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Added btGhostObject and btPairCachingGhostObject functionality.

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It is a fast way to keep track of overlapping objects in an area, and doing rayTest and convexSweepTest for overlapping objects, instead of btCollisionWorld::rayTest/convexSweepTest.

Updated KinematicCharacterController to use btPairCachingGhostObject.
This commit is contained in:
erwin.coumans
2008-10-18 01:33:23 +00:00
parent 7f52613c45
commit 4cbb3f2e7b
14 changed files with 488 additions and 569 deletions
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10
Demos/CharacterDemo/CharacterControllerInterface.h
View File

@@ -12,16 +12,12 @@ class CharacterControllerInterface
public:
CharacterControllerInterface () {};
virtual ~CharacterControllerInterface () {};
virtual void setup (btScalar height = 2.0, btScalar width = 0.25, btScalar stepHeight = 0.25) = 0;
virtual void destroy () = 0;
virtual btCollisionObject* getCollisionObject () = 0;
virtual void reset () = 0;
virtual void warp (const btVector3& origin) = 0;
virtual void registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher)=0;
virtual void preStep (const btCollisionWorld* collisionWorld) = 0;
virtual void playerStep (const btCollisionWorld* collisionWorld, btScalar dt,
virtual void preStep ( btCollisionWorld* collisionWorld) = 0;
virtual void playerStep (btCollisionWorld* collisionWorld, btScalar dt,
int forward,
int backward,
int left,

