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Use true pitch/yaw/roll rotations without loss of precision by pgimeno (
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#8019)

Store the rotation in the node as a 4x4 transformation matrix internally (through IDummyTransformationSceneNode), which allows more manipulations without losing precision or having gimbal lock issues.

Network rotation is still transmitted as Eulers, though, not as matrix. But it will stay this way in 5.0.
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@p-ouellette @paramat
p-ouellette authored and paramat committed Feb 7, 2019
1 parent fc566e2 commit d5456da
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Showing 8 changed files with 251 additions and 49 deletions.
7 changes: 4 additions & 3 deletions doc/lua_api.txt
View file
Expand Up @@ -5074,9 +5074,10 @@ This is basically a reference to a C++ `ServerActiveObject`
* `acc` is a vector
* `get_acceleration()`: returns the acceleration, a vector
* `set_rotation(rot)`
* `rot` is a vector (radians)
* `get_rotation()` : returns the rotation, a vector (radians)
* `set_yaw(radians)`
* `rot` is a vector (radians). X is pitch (elevation), Y is yaw (heading)
and Z is roll (bank).
* `get_rotation()`: returns the rotation, a vector (radians)
* `set_yaw(radians)`: sets the yaw (heading).
* `get_yaw()`: returns number in radians
* `set_texture_mod(mod)`
* `get_texture_mod()` returns current texture modifier
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112 changes: 66 additions & 46 deletions src/client/content_cao.cpp
View file
Expand Up @@ -23,7 +23,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
#include <IMeshManipulator.h>
#include <IAnimatedMeshSceneNode.h>
#include "content_cao.h"
#include "util/numeric.h" // For IntervalLimiter
#include "util/numeric.h" // For IntervalLimiter & setPitchYawRoll
#include "util/serialize.h"
#include "util/basic_macros.h"
#include "client/sound.h"
Expand Down Expand Up @@ -365,7 +365,7 @@ void GenericCAO::processInitData(const std::string &data)
return;
}

// PROTOCOL_VERSION >= 37
// PROTOCOL_VERSION >= 37
m_name = deSerializeString(is);
m_is_player = readU8(is);
m_id = readU16(is);
Expand Down Expand Up @@ -402,10 +402,9 @@ bool GenericCAO::getSelectionBox(aabb3f *toset) const

v3f GenericCAO::getPosition()
{
if (getParent() != NULL) {
scene::ISceneNode *node = getSceneNode();
if (node)
return node->getAbsolutePosition();
if (getParent() != nullptr) {
if (m_matrixnode)
return m_matrixnode->getAbsolutePosition();

return m_position;
}
Expand Down Expand Up @@ -486,32 +485,38 @@ void GenericCAO::removeFromScene(bool permanent)

LocalPlayer* player = m_env->getLocalPlayer();
if (this == player->parent) {
player->parent = NULL;
player->parent = nullptr;
player->isAttached = false;
}
}

if (m_meshnode) {
m_meshnode->remove();
m_meshnode->drop();
m_meshnode = NULL;
m_meshnode = nullptr;
} else if (m_animated_meshnode) {
m_animated_meshnode->remove();
m_animated_meshnode->drop();
m_animated_meshnode = NULL;
m_animated_meshnode = nullptr;
} else if (m_wield_meshnode) {
m_wield_meshnode->remove();
m_wield_meshnode->drop();
m_wield_meshnode = NULL;
m_wield_meshnode = nullptr;
} else if (m_spritenode) {
m_spritenode->remove();
m_spritenode->drop();
m_spritenode = NULL;
m_spritenode = nullptr;
}

if (m_matrixnode) {
m_matrixnode->remove();
m_matrixnode->drop();
m_matrixnode = nullptr;
}

if (m_nametag) {
m_client->getCamera()->removeNametag(m_nametag);
m_nametag = NULL;
m_nametag = nullptr;
}
}

Expand All @@ -534,8 +539,11 @@ void GenericCAO::addToScene(ITextureSource *tsrc)

