "",
+    "MetalRoughnessMap": "",
+    "DiffuseColour": {
+      "X": 0.6,
+      "Y": 0.6,
+      "Z": 0.6,
+      "W": 1.0
+    },
+    "Roughness": 0.0,
+    "Metallic": 0.0
+  },
+  {
+    "ID": "Cube-mat-2",
+    "TexturePath": "",
+    "NormalTexturePath": "",
+    "MetalRoughnessMap": "",
+    "DiffuseColour": {
+      "X": 0.6,
+      "Y": 0.6,
+      "Z": 0.6,
+      "W": 1.0
+    },
+    "Roughness": 0.0,
+    "Metallic": 0.0
+  }
+]

src/main/java/net/halbear/Terrain4J/EngineCore/Logic/Physics/RigidBody/RigidBody.java

@@ -29,7 +29,7 @@ public class RigidBody {
     public Vector3f CrossSectionAreas = new Vector3f(1.8f * 0.9f, 0.6f * 0.9f, 1.8f * 0.6f);
     public Vector3f WeightDistribution = new Vector3f(2.0f,5.0f,7.0f);
     public float FallingAcceleration = 0.0f;
-    public float Bounciness = 1f;
+    public float Bounciness = 0.3f;
 
     public final Vector3f LinearVelocity = new Vector3f();
     public final Vector3f AngularVelocity = new Vector3f();

src/main/java/net/halbear/Terrain4J/EngineCore/Logic/Physics/RigidBody/RigidCollision.java

@@ -6,7 +6,7 @@ import org.joml.Vector3f;
 //Resolves the Separating Axis Theorem Test into reaction forces in impulses and position correction
 public class RigidCollision {
     private static final float CORRECTION_THRESHOLD = 1.0f; //how much it gets corrected positionally per physics step
-    private static final float SLOP = 0.001f; // amount of overlap can happen before collision gets corrected
+    private static final float SLOP = 0.000f; // amount of overlap can happen before collision gets corrected
 
     public synchronized static void ResolveCollision(RigidBody body1, RigidBody body2, SeparatingAxisTheoremTester.CollisionResult collisionResult){
         Vector3f Normal = collisionResult.Normal;
@@ -43,6 +43,9 @@ public class RigidCollision {
         float j = -(1 + Restitution) * VelocityAlongNormal / InverseMassSum;
         Impulse.set(normal).mul(j);
 
+        body1.LinearVelocity.mul(-1,body1.LinearVelocity.y < 0 ? 1 : -1,-1).mul(body1.Bounciness,body1.LinearVelocity.y < 0 ? 1 : body1.Bounciness,body1.Bounciness);
+        body2.LinearVelocity.mul(-1,body1.LinearVelocity.y < 0 ? 1 : -1,-1).mul(body1.Bounciness,body1.LinearVelocity.y < 0 ? 1 : body1.Bounciness,body1.Bounciness);
+
         body1.ApplyImpulse(NegatedImpulse.set(Impulse).negate(), Point);
 
         body2.ApplyImpulse(Impulse,Point);

src/main/java/net/halbear/Terrain4J/EngineCore/Logic/Physics/RigidBody/RigidPhysicsController.java

@@ -25,9 +25,17 @@ public class RigidPhysicsController implements IPhysicsController {
     public final List<String> Collisions = new ArrayList<>();
 
     public static RigidBody Ground = new RigidBody("FLOOR",ConvexMesh.Box(100,100f,100),0);
+    public static RigidBody Wall = new RigidBody("WALL",ConvexMesh.Box(100,100f,10),0);
+    public static RigidBody Wall2 = new RigidBody("WALL2",ConvexMesh.Box(100,100f,10),0);
+    public static RigidBody Wall3 = new RigidBody("WALL3",ConvexMesh.Box(10,100f,100),0);
+    public static RigidBody Wall4 = new RigidBody("WALL4",ConvexMesh.Box(10,100f,100),0);
 
     static {
         Ground.Position.set(0,-100f,0);
+        Wall.Position.set(0,0f,-60f);
+        Wall2.Position.set(0,0f,60f);
+        Wall3.Position.set(-60f,0f,0);
+        Wall4.Position.set(60f,0f,0);
     }
 
