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ssarg fix the ae2 conflict and the raper3d getpose non-unwinding panic
1 parent bf9713a commit 021cb2e

5 files changed

Lines changed: 261 additions & 178 deletions

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‎gradle.properties‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
version=2.0.3
1+
version=2.0.3-ssargfix-0.2
22
group=dev.ryanhcode.sable
33
java_version=21
44

@@ -7,7 +7,7 @@ minecraft_version=1.21.1
77
mod_name=Sable
88
mod_author=RyanHCode
99
mod_id=sable
10-
credits=Ocelot, Eriksonn, Cyvack, Bee, Kyan, Cake, Rhyguy1
10+
credits=Ocelot, Eriksonn, Cyvack, Bee, Kyan, Cake, Rhyguy1, ssarg
1111
license=PolyForm Shield License 1.0.0
1212
description=Interactive moving block structures with physics.
1313
issues=https://github.com/ryanhcode/sable/issues

‎sable_rapier/src/main/java/dev/ryanhcode/sable/physics/impl/rapier/RapierPhysicsPipeline.java‎

Lines changed: 118 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -118,7 +118,9 @@ protected long getSceneHandle() {
118118
@Override
119119
public void init(@Nullable final Vector3dc gravity, final double universalDrag) {
120120
try {
121+
Sable.LOGGER.info("[SableDebug] Initializing Rapier physics pipeline with gravity=({}, {}, {}), drag={}", gravity.x(), gravity.y(), gravity.z(), universalDrag);
121122
this.scene = new RapierPhysicsScene(Rapier3D.initialize(gravity.x(), gravity.y(), gravity.z(), universalDrag));
123+
Sable.LOGGER.info("[SableDebug] Rapier physics pipeline initialized successfully, scene handle={}", this.scene.handle());
122124
} catch (final UnsatisfiedLinkError e) {
123125
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);
124126
final CrashReport crashReport = CrashReport.forThrowable(e.getCause(), "Sable linking with Rapier natives");
@@ -145,7 +147,13 @@ public void dispose() {
145147
@Override
146148
public void prePhysicsTicks() {
147149
final double timeStep = 1.0 / 20.0;
148-
Rapier3D.tick(this.scene.handle(), timeStep);
150+
try {
151+
Sable.LOGGER.debug("[SableDebug] prePhysicsTicks: calling tick(handle={}, timeStep={})", this.scene.handle(), timeStep);
152+
Rapier3D.tick(this.scene.handle(), timeStep);
153+
} catch (final Exception e) {
154+
Sable.LOGGER.error("[SableDebug] EXCEPTION in prePhysicsTicks tick() call", e);
155+
throw e;
156+
}
149157
}
150158

151159
/**
@@ -156,14 +164,26 @@ public void prePhysicsTicks() {
156164
@Override
157165
public void physicsTick(final double timeStep) {
158166
this.updateContraptionPoses();
159-
Rapier3D.step(this.scene.handle(), timeStep);
167+
try {
168+
Sable.LOGGER.debug("[SableDebug] physicsTick: calling step(handle={}, timeStep={})", this.scene.handle(), timeStep);
169+
Rapier3D.step(this.scene.handle(), timeStep);
170+
} catch (final Exception e) {
171+
Sable.LOGGER.error("[SableDebug] EXCEPTION in physicsTick step() call", e);
172+
throw e;
173+
}
160174

161175
for (final PhysicsPipelineBody queuedWakeUp : this.queuedWakeUps) {
162176
if (queuedWakeUp.isRemoved()) {
163177
continue;
164178
}
165179

166-
Rapier3D.wakeUpObject(this.scene.handle(), queuedWakeUp.getRuntimeId());
180+
final int wakeId = Rapier3D.getID(queuedWakeUp);
181+
Sable.LOGGER.debug("[SableDebug] physicsTick: waking up body id={}", wakeId);
182+
try {
183+
Rapier3D.wakeUpObject(this.scene.handle(), wakeId);
184+
} catch (final Exception e) {
185+
Sable.LOGGER.error("[SableDebug] EXCEPTION waking up body id={}", wakeId, e);
186+
}
167187
}
168188

