Added rotating AABBs through lots of pain and suffering

- Collision models now rotate to match entity's general up direction
- Extracted rotation logic from RelRelation into AxisRotations
- Test:PlanetGravityModel is now properly centered
- Fixed some small bugs

src/main/java/ru/windcorp/progressia/client/world/ChunkRenderModel.java

@@ -36,8 +36,8 @@ import ru.windcorp.progressia.client.world.tile.TileRender;
 import ru.windcorp.progressia.client.world.tile.TileRenderNone;
 import ru.windcorp.progressia.client.world.tile.TileRenderStack;
 import ru.windcorp.progressia.common.world.ChunkData;
+import ru.windcorp.progressia.common.world.rels.AxisRotations;
 import ru.windcorp.progressia.common.world.rels.RelFace;
-import ru.windcorp.progressia.common.world.rels.RelRelation;
 
 public class ChunkRenderModel implements Renderable {
 	
@@ -61,7 +61,7 @@ public class ChunkRenderModel implements Renderable {
 			chunk.getY() * ChunkData.BLOCKS_PER_CHUNK,
 			chunk.getZ() * ChunkData.BLOCKS_PER_CHUNK
 		).translate(offset, offset, offset)
-		.mul(RelRelation.getResolutionMatrix4(chunk.getUp()))
+		.mul(AxisRotations.getResolutionMatrix4(chunk.getUp()))
 		.translate(-offset, -offset, -offset);
 
 		model.render(renderer);

src/main/java/ru/windcorp/progressia/common/collision/AABBRotator.java

@@ -0,0 +1,134 @@
+/*
+ * Progressia
+ * Copyright (C)  2020-2021  Wind Corporation and contributors
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+package ru.windcorp.progressia.common.collision;
+
+import java.util.function.Supplier;
+
+import com.google.common.collect.ImmutableList;
+
+import glm.vec._3.Vec3;
+import ru.windcorp.progressia.common.util.Vectors;
+import ru.windcorp.progressia.common.world.rels.AbsFace;
+import ru.windcorp.progressia.common.world.rels.AxisRotations;
+
+public class AABBRotator implements AABBoid {
+	
+	private class AABBRotatorWall implements Wall {
+		
+		private final int id;
+
+		public AABBRotatorWall(int id) {
+			this.id = id;
+		}
+
+		@Override
+		public void getOrigin(Vec3 output) {
+			parent.getWall(id).getOrigin(output);
+			AxisRotations.resolve(output, upSupplier.get(), output);
+		}
+
+		@Override
+		public void getWidth(Vec3 output) {
+			parent.getWall(id).getWidth(output);
+			AxisRotations.resolve(output, upSupplier.get(), output);
+		}
+
+		@Override
+		public void getHeight(Vec3 output) {
+			parent.getWall(id).getHeight(output);
+			AxisRotations.resolve(output, upSupplier.get(), output);
+		}
+		
+	}
+	
+	private final Supplier<AbsFace> upSupplier;
+	private final Supplier<Vec3> hingeSupplier;
+	private final AABBoid parent;
+
+	private final AABBRotatorWall[] walls = new AABBRotatorWall[AbsFace.BLOCK_FACE_COUNT];
+	
+	{
+		for (int id = 0; id < walls.length; ++id) {
+			walls[id] = new AABBRotatorWall(id);
+		}
+	}
+
+	public AABBRotator(Supplier<AbsFace> upSupplier, Supplier<Vec3> hingeSupplier, AABBoid parent) {
+		this.upSupplier = upSupplier;
+		this.hingeSupplier = hingeSupplier;
+		this.parent = parent;
+	}
+
+	@Override
+	public void setOrigin(Vec3 origin) {
+		Vec3 relativeOrigin = Vectors.grab3();
+		Vec3 hinge = hingeSupplier.get();
+		
+		origin.sub(hinge, relativeOrigin);
+		AxisRotations.relativize(relativeOrigin, upSupplier.get(), relativeOrigin);
+		relativeOrigin.add(hinge);
+		
+		parent.setOrigin(relativeOrigin);
+		
+		Vectors.release(relativeOrigin);
+	}
+
+	@Override
+	public void moveOrigin(Vec3 displacement) {
+		parent.moveOrigin(displacement);
+	}
+
+	@Override
+	public void getOrigin(Vec3 output) {
+		parent.getOrigin(output);
+		Vec3 hinge = hingeSupplier.get();
+		
+		output.sub(hinge);
+		AxisRotations.resolve(output, upSupplier.get(), output);
+		output.add(hinge);
+	}
+
+	@Override
+	public void getSize(Vec3 output) {
+		parent.getSize(output);
+		AxisRotations.resolve(output, upSupplier.get(), output);
+		output.abs();
+	}
+
+	@Override
+	public Wall getWall(int faceId) {
+		return walls[faceId];
+	}
+	
+	public static CollisionModel rotate(Supplier<AbsFace> upSupplier, Supplier<Vec3> hingeSupplier, CollisionModel parent) {
+		if (parent instanceof AABBoid) {
+			return new AABBRotator(upSupplier, hingeSupplier, (AABBoid) parent);
+		} else if (parent instanceof CompoundCollisionModel) {
+			ImmutableList.Builder<CollisionModel> models = ImmutableList.builder();
+			
+			for (CollisionModel original : ((CompoundCollisionModel) parent).getModels()) {
+				models.add(rotate(upSupplier, hingeSupplier, original));
+			}
+			
+			return new CompoundCollisionModel(models.build());
+		} else {
+			throw new RuntimeException("not supported");
+		}
+	}
+
+}