492
Demos/CharacterDemo/CharacterDemo.cpp
View File

@@ -13,13 +13,9 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
/// September 2006: CharacterDemo is work in progress, this file is mostly just a placeholder
/// This CharacterDemo file is very early in development, please check it later
/// One todo is a basic engine model:
/// A function that maps user input (throttle) into torque/force applied on the wheels
/// with gears etc.
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
#include "BulletCollision/CollisionDispatch/btGhostObject.h"
#include "GLDebugDrawer.h"
#include <stdio.h> //printf debugging
@@ -54,55 +50,6 @@ void playerStepCallback(btDynamicsWorld* dynamicsWorld, btScalar timeStep)
}
#define QUAKE_BSP_IMPORTING 1
#ifdef QUAKE_BSP_IMPORTING
#include "../BspDemo/BspLoader.h"
#include "../BspDemo/BspConverter.h"
class BspToBulletConverter : public BspConverter
{
CharacterDemo* m_demoApp;
public:
BspToBulletConverter(CharacterDemo* demoApp)
:m_demoApp(demoApp)
{
}
virtual void addConvexVerticesCollider(btAlignedObjectArray<btVector3>& vertices, bool isEntity, const btVector3& entityTargetLocation)
{
///perhaps we can do something special with entities (isEntity)
///like adding a collision Triggering (as example)
if (vertices.size() > 0)
{
float mass = 0.f;
btTransform startTransform;
//can use a shift
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-10.0f,0.0f));
//this create an internal copy of the vertices
for (int i = 0; i < vertices.size(); i++)
{
vertices[i] *= btScalar(0.5);
float t = vertices[i].getZ() * btScalar(0.75);
vertices[i].setZ(-vertices[i].getY());
vertices[i].setY(t);
}
btCollisionShape* shape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
m_demoApp->m_collisionShapes.push_back(shape);
//btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
m_demoApp->localCreateRigidBody(mass, startTransform,shape);
}
}
};
#endif //QUAKE_BSP_IMPORTING
CharacterDemo::CharacterDemo()
:
m_cameraHeight(4.f),
@@ -115,130 +62,6 @@ m_vertices(0)
m_cameraPosition = btVector3(30,30,30);
}
CharacterDemo::~CharacterDemo()
{
//cleanup in the reverse order of creation/initialization
if (m_character)
{
m_dynamicsWorld->removeCollisionObject(m_character->getCollisionObject());
m_character->destroy ();
}
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
delete m_indexVertexArrays;
delete m_vertices;
//delete dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_constraintSolver;
//delete broadphase
delete m_overlappingPairCache;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}
class MyCustomOverlappingPairCallback : public btOverlappingPairCallback
{
CharacterDemo* m_characterDemo;
btCollisionObject* m_characterCollider;
btHashedOverlappingPairCache* m_hashPairCache;
struct customOverlapFilterCallback : public btOverlapFilterCallback
{
bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
} myCustomOverlapFilterCallback;
public:
MyCustomOverlappingPairCallback(CharacterDemo* demo,btCollisionObject* characterCollider)
:m_characterDemo(demo),
m_characterCollider(characterCollider)
{
m_hashPairCache = new btHashedOverlappingPairCache();
m_hashPairCache->setOverlapFilterCallback (&myCustomOverlapFilterCallback);
}
virtual ~MyCustomOverlappingPairCallback()
{
delete m_hashPairCache;
}
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
if (proxy0->m_clientObject==m_characterCollider || proxy1->m_clientObject==m_characterCollider)
{
//printf("addOverlappingPair (%p,%p)\n",proxy0,proxy1);
return m_hashPairCache->addOverlappingPair(proxy0,proxy1);
}
return 0;
}
virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
{
if (proxy0->m_clientObject==m_characterCollider || proxy1->m_clientObject==m_characterCollider)
{
//printf("removeOverlappingPair (%p,%p)\n",proxy0,proxy1);
return m_hashPairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
}
return 0;
}
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)
{
if (proxy0->m_clientObject==m_characterCollider)
{
//printf("removeOverlappingPairsContainingProxy (%p)\n",proxy0);
m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
}
}
btBroadphasePairArray& getOverlappingPairArray()
{
return m_hashPairCache->getOverlappingPairArray();
}
btOverlappingPairCache* getOverlappingPairCache()
{
return m_hashPairCache;
}
};
void CharacterDemo::initPhysics()
{
@@ -254,29 +77,56 @@ void CharacterDemo::initPhysics()
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
#ifdef DYNAMIC_CHARACTER_CONTROLLER
m_character = new DynamicCharacterController ();
#else
btTransform startTransform;
startTransform.setIdentity ();
startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
m_ghostObject = new btPairCachingGhostObject();
m_ghostObject->setWorldTransform(startTransform);
sweepBP->getOverlappingPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());
btScalar characterHeight=1.75;
btScalar characterWidth =1.75;
btConvexShape* capsule = new btCapsuleShape(characterWidth,characterHeight);
m_ghostObject->setCollisionShape (capsule);
m_ghostObject->setCollisionFlags (btCollisionObject::CF_NO_CONTACT_RESPONSE);
btScalar stepHeight = btScalar(0.35);
m_character = new KinematicCharacterController (m_ghostObject,capsule,stepHeight);
#endif
m_dynamicsWorld->setInternalTickCallback(playerStepCallback,m_character);
///only collide with static for now (no interaction with dynamic objects)
m_dynamicsWorld->addCollisionObject(m_ghostObject,btBroadphaseProxy::DebrisFilter, btBroadphaseProxy::StaticFilter);
////////////////
/// Create some basic environment from a Quake level
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
btTransform tr;
tr.setIdentity();
#ifdef QUAKE_BSP_IMPORTING
char* bspfilename = "BspDemo.bsp";
void* memoryBuffer = 0;
FILE* file = fopen(bspfilename,"r");
if (!file)
{
//try again other path,
//sight... visual studio leaves the current working directory in the projectfiles folder
//instead of executable folder. who wants this default behaviour?!?
//visual studio leaves the current working directory in the projectfiles folder
bspfilename = "../../BspDemo.bsp";
file = fopen(bspfilename,"r");
}
if (!file)
{
//try again other path,
//sight... visual studio leaves the current working directory in the projectfiles folder
//instead of executable folder. who wants this default behaviour?!?
//visual studio leaves the current working directory in the projectfiles folder
bspfilename = "BspDemo.bsp";
file = fopen(bspfilename,"r");
}
@@ -302,211 +152,11 @@ void CharacterDemo::initPhysics()
fclose(file);
}
#else
#define USE_TRIMESH_GROUND 1
#ifdef USE_TRIMESH_GROUND
int i;
const float TRIANGLE_SIZE=20.f;
//create a triangle-mesh ground
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int NUM_VERTS_X = 20;
