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ssarg fix the ae2 conflict and the raper3d getpose non-unwinding panic #1396

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ssarg fix the ae2 conflict and the raper3d getpose non-unwinding panic #1396

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4 changes: 2 additions & 2 deletions gradle.properties
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
version=2.0.3
version=2.0.3-ssargfix-0.2
group=dev.ryanhcode.sable
java_version=21

Expand All @@ -7,7 +7,7 @@ minecraft_version=1.21.1
mod_name=Sable
mod_author=RyanHCode
mod_id=sable
credits=Ocelot, Eriksonn, Cyvack, Bee, Kyan, Cake, Rhyguy1
credits=Ocelot, Eriksonn, Cyvack, Bee, Kyan, Cake, Rhyguy1, ssarg
license=PolyForm Shield License 1.0.0
description=Interactive moving block structures with physics.
issues=https://github.com/ryanhcode/sable/issues
Expand Down
136 changes: 118 additions & 18 deletions ...e_rapier/src/main/java/dev/ryanhcode/sable/physics/impl/rapier/RapierPhysicsPipeline.java
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,9 @@ protected long getSceneHandle() {
@Override
public void init(@Nullable final Vector3dc gravity, final double universalDrag) {
try {
Sable.LOGGER.info("[SableDebug] Initializing Rapier physics pipeline with gravity=({}, {}, {}), drag={}", gravity.x(), gravity.y(), gravity.z(), universalDrag);
this.scene = new RapierPhysicsScene(Rapier3D.initialize(gravity.x(), gravity.y(), gravity.z(), universalDrag));
Sable.LOGGER.info("[SableDebug] Rapier physics pipeline initialized successfully, scene handle={}", this.scene.handle());
} catch (final UnsatisfiedLinkError e) {
Sable.LOGGER.error("Sable has failed to link with the natives for its Rapier pipeline. Please report with system details to " + Sable.ISSUE_TRACKER_URL, e);
final CrashReport crashReport = CrashReport.forThrowable(e.getCause(), "Sable linking with Rapier natives");
Expand All @@ -145,7 +147,13 @@ public void dispose() {
@Override
public void prePhysicsTicks() {
final double timeStep = 1.0 / 20.0;
Rapier3D.tick(this.scene.handle(), timeStep);
try {
Sable.LOGGER.debug("[SableDebug] prePhysicsTicks: calling tick(handle={}, timeStep={})", this.scene.handle(), timeStep);
Rapier3D.tick(this.scene.handle(), timeStep);
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in prePhysicsTicks tick() call", e);
throw e;
}
}

/**
Expand All @@ -156,14 +164,26 @@ public void prePhysicsTicks() {
@Override
public void physicsTick(final double timeStep) {
this.updateContraptionPoses();
Rapier3D.step(this.scene.handle(), timeStep);
try {
Sable.LOGGER.debug("[SableDebug] physicsTick: calling step(handle={}, timeStep={})", this.scene.handle(), timeStep);
Rapier3D.step(this.scene.handle(), timeStep);
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in physicsTick step() call", e);
throw e;
}

for (final PhysicsPipelineBody queuedWakeUp : this.queuedWakeUps) {
if (queuedWakeUp.isRemoved()) {
continue;
}

Rapier3D.wakeUpObject(this.scene.handle(), queuedWakeUp.getRuntimeId());
final int wakeId = Rapier3D.getID(queuedWakeUp);
Sable.LOGGER.debug("[SableDebug] physicsTick: waking up body id={}", wakeId);
try {
Rapier3D.wakeUpObject(this.scene.handle(), wakeId);
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION waking up body id={}", wakeId, e);
}
}

this.queuedWakeUps.clear();
Expand Down Expand Up @@ -195,27 +215,42 @@ public void add(final ServerSubLevel subLevel, final Pose3dc pose) {
final Quaterniondc rot = pose.orientation();

final int id = Rapier3D.getID(subLevel);
Rapier3D.createSubLevel(this.scene.handle(), id, new double[]{pos.x(), pos.y(), pos.z(), rot.x(), rot.y(), rot.z(), rot.w()});
Sable.LOGGER.info("[SableDebug] add(SubLevel): id={}, pos=({}, {}, {}), rot=({}, {}, {}, {})", id, pos.x(), pos.y(), pos.z(), rot.x(), rot.y(), rot.z(), rot.w());
try {
Rapier3D.createSubLevel(this.scene.handle(), id, new double[]{pos.x(), pos.y(), pos.z(), rot.x(), rot.y(), rot.z(), rot.w()});
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in add(SubLevel) createSubLevel, id={}", id, e);
throw e;
}

subLevel.updateMergedMassData(1.0f);
final Vector3dc centerOfMass = subLevel.getMassTracker().getCenterOfMass();

if (centerOfMass != null) {
subLevel.logicalPose().rotationPoint().set(centerOfMass);

