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

#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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pauloue authored and paramat committed Feb 7, 2019
1 parent fc566e2 commit d5456da69de6d74206a8513fc53db38c7dd4bd22
@@ -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
@@ -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"
@@ -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);
@@ -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;
}
@@ -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;
}
}

@@ -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"));
@@ -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();

@@ -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
@@ -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;
@@ -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"));

@@ -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);
}
}
}
@@ -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;
}
@@ -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();
@@ -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();
@@ -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;
@@ -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;
@@ -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;
@@ -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>
@@ -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
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