const int NUM_VERTS_Y = 20;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
m_vertices = new btVector3[totalVerts];
int* gIndices = new int[totalTriangles*3];
for ( i=0;i<NUM_VERTS_X;i++)
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
float wl = .2f;
//height set to zero, but can also use curved landscape, just uncomment out the code
float height = 20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
#ifdef FORCE_ZAXIS_UP
m_vertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE,
height
);
#else
m_vertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
height,
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
#endif
}
}
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &m_vertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
groundShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
tr.setOrigin(btVector3(0,-4.5f,0));
#else
//testing btHeightfieldTerrainShape
int width=128;
int length=128;
unsigned char* heightfieldData = new unsigned char[width*length];
{
for (int i=0;i<width*length;i++)
{
heightfieldData[i]=0;
}
}
char* filename="heightfield128x128.raw";
FILE* heightfieldFile = fopen(filename,"r");
if (!heightfieldFile)
{
filename="../../heightfield128x128.raw";
heightfieldFile = fopen(filename,"r");
}
if (heightfieldFile)
{
int numBytes =fread(heightfieldData,1,width*length,heightfieldFile);
//btAssert(numBytes);
if (!numBytes)
{
printf("couldn't read heightfield at %s\n",filename);
}
fclose (heightfieldFile);
}
btScalar maxHeight = 20000.f;
bool useFloatDatam=false;
bool flipQuadEdges=false;
btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex,useFloatDatam,flipQuadEdges);;
groundShape = heightFieldShape;
heightFieldShape->setUseDiamondSubdivision(true);
btVector3 localScaling(20,20,20);
localScaling[upIndex]=1.f;
groundShape->setLocalScaling(localScaling);
tr.setOrigin(btVector3(0,-64.5f,0));
#endif //
m_collisionShapes.push_back(groundShape);
//create ground object
localCreateRigidBody(0,tr,groundShape);
#define CUBE_HALF_EXTENTS 0.5
#define EXTRA_HEIGHT 10.0
btBoxShape* boxShape = new btBoxShape (btVector3(1.0, 1.0, 1.0));
m_collisionShapes.push_back (boxShape);
#define DO_WALL
#ifdef DO_WALL
for (i=0;i<50;i++)
{
btCollisionShape* shape = boxShape;
//shape->setMargin(gCollisionMargin);
bool isDyna = i>0;
btTransform trans;
trans.setIdentity();
if (i>0)
{
//stack them
int colsize = 10;
int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
int row2 = row;
int col = (i)%(colsize)-colsize/2;
if (col>3)
{
col=11;
row2 |=1;
}
btVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
trans.setOrigin(pos);
} else
{
trans.setOrigin(btVector3(0,EXTRA_HEIGHT-CUBE_HALF_EXTENTS,0));
}
float mass = 1.f;
if (!isDyna)
mass = 0.f;
btRigidBody* body = localCreateRigidBody(mass,trans,shape);
#ifdef USE_KINEMATIC_GROUND
if (mass == 0.f)
{
body->setCollisionFlags( body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
body->setActivationState(DISABLE_DEACTIVATION);
}
#endif //USE_KINEMATIC_GROUND
}
#endif
#endif
#ifdef DYNAMIC_CHARACTER_CONTROLLER
m_character = new DynamicCharacterController ();
#else
m_character = new KinematicCharacterController ();
#endif
m_character->setup ();
m_dynamicsWorld->setInternalTickCallback(playerStepCallback,m_character);
//some custom callback sample
m_customPairCallback = new MyCustomOverlappingPairCallback(this,m_character->getCollisionObject());
sweepBP->setOverlappingPairUserCallback(m_customPairCallback);
m_character->registerPairCacheAndDispatcher (m_customPairCallback->getOverlappingPairCache(), m_dispatcher);
///only collide with static for now (no interaction with dynamic objects)
m_dynamicsWorld->addCollisionObject(m_character->getCollisionObject(),btBroadphaseProxy::DebrisFilter, btBroadphaseProxy::StaticFilter);
///////////////
clientResetScene();
setCameraDistance(26.f);
setCameraDistance(56.f);
}
@@ -526,13 +176,16 @@ void CharacterDemo::debugDrawContacts()
// printf("numPairs = %d\n",m_customPairCallback->getOverlappingPairArray().size());
{
btManifoldArray manifoldArray;
for (int i=0;i<m_customPairCallback->getOverlappingPairArray().size();i++)
btBroadphasePairArray& pairArray = m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray();
int numPairs = pairArray.size();
for (int i=0;i<numPairs;i++)
{
manifoldArray.clear();
const btBroadphasePair& pair = m_customPairCallback->getOverlappingPairArray()[i];
btBroadphasePair* collisionPair = m_overlappingPairCache->getOverlappingPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1);
const btBroadphasePair& pair = pairArray[i];
btBroadphasePair* collisionPair = m_overlappingPairCache->getOverlappingPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1);
if (!collisionPair)
continue;
@@ -546,7 +199,8 @@ void CharacterDemo::debugDrawContacts()
{
const btManifoldPoint&pt = manifold->getContactPoint(p);
m_dynamicsWorld->getDebugDrawer()->drawContactPoint(pt.getPositionWorldOnB(),pt.m_normalWorldOnB,pt.getDistance(),pt.getLifeTime(),btVector3(1.f,1.f,0.f));
btVector3 color(255,255,255);
m_dynamicsWorld->getDebugDrawer()->drawContactPoint(pt.getPositionWorldOnB(),pt.m_normalWorldOnB,pt.getDistance(),pt.getLifeTime(),color);
}
}
}
@@ -645,7 +299,7 @@ void CharacterDemo::displayCallback(void)
void CharacterDemo::clientResetScene()
{
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_character->getCollisionObject()->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_ghostObject->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
m_character->reset ();
///WTF
@@ -741,14 +395,14 @@ void CharacterDemo::updateCamera()
btTransform characterWorldTrans;
//look at the vehicle
characterWorldTrans = m_character->getCollisionObject()->getWorldTransform();
characterWorldTrans = m_ghostObject->getWorldTransform();
btVector3 up = characterWorldTrans.getBasis()[1];
btVector3 backward = -characterWorldTrans.getBasis()[2];
up.normalize ();
backward.normalize ();
m_cameraTargetPosition = characterWorldTrans.getOrigin();
m_cameraPosition = m_cameraTargetPosition + up * 2.0 + backward * 2.0;
m_cameraPosition = m_cameraTargetPosition + up * 2.0 + backward * 12.0;
//update OpenGL camera settings
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
@@ -764,3 +418,51 @@ void CharacterDemo::updateCamera()
}
CharacterDemo::~CharacterDemo()
{
//cleanup in the reverse order of creation/initialization
if (m_character)
{
m_dynamicsWorld->removeCollisionObject(m_ghostObject);
}
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
delete m_indexVertexArrays;
delete m_vertices;
//delete dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_constraintSolver;
//delete broadphase
delete m_overlappingPairCache;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}