169189
this.queuedWakeUps.clear();
@@ -195,27 +215,42 @@ public void add(final ServerSubLevel subLevel, final Pose3dc pose) {
195215
final Quaterniondc rot = pose.orientation();
196216

197217
final int id = Rapier3D.getID(subLevel);
198-
Rapier3D.createSubLevel(this.scene.handle(), id, new double[]{pos.x(), pos.y(), pos.z(), rot.x(), rot.y(), rot.z(), rot.w()});
218+
Sable.LOGGER.info("[SableDebug] add(SubLevel): id={}, pos=({}, {}, {}), rot=({}, {}, {}, {})", id, pos.x(), pos.y(), pos.z(), rot.x(), rot.y(), rot.z(), rot.w());
219+
try {
220+
Rapier3D.createSubLevel(this.scene.handle(), id, new double[]{pos.x(), pos.y(), pos.z(), rot.x(), rot.y(), rot.z(), rot.w()});
221+
} catch (final Exception e) {
222+
Sable.LOGGER.error("[SableDebug] EXCEPTION in add(SubLevel) createSubLevel, id={}", id, e);
223+
throw e;
224+
}
199225

200226
subLevel.updateMergedMassData(1.0f);
201227
final Vector3dc centerOfMass = subLevel.getMassTracker().getCenterOfMass();
202228

203229
if (centerOfMass != null) {
204230
subLevel.logicalPose().rotationPoint().set(centerOfMass);
205-
231+
Sable.LOGGER.info("[SableDebug] add(SubLevel): id={}, centerOfMass=({}, {}, {})", id, centerOfMass.x(), centerOfMass.y(), centerOfMass.z());
206232
this.onStatsChanged(subLevel);
207233
}
208234

209235
this.activeSubLevels.put(Rapier3D.getID(subLevel), subLevel);
236+
Sable.LOGGER.info("[SableDebug] add(SubLevel): id={} added successfully, activeSubLevels.size={}", id, this.activeSubLevels.size());
210237
}
211238

212239
/**
213240
* Removes a {@link SubLevel} from the physics pipeline.
214241
*/
215242
@Override
216243
public void remove(final ServerSubLevel subLevel) {
217-
Rapier3D.removeSubLevel(this.scene.handle(), Rapier3D.getID(subLevel));
218-
this.activeSubLevels.remove(Rapier3D.getID(subLevel));
244+
final int id = Rapier3D.getID(subLevel);
245+
Sable.LOGGER.info("[SableDebug] remove(SubLevel): id={}", id);
246+
try {
247+
Rapier3D.removeSubLevel(this.scene.handle(), id);
248+
} catch (final Exception e) {
249+
Sable.LOGGER.error("[SableDebug] EXCEPTION in remove(SubLevel), id={}", id, e);
250+
throw e;
251+
}
252+
this.activeSubLevels.remove(id);
253+
Sable.LOGGER.info("[SableDebug] remove(SubLevel): id={} removed, activeSubLevels.size={}", id, this.activeSubLevels.size());
219254
}
220255

221256
/**
@@ -301,11 +336,19 @@ public void remove(final KinematicContraption contraption) {
301336
@Override
302337
public Pose3d readPose(final ServerSubLevel subLevel, final Pose3d dest) {
303338
this.assertBodyValid(subLevel);
304-
Rapier3D.getPose(this.scene.handle(), Rapier3D.getID(subLevel), this.poseCache);
339+
final int id = Rapier3D.getID(subLevel);
340+
Sable.LOGGER.debug("[SableDebug] readPose: id={}", id);
341+
try {
342+
Rapier3D.getPose(this.scene.handle(), id, this.poseCache);
343+
} catch (final Exception e) {
344+
Sable.LOGGER.error("[SableDebug] EXCEPTION in readPose getPose(), id={}", id, e);
345+
throw e;
346+
}
305347

306348
dest.position().set(this.poseCache[0], this.poseCache[1], this.poseCache[2]);
307349
dest.orientation().set(this.poseCache[3], this.poseCache[4], this.poseCache[5], this.poseCache[6]);
308350

