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(8e2e6e4da) Physics error prevention: - Use the ApplyForce/ApplyImpulse method overrides that clamp the resulting velocity to a value (in this case NetConfig.MaxPhysicsBodyVelocity, 64 m/s). Without this, explosions and attacks for example could apply arbitrarily large forces to bodies, causing physics errors in Ragdoll.CheckValidity. - Make sure angular velocity still has a sane value after applying an impulse to a specific point of a collider.

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This commit is contained in:
Joonas Rikkonen
2019-04-03 16:21:22 +03:00
parent 5d7dba0f70
commit 0844f1eae4
12 changed files with 87 additions and 39 deletions
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Barotrauma/BarotraumaShared/Source/Characters/Animation/Ragdoll.cs
+2 -2
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@@ -1094,7 +1094,7 @@ namespace Barotrauma
if (flowForce.LengthSquared() > 0.001f) if (flowForce.LengthSquared() > 0.001f)
{ {
Collider.ApplyForce(flowForce); Collider.ApplyForce(flowForce, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
} }
if (currentHull == null || if (currentHull == null ||
@@ -1132,7 +1132,7 @@ namespace Barotrauma
if (flowForce.LengthSquared() > 0.001f) if (flowForce.LengthSquared() > 0.001f)
{ {
limb.body.ApplyForce(flowForce); limb.body.ApplyForce(flowForce, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
} }
surfaceY = limbHull.Surface; surfaceY = limbHull.Surface;
Barotrauma/BarotraumaShared/Source/Characters/Character.cs
+4 -3
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@@ -2187,7 +2187,7 @@ namespace Barotrauma
if (limbHit == null) return new AttackResult(); if (limbHit == null) return new AttackResult();
limbHit.body?.ApplyLinearImpulse(attack.TargetImpulseWorld + attack.TargetForceWorld * deltaTime); limbHit.body?.ApplyLinearImpulse(attack.TargetImpulseWorld + attack.TargetForceWorld * deltaTime, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
#if SERVER #if SERVER
if (attacker is Character attackingCharacter && attackingCharacter.AIController == null) if (attacker is Character attackingCharacter && attackingCharacter.AIController == null)
{ {
@@ -2273,7 +2273,8 @@ namespace Barotrauma
{ {
Vector2 diff = dir; Vector2 diff = dir;
if (diff == Vector2.Zero) diff = Rand.Vector(1.0f); if (diff == Vector2.Zero) diff = Rand.Vector(1.0f);
hitLimb.body.ApplyLinearImpulse(Vector2.Normalize(diff) * attackImpulse, hitLimb.SimPosition + ConvertUnits.ToSimUnits(diff)); hitLimb.body.ApplyLinearImpulse(Vector2.Normalize(diff) * attackImpulse, hitLimb.SimPosition + ConvertUnits.ToSimUnits(diff),
maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
} }
Vector2 simPos = hitLimb.SimPosition + ConvertUnits.ToSimUnits(dir); Vector2 simPos = hitLimb.SimPosition + ConvertUnits.ToSimUnits(dir);
AttackResult attackResult = hitLimb.AddDamage(simPos, afflictions, playSound); AttackResult attackResult = hitLimb.AddDamage(simPos, afflictions, playSound);
@@ -2362,7 +2363,7 @@ namespace Barotrauma
} }
if (diff == Vector2.Zero) { continue; } if (diff == Vector2.Zero) { continue; }
limb.body.ApplyLinearImpulse(diff * 50.0f); limb.body.ApplyLinearImpulse(diff * 50.0f, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
} }
ImplodeFX(); ImplodeFX();
Barotrauma/BarotraumaShared/Source/Characters/Limb.cs
+7 -2
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@@ -8,6 +8,7 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Xml.Linq; using System.Xml.Linq;
using Barotrauma.Networking;
namespace Barotrauma namespace Barotrauma
{ {
@@ -625,13 +626,17 @@ namespace Barotrauma
Limb limb = character.AnimController.Limbs[limbIndex]; Limb limb = character.AnimController.Limbs[limbIndex];