60
Demos/CharacterDemo/CharacterDemo.h
View File

@@ -16,9 +16,11 @@ subject to the following restrictions:
#define CHARACTER_DEMO_H
///DYNAMIC_CHARACTER_CONTROLLER is not supported/obsolete at the moment
///DYNAMIC_CHARACTER_CONTROLLER is not at the moment
//#define DYNAMIC_CHARACTER_CONTROLLER 1
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
class CharacterControllerInterface;
class DynamicCharacterController;
class KinematicCharacterController;
@@ -37,6 +39,7 @@ class CharacterDemo : public DemoApplication
CharacterControllerInterface* m_character;
#else
KinematicCharacterController* m_character;
class btPairCachingGhostObject* m_ghostObject;
#endif
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
@@ -51,8 +54,6 @@ class CharacterDemo : public DemoApplication
class btTriangleIndexVertexArray* m_indexVertexArrays;
class MyCustomOverlappingPairCallback* m_customPairCallback;
btVector3* m_vertices;
void debugDrawContacts();
@@ -93,6 +94,59 @@ class CharacterDemo : public DemoApplication
}
};
#define QUAKE_BSP_IMPORTING 1
#ifdef QUAKE_BSP_IMPORTING
#include "../BspDemo/BspLoader.h"
#include "../BspDemo/BspConverter.h"
class BspToBulletConverter : public BspConverter
{
CharacterDemo* m_demoApp;
public:
BspToBulletConverter(CharacterDemo* demoApp)
:m_demoApp(demoApp)
{
}
virtual void addConvexVerticesCollider(btAlignedObjectArray<btVector3>& vertices, bool isEntity, const btVector3& entityTargetLocation)
{
///perhaps we can do something special with entities (isEntity)
///like adding a collision Triggering (as example)
if (vertices.size() > 0)
{
float mass = 0.f;
btTransform startTransform;
//can use a shift
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-10.0f,0.0f));
//this create an internal copy of the vertices
for (int i = 0; i < vertices.size(); i++)
{
vertices[i] *= btScalar(0.5);
float t = vertices[i].getZ() * btScalar(0.75);
vertices[i].setZ(-vertices[i].getY());
vertices[i].setY(t);
}
btCollisionShape* shape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
m_demoApp->m_collisionShapes.push_back(shape);
//btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
m_demoApp->localCreateRigidBody(mass, startTransform,shape);
}
}
};
#endif //QUAKE_BSP_IMPORTING
#endif //CHARACTER_DEMO_H