351+
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]);
309352
return dest;
310353
}
311354

@@ -331,6 +374,7 @@ public BoxHandle addBox(final BoxPhysicsObject box) {
331374
@Override
332375
public void handleChunkSectionAddition(final LevelChunkSection section, final int x, final int y, final int z, final boolean uploadDataIfGlobal) {
333376
this.accelerator.clearCache();
377+
Sable.LOGGER.debug("[SableDebug] handleChunkSectionAddition: section=({}, {}, {}), uploadDataIfGlobal={}, hasOnlyAir={}", x, y, z, uploadDataIfGlobal, section.hasOnlyAir());
334378

335379
// this means the x coordinate is the fastest changing, then z, then y
336380
final int[] array = new int[LevelChunkSection.SECTION_SIZE];
@@ -362,15 +406,26 @@ public void handleChunkSectionAddition(final LevelChunkSection section, final in
362406
int id = -1;
363407

364408
if (plot != null && uploadDataIfGlobal) id = Rapier3D.getID(((ServerSubLevel) plot.getSubLevel()));
365-
Rapier3D.addChunk(this.scene.handle(), x, y, z, array, global, id);
409+
try {
410+
Rapier3D.addChunk(this.scene.handle(), x, y, z, array, global, id);
411+
} catch (final Exception e) {
412+
Sable.LOGGER.error("[SableDebug] EXCEPTION in handleChunkSectionAddition addChunk({}, {}, {}), global={}, id={}", x, y, z, global, id, e);
413+
throw e;
414+
}
366415
}
367416

368417
/**
369418
* Handles the removal of a chunk section from the physics context
370419
*/
371420
@Override
372421
public void handleChunkSectionRemoval(final int x, final int y, final int z) {
373-
Rapier3D.removeChunk(this.scene.handle(), x, y, z, !SubLevelContainer.getContainer(this.level).inBounds(x, z));
422+
Sable.LOGGER.debug("[SableDebug] handleChunkSectionRemoval: ({}, {}, {})", x, y, z);
423+
try {
424+
Rapier3D.removeChunk(this.scene.handle(), x, y, z, !SubLevelContainer.getContainer(this.level).inBounds(x, z));
425+
} catch (final Exception e) {
426+
Sable.LOGGER.error("[SableDebug] EXCEPTION in handleChunkSectionRemoval removeChunk({}, {}, {})", x, y, z, e);
427+
throw e;
428+
}
374429
}
375430

376431
/**
@@ -387,6 +442,8 @@ public void handleBlockChange(final SectionPos sectionPos, final LevelChunkSecti
387442
y = (sectionPos.y() << 4) + y;
388443
z = (sectionPos.z() << 4) + z;
389444

445+
Sable.LOGGER.debug("[SableDebug] handleBlockChange: pos=({}, {}, {}), oldState={}, newState={}", x, y, z, oldState, newState);
446+
390447
final BlockPos globalBlockPos = new BlockPos(x, y, z);
391448

392449
for (final Direction dir : Direction.values()) {
@@ -395,15 +452,25 @@ public void handleBlockChange(final SectionPos sectionPos, final LevelChunkSecti
395452
final RapierVoxelColliderData colliderData = this.colliderBakery.getPhysicsDataForBlock(this.level.getBlockState(pos));
396453

397454
final int colliderValue = colliderData == null ? 0 : colliderData.handle() + 1;
398-
Rapier3D.changeBlock(this.scene.handle(), pos.getX(), pos.getY(), pos.getZ(), packBlockState(state, colliderValue));
455+
try {
456+
Rapier3D.changeBlock(this.scene.handle(), pos.getX(), pos.getY(), pos.getZ(), packBlockState(state, colliderValue));
457+
} catch (final Exception e) {
458+
Sable.LOGGER.error("[SableDebug] EXCEPTION in handleBlockChange changeBlock neighbor ({}, {}, {}), colliderValue={}", pos.getX(), pos.getY(), pos.getZ(), colliderValue, e);
459+
throw e;
460+
}
399461
}
400462