Sable.LOGGER.info("[SableDebug] add(SubLevel): id={}, centerOfMass=({}, {}, {})", id, centerOfMass.x(), centerOfMass.y(), centerOfMass.z());
this.onStatsChanged(subLevel);
}

this.activeSubLevels.put(Rapier3D.getID(subLevel), subLevel);
Sable.LOGGER.info("[SableDebug] add(SubLevel): id={} added successfully, activeSubLevels.size={}", id, this.activeSubLevels.size());
}

/**
* Removes a {@link SubLevel} from the physics pipeline.
*/
@Override
public void remove(final ServerSubLevel subLevel) {
Rapier3D.removeSubLevel(this.scene.handle(), Rapier3D.getID(subLevel));
this.activeSubLevels.remove(Rapier3D.getID(subLevel));
final int id = Rapier3D.getID(subLevel);
Sable.LOGGER.info("[SableDebug] remove(SubLevel): id={}", id);
try {
Rapier3D.removeSubLevel(this.scene.handle(), id);
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in remove(SubLevel), id={}", id, e);
throw e;
}
this.activeSubLevels.remove(id);
Sable.LOGGER.info("[SableDebug] remove(SubLevel): id={} removed, activeSubLevels.size={}", id, this.activeSubLevels.size());
}

/**
Expand Down Expand Up @@ -301,11 +336,19 @@ public void remove(final KinematicContraption contraption) {
@Override
public Pose3d readPose(final ServerSubLevel subLevel, final Pose3d dest) {
this.assertBodyValid(subLevel);
Rapier3D.getPose(this.scene.handle(), Rapier3D.getID(subLevel), this.poseCache);
final int id = Rapier3D.getID(subLevel);
Sable.LOGGER.debug("[SableDebug] readPose: id={}", id);
try {
Rapier3D.getPose(this.scene.handle(), id, this.poseCache);
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in readPose getPose(), id={}", id, e);
throw e;
}

dest.position().set(this.poseCache[0], this.poseCache[1], this.poseCache[2]);
dest.orientation().set(this.poseCache[3], this.poseCache[4], this.poseCache[5], this.poseCache[6]);

Sable.LOGGER.debug("[SableDebug] readPose: id={}, pos=({}, {}, {}), rot=({}, {}, {}, {})", id, this.poseCache[0], this.poseCache[1], this.poseCache[2], this.poseCache[3], this.poseCache[4], this.poseCache[5], this.poseCache[6]);
return dest;
}

Expand All @@ -331,6 +374,7 @@ public BoxHandle addBox(final BoxPhysicsObject box) {
@Override
public void handleChunkSectionAddition(final LevelChunkSection section, final int x, final int y, final int z, final boolean uploadDataIfGlobal) {
this.accelerator.clearCache();
Sable.LOGGER.debug("[SableDebug] handleChunkSectionAddition: section=({}, {}, {}), uploadDataIfGlobal={}, hasOnlyAir={}", x, y, z, uploadDataIfGlobal, section.hasOnlyAir());

// this means the x coordinate is the fastest changing, then z, then y
final int[] array = new int[LevelChunkSection.SECTION_SIZE];
Expand Down Expand Up @@ -362,15 +406,26 @@ public void handleChunkSectionAddition(final LevelChunkSection section, final in
int id = -1;

if (plot != null && uploadDataIfGlobal) id = Rapier3D.getID(((ServerSubLevel) plot.getSubLevel()));
Rapier3D.addChunk(this.scene.handle(), x, y, z, array, global, id);
try {
Rapier3D.addChunk(this.scene.handle(), x, y, z, array, global, id);
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in handleChunkSectionAddition addChunk({}, {}, {}), global={}, id={}", x, y, z, global, id, e);
throw e;
}
}

/**
* Handles the removal of a chunk section from the physics context
*/
@Override
public void handleChunkSectionRemoval(final int x, final int y, final int z) {
Rapier3D.removeChunk(this.scene.handle(), x, y, z, !SubLevelContainer.getContainer(this.level).inBounds(x, z));
Sable.LOGGER.debug("[SableDebug] handleChunkSectionRemoval: ({}, {}, {})", x, y, z);
try {
Rapier3D.removeChunk(this.scene.handle(), x, y, z, !SubLevelContainer.getContainer(this.level).inBounds(x, z));
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in handleChunkSectionRemoval removeChunk({}, {}, {})", x, y, z, e);
throw e;
}
}