src/main/java/ru/windcorp/progressia/common/world/entity/EntityData.java

@@ -26,12 +26,14 @@ import java.util.Objects;
 import glm.mat._3.Mat3;
 import glm.vec._3.Vec3;
 import ru.windcorp.jputil.chars.StringUtil;
+import ru.windcorp.progressia.common.collision.AABBRotator;
 import ru.windcorp.progressia.common.collision.Collideable;
 import ru.windcorp.progressia.common.collision.CollisionModel;
 import ru.windcorp.progressia.common.state.IOContext;
 import ru.windcorp.progressia.common.state.StatefulObject;
 import ru.windcorp.progressia.common.util.Matrices;
 import ru.windcorp.progressia.common.world.generic.GenericEntity;
+import ru.windcorp.progressia.common.world.rels.AbsFace;
 
 public class EntityData extends StatefulObject implements Collideable, GenericEntity {
 
@@ -51,6 +53,7 @@ public class EntityData extends StatefulObject implements Collideable, GenericEn
 	private long entityId;
 
 	private CollisionModel collisionModel = null;
+	private CollisionModel rotatedCollisionModel = null;
 
 	private double age = 0;
 
@@ -107,11 +110,16 @@ public class EntityData extends StatefulObject implements Collideable, GenericEn
 
 	@Override
 	public CollisionModel getCollisionModel() {
+		return rotatedCollisionModel;
+	}
+	
+	public CollisionModel getOriginalCollisionModel() {
 		return collisionModel;
 	}
 
 	public void setCollisionModel(CollisionModel collisionModel) {
 		this.collisionModel = collisionModel;
+		this.rotatedCollisionModel = AABBRotator.rotate(this::getUpFace, this::getPosition, collisionModel);
 	}
 
 	@Override
@@ -164,6 +172,10 @@ public class EntityData extends StatefulObject implements Collideable, GenericEn
 	public Vec3 getUpVector() {
 		return upVector;
 	}
+	
+	public AbsFace getUpFace() {
+		return AbsFace.roundToFace(getUpVector());
+	}
 
 	/**
 	 * Sets this entity's up vector without updating looking at-vector.