Vector2 forcePos = limb.pullJoint == null ? limb.body.SimPosition : limb.pullJoint.WorldAnchorA; Vector2 forcePos = limb.pullJoint == null ? limb.body.SimPosition : limb.pullJoint.WorldAnchorA;
limb.body.ApplyLinearImpulse(limb.Mass * attack.Force * Vector2.Normalize(attackSimPos - SimPosition), forcePos); limb.body.ApplyLinearImpulse(limb.Mass * attack.Force * Vector2.Normalize(attackSimPos - SimPosition), forcePos,
maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
} }
} }
else else
{ {
Vector2 forcePos = pullJoint == null ? body.SimPosition : pullJoint.WorldAnchorA; Vector2 forcePos = pullJoint == null ? body.SimPosition : pullJoint.WorldAnchorA;
body.ApplyLinearImpulse(Mass * attack.Force * Vector2.Normalize(attackSimPos - SimPosition), forcePos); body.ApplyLinearImpulse(
Mass * attack.Force * Vector2.Normalize(attackSimPos - SimPosition),
forcePos,
maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
} }
} }
return wasHit; return wasHit;
Barotrauma/BarotraumaShared/Source/Items/Components/Holdable/RangedWeapon.cs
+4 -2
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@@ -1,4 +1,5 @@
using FarseerPhysics; using Barotrauma.Networking;
using FarseerPhysics;
using FarseerPhysics.Collision; using FarseerPhysics.Collision;
using FarseerPhysics.Dynamics; using FarseerPhysics.Dynamics;
using Microsoft.Xna.Framework; using Microsoft.Xna.Framework;
@@ -168,7 +169,8 @@ namespace Barotrauma.Items.Components
//recoil //recoil
item.body.ApplyLinearImpulse( item.body.ApplyLinearImpulse(
new Vector2((float)Math.Cos(projectile.Item.body.Rotation), (float)Math.Sin(projectile.Item.body.Rotation)) * item.body.Mass * -50.0f); new Vector2((float)Math.Cos(projectile.Item.body.Rotation), (float)Math.Sin(projectile.Item.body.Rotation)) * item.body.Mass * -50.0f,
maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
item.RemoveContained(projectile.Item); item.RemoveContained(projectile.Item);
Barotrauma/BarotraumaShared/Source/Items/Components/Holdable/Throwable.cs
+3 -3
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@@ -106,10 +106,10 @@ namespace Barotrauma.Items.Components
#endif #endif
Character thrower = picker; Character thrower = picker;
item.Drop(thrower, createNetworkEvent: GameMain.NetworkMember == null || GameMain.NetworkMember.IsServer); item.Drop(thrower, createNetworkEvent: GameMain.NetworkMember == null || GameMain.NetworkMember.IsServer);
item.body.ApplyLinearImpulse(throwVector * throwForce * item.body.Mass * 3.0f); item.body.ApplyLinearImpulse(throwVector * throwForce * item.body.Mass * 3.0f, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
ac.GetLimb(LimbType.Head).body.ApplyLinearImpulse(throwVector*10.0f); ac.GetLimb(LimbType.Head).body.ApplyLinearImpulse(throwVector * 10.0f, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
ac.GetLimb(LimbType.Torso).body.ApplyLinearImpulse(throwVector * 10.0f); ac.GetLimb(LimbType.Torso).body.ApplyLinearImpulse(throwVector * 10.0f, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
Limb rightHand = ac.GetLimb(LimbType.RightHand); Limb rightHand = ac.GetLimb(LimbType.RightHand);
item.body.AngularVelocity = rightHand.body.AngularVelocity; item.body.AngularVelocity = rightHand.body.AngularVelocity;
Barotrauma/BarotraumaShared/Source/Items/Components/Projectile.cs
+3 -2
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@@ -1,4 +1,5 @@
using FarseerPhysics; using Barotrauma.Networking;
using FarseerPhysics;
using FarseerPhysics.Dynamics; using FarseerPhysics.Dynamics;
using FarseerPhysics.Dynamics.Contacts; using FarseerPhysics.Dynamics.Contacts;
using FarseerPhysics.Dynamics.Joints; using FarseerPhysics.Dynamics.Joints;
@@ -176,7 +177,7 @@ namespace Barotrauma.Items.Components
item.Drop(null); item.Drop(null);