     public String RigidBodyID = "NULL";
@@ -49,6 +57,12 @@ public class RigidPhysicsController implements IPhysicsController {
         newRigidBody.UpdateInertiaWorld();
         WorldPhysicsManager.PhysicsObjects.put(ControllerID, this);
         WorldPhysicsManager.ActiveControllers.add(ControllerID);
+        if(RigidBodyID != null && RigidBodyRegister.get(RigidBodyID) != null && ActorID != "NULL") {
+            RigidBody rigidBody = RigidBodyRegister.get(RigidBodyID);
+            if (Actor.Actors.get(ActorID) != null) {
+                Actor.Actors.get(ActorID).SetPivotOffset(new Vector3f(0, (rigidBody.shape.TopRightForward.y - rigidBody.shape.BottomLeftBack.y) / 2f, 0));
+            }
+        }
         return this;
     }
 
@@ -56,6 +70,11 @@ public class RigidPhysicsController implements IPhysicsController {
         RigidBodyID = rigidBody.GetID();
         WorldPhysicsManager.PhysicsObjects.put(ControllerID, this);
         WorldPhysicsManager.ActiveControllers.add(ControllerID);
+        if( rigidBody != null && ActorID != "NULL") {
+            if (Actor.Actors.get(ActorID) != null) {
+                Actor.Actors.get(ActorID).SetPivotOffset(new Vector3f(0, (rigidBody.shape.TopRightForward.y - rigidBody.shape.BottomLeftBack.y) / 2f, 0));
+            }
+        }
         return this;
     }
 
@@ -77,7 +96,7 @@ public class RigidPhysicsController implements IPhysicsController {
     @Override
     public void PhysicsTick(float DeltaTime, float TargetFrameRate) {
         DeltaTime/=10f;
-        if(DeltaTime >0.1f) DeltaTime = 0.1f;
+       // if(DeltaTime >0.1f) DeltaTime = 0.1f;
         if(RigidBodyID != null && RigidBodyRegister.get(RigidBodyID) != null && ActorID != "NULL") {
             RigidBody rigidBody = RigidBodyRegister.get(RigidBodyID);
             rigidBody.Integrate(DeltaTime, new Vector3f(0,-1.8f,0));
@@ -91,7 +110,6 @@ public class RigidPhysicsController implements IPhysicsController {
                 }
             }
             if(Actor.Actors.get(ActorID) != null) {
-                Actor.Actors.get(ActorID).SetPivotOffset(new Vector3f(0,(rigidBody.shape.TopRightForward.y - rigidBody.shape.BottomLeftBack.y)/2f,0));
                 Actor.Actors.get(ActorID).SetPosition(new Vector3f(rigidBody.Position));
                 Actor.Actors.get(ActorID).SetRotation(rigidBody.Rotation);
             }

src/main/java/net/halbear/Terrain4J/EngineCore/Logic/Physics/RigidBody/SeparatingAxisTheoremTester.java

@@ -36,12 +36,12 @@ public class SeparatingAxisTheoremTester {
         public final List<Contact> Contacts = new ArrayList<>();
     }
     //as much as i'd like to multithread the fuck out of this, im putting it as synchronised so it doesn't get messy, and so memory management is smoother, i want to minimize the amount of Vectors creating during loops
-    public synchronized static CollisionResult TestCollision(ConvexMesh Mesh1, ConvexMesh Mesh2){
+    public static CollisionResult TestCollision(ConvexMesh Mesh1, ConvexMesh Mesh2){
         float BestOverlap = Float.MAX_VALUE;
         Vector3f BestAxis = null;
         ConvexMesh.Face BestFace =null;
         ConvexMesh BestFaceOwner = null;
-
+        if(Mesh1 == null || Mesh2 == null) return null;
         for(ConvexMesh.Face face : Mesh1.Faces){
             Vector3f Axis = Mesh1.WorldFaceNormal(face);
             Float Overlap = AxisOverlap(Mesh1,Mesh2,Axis);
@@ -147,14 +147,14 @@ public class SeparatingAxisTheoremTester {
         return result;
     }
 
-    private synchronized static Float AxisOverlap(ConvexMesh mesh1, ConvexMesh mesh2, Vector3f axis) {
+    private static Float AxisOverlap(ConvexMesh mesh1, ConvexMesh mesh2, Vector3f axis) {
         float[] Range1 = ProjectOntoAxis(mesh1, axis);
         float[] Range2 = ProjectOntoAxis(mesh2, axis);
         float Overlap = Math.min(Range1[1],Range2[1]) - Math.max(Range1[0],Range2[0]);
         return (Overlap < 0) ? null : Overlap;
     }
 