153
Demos/CharacterDemo/KinematicCharacterController.cpp
View File

@@ -1,6 +1,6 @@
#include "GLDebugDrawer.h"
#include "BulletCollision/CollisionDispatch/btGhostObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
@@ -81,85 +81,42 @@ btVector3 perpindicularComponent (const btVector3& direction, const btVector3& n
return direction - parallelComponent(direction, normal);
}
KinematicCharacterController::KinematicCharacterController ()
KinematicCharacterController::KinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight)
{
m_useGhostObjectSweepTest = true;
m_ghostObject = ghostObject;
m_stepHeight = stepHeight;
m_turnAngle = btScalar(0.0);
m_walkVelocity = btScalar(1.1) * 4.0; // 4 km/h -> 1.1 m/s
m_shape = NULL;
m_pairCache = NULL;
m_collisionObject = NULL;
m_convexShape=convexShape;
}
KinematicCharacterController::~KinematicCharacterController ()
{
}
void KinematicCharacterController::setup (btScalar height, btScalar width, btScalar stepHeight)
btPairCachingGhostObject* KinematicCharacterController::getGhostObject()
{
btVector3 spherePositions[2];
btScalar sphereRadii[2];
sphereRadii[0] = width;
sphereRadii[1] = width;
spherePositions[0] = btVector3 (0.0, (height/btScalar(2.0) ), 0.0);
spherePositions[1] = btVector3 (0.0, (-height/btScalar(2.0)), 0.0);
m_halfHeight = height/btScalar(2.0);
m_shape = new btMultiSphereShape (btVector3(width/btScalar(2.0), height/btScalar(2.0), width/btScalar(2.0)), &spherePositions[0], &sphereRadii[0], 2);
m_stepHeight = stepHeight;
m_height = height;
m_width = width;
btTransform startTransform;
startTransform.setIdentity ();
startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
//btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
m_collisionObject = new btCollisionObject ();
m_collisionObject->setWorldTransform(startTransform);
m_collisionObject->setCollisionShape (m_shape);
m_collisionObject->setCollisionFlags (btCollisionObject::CF_NO_CONTACT_RESPONSE);
return m_ghostObject;
}
void KinematicCharacterController::destroy ()
bool KinematicCharacterController::recoverFromPenetration (btCollisionWorld* collisionWorld)
{
if (m_collisionObject)
{
delete m_collisionObject;
}
if (m_shape)
{
delete m_shape;
}
}
btCollisionObject* KinematicCharacterController::getCollisionObject ()
{
return m_collisionObject;
}
bool KinematicCharacterController::recoverFromPenetration (const btCollisionWorld* collisionWorld)
{
if (m_pairCache == NULL)
return false;
bool penetration = false;
collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());
m_dispatcher->dispatchAllCollisionPairs (m_pairCache, collisionWorld->getDispatchInfo(), m_dispatcher);
m_currentPosition = m_collisionObject->getWorldTransform().getOrigin();
m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();
btScalar maxPen = btScalar(0.0);
for (int i = 0; i < m_pairCache->getNumOverlappingPairs(); i++)
for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++)
{
m_manifoldArray.resize(0);
btBroadphasePair* collisionPair = &m_pairCache->getOverlappingPairArray()[i];
btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
if (collisionPair->m_algorithm)
collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);
@@ -168,7 +125,7 @@ bool KinematicCharacterController::recoverFromPenetration (const btCollisionWorl
for (int j=0;j<m_manifoldArray.size();j++)
{
btPersistentManifold* manifold = m_manifoldArray[j];
btScalar directionSign = manifold->getBody0() == m_collisionObject ? btScalar(-1.0) : btScalar(1.0);
btScalar directionSign = manifold->getBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0);
for (int p=0;p<manifold->getNumContacts();p++)
{
const btManifoldPoint&pt = manifold->getContactPoint(p);
@@ -191,14 +148,14 @@ bool KinematicCharacterController::recoverFromPenetration (const btCollisionWorl
//manifold->clearManifold();
}
}
btTransform newTrans = m_collisionObject->getWorldTransform();
btTransform newTrans = m_ghostObject->getWorldTransform();
newTrans.setOrigin(m_currentPosition);
m_collisionObject->setWorldTransform(newTrans);
m_ghostObject->setWorldTransform(newTrans);
// printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
return penetration;
}
void KinematicCharacterController::stepUp (const btCollisionWorld* world)
void KinematicCharacterController::stepUp ( btCollisionWorld* world)
{
// phase 1: up
btTransform start, end;
@@ -211,11 +168,18 @@ void KinematicCharacterController::stepUp (const btCollisionWorld* world)
start.setOrigin (m_currentPosition + btVector3(btScalar(0.0), btScalar(0.1), btScalar(0.0)));
end.setOrigin (m_targetPosition);
ClosestNotMeConvexResultCallback callback (m_collisionObject);
callback.m_collisionFilterGroup = getCollisionObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getCollisionObject()->getBroadphaseHandle()->m_collisionFilterMask;
ClosestNotMeConvexResultCallback callback (m_ghostObject);
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