item.body.Enabled = true; item.body.Enabled = true;
item.body.ApplyLinearImpulse(impulse); item.body.ApplyLinearImpulse(impulse, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
item.body.FarseerBody.OnCollision += OnProjectileCollision; item.body.FarseerBody.OnCollision += OnProjectileCollision;
item.body.FarseerBody.IsBullet = true; item.body.FarseerBody.IsBullet = true;
Barotrauma/BarotraumaShared/Source/Items/Components/Signal/LightComponent.cs
+4
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@@ -26,6 +26,10 @@ namespace Barotrauma.Items.Components
private float blinkTimer; private float blinkTimer;
private bool itemLoaded;
private float blinkTimer;
public PhysicsBody ParentBody; public PhysicsBody ParentBody;
[Editable(MinValueFloat = 0.0f, MaxValueFloat = 2048.0f), Serialize(100.0f, true)] [Editable(MinValueFloat = 0.0f, MaxValueFloat = 2048.0f), Serialize(100.0f, true)]
Barotrauma/BarotraumaShared/Source/Items/Item.cs
+1 -1
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@@ -1134,7 +1134,7 @@ namespace Barotrauma
Vector2 drag = body.LinearVelocity * volume; Vector2 drag = body.LinearVelocity * volume;
body.ApplyForce((uplift - drag) * 10.0f); body.ApplyForce((uplift - drag) * 10.0f, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
//apply simple angular drag //apply simple angular drag
body.ApplyTorque(body.AngularVelocity * volume * -0.05f); body.ApplyTorque(body.AngularVelocity * volume * -0.05f);
Barotrauma/BarotraumaShared/Source/Map/Explosion.cs
+2 -1
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@@ -236,8 +236,9 @@ namespace Barotrauma
{ {
Vector2 limbDiff = Vector2.Normalize(limb.WorldPosition - worldPosition); Vector2 limbDiff = Vector2.Normalize(limb.WorldPosition - worldPosition);
if (!MathUtils.IsValid(limbDiff)) limbDiff = Rand.Vector(1.0f); if (!MathUtils.IsValid(limbDiff)) limbDiff = Rand.Vector(1.0f);
Vector2 impulse = limbDiff * distFactor * force;
Vector2 impulsePoint = limb.SimPosition - limbDiff * limbRadius; Vector2 impulsePoint = limb.SimPosition - limbDiff * limbRadius;
limb.body.ApplyLinearImpulse(limbDiff * distFactor * force, impulsePoint); limb.body.ApplyLinearImpulse(impulse, impulsePoint, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
} }
} }
Barotrauma/BarotraumaShared/Source/Map/Hull.cs
+3 -6
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@@ -561,17 +561,14 @@ namespace Barotrauma
{ {
foreach (var gap in ConnectedGaps.Where(gap => gap.Open > 0)) foreach (var gap in ConnectedGaps.Where(gap => gap.Open > 0))
{ {
//var pos = gap.Position - body.Position; var distance = MathHelper.Max(Vector2.DistanceSquared(item.Position, gap.Position) / 1000, 1f);
var distance = MathHelper.Max(Vector2.DistanceSquared(item.Position, gap.Position)/1000, 1f); item.body.ApplyForce((gap.LerpedFlowForce / distance) * deltaTime, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
//pos.Normalize();
item.body.ApplyForce((gap.LerpedFlowForce/distance) * deltaTime);
} }
} }
public void Extinguish(float deltaTime, float amount, Vector2 position) public void Extinguish(float deltaTime, float amount, Vector2 position)
{ {
for (int i = FireSources.Count - 1; i >= 0; i-- ) for (int i = FireSources.Count - 1; i >= 0; i--)
{ {
FireSources[i].Extinguish(deltaTime, amount, position); FireSources[i].Extinguish(deltaTime, amount, position);
} }
Barotrauma/BarotraumaShared/Source/Map/Levels/LevelObjects/LevelTrigger.cs
+6 -5
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@@ -543,19 +543,19 @@ namespace Barotrauma
if (ForceVelocityLimit < 1000.0f) if (ForceVelocityLimit < 1000.0f)
body.ApplyForce(Force * currentForceFluctuation * distFactor, ForceVelocityLimit); body.ApplyForce(Force * currentForceFluctuation * distFactor, ForceVelocityLimit);