if (m_prop.visual == "sprite") {
infostream<<"GenericCAO::addToScene(): single_sprite"<<std::endl;
m_matrixnode = RenderingEngine::get_scene_manager()->
addDummyTransformationSceneNode();
m_matrixnode->grab();
m_spritenode = RenderingEngine::get_scene_manager()->addBillboardSceneNode(
NULL, v2f(1, 1), v3f(0,0,0), -1);
m_matrixnode, v2f(1, 1), v3f(0,0,0), -1);
m_spritenode->grab();
m_spritenode->setMaterialTexture(0,
tsrc->getTextureForMesh("unknown_node.png"));
Expand Down Expand Up @@ -608,17 +616,24 @@ void GenericCAO::addToScene(ITextureSource *tsrc)
mesh->addMeshBuffer(buf);
buf->drop();
}
m_meshnode = RenderingEngine::get_scene_manager()->addMeshSceneNode(mesh, NULL);
m_matrixnode = RenderingEngine::get_scene_manager()->
addDummyTransformationSceneNode();
m_matrixnode->grab();
m_meshnode = RenderingEngine::get_scene_manager()->
addMeshSceneNode(mesh, m_matrixnode);
m_meshnode->grab();
mesh->drop();
// Set it to use the materials of the meshbuffers directly.
// This is needed for changing the texture in the future
m_meshnode->setReadOnlyMaterials(true);
}
else if(m_prop.visual == "cube") {
} else if (m_prop.visual == "cube") {
infostream<<"GenericCAO::addToScene(): cube"<<std::endl;
scene::IMesh *mesh = createCubeMesh(v3f(BS,BS,BS));
m_meshnode = RenderingEngine::get_scene_manager()->addMeshSceneNode(mesh, NULL);
m_matrixnode = RenderingEngine::get_scene_manager()->
addDummyTransformationSceneNode(nullptr);
m_matrixnode->grab();
m_meshnode = RenderingEngine::get_scene_manager()->
addMeshSceneNode(mesh, m_matrixnode);
m_meshnode->grab();
mesh->drop();

Expand All @@ -630,14 +645,15 @@ void GenericCAO::addToScene(ITextureSource *tsrc)
m_meshnode->setMaterialFlag(video::EMF_BILINEAR_FILTER, false);
m_meshnode->setMaterialType(material_type);
m_meshnode->setMaterialFlag(video::EMF_FOG_ENABLE, true);
}
else if(m_prop.visual == "mesh") {
} else if (m_prop.visual == "mesh") {
infostream<<"GenericCAO::addToScene(): mesh"<<std::endl;
scene::IAnimatedMesh *mesh = m_client->getMesh(m_prop.mesh, true);
if(mesh)
{
if (mesh) {
m_matrixnode = RenderingEngine::get_scene_manager()->
addDummyTransformationSceneNode(nullptr);
m_matrixnode->grab();
m_animated_meshnode = RenderingEngine::get_scene_manager()->
addAnimatedMeshSceneNode(mesh, NULL);
addAnimatedMeshSceneNode(mesh, m_matrixnode);
m_animated_meshnode->grab();
mesh->drop(); // The scene node took hold of it
m_animated_meshnode->animateJoints(); // Needed for some animations
Expand All @@ -655,8 +671,7 @@ void GenericCAO::addToScene(ITextureSource *tsrc)
m_animated_meshnode->setMaterialFlag(video::EMF_FOG_ENABLE, true);
m_animated_meshnode->setMaterialFlag(video::EMF_BACK_FACE_CULLING,
m_prop.backface_culling);
}
else
} else
errorstream<<"GenericCAO::addToScene(): Could not load mesh "<<m_prop.mesh<<std::endl;
} else if (m_prop.visual == "wielditem" || m_prop.visual == "item") {
ItemStack item;
Expand All @@ -674,8 +689,12 @@ void GenericCAO::addToScene(ITextureSource *tsrc)
infostream << "serialized form: " << m_prop.wield_item << std::endl;
item.deSerialize(m_prop.wield_item, m_client->idef());
}
m_matrixnode = RenderingEngine::get_scene_manager()->
addDummyTransformationSceneNode(nullptr);
m_matrixnode->grab();
m_wield_meshnode = new WieldMeshSceneNode(
RenderingEngine::get_scene_manager(), -1);
m_wield_meshnode->setParent(m_matrixnode);
m_wield_meshnode->setItem(item, m_client,
(m_prop.visual == "wielditem"));

Expand Down Expand Up @@ -763,10 +782,12 @@ void GenericCAO::updateNodePos()

if (node) {
v3s16 camera_offset = m_env->getCameraOffset();
node->setPosition(pos_translator.val_current - intToFloat(camera_offset, BS));
v3f pos = pos_translator.val_current -
intToFloat(camera_offset, BS);
getPosRotMatrix().setTranslation(pos);
if (node != m_spritenode) { // rotate if not a sprite
v3f rot = m_is_local_player ? -m_rotation : -rot_translator.val_current;
node->setRotation(rot);
setPitchYawRoll(getPosRotMatrix(), rot);
}
}
}
Expand Down Expand Up @@ -858,8 +879,10 @@ void GenericCAO::step(float dtime, ClientEnvironment *env)
ClientActiveObject *obj = m_env->getActiveObject(*ci);
if (obj) {
scene::ISceneNode *child_node = obj->getSceneNode();
// The node's parent is always an IDummyTraformationSceneNode,
// so we need to reparent that one instead.
if (child_node)
child_node->setParent(m_smgr->getRootSceneNode());
child_node->getParent()->setParent(m_smgr->getRootSceneNode());
}
++ci;
}
Expand Down Expand Up @@ -1266,16 +1289,13 @@ void GenericCAO::updateBonePosition()