world->convexSweepTest (m_shape, start, end, callback);
if (m_useGhostObjectSweepTest)
{
m_ghostObject->convexSweepTest (m_convexShape, start, end, world->getDispatchInfo().m_allowedCcdPenetration,callback);
}
else
{
world->convexSweepTest (m_convexShape, start, end, callback);
}
if (callback.hasHit())
{
@@ -264,7 +228,7 @@ void KinematicCharacterController::updateTargetPositionBasedOnCollision (const b
}
}
void KinematicCharacterController::stepForwardAndStrafe (const btCollisionWorld* collisionWorld, const btVector3& walkMove)
void KinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* collisionWorld, const btVector3& walkMove)
{
btVector3 originalDir = walkMove.normalized();
@@ -296,15 +260,23 @@ void KinematicCharacterController::stepForwardAndStrafe (const btCollisionWorld*
start.setOrigin (m_currentPosition);
end.setOrigin (m_targetPosition);
ClosestNotMeConvexResultCallback callback (m_collisionObject);
callback.m_collisionFilterGroup = getCollisionObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getCollisionObject()->getBroadphaseHandle()->m_collisionFilterMask;
ClosestNotMeConvexResultCallback callback (m_ghostObject);
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
//btScalar margin = m_shape->getMargin();
//m_shape->setMargin(margin - 0.06f);
collisionWorld->convexSweepTest (m_shape, start, end, callback);
//m_shape->setMargin(margin);
//btScalar margin = m_convexShape->getMargin();
//m_convexShape->setMargin(margin - 0.06f);
if (m_useGhostObjectSweepTest)
{
m_ghostObject->convexSweepTest (m_convexShape, start, end, collisionWorld->getDispatchInfo().m_allowedCcdPenetration,callback);
} else
{
collisionWorld->convexSweepTest (m_convexShape, start, end, callback);
}
//m_convexShape->setMargin(margin);
fraction -= callback.m_closestHitFraction;
@@ -352,7 +324,7 @@ void KinematicCharacterController::stepForwardAndStrafe (const btCollisionWorld*
}
}
void KinematicCharacterController::stepDown (const btCollisionWorld* collisionWorld, btScalar dt)
void KinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt)
{
btTransform start, end;
@@ -367,11 +339,17 @@ void KinematicCharacterController::stepDown (const btCollisionWorld* collisionWo
start.setOrigin (m_currentPosition);
end.setOrigin (m_targetPosition);
ClosestNotMeConvexResultCallback callback (m_collisionObject);
callback.m_collisionFilterGroup = getCollisionObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getCollisionObject()->getBroadphaseHandle()->m_collisionFilterMask;
ClosestNotMeConvexResultCallback callback (m_ghostObject);
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
collisionWorld->convexSweepTest (m_shape, start, end, callback);
if (m_useGhostObjectSweepTest)
{
m_ghostObject->convexSweepTest (m_convexShape, start, end, collisionWorld->getDispatchInfo().m_allowedCcdPenetration,callback);
} else
{
collisionWorld->convexSweepTest (m_convexShape, start, end, callback);
}
if (callback.hasHit())
{
@@ -393,16 +371,11 @@ void KinematicCharacterController::warp (const btVector3& origin)
btTransform xform;
xform.setIdentity();
xform.setOrigin (origin);
m_collisionObject->setWorldTransform (xform);
m_ghostObject->setWorldTransform (xform);
}
void KinematicCharacterController::registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher)
{
m_pairCache = pairCache;
m_dispatcher = dispatcher;
}
void KinematicCharacterController::preStep (const btCollisionWorld* collisionWorld)
void KinematicCharacterController::preStep ( btCollisionWorld* collisionWorld)
{
int numPenetrationLoops = 0;
@@ -418,7 +391,7 @@ void KinematicCharacterController::preStep (const btCollisionWorld* collisionWor
}
}
btTransform xform;
xform = m_collisionObject->getWorldTransform ();
xform = m_ghostObject->getWorldTransform ();
btVector3 forwardDir = xform.getBasis()[2];
// printf("forwardDir=%f,%f,%f\n",forwardDir[0],forwardDir[1],forwardDir[2]);
@@ -439,7 +412,7 @@ void KinematicCharacterController::preStep (const btCollisionWorld* collisionWor
}
void KinematicCharacterController::playerStep (const btCollisionWorld* collisionWorld,
void KinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld,
btScalar dt,
int forward,
int backward,
@@ -463,7 +436,7 @@ void KinematicCharacterController::playerStep (const btCollisionWorld* collision
walkDirection -= m_forwardDirection;
btTransform xform;
xform = m_collisionObject->getWorldTransform ();
xform = m_ghostObject->getWorldTransform ();
// printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]);
// printf("walkSpeed=%f\n",walkSpeed);
@@ -473,7 +446,7 @@ void KinematicCharacterController::playerStep (const btCollisionWorld* collision
stepDown (collisionWorld, dt);
xform.setOrigin (m_currentPosition);
m_collisionObject->setWorldTransform (xform);
m_ghostObject->setWorldTransform (xform);
}
void KinematicCharacterController::setFallSpeed (btScalar fallSpeed)