401463
// do it for the block without offset
402464
final VoxelNeighborhoodState state = VoxelNeighborhoodState.getState(this.accelerator, globalBlockPos, null);
403465
final RapierVoxelColliderData colliderData = this.colliderBakery.getPhysicsDataForBlock(newState);
404466

405467
final int colliderValue = colliderData == null ? 0 : colliderData.handle() + 1;
406-
Rapier3D.changeBlock(this.scene.handle(), x, y, z, packBlockState(state, colliderValue));
468+
try {
469+
Rapier3D.changeBlock(this.scene.handle(), x, y, z, packBlockState(state, colliderValue));
470+
} catch (final Exception e) {
471+
Sable.LOGGER.error("[SableDebug] EXCEPTION in handleBlockChange changeBlock self ({}, {}, {}), colliderValue={}", x, y, z, colliderValue, e);
472+
throw e;
473+
}
407474
}
408475

409476
@Override
@@ -415,11 +482,23 @@ public void onStatsChanged(@NotNull final ServerSubLevel subLevel) {
415482

416483
final Vector3dc centerOfMass = subLevel.getMassTracker().getCenterOfMass();
417484
if (centerOfMass != null) {
418-
Rapier3D.setCenterOfMass(this.scene.handle(), id, centerOfMass.x(), centerOfMass.y(), centerOfMass.z());
419-
Rapier3D.setMassPropertiesFrom(this.scene.handle(), id, subLevel.getMassTracker());
485+
Sable.LOGGER.debug("[SableDebug] onStatsChanged: id={}, centerOfMass=({}, {}, {}), mass={}", id, centerOfMass.x(), centerOfMass.y(), centerOfMass.z(), subLevel.getMassTracker().getMass());
486+
try {
487+
Rapier3D.setCenterOfMass(this.scene.handle(), id, centerOfMass.x(), centerOfMass.y(), centerOfMass.z());
488+
Rapier3D.setMassPropertiesFrom(this.scene.handle(), id, subLevel.getMassTracker());
489+
} catch (final Exception e) {
490+
Sable.LOGGER.error("[SableDebug] EXCEPTION in onStatsChanged setCenterOfMass/setMassProperties, id={}", id, e);
491+
throw e;
492+
}
420493
}
421494

422-
Rapier3D.setLocalBounds(this.scene.handle(), id, plotBounds.minX(), plotBounds.minY(), plotBounds.minZ(), plotBounds.maxX(), plotBounds.maxY(), plotBounds.maxZ());
495+
Sable.LOGGER.debug("[SableDebug] onStatsChanged: id={}, bounds=({},{},{} -> {},{},{})", id, plotBounds.minX(), plotBounds.minY(), plotBounds.minZ(), plotBounds.maxX(), plotBounds.maxY(), plotBounds.maxZ());
496+
try {
497+
Rapier3D.setLocalBounds(this.scene.handle(), id, plotBounds.minX(), plotBounds.minY(), plotBounds.minZ(), plotBounds.maxX(), plotBounds.maxY(), plotBounds.maxZ());
498+
} catch (final Exception e) {
499+
Sable.LOGGER.error("[SableDebug] EXCEPTION in onStatsChanged setLocalBounds, id={}", id, e);
500+
throw e;
501+
}
423502
}
424503

425504
/**
@@ -433,7 +512,14 @@ public void onStatsChanged(@NotNull final ServerSubLevel subLevel) {
433512
public void teleport(final PhysicsPipelineBody body, final Vector3dc position, final Quaterniondc orientation) {
434513
this.assertBodyValid(body);
435514