void GenericCAO::updateAttachments()
{

if (!getParent()) { // Detach or don't attach
scene::ISceneNode *node = getSceneNode();
if (node) {
v3f old_position = node->getAbsolutePosition();
v3f old_rotation = node->getRotation();
node->setParent(m_smgr->getRootSceneNode());
node->setPosition(old_position);
node->setRotation(old_rotation);
node->updateAbsolutePosition();
ClientActiveObject *parent = getParent();
if (!parent) { // Detach or don't attach
if (m_matrixnode) {
v3f old_pos = m_matrixnode->getAbsolutePosition();
m_matrixnode->setParent(m_smgr->getRootSceneNode());
getPosRotMatrix().setTranslation(old_pos);
m_matrixnode->updateAbsolutePosition();
}
if (m_is_local_player) {
LocalPlayer *player = m_env->getLocalPlayer();
Expand All @@ -1284,20 +1304,20 @@ void GenericCAO::updateAttachments()
}
else // Attach
{
scene::ISceneNode *my_node = getSceneNode();

scene::ISceneNode *parent_node = getParent()->getSceneNode();
scene::ISceneNode *parent_node = parent->getSceneNode();
scene::IAnimatedMeshSceneNode *parent_animated_mesh_node =
getParent()->getAnimatedMeshSceneNode();
parent->getAnimatedMeshSceneNode();
if (parent_animated_mesh_node && !m_attachment_bone.empty()) {
parent_node = parent_animated_mesh_node->getJointNode(m_attachment_bone.c_str());
}

if (my_node && parent_node) {
my_node->setParent(parent_node);
my_node->setPosition(m_attachment_position);
my_node->setRotation(m_attachment_rotation);
my_node->updateAbsolutePosition();
if (m_matrixnode && parent_node) {
m_matrixnode->setParent(parent_node);
getPosRotMatrix().setTranslation(m_attachment_position);
//setPitchYawRoll(getPosRotMatrix(), m_attachment_rotation);
// use Irrlicht eulers instead
getPosRotMatrix().setRotationDegrees(m_attachment_rotation);
m_matrixnode->updateAbsolutePosition();
}
if (m_is_local_player) {
LocalPlayer *player = m_env->getLocalPlayer();
Expand Down
15 changes: 15 additions & 0 deletions src/client/content_cao.h
View file
Expand Up @@ -25,6 +25,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
#include "object_properties.h"
#include "itemgroup.h"
#include "constants.h"
#include <cassert>

class Camera;
class Client;
Expand Down Expand Up @@ -81,6 +82,7 @@ class GenericCAO : public ClientActiveObject
scene::IAnimatedMeshSceneNode *m_animated_meshnode = nullptr;
WieldMeshSceneNode *m_wield_meshnode = nullptr;
scene::IBillboardSceneNode *m_spritenode = nullptr;
scene::IDummyTransformationSceneNode *m_matrixnode = nullptr;
Nametag *m_nametag = nullptr;
v3f m_position = v3f(0.0f, 10.0f * BS, 0);
v3f m_velocity;
Expand Down Expand Up @@ -163,6 +165,19 @@ class GenericCAO : public ClientActiveObject

scene::IAnimatedMeshSceneNode *getAnimatedMeshSceneNode();

// m_matrixnode controls the position and rotation of the child node
// for all scene nodes, as a workaround for an Irrlicht problem with
// rotations. The child node's position can't be used because it's
// rotated, and must remain as 0.
// Note that m_matrixnode.setPosition() shouldn't be called. Use
// m_matrixnode->getRelativeTransformationMatrix().setTranslation()
// instead (aka getPosRotMatrix().setTranslation()).
inline core::matrix4 &getPosRotMatrix()
{
assert(m_matrixnode);
return m_matrixnode->getRelativeTransformationMatrix();
}

inline f32 getStepHeight() const
{
return m_prop.stepheight;
Expand Down
1 change: 1 addition & 0 deletions src/irrlichttypes_extrabloated.h
View file
Expand Up @@ -26,6 +26,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
#include <IImage.h>
#include <IrrlichtDevice.h>
#include <IMeshSceneNode.h>
#include <IDummyTransformationSceneNode.h>
#include <SMesh.h>
#include <ISceneManager.h>
#include <IMeshBuffer.h>
Expand Down
1 change: 1 addition & 0 deletions src/network/networkprotocol.h
View file
Expand Up @@ -193,6 +193,7 @@ with this program; if not, write to the Free Software Foundation, Inc.,
Add TOCLIENT_NODEMETA_CHANGED
New network float format
ContentFeatures version 13
Add full Euler rotations instead of just yaw
*/

#define LATEST_PROTOCOL_VERSION 37
Expand Down

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