-    private synchronized static float[] ProjectOntoAxis(ConvexMesh mesh, Vector3f axis){
+    private static float[] ProjectOntoAxis(ConvexMesh mesh, Vector3f axis){
         float minimum = Float.MAX_VALUE, maximum = -Float.MAX_VALUE;
         for(int i = 0; i < mesh.LocalVertices.size(); i++){
             float distance = mesh.WorldVertex(i).dot(axis);
@@ -164,14 +164,14 @@ public class SeparatingAxisTheoremTester {
         return new float[]{minimum,maximum};
     }
 
-    private synchronized static Vector3f MeshCenter(ConvexMesh mesh){
+    private static Vector3f MeshCenter(ConvexMesh mesh){
         Vector3f Center = new Vector3f();
         for(int i = 0; i < mesh.LocalVertices.size(); i++) Center.add(mesh.WorldVertex(i));
         Center.div(mesh.LocalVertices.size());
         return Center;
     }
 
-    private synchronized static ConvexMesh.Face FindIncidentFace(ConvexMesh mesh, Vector3f ReferenceNormal){
+    private static ConvexMesh.Face FindIncidentFace(ConvexMesh mesh, Vector3f ReferenceNormal){
         ConvexMesh.Face Best = null;
         float BestDot = Float.MAX_VALUE;
         for(ConvexMesh.Face face : mesh.Faces){
@@ -184,7 +184,7 @@ public class SeparatingAxisTheoremTester {
         return Best;
     }
 
-    private synchronized static List<Vector3f> ClipPolygonAgainstFace(List<Vector3f> Incident, List<Vector3f> ReferencePoly, Vector3f ReferenceNormal){
+    private static List<Vector3f> ClipPolygonAgainstFace(List<Vector3f> Incident, List<Vector3f> ReferencePoly, Vector3f ReferenceNormal){
         List<Vector3f> Output = new ArrayList<>(Incident);
         int Count = ReferencePoly.size();
         for(int i = 0; i < Count; i++){
@@ -215,7 +215,7 @@ public class SeparatingAxisTheoremTester {
         return Output;
     }
 
-    private synchronized static Vector3f IntersectEdge(Vector3f Vertex1, Vector3f Vertex2, Vector3f Normal, float Offset) {
+    private static Vector3f IntersectEdge(Vector3f Vertex1, Vector3f Vertex2, Vector3f Normal, float Offset) {
         Vector3f Distance = new Vector3f(Vertex2).sub(Vertex1);
         float Denominator = Normal.dot(Distance);
         float t = (Math.abs(Denominator) < T4Math.Math3D.epsilon) ? 0 : (Offset - Normal.dot(Vertex1)) / Denominator;
@@ -223,7 +223,7 @@ public class SeparatingAxisTheoremTester {
     }
 
 
-    private synchronized static Vector3f[] ClosestPointsSegment2(Vector3f p1, Vector3f q1, Vector3f p2, Vector3f q2) {
+    private static Vector3f[] ClosestPointsSegment2(Vector3f p1, Vector3f q1, Vector3f p2, Vector3f q2) {
         Vector3f d1 = new Vector3f(q1).sub(p1);
         Vector3f d2 = new Vector3f(q2).sub(p2);
         Vector3f r = new Vector3f(p1).sub(p2);

src/main/java/net/halbear/Terrain4J/EngineCore/Logic/Physics/WorldPhysicsManager.java

@@ -1,6 +1,7 @@
 package net.halbear.Terrain4J.EngineCore.Logic.Physics;
 
 import net.halbear.Terrain4J.EngineCore.Logic.EngineConfig;
+import net.halbear.Terrain4J.EngineCore.Threads.PhysicsThread;
 
 import java.util.ArrayList;
 import java.util.HashMap;
@@ -21,11 +22,20 @@ public class WorldPhysicsManager {
     public static float FixedTimeStep = 1f / 60f;
     public static int MaxSubStepsPerFrame = 8;
     private static float Accumulator = 0f;
+    private static boolean SingleThread = false;
+    private static List<PhysicsThread> physicsThreads = new ArrayList<>();
 