43
Demos/CharacterDemo/KinematicCharacterController.h
View File

@@ -9,7 +9,7 @@ class btCollisionShape;
class btRigidBody;
class btCollisionWorld;
class btCollisionDispatcher;
class btPairCachingGhostObject;
///KinematicCharacterController is a collision object with support for sliding motion in a world.
///It uses the convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
@@ -18,10 +18,9 @@ class KinematicCharacterController : public CharacterControllerInterface
{
protected:
btScalar m_halfHeight;
btConvexShape* m_shape;
btCollisionObject* m_collisionObject;
btOverlappingPairCache* m_pairCache;
btCollisionDispatcher* m_dispatcher;
btPairCachingGhostObject* m_ghostObject;
btConvexShape* m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
btScalar m_fallSpeed;
btScalar m_jumpSpeed;
@@ -30,8 +29,6 @@ protected:
btScalar m_turnAngle;
btScalar m_walkVelocity;
btScalar m_height;
btScalar m_width;
btScalar m_stepHeight;
btVector3 m_upDirection;
@@ -47,25 +44,25 @@ protected:
bool m_touchingContact;
btVector3 m_touchingNormal;
bool recoverFromPenetration (const btCollisionWorld* collisionWorld);
void stepUp (const btCollisionWorld* collisionWorld);
void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
void stepForwardAndStrafe (const btCollisionWorld* collisionWorld, const btVector3& walkMove);
void stepDown (const btCollisionWorld* collisionWorld, btScalar dt);
public:
KinematicCharacterController ();
~KinematicCharacterController ();
void setup (btScalar height = btScalar(1.75), btScalar width = btScalar(0.4), btScalar stepHeight = btScalar(0.35));
void destroy ();
bool m_useGhostObjectSweepTest;
btCollisionObject* getCollisionObject ();
bool recoverFromPenetration (btCollisionWorld* collisionWorld);
void stepUp (btCollisionWorld* collisionWorld);
void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
public:
KinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight);
~KinematicCharacterController ();
btPairCachingGhostObject* getGhostObject();
void reset ();
void warp (const btVector3& origin);
virtual void registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher);
void preStep (const btCollisionWorld* collisionWorld);
void playerStep (const btCollisionWorld* collisionWorld, btScalar dt,
void preStep ( btCollisionWorld* collisionWorld);
void playerStep (btCollisionWorld* collisionWorld, btScalar dt,
int forward,
int backward,
int left,
@@ -77,6 +74,10 @@ public:
void setMaxJumpHeight (btScalar maxJumpHeight);
bool canJump () const;
void jump ();
void setUseGhostSweepTest(bool useGhostObjectSweepTest)
{
m_useGhostObjectSweepTest = useGhostObjectSweepTest;
}
bool onGround () const;
};

6
Demos/OpenGL/GLDebugDrawer.cpp
View File

@@ -27,7 +27,7 @@ void GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btV
// if (m_debugMode > 0)
{
glBegin(GL_LINES);
glColor3f(color.getX(), color.getY(), color.getZ());
glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
@@ -72,8 +72,10 @@ void GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3&
{
btVector3 to=pointOnB+normalOnB*distance;
const btVector3&from = pointOnB;
glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
//glColor4f(0,0,0,1.f);
glBegin(GL_LINES);
glColor3f(color.getX(), color.getY(), color.getZ());
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();

20
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
View File

@@ -33,7 +33,8 @@ int gFindPairs =0;
btHashedOverlappingPairCache::btHashedOverlappingPairCache():
m_overlapFilterCallback(0),
m_blockedForChanges(false)
m_blockedForChanges(false),
m_ghostPairCallback(0)
{
int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize);
@@ -238,6 +239,11 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
int count = m_overlappingPairArray.size();
int oldCapacity = m_overlappingPairArray.capacity();
void* mem = &m_overlappingPairArray.expand();
//this is where we add an actual pair, so also call the 'ghost'
if (m_ghostPairCallback)
m_ghostPairCallback->addOverlappingPair(proxy0,proxy1);
int newCapacity = m_overlappingPairArray.capacity();
if (oldCapacity < newCapacity)
@@ -317,6 +323,9 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
int lastPairIndex = m_overlappingPairArray.size() - 1;
if (m_ghostPairCallback)
m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
// If the removed pair is the last pair, we are done.
if (lastPairIndex == pairIndex)
{
@@ -399,6 +408,8 @@ void* btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
btBroadphasePair& pair = m_overlappingPairArray[findIndex];
void* userData = pair.m_userInfo;
cleanOverlappingPair(pair,dispatcher);
if (m_ghostPairCallback)
m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1);
m_overlappingPairArray.pop_back();
@@ -426,8 +437,12 @@ btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseP
void* mem = &m_overlappingPairArray.expand();
btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
gOverlappingPairs++;
gAddedPairs++;
if (m_ghostPairCallback)
m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
return pair;
}
@@ -493,7 +508,8 @@ void btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
btSortedOverlappingPairCache::btSortedOverlappingPairCache():
m_blockedForChanges(false),
m_hasDeferredRemoval(true),
m_overlapFilterCallback(0)
m_overlapFilterCallback(0),
m_ghostPairCallback(0)
{
int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize);