src/main/java/ru/windcorp/progressia/common/world/generic/GenericChunk.java

@@ -25,8 +25,8 @@ import ru.windcorp.progressia.common.util.VectorUtil;
 import ru.windcorp.progressia.common.util.Vectors;
 import ru.windcorp.progressia.common.world.Coordinates;
 import ru.windcorp.progressia.common.world.rels.AbsFace;
+import ru.windcorp.progressia.common.world.rels.AxisRotations;
 import ru.windcorp.progressia.common.world.rels.BlockFace;
-import ru.windcorp.progressia.common.world.rels.RelRelation;
 
 public interface GenericChunk<Self extends GenericChunk<Self, B, T, TS>, B extends GenericBlock, T extends GenericTile, TS extends GenericTileStack<TS, T, Self>> {
 
@@ -52,7 +52,7 @@ public interface GenericChunk<Self extends GenericChunk<Self, B, T, TS>, B exten
 		output.set(relativeBlockInChunk.x, relativeBlockInChunk.y, relativeBlockInChunk.z);
 		output.mul(2).sub(offset);
 		
-		RelRelation.resolve(output, getUp(), output);
+		AxisRotations.resolve(output, getUp(), output);
 		
 		output.add(offset).div(2);
 		

src/main/java/ru/windcorp/progressia/common/world/rels/AxisRotations.java

@@ -0,0 +1,193 @@
+/*
+ * Progressia
+ * Copyright (C)  2020-2021  Wind Corporation and contributors
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+package ru.windcorp.progressia.common.world.rels;
+
+import static ru.windcorp.progressia.common.util.VectorUtil.SignedAxis.NEG_X;
+import static ru.windcorp.progressia.common.util.VectorUtil.SignedAxis.NEG_Y;
+import static ru.windcorp.progressia.common.util.VectorUtil.SignedAxis.NEG_Z;
+import static ru.windcorp.progressia.common.util.VectorUtil.SignedAxis.POS_X;
+import static ru.windcorp.progressia.common.util.VectorUtil.SignedAxis.POS_Y;
+import static ru.windcorp.progressia.common.util.VectorUtil.SignedAxis.POS_Z;
+
+import java.util.Map;
+
+import glm.mat._3.Mat3;
+import glm.mat._4.Mat4;
+import glm.vec._3.Vec3;
+import glm.vec._3.i.Vec3i;
+import ru.windcorp.progressia.common.util.VectorUtil;
+import ru.windcorp.progressia.common.util.VectorUtil.SignedAxis;
+
+public class AxisRotations {
+	
+	private static class Rotation {
+		private static class MyMat3i {
+			private final int m00, m01, m02, m10, m11, m12, m20, m21, m22;
+
+			public MyMat3i(Mat3 integerMatrix) {
+				this.m00 = (int) integerMatrix.m00;
+				this.m01 = (int) integerMatrix.m01;
+				this.m02 = (int) integerMatrix.m02;
+				this.m10 = (int) integerMatrix.m10;
+				this.m11 = (int) integerMatrix.m11;
+				this.m12 = (int) integerMatrix.m12;
+				this.m20 = (int) integerMatrix.m20;
+				this.m21 = (int) integerMatrix.m21;
+				this.m22 = (int) integerMatrix.m22;
+			}
+			
+			public Vec3i mul(Vec3i right, Vec3i res) {
+				res.set(
+					m00 * right.x + m10 * right.y + m20 * right.z,
+					m01 * right.x + m11 * right.y + m21 * right.z,
+					m02 * right.x + m12 * right.y + m22 * right.z
+				);
+				return res;
+			}
+		}
+		
+		private final Mat3 resolutionMatrix3 = new Mat3();
+		private final Mat4 resolutionMatrix4 = new Mat4();
+		private final MyMat3i resolutionMatrix3i;
+		
+		private final Mat3 relativizationMatrix3 = new Mat3();
+		private final Mat4 relativizationMatrix4 = new Mat4();
+		private final MyMat3i relativizationMatrix3i;
+		
+		private Rotation(SignedAxis northDestination, SignedAxis westDestination, SignedAxis upDestination) {
+			resolutionMatrix3.c0(computeUnitVectorAlong(northDestination));