     public static void SteppedPhysicsTick(float DeltaTime, float TargetFrameTime){
+        int ThreadsNeeded = (int)Math.floor(ActiveControllers.size()/100f);
+        SingleThread = ThreadsNeeded <= 1;
         if(EngineConfig.getInstance().IsEngineThrottled()) return;
         DeltaTime *= EngineConfig.getInstance().PhysicsSpeed();
-
+       /* if(!SingleThread && ThreadsNeeded > physicsThreads.size()) {
+            while(ThreadsNeeded > physicsThreads.size()) {
+                int Index = physicsThreads.size();
+                physicsThreads.add(new PhysicsThread("PhysThread"+Index, Index, ThreadsNeeded).StartThread());
+            }
+        } else if(SingleThread){*/
             Accumulator += DeltaTime;
             float maxAccumulated = FixedTimeStep * MaxSubStepsPerFrame;
             if (Accumulator > maxAccumulated) Accumulator = maxAccumulated;
@@ -45,6 +55,7 @@ public class WorldPhysicsManager {
             for (int i = 0; i < ActiveControllers.size(); i++) {
                 PhysicsObjects.get(ActiveControllers.get(i)).Collisions().clear();
             }
+       // }
     }
 
     public static void PhysicsTick(float DeltaTime, float TargetFrameTime){

src/main/java/net/halbear/Terrain4J/EngineCore/Main/GameCore.java

@@ -17,6 +17,8 @@ import net.halbear.Terrain4J.EngineCore.Logic.GameLogic;
 import net.halbear.Terrain4J.EngineCore.Logic.InitData;
 import net.halbear.Terrain4J.EngineCore.Logic.Physics.LegacyPhysicsController;
 import net.halbear.Terrain4J.EngineCore.Logic.Physics.RigidBody.ConvexMesh;
+import net.halbear.Terrain4J.EngineCore.Logic.Physics.RigidBody.RigidBody;
+import net.halbear.Terrain4J.EngineCore.Logic.Physics.RigidBody.RigidPhysicsController;
 import net.halbear.Terrain4J.EngineCore.Logic.Physics.WorldPhysicsManager;
 import net.halbear.Terrain4J.EngineCore.Logic.Rendering.ModelLoader;
 import net.halbear.Terrain4J.EngineCore.Main.Scene.*;
@@ -76,8 +78,8 @@ public class GameCore implements GameLogic {
     public InitData Initialise(EngineInstance engineInstance) {
         IScene scene = engineInstance.scene();
         List<ModelData> models = new ArrayList<>();
-         MelonaData = ModelLoader.LoadModel("resources/models/melona/melona.json");
+         MelonaData = ModelLoader.LoadModel("resources/models/cube/Cube.json");
-        List<MaterialData> MelonaDataMat = ModelLoader.LoadMaterials("resources/models/melona/melona_mat.json");
+        List<MaterialData> MelonaDataMat = ModelLoader.LoadMaterials("resources/models/cube/Cube_mat.json");
         var Melona = new Actor("Melona", MelonaData.ID(), new Vector3f(0,0f,-5f)).SetRotation(0,(float)Math.toRadians(180),0);
         Melona.CreatePhysicsController(LegacyPhysicsController.CollisionType.Sensor);
        /* Melona.GetPhysicsController()
@@ -166,7 +168,9 @@ public class GameCore implements GameLogic {
         SpawnPosition.add(SpawnDirection);
         var Melona = new Actor("MelonaSpawned" + scene.GetActors().size(), MelonaData.ID(), new Vector3f(SpawnPosition));
 
-        Melona.CreatePhysicsController( ConvexMesh.Box(0.75f,1,0.5f),20);
+        Melona.CreatePhysicsController( ConvexMesh.Box(0.5f,0.5f,0.5f),20);
+        RigidPhysicsController physicsController = (RigidPhysicsController) Melona.GetPhysicsController();
+        RigidBody.RigidBodyRegister.get(physicsController.RigidBodyID).LinearVelocity.set(0,0,-20f -(40f * (float)Math.random()));
         scene.AddActor(Melona);
     }
 
