Change antibug (nonrotating phys.)

TODO.txt

@@ -68,6 +68,8 @@
 
 =========== BUGS =================
 
+- After adding the non-rotating physics feature, the car now gets funny when
+  turned on the roof, once even shot to the ceiling of the map.
 - very rarely the near plane overflow bug still happens, maybe shift near plane
   a bit further still?
 - sometimes during long loading the screen goes black, seems to have appeared
@@ -80,6 +82,8 @@
 =========== HANDLED ==============
 
 - MAP4: one triangle in top section is missing!
+- Antibug: maybe always simulate the step with non-rotating body AND normal one
+  as well -- if the car ends up bugged, use the non-rotating result?
 - Fix weird reversing.
 - CP gets often missed, would be cool to increase its radius, but also hard.
   We would have to be checking 8 cells instead of one, but even then issues

data

@@ -53,13 +53,48 @@ details
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racing.h

@@ -125,10 +125,6 @@ struct
   LCR_GameUnit carSpeeds[2]; /**< Signed speed in game units per tick (negative
                                   if backwards) and its previous value. */
 
-  // for fixing physics bugs:
-  TPE_Vec3 carOKPositions[LCR_CAR_JOINTS];
-  uint8_t carNotOKCount;
-
   uint16_t crashState;
 
   uint8_t playingReplay;
@@ -993,11 +989,6 @@ void LCR_racingRestart(uint8_t replay)
           TPE_F / 2 : (TPE_F / 4),0));
   }
 
-  for (int i = 0; i < LCR_CAR_JOINTS; ++i)
-    LCR_racing.carOKPositions[i] = TPE_vec3(0,0,0);
-
-  LCR_racing.carNotOKCount = 0;
-
   LCR_racing.carPositions[0] = TPE_vec3(0,0,0);
   LCR_racing.carPositions[1] = LCR_racing.carPositions[0];
   LCR_racing.carRotations[0] = TPE_vec3(0,0,0);
@@ -1386,7 +1377,7 @@ uint32_t LCR_racingStep(unsigned int input)
         to unstick itself. */
 
       TPE_bodySpin(&LCR_racing.carBody,_LCR_TPE_vec3DividePlain(carUp,
-        (steering == (((input & LCR_RACING_INPUT_LEFT) != 0)) ==
+        ((steering == (((input & LCR_RACING_INPUT_LEFT) != 0))) ==
         ((input & (LCR_RACING_INPUT_FORW)) != 0)) ? 100 : -100));
     }
   }
@@ -1412,7 +1403,49 @@ uint32_t LCR_racingStep(unsigned int input)
 #endif
 
   LCR_LOG2("stepping physics (start)");
-  TPE_worldStep(&(LCR_racing.physicsWorld));
+
+  {
+    /* To prevent many physics glitches we simulate the physics steps twice:
+       once with normal physics and once with non-rotating (completely stiff)
+       body. If the normal step works out wrong (car shape ends up wrong etc.),
+       we fall back to the simple non-rotating step. */
+
+    TPE_Joint joints[LCR_CAR_JOINTS];
+
+    LCR_racing.carBody.flags |= TPE_BODY_FLAG_NONROTATING;
+
+    for (int i = 0; i < LCR_CAR_JOINTS; ++i)
+      joints[i] = LCR_racing.carBody.joints[i];
+
+    TPE_worldStep(&(LCR_racing.physicsWorld)); // non-rotating step
+
+    for (int i = 0; i < LCR_CAR_JOINTS; ++i) // remember the position and reset
+    {
+      TPE_Joint tmpJoint = LCR_racing.carBody.joints[i];
+      LCR_racing.carBody.joints[i] = joints[i];
+      joints[i] = tmpJoint;
+    }
+
+    LCR_racing.carBody.flags &= ~TPE_BODY_FLAG_NONROTATING;
+    
+    TPE_worldStep(&(LCR_racing.physicsWorld)); // normal step
+
+    if ((LCR_racing.carBody.flags & TPE_BODY_FLAG_UNRESOLVED) ||
+      !_LCR_racingCarShapeOK()) // bad?
+    {
+      LCR_LOG1("car bad, simplifying physics");
+
+      for (int i = 0; i < LCR_CAR_JOINTS; ++i) // use the first step positions
+        LCR_racing.carBody.joints[i] = joints[i];
+
+      // If still not OK (slim chance), just stop the body (prevent uberbugs):
+
+      if ((LCR_racing.carBody.flags & TPE_BODY_FLAG_UNRESOLVED) ||
+        !_LCR_racingCarShapeOK())
+        TPE_bodyStop(&LCR_racing.carBody);
+    }
+  }
+
   LCR_LOG2("stepping physics (end)");
 
   LCR_racing.carSpeeds[1] = LCR_racing.carSpeeds[0];
@@ -1493,51 +1526,6 @@ uint32_t LCR_racingStep(unsigned int input)
     }
   }
 
-  if ((LCR_racing.carBody.flags & TPE_BODY_FLAG_UNRESOLVED) || frontCollision ||
-    !_LCR_racingCarShapeOK())
-  {
-    // car not OK
-
-    if (LCR_racing.carNotOKCount > 4) // TODO: constant
-    {
-      LCR_LOG2("car not OK (short), fixing");
-
-      for (int i = 0; i < LCR_CAR_JOINTS; ++i)
-      {
-        if (LCR_racing.carNotOKCount < 20) // TODO: const
-        {
-          // for a while try to smoothly iterate towards previous OK position 
-          LCR_racing.carBody.joints[i].position = 
-            TPE_vec3Plus(LCR_racing.carBody.joints[i].position,
-              LCR_racing.carOKPositions[i]);
-
-          LCR_racing.carBody.joints[i].position.x /= 2;
-          LCR_racing.carBody.joints[i].position.y /= 2;
-          LCR_racing.carBody.joints[i].position.z /= 2;
-
-          for (int j = 0; j < 3; ++j) // lower speed a bit
-            LCR_racing.carBody.joints[i].velocity[j] = 
-              (7 * ((int) LCR_racing.carBody.joints[i].velocity[j])) / 8;
-        }
-        else // hard set the pos (iteration may be infinite due to sim.)
-        {
-          LCR_LOG1("car not OK (long), teleporting");
-          LCR_racing.carBody.joints[i].position = LCR_racing.carOKPositions[i];
-        }
-      }
-    }
-
-    LCR_racing.carNotOKCount += LCR_racing.carNotOKCount < 255 ? 1 : 0;
-  }
-  else
-  {
-    // car OK
-    LCR_racing.carNotOKCount = 0;
-
-    for (int i = 0; i < LCR_CAR_JOINTS; ++i)
-      LCR_racing.carOKPositions[i] = LCR_racing.carBody.joints[i].position;
-  }
-
   int carBlock[3];
 
   LCR_racingGetCarBlockCoords(carBlock);