/**
Expand All @@ -387,6 +442,8 @@ public void handleBlockChange(final SectionPos sectionPos, final LevelChunkSecti
y = (sectionPos.y() << 4) + y;
z = (sectionPos.z() << 4) + z;

Sable.LOGGER.debug("[SableDebug] handleBlockChange: pos=({}, {}, {}), oldState={}, newState={}", x, y, z, oldState, newState);

final BlockPos globalBlockPos = new BlockPos(x, y, z);

for (final Direction dir : Direction.values()) {
Expand All @@ -395,15 +452,25 @@ public void handleBlockChange(final SectionPos sectionPos, final LevelChunkSecti
final RapierVoxelColliderData colliderData = this.colliderBakery.getPhysicsDataForBlock(this.level.getBlockState(pos));

final int colliderValue = colliderData == null ? 0 : colliderData.handle() + 1;
Rapier3D.changeBlock(this.scene.handle(), pos.getX(), pos.getY(), pos.getZ(), packBlockState(state, colliderValue));
try {
Rapier3D.changeBlock(this.scene.handle(), pos.getX(), pos.getY(), pos.getZ(), packBlockState(state, colliderValue));
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in handleBlockChange changeBlock neighbor ({}, {}, {}), colliderValue={}", pos.getX(), pos.getY(), pos.getZ(), colliderValue, e);
throw e;
}
}

// do it for the block without offset
final VoxelNeighborhoodState state = VoxelNeighborhoodState.getState(this.accelerator, globalBlockPos, null);
final RapierVoxelColliderData colliderData = this.colliderBakery.getPhysicsDataForBlock(newState);

final int colliderValue = colliderData == null ? 0 : colliderData.handle() + 1;
Rapier3D.changeBlock(this.scene.handle(), x, y, z, packBlockState(state, colliderValue));
try {
Rapier3D.changeBlock(this.scene.handle(), x, y, z, packBlockState(state, colliderValue));
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in handleBlockChange changeBlock self ({}, {}, {}), colliderValue={}", x, y, z, colliderValue, e);
throw e;
}
}

@Override
Expand All @@ -415,11 +482,23 @@ public void onStatsChanged(@NotNull final ServerSubLevel subLevel) {

final Vector3dc centerOfMass = subLevel.getMassTracker().getCenterOfMass();
if (centerOfMass != null) {
Rapier3D.setCenterOfMass(this.scene.handle(), id, centerOfMass.x(), centerOfMass.y(), centerOfMass.z());
Rapier3D.setMassPropertiesFrom(this.scene.handle(), id, subLevel.getMassTracker());
Sable.LOGGER.debug("[SableDebug] onStatsChanged: id={}, centerOfMass=({}, {}, {}), mass={}", id, centerOfMass.x(), centerOfMass.y(), centerOfMass.z(), subLevel.getMassTracker().getMass());
try {
Rapier3D.setCenterOfMass(this.scene.handle(), id, centerOfMass.x(), centerOfMass.y(), centerOfMass.z());
Rapier3D.setMassPropertiesFrom(this.scene.handle(), id, subLevel.getMassTracker());
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in onStatsChanged setCenterOfMass/setMassProperties, id={}", id, e);
throw e;
}
}

Rapier3D.setLocalBounds(this.scene.handle(), id, plotBounds.minX(), plotBounds.minY(), plotBounds.minZ(), plotBounds.maxX(), plotBounds.maxY(), plotBounds.maxZ());
Sable.LOGGER.debug("[SableDebug] onStatsChanged: id={}, bounds=({},{},{} -> {},{},{})", id, plotBounds.minX(), plotBounds.minY(), plotBounds.minZ(), plotBounds.maxX(), plotBounds.maxY(), plotBounds.maxZ());
try {
Rapier3D.setLocalBounds(this.scene.handle(), id, plotBounds.minX(), plotBounds.minY(), plotBounds.minZ(), plotBounds.maxX(), plotBounds.maxY(), plotBounds.maxZ());
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in onStatsChanged setLocalBounds, id={}", id, e);
throw e;
}
}

/**
Expand All @@ -433,7 +512,14 @@ public void onStatsChanged(@NotNull final ServerSubLevel subLevel) {
public void teleport(final PhysicsPipelineBody body, final Vector3dc position, final Quaterniondc orientation) {
this.assertBodyValid(body);