+			resolutionMatrix3.c1(computeUnitVectorAlong(westDestination));
+			resolutionMatrix3.c2(computeUnitVectorAlong(upDestination));
+			
+			resolutionMatrix3.toMat4(resolutionMatrix4);
+			resolutionMatrix3i = new MyMat3i(resolutionMatrix3);
+			
+			relativizationMatrix3.set(resolutionMatrix3).transpose();
+			relativizationMatrix4.set(resolutionMatrix4).transpose();
+			relativizationMatrix3i = new MyMat3i(relativizationMatrix3);
+		}
+
+		private static Vec3 computeUnitVectorAlong(SignedAxis signedAxis) {
+			Vec3 result = new Vec3(0, 0, 0);
+			VectorUtil.set(result, signedAxis.getAxis(), signedAxis.getSign());
+			return result;
+		}
+
+		/**
+		 * @return the resolutionMatrix3
+		 */
+		public Mat3 getResolutionMatrix3() {
+			return resolutionMatrix3;
+		}
+		
+		/**
+		 * @return the resolutionMatrix4
+		 */
+		public Mat4 getResolutionMatrix4() {
+			return resolutionMatrix4;
+		}
+		
+		/**
+		 * @return the relativizationMatrix3
+		 */
+		public Mat3 getRelativizationMatrix3() {
+			return relativizationMatrix3;
+		}
+		
+		/**
+		 * @return the relativizationMatrix4
+		 */
+		public Mat4 getRelativizationMatrix4() {
+			return relativizationMatrix4;
+		}
+		
+		public Vec3i resolve(Vec3i output, Vec3i input) {
+			if (output == null) {
+				output = new Vec3i();
+			}
+			resolutionMatrix3i.mul(input, output);
+			return output;
+		}
+		
+		public Vec3i relativize(Vec3i output, Vec3i input) {
+			if (output == null) {
+				output = new Vec3i();
+			}
+			relativizationMatrix3i.mul(input, output);
+			return output;
+		}
+		
+		public Vec3 resolve(Vec3 output, Vec3 input) {
+			if (output == null) {
+				output = new Vec3();
+			}
+			resolutionMatrix3.mul(input, output);
+			return output;
+		}
+		
+		public Vec3 relativize(Vec3 output, Vec3 input) {
+			if (output == null) {
+				output = new Vec3();
+			}
+			relativizationMatrix3.mul(input, output);
+			return output;
+		}
+	}
+	
+	private final static Map<AbsFace, Rotation> TRANSFORMATIONS = AbsFace.mapToFaces(
+		new Rotation(POS_X, POS_Y, POS_Z),
+		new Rotation(POS_X, NEG_Y, NEG_Z),
+		new Rotation(POS_Z, NEG_Y, POS_X),
+		new Rotation(POS_Z, POS_Y, NEG_X),
+		new Rotation(POS_Z, NEG_X, NEG_Y),
+		new Rotation(POS_Z, POS_X, POS_Y)
+	);
+	
+	public static Vec3i resolve(Vec3i relative, AbsFace up, Vec3i output) {
+		return TRANSFORMATIONS.get(up).resolve(output, relative);
+	}
+	
+	public static Vec3 resolve(Vec3 relative, AbsFace up, Vec3 output) {
+		return TRANSFORMATIONS.get(up).resolve(output, relative);
+	}
+	
+	public static Vec3i relativize(Vec3i absolute, AbsFace up, Vec3i output) {
+		return TRANSFORMATIONS.get(up).relativize(output, absolute);
+	}
+	
+	public static Vec3 relativize(Vec3 absolute, AbsFace up, Vec3 output) {
+		return TRANSFORMATIONS.get(up).relativize(output, absolute);
+	}
+	
+	public static Mat3 getResolutionMatrix3(AbsFace up) {
+		return TRANSFORMATIONS.get(up).getResolutionMatrix3();
+	}
+	
+	public static Mat4 getResolutionMatrix4(AbsFace up) {
+		return TRANSFORMATIONS.get(up).getResolutionMatrix4();
+	}
+
+	public static Mat3 getRelativizationMatrix3(AbsFace up) {
+		return TRANSFORMATIONS.get(up).getRelativizationMatrix3();
+	}
+	
+	public static Mat4 getRelativizationMatrix4(AbsFace up) {
+		return TRANSFORMATIONS.get(up).getRelativizationMatrix4();
+	}
+
+}