else else
body.ApplyForce(Force * currentForceFluctuation * distFactor); body.ApplyForce(Force * currentForceFluctuation * distFactor, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
break; break;
case TriggerForceMode.Acceleration: case TriggerForceMode.Acceleration:
if (ForceVelocityLimit < 1000.0f) if (ForceVelocityLimit < 1000.0f)
body.ApplyForce(Force * body.Mass * currentForceFluctuation * distFactor, ForceVelocityLimit); body.ApplyForce(Force * body.Mass * currentForceFluctuation * distFactor, ForceVelocityLimit);
else else
body.ApplyForce(Force * body.Mass * currentForceFluctuation * distFactor); body.ApplyForce(Force * body.Mass * currentForceFluctuation * distFactor, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
break; break;
case TriggerForceMode.Impulse: case TriggerForceMode.Impulse:
if (ForceVelocityLimit < 1000.0f) if (ForceVelocityLimit < 1000.0f)
body.ApplyLinearImpulse(Force * currentForceFluctuation * distFactor, ForceVelocityLimit); body.ApplyLinearImpulse(Force * currentForceFluctuation * distFactor, maxVelocity: ForceVelocityLimit);
else else
body.ApplyLinearImpulse(Force * currentForceFluctuation * distFactor); body.ApplyLinearImpulse(Force * currentForceFluctuation * distFactor, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
break; break;
case TriggerForceMode.LimitVelocity: case TriggerForceMode.LimitVelocity:
float maxVel = ForceVelocityLimit * currentForceFluctuation * distFactor; float maxVel = ForceVelocityLimit * currentForceFluctuation * distFactor;
@@ -563,7 +563,8 @@ namespace Barotrauma
{ {
body.ApplyForce( body.ApplyForce(
Vector2.Normalize(-body.LinearVelocity) * Vector2.Normalize(-body.LinearVelocity) *
Force.Length() * body.Mass * currentForceFluctuation * distFactor); Force.Length() * body.Mass * currentForceFluctuation * distFactor,
maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
} }
break; break;
} }
Barotrauma/BarotraumaShared/Source/Physics/PhysicsBody.cs
+48 -12
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@@ -587,11 +587,16 @@ namespace Barotrauma
if (!IsValidValue(impulse / body.Mass, "new velocity")) return; if (!IsValidValue(impulse / body.Mass, "new velocity")) return;
if (!IsValidValue(impulse, "impulse", -1e10f, 1e10f)) return; if (!IsValidValue(impulse, "impulse", -1e10f, 1e10f)) return;
if (!IsValidValue(maxVelocity, "max velocity")) return; if (!IsValidValue(maxVelocity, "max velocity")) return;
float currSpeed = body.LinearVelocity.Length();
Vector2 velocityAddition = impulse / Mass; Vector2 velocityAddition = impulse / Mass;
Vector2 newVelocity = body.LinearVelocity + velocityAddition; Vector2 newVelocity = body.LinearVelocity + velocityAddition;
newVelocity = newVelocity.ClampLength(Math.Max(currSpeed, maxVelocity)); float newSpeedSqr = newVelocity.LengthSquared();
if (newSpeedSqr > maxVelocity * maxVelocity)
{
newVelocity = newVelocity.ClampLength(maxVelocity);
}
if (!IsValidValue((newVelocity - body.LinearVelocity), "new velocity", -1000.0f, 1000.0f)) return;
body.ApplyLinearImpulse((newVelocity - body.LinearVelocity) * Mass); body.ApplyLinearImpulse((newVelocity - body.LinearVelocity) * Mass);
} }
@@ -600,10 +605,36 @@ namespace Barotrauma
{ {
if (!IsValidValue(impulse, "impulse", -1e10f, 1e10f)) return; if (!IsValidValue(impulse, "impulse", -1e10f, 1e10f)) return;
if (!IsValidValue(point, "point")) return; if (!IsValidValue(point, "point")) return;
if (!IsValidValue(impulse / body.Mass, "new velocity")) return; if (!IsValidValue(impulse / body.Mass, "new velocity", -1000.0f, 1000.0f)) return;
body.ApplyLinearImpulse(impulse, point); body.ApplyLinearImpulse(impulse, point);
} }
/// <summary>
/// Apply an impulse to the body without increasing it's velocity above a specific limit.