Rapier3D.teleportObject(this.scene.handle(), Rapier3D.getID(body), position.x(), position.y(), position.z(), orientation.x(), orientation.y(), orientation.z(), orientation.w());
final int id = Rapier3D.getID(body);
Sable.LOGGER.debug("[SableDebug] teleport: id={}, pos=({}, {}, {}), rot=({}, {}, {}, {})", id, position.x(), position.y(), position.z(), orientation.x(), orientation.y(), orientation.z(), orientation.w());
try {
Rapier3D.teleportObject(this.scene.handle(), id, position.x(), position.y(), position.z(), orientation.x(), orientation.y(), orientation.z(), orientation.w());
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in teleport, id={}", id, e);
throw e;
}
if (body instanceof final ServerSubLevel subLevel) {
subLevel.logicalPose().position().set(position);
subLevel.logicalPose().orientation().set(orientation);
Expand All @@ -451,8 +537,15 @@ public void teleport(final PhysicsPipelineBody body, final Vector3dc position, f
public void applyImpulse(final PhysicsPipelineBody body, final Vector3dc position, final Vector3dc force) {
this.assertBodyValid(body);

final int id = Rapier3D.getID(body);
final Vector3dc centerOfMass = body.getMassTracker().getCenterOfMass();
Rapier3D.applyForce(this.scene.handle(), Rapier3D.getID(body), position.x() - centerOfMass.x(), position.y() - centerOfMass.y(), position.z() - centerOfMass.z(), force.x(), force.y(), force.z(), true);
Sable.LOGGER.debug("[SableDebug] applyImpulse: id={}, relPos=({}, {}, {}), force=({}, {}, {})", id, position.x() - centerOfMass.x(), position.y() - centerOfMass.y(), position.z() - centerOfMass.z(), force.x(), force.y(), force.z());
try {
Rapier3D.applyForce(this.scene.handle(), id, position.x() - centerOfMass.x(), position.y() - centerOfMass.y(), position.z() - centerOfMass.z(), force.x(), force.y(), force.z(), true);
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in applyImpulse, id={}", id, e);
throw e;
}
}

/**
Expand All @@ -464,7 +557,14 @@ public void applyImpulse(final PhysicsPipelineBody body, final Vector3dc positio
@Override
public void applyLinearAndAngularImpulse(final PhysicsPipelineBody body, final Vector3dc force, final Vector3dc torque, final boolean wakeUp) {
this.assertBodyValid(body);
Rapier3D.applyForceAndTorque(this.scene.handle(), Rapier3D.getID(body), force.x(), force.y(), force.z(), torque.x(), torque.y(), torque.z(), wakeUp);
final int id = Rapier3D.getID(body);
Sable.LOGGER.debug("[SableDebug] applyLinearAndAngularImpulse: id={}, force=({}, {}, {}), torque=({}, {}, {}), wakeUp={}", id, force.x(), force.y(), force.z(), torque.x(), torque.y(), torque.z(), wakeUp);
try {
Rapier3D.applyForceAndTorque(this.scene.handle(), id, force.x(), force.y(), force.z(), torque.x(), torque.y(), torque.z(), wakeUp);
} catch (final Exception e) {
Sable.LOGGER.error("[SableDebug] EXCEPTION in applyLinearAndAngularImpulse, id={}", id, e);
throw e;
}
}

/**
Expand Down
22 changes: 11 additions & 11 deletions sable_rapier/src/main/rust/rapier/src/boxes.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -81,16 +81,16 @@ pub extern "system" fn Java_dev_ryanhcode_sable_physics_impl_rapier_Rapier3D_rem
let sim_data = &mut *sim_data;
let mut sable_data = scene.sable_data.write().unwrap();

let handle = sable_data.rigid_bodies[&(id as LevelColliderID)];
sim_data.rigid_body_set.remove(
handle,
&mut sim_data.island_manager,
&mut sim_data.collider_set,
&mut sim_data.impulse_joint_set,
&mut sim_data.multibody_joint_set,
true,
);

sable_data.rigid_bodies.remove(&(id as LevelColliderID));
if let Some(&handle) = sable_data.rigid_bodies.get(&(id as LevelColliderID)) {
sim_data.rigid_body_set.remove(
handle,
&mut sim_data.island_manager,
&mut sim_data.collider_set,
&mut sim_data.impulse_joint_set,
&mut sim_data.multibody_joint_set,
true,
);
sable_data.rigid_bodies.remove(&(id as LevelColliderID));
}
})
}
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