src/main/java/ru/windcorp/progressia/common/world/rels/BlockFaceResolver.java

@@ -37,7 +37,7 @@ public class BlockFaceResolver {
 		for (AbsFace up : AbsFace.getFaces()) {
 			for (RelFace relative : RelFace.getFaces()) {
 				
-				AbsFace absolute = (AbsFace) AbsRelation.of(RelRelation.resolve(relative.getRelVector(), up, null));
+				AbsFace absolute = (AbsFace) AbsRelation.of(AxisRotations.resolve(relative.getRelVector(), up, null));
 				
 				RESOLUTION_TABLE[up.getId()][relative.getId()] = absolute;
 				RELATIVIZATION_TABLE[up.getId()][absolute.getId()] = relative;

src/main/java/ru/windcorp/progressia/common/world/rels/RelRelation.java

@@ -17,122 +17,15 @@
  */
 package ru.windcorp.progressia.common.world.rels;
 
-import java.util.Map;
-
-import glm.mat._3.Mat3;
-import glm.mat._4.Mat4;
 import glm.vec._3.Vec3;
 import glm.vec._3.i.Vec3i;
-import ru.windcorp.progressia.common.util.VectorUtil;
 import ru.windcorp.progressia.common.util.Vectors;
-import ru.windcorp.progressia.common.util.VectorUtil.SignedAxis;
-
-import static ru.windcorp.progressia.common.util.VectorUtil.SignedAxis.*;
 
 /**
  * Name stands for Relative Relation 
  */
 public class RelRelation extends BlockRelation {
 	
-	private static class Rotation {
-		private final SignedAxis northDestination;
-		private final SignedAxis westDestination;
-		private final SignedAxis upDestination;
-		
-		private final Mat3 resolutionMatrix3 = new Mat3();
-		private final Mat4 resolutionMatrix4 = new Mat4();
-		
-		private final Mat3 relativizationMatrix3 = new Mat3();
-		private final Mat4 relativizationMatrix4 = new Mat4();
-		
-		private Rotation(SignedAxis northDestination, SignedAxis westDestination, SignedAxis upDestination) {
-			this.northDestination = northDestination;
-			this.westDestination = westDestination;
-			this.upDestination = upDestination;
-			
-			resolutionMatrix3.c0(apply(null, new Vec3(1, 0, 0)));
-			resolutionMatrix3.c1(apply(null, new Vec3(0, 1, 0)));
-			resolutionMatrix3.c2(apply(null, new Vec3(0, 0, 1)));
-			resolutionMatrix3.toMat4(resolutionMatrix4);
-			
-			relativizationMatrix3.set(resolutionMatrix3).transpose();
-			relativizationMatrix4.set(resolutionMatrix4).transpose();
-		}
-		
-		/**
-		 * @return the resolutionMatrix3
-		 */
-		public Mat3 getResolutionMatrix3() {
-			return resolutionMatrix3;
-		}
-		
-		/**
-		 * @return the resolutionMatrix4
-		 */
-		public Mat4 getResolutionMatrix4() {
-			return resolutionMatrix4;
-		}
-		
-		/**
-		 * @return the relativizationMatrix3
-		 */
-		public Mat3 getRelativizationMatrix3() {
-			return relativizationMatrix3;
-		}
-		
-		/**
-		 * @return the relativizationMatrix4
-		 */
-		public Mat4 getRelativizationMatrix4() {
-			return relativizationMatrix4;
-		}
-		
-		public Vec3i apply(Vec3i output, Vec3i input) {
-			if (output == null) {
-				output = new Vec3i();
-			}
-			
-			int inX = input.x, inY = input.y, inZ = input.z;
-			
-			set(output, inX, northDestination);
-			set(output, inY, westDestination);
-			set(output, inZ, upDestination);
-			
-			return output;
-		}
-		
-		private static void set(Vec3i output, int value, SignedAxis axis) {
-			VectorUtil.set(output, axis.getAxis(), axis.isPositive() ? +value : -value);
-		}
-		
-		public Vec3 apply(Vec3 output, Vec3 input) {
-			if (output == null) {
-				output = new Vec3();
-			}
-			
-			float inX = input.x, inY = input.y, inZ = input.z;
-			
-			set(output, inX, northDestination);
-			set(output, inY, westDestination);
-			set(output, inZ, upDestination);
-			
-			return output;
-		}
-		
-		private static void set(Vec3 output, float value, SignedAxis axis) {
-			VectorUtil.set(output, axis.getAxis(), axis.isPositive() ? +value : -value);
-		}
-	}
-	
-	private final static Map<AbsFace, Rotation> TRANSFORMATIONS = AbsFace.mapToFaces(
-		new Rotation(POS_X, POS_Y, POS_Z),
-		new Rotation(POS_X, NEG_Y, NEG_Z),
-		new Rotation(POS_Z, NEG_Y, POS_X),
-		new Rotation(POS_Z, POS_Y, NEG_X),
-		new Rotation(POS_Z, NEG_X, NEG_Y),
-		new Rotation(POS_Z, POS_X, POS_Y)
-	);
-	
 	private final Vec3i vector = new Vec3i();
 	private final Vec3 floatVector = new Vec3();
 	private final Vec3 normalized = new Vec3();
@@ -242,38 +135,11 @@ public class RelRelation extends BlockRelation {
 	