@@ -245,7 +249,7 @@ public class GameCore implements GameLogic {
         float MovementDist = (float)(FrameDiffNanoSeconds / 1000000L) * MOVEMENT_SPEED;
         Camera camera = scene.GetCamera();
         if(input.keyPressed(GLFW_KEY_ENTER)) {
-            SpawnNewActor(engineInstance, new Vector3f( (float)(2 * Math.random()),20 + (float)(10 * Math.random()), (float)(2 * Math.random())),new Vector3f(-1f + (float)(2 * Math.random()),-1f + (float)(2 * Math.random()),-1f + (float)(2 * Math.random())),new Vector3f((float)Math.random(),(float)Math.random(),(float)Math.random()));
+            SpawnNewActor(engineInstance, new Vector3f( (float)(5 * Math.random()),20 + (float)(10 * Math.random()), (float)(5 * Math.random())),new Vector3f(-1f + (float)(2 * Math.random()),-1f + (float)(2 * Math.random()),-1f + (float)(2 * Math.random())),new Vector3f((float)Math.random(),(float)Math.random(),(float)Math.random()));
         }
         if(input.keyPressed(GLFW_KEY_1)) {
             Gimbal.universalType = Gimbal.GimbalType.Move;

src/main/java/net/halbear/Terrain4J/EngineCore/Threads/PhysicsThread.java

@@ -0,0 +1,79 @@
+package net.halbear.Terrain4J.EngineCore.Threads;
+
+import net.halbear.Terrain4J.EngineCore.Logic.EngineConfig;
+import net.halbear.Terrain4J.EngineCore.Logic.EngineInstance;
+import net.halbear.Terrain4J.EngineCore.Logic.GameLogic;
+import net.halbear.Terrain4J.EngineCore.Logic.Physics.WorldPhysicsManager;
+import net.halbear.Terrain4J.EngineCore.Main.PrimaryRuntime;
+import org.tinylog.Logger;
+
+import static net.halbear.Terrain4J.EngineCore.Logic.Physics.WorldPhysicsManager.ActiveControllers;
+import static net.halbear.Terrain4J.EngineCore.Logic.Physics.WorldPhysicsManager.PhysicsObjects;
+
+public class PhysicsThread implements Runnable{
+    public static boolean running = true;
+    public final Thread EngineThread;
+    public static float FixedTimeStep = 1f / 60f;
+    public static int PhysicsTick = 0;
+    public static int MaxSubStepsPerFrame = 8;
+    public int Frames = 0;
+    public int TickFrames = 0;
+    private static float Accumulator = 0f;
+    public String ThreadName;
+    public int Index;
+    public int Total;
+
+    public Thread FetchThread(){
+        return EngineThread;
+    }
+
+    public PhysicsThread StartThread(){
+        EngineThread.start();
+        return this;
+    }
+
+    public PhysicsThread(String ThreadName, int Index, int TotalCount){
+        this.ThreadName = ThreadName;
+        Logger.debug("Starting {} Thread",ThreadName);
+        EngineThread = new Thread(this);
+        EngineThread.setName("Terrain4J "+ThreadName+" Engine Thread");
+        this.Index = Index;
+        this.Total = TotalCount;
+    }
+
+    @Override
+    public void run() {
+        long InitialTime = System.nanoTime();
+        long updateTime = InitialTime;
+        double[] FrameTimes = new double[]{0,0,0,0};
+        while(FastTickThread.running &&  (Index/Total) * ActiveControllers.size() < ActiveControllers.size()){
+            long now = System.nanoTime();
+            TickFrames++;
+            long nsTimeDiff = now - updateTime;
+            updateTime = now;
+            float PhysicsFramerate = 24f;
+            float PhysicsFrameTime = 1000f/PhysicsFramerate;
+            float DeltaTime = (float)nsTimeDiff/(PhysicsFrameTime*1000000f);
+            SteppedPhysicsTickMultiThreaded(DeltaTime, 60,Index,Total);
+        }
+    }
+
+    public static void SteppedPhysicsTickMultiThreaded(float DeltaTime, float TargetFrameTime, int Index, int Total){
+        Accumulator += DeltaTime;
+        float maxAccumulated = FixedTimeStep * MaxSubStepsPerFrame;
+        if (Accumulator > maxAccumulated) Accumulator = maxAccumulated;
+
+        int stepsRun = 0;
+
+        while (Accumulator >= FixedTimeStep && stepsRun < MaxSubStepsPerFrame) {
+            PhysicsTick++;
+            for (int i = (Index/Total) * ActiveControllers.size(); i < Math.min((Index + 1/Total) * ActiveControllers.size(),ActiveControllers.size()); i++) {
+                if (PhysicsObjects.get(ActiveControllers.get(i)) != null) {
+                    PhysicsObjects.get(ActiveControllers.get(i)).PhysicsTick(FixedTimeStep, TargetFrameTime);
+                }
+            }
+            Accumulator -= FixedTimeStep;
+            stepsRun++;
+        }
+    }
+}