/// </summary>
public void ApplyLinearImpulse(Vector2 impulse, Vector2 point, float maxVelocity)
{
if (!IsValidValue(impulse, "impulse", -1e10f, 1e10f)) return;
if (!IsValidValue(point, "point")) return;
if (!IsValidValue(maxVelocity, "max velocity")) return;
Vector2 velocityAddition = impulse / Mass;
Vector2 newVelocity = body.LinearVelocity + velocityAddition;
float newSpeedSqr = newVelocity.LengthSquared();
if (newSpeedSqr > maxVelocity * maxVelocity)
{
newVelocity = newVelocity.ClampLength(maxVelocity);
}
if (!IsValidValue((newVelocity - body.LinearVelocity), "new velocity", -1000.0f, 1000.0f)) return;
body.ApplyLinearImpulse((newVelocity - body.LinearVelocity) * Mass, point);
body.AngularVelocity = MathHelper.Clamp(
body.AngularVelocity,
-NetConfig.MaxPhysicsBodyAngularVelocity,
NetConfig.MaxPhysicsBodyAngularVelocity);
}
public void ApplyForce(Vector2 force) public void ApplyForce(Vector2 force)
{ {
if (!IsValidValue(force, "force", -1e10f, 1e10f)) return; if (!IsValidValue(force, "force", -1e10f, 1e10f)) return;
@@ -618,11 +649,14 @@ namespace Barotrauma
if (!IsValidValue(force, "force", -1e10f, 1e10f)) return; if (!IsValidValue(force, "force", -1e10f, 1e10f)) return;
if (!IsValidValue(maxVelocity, "max velocity")) return; if (!IsValidValue(maxVelocity, "max velocity")) return;
float currSpeed = body.LinearVelocity.Length();
Vector2 velocityAddition = force / Mass * (float)Timing.Step; Vector2 velocityAddition = force / Mass * (float)Timing.Step;
Vector2 newVelocity = body.LinearVelocity + velocityAddition; Vector2 newVelocity = body.LinearVelocity + velocityAddition;
newVelocity = newVelocity.ClampLength(Math.Max(currSpeed, maxVelocity));
float newSpeedSqr = newVelocity.LengthSquared();
if (newSpeedSqr > maxVelocity * maxVelocity)
{
newVelocity = newVelocity.ClampLength(maxVelocity);
}
body.ApplyForce((newVelocity - body.LinearVelocity) * Mass / (float)Timing.Step); body.ApplyForce((newVelocity - body.LinearVelocity) * Mass / (float)Timing.Step);
} }
@@ -725,17 +759,19 @@ namespace Barotrauma
Vector2 dragForce = Vector2.Zero; Vector2 dragForce = Vector2.Zero;
if (LinearVelocity.LengthSquared() > 0.00001f) float speedSqr = LinearVelocity.LengthSquared();
if (speedSqr > 0.00001f)
{ {
//drag //drag
Vector2 velDir = Vector2.Normalize(LinearVelocity); float speed = (float)Math.Sqrt(speedSqr);
Vector2 velDir = LinearVelocity / speed;
float vel = LinearVelocity.Length() * 2.0f; float vel = speed * 2.0f;
float drag = vel * vel * Math.Max(height + radius * 2, height); float drag = vel * vel * Math.Max(height + radius * 2, height);
dragForce = Math.Min(drag, Mass * 500.0f) * -velDir; dragForce = Math.Min(drag, Mass * 500.0f) * -velDir;
} }
ApplyForce(dragForce + buoyancy); ApplyForce(dragForce + buoyancy, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
ApplyTorque(body.AngularVelocity * body.Mass * -0.08f); ApplyTorque(body.AngularVelocity * body.Mass * -0.08f);
} }