 	private AbsRelation computeResolution(AbsFace up) {
 		Vec3i resolution = Vectors.grab3i();
-		resolve(vector, up, resolution);
+		AxisRotations.resolve(vector, up, resolution);
 		AbsRelation result = AbsRelation.of(resolution);
 		Vectors.release(resolution);
 		return result;
 	}
-	
-	public static Vec3i resolve(Vec3i relative, AbsFace up, Vec3i output) {
-		if (output == null) {
-			output = new Vec3i();
-		}
-		
-		TRANSFORMATIONS.get(up).apply(output, relative);
-		
-		return output;
-	}
-	
-	public static Mat3 getResolutionMatrix3(AbsFace up) {
-		return TRANSFORMATIONS.get(up).getResolutionMatrix3();
-	}
-	
-	public static Mat4 getResolutionMatrix4(AbsFace up) {
-		return TRANSFORMATIONS.get(up).getResolutionMatrix4();
-	}
-	
-
-	public static Mat3 getRelativizationMatrix3(AbsFace up) {
-		return TRANSFORMATIONS.get(up).getRelativizationMatrix3();
-	}
-	
-	public static Mat4 getRelativizationMatrix4(AbsFace up) {
-		return TRANSFORMATIONS.get(up).getRelativizationMatrix4();
-	}
 
 	@Override
 	protected Vec3i getSample() {

src/main/java/ru/windcorp/progressia/test/gen/TestPlanetGravityModel.java

@@ -43,9 +43,9 @@ public class TestPlanetGravityModel extends GravityModel {
 	@Override
 	protected void doGetGravity(Vec3 pos, Vec3 output) {
 		// Change to a CS where (0;0;0) is the center of the center chunk
-		float px = pos.x - ChunkData.CHUNK_RADIUS;
+		float px = pos.x - ChunkData.CHUNK_RADIUS + 0.5f;
-		float py = pos.y - ChunkData.CHUNK_RADIUS;
+		float py = pos.y - ChunkData.CHUNK_RADIUS + 0.5f;
-		float pz = pos.z - ChunkData.CHUNK_RADIUS;
+		float pz = pos.z - ChunkData.CHUNK_RADIUS + 0.5f;
 		
 		// Assume weightlessness when too close to center
 		if ((px*px + py*py + pz*pz) < INNER_RADIUS*INNER_RADIUS) {