436-
Rapier3D.teleportObject(this.scene.handle(), Rapier3D.getID(body), position.x(), position.y(), position.z(), orientation.x(), orientation.y(), orientation.z(), orientation.w());
515+
final int id = Rapier3D.getID(body);
516+
Sable.LOGGER.debug("[SableDebug] teleport: id={}, pos=({}, {}, {}), rot=({}, {}, {}, {})", id, position.x(), position.y(), position.z(), orientation.x(), orientation.y(), orientation.z(), orientation.w());
517+
try {
518+
Rapier3D.teleportObject(this.scene.handle(), id, position.x(), position.y(), position.z(), orientation.x(), orientation.y(), orientation.z(), orientation.w());
519+
} catch (final Exception e) {
520+
Sable.LOGGER.error("[SableDebug] EXCEPTION in teleport, id={}", id, e);
521+
throw e;
522+
}
437523
if (body instanceof final ServerSubLevel subLevel) {
438524
subLevel.logicalPose().position().set(position);
439525
subLevel.logicalPose().orientation().set(orientation);
@@ -451,8 +537,15 @@ public void teleport(final PhysicsPipelineBody body, final Vector3dc position, f
451537
public void applyImpulse(final PhysicsPipelineBody body, final Vector3dc position, final Vector3dc force) {
452538
this.assertBodyValid(body);
453539

540+
final int id = Rapier3D.getID(body);
454541
final Vector3dc centerOfMass = body.getMassTracker().getCenterOfMass();
455-
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);
542+
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());
543+
try {
544+
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);
545+
} catch (final Exception e) {
546+
Sable.LOGGER.error("[SableDebug] EXCEPTION in applyImpulse, id={}", id, e);
547+
throw e;
548+
}
456549
}
457550

458551
/**
@@ -464,7 +557,14 @@ public void applyImpulse(final PhysicsPipelineBody body, final Vector3dc positio
464557
@Override
465558
public void applyLinearAndAngularImpulse(final PhysicsPipelineBody body, final Vector3dc force, final Vector3dc torque, final boolean wakeUp) {
466559
this.assertBodyValid(body);
467-
Rapier3D.applyForceAndTorque(this.scene.handle(), Rapier3D.getID(body), force.x(), force.y(), force.z(), torque.x(), torque.y(), torque.z(), wakeUp);
560+
final int id = Rapier3D.getID(body);
561+
Sable.LOGGER.debug("[SableDebug] applyLinearAndAngularImpulse: id={}, force=({}, {}, {}), torque=({}, {}, {}), wakeUp={}", id, force.x(), force.y(), force.z(), torque.x(), torque.y(), torque.z(), wakeUp);
562+
try {
563+
Rapier3D.applyForceAndTorque(this.scene.handle(), id, force.x(), force.y(), force.z(), torque.x(), torque.y(), torque.z(), wakeUp);
564+
} catch (final Exception e) {
565+
Sable.LOGGER.error("[SableDebug] EXCEPTION in applyLinearAndAngularImpulse, id={}", id, e);
566+
throw e;
567+
}
468568
}
469569

470570
/**

‎sable_rapier/src/main/rust/rapier/src/boxes.rs‎

Lines changed: 11 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -81,16 +81,16 @@ pub extern "system" fn Java_dev_ryanhcode_sable_physics_impl_rapier_Rapier3D_rem
8181
let sim_data = &mut *sim_data;
8282
let mut sable_data = scene.sable_data.write().unwrap();
8383

84-
let handle = sable_data.rigid_bodies[&(id as LevelColliderID)];
85-
sim_data.rigid_body_set.remove(
86-
handle,
87-
&mut sim_data.island_manager,
88-
&mut sim_data.collider_set,
89-
&mut sim_data.impulse_joint_set,
90-
&mut sim_data.multibody_joint_set,
91-
true,
92-
);
93-
94-
sable_data.rigid_bodies.remove(&(id as LevelColliderID));
84+
if let Some(&handle) = sable_data.rigid_bodies.get(&(id as LevelColliderID)) {
85+
sim_data.rigid_body_set.remove(
86+
handle,
87+
&mut sim_data.island_manager,
88+
&mut sim_data.collider_set,
89+
&mut sim_data.impulse_joint_set,
90+
&mut sim_data.multibody_joint_set,
91+
true,
92+
);
93+
sable_data.rigid_bodies.remove(&(id as LevelColliderID));
94+
}
9595
})
9696
}

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