22
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
View File

@@ -83,6 +83,8 @@ public:
virtual bool hasDeferredRemoval() = 0;
virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0;
};
/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
@@ -253,10 +255,16 @@ private:
return false;
}
virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
{
m_ghostPairCallback = ghostPairCallback;
}
public:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
btOverlappingPairCallback* m_ghostPairCallback;
};
@@ -280,6 +288,8 @@ class btSortedOverlappingPairCache : public btOverlappingPairCache
//if set, use the callback instead of the built in filter in needBroadphaseCollision
btOverlapFilterCallback* m_overlapFilterCallback;
btOverlappingPairCallback* m_ghostPairCallback;
public:
btSortedOverlappingPairCache();
@@ -355,12 +365,17 @@ class btSortedOverlappingPairCache : public btOverlappingPairCache
return m_hasDeferredRemoval;
}
virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
{
m_ghostPairCallback = ghostPairCallback;
}
};
///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and testing.
///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing.
class btNullPairCache : public btOverlappingPairCache
{
@@ -414,6 +429,10 @@ public:
return true;
}
virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
{
}
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/)
{
return 0;
@@ -429,6 +448,7 @@ public:
}
};

1
src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
View File

@@ -17,7 +17,6 @@ subject to the following restrictions:
#define COLLISION_CREATE_FUNC
#include "LinearMath/btAlignedObjectArray.h"
typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
class btCollisionAlgorithm;
class btCollisionObject;

3
src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@@ -29,8 +29,11 @@ struct btBroadphaseProxy;
class btCollisionShape;
#include "LinearMath/btMotionState.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btAlignedObjectArray.h"
typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
/// btCollisionObject can be used to manage collision detection objects.
/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.

2
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View File

@@ -71,7 +71,7 @@ class btBroadphaseInterface;
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "btCollisionObject.h"
#include "btCollisionDispatcher.h" //for definition of btCollisionObjectArray
#include "btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "LinearMath/btAlignedObjectArray.h"

141
src/BulletCollision/CollisionDispatch/btGhostObject.cpp
View File

@@ -14,16 +14,149 @@ subject to the following restrictions:
*/
#include "btGhostObject.h"
#include "btCollisionWorld.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "LinearMath/btAabbUtil2.h"
btGhostObject::btGhostObject()
{
m_internalType = CO_GHOST_OBJECT;
m_overlappingPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
m_overlappingPairCache->setOverlapFilterCallback(&m_ghostOverlapFilterCallback);
}
btGhostObject::~btGhostObject()
{
btAlignedFree(m_overlappingPairCache);
///btGhostObject should have been removed from the world, so no overlapping objects
btAssert(!m_overlappingObjects.size());
}
void btGhostObject::addOverlappingObject(btBroadphaseProxy* otherProxy)
{
btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
btAssert(otherObject);
int index = m_overlappingObjects.findLinearSearch(otherObject);
if (index==m_overlappingObjects.size())
{
m_overlappingObjects.push_back(otherObject);
}
}
void btGhostObject::removeOverlappingObject(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher)
{
btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
btAssert(otherObject);
int index = m_overlappingObjects.findLinearSearch(otherObject);
if (index<m_overlappingObjects.size())
{
m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1];
m_overlappingObjects.pop_back();
}
}
btPairCachingGhostObject::btPairCachingGhostObject()
{
m_hashPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
}
btPairCachingGhostObject::~btPairCachingGhostObject()
{
btAlignedFree( m_hashPairCache );
}
void btPairCachingGhostObject::addOverlappingObject(btBroadphaseProxy* otherProxy)
{
btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
btAssert(otherObject);
int index = m_overlappingObjects.findLinearSearch(otherObject);
if (index==m_overlappingObjects.size())
{
m_overlappingObjects.push_back(otherObject);
m_hashPairCache->addOverlappingPair(getBroadphaseHandle(),otherProxy);
}
}
void btPairCachingGhostObject::removeOverlappingObject(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher)
{
btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
btAssert(otherObject);
int index = m_overlappingObjects.findLinearSearch(otherObject);
if (index<m_overlappingObjects.size())
{
m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1];
m_overlappingObjects.pop_back();
m_hashPairCache->removeOverlappingPair(getBroadphaseHandle(),otherProxy,dispatcher);
}
}
void btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btScalar allowedCcdPenetration, btCollisionWorld::ConvexResultCallback& resultCallback) const
{
btTransform convexFromTrans,convexToTrans;
convexFromTrans = convexFromWorld;
convexToTrans = convexToWorld;
btVector3 castShapeAabbMin, castShapeAabbMax;
/* Compute AABB that encompasses angular movement */
{
btVector3 linVel, angVel;
btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
btTransform R;
R.setIdentity ();
R.setRotation (convexFromTrans.getRotation());
castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
}
/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
// do a ray-shape query using convexCaster (CCD)
int i;
for (i=0;i<m_overlappingObjects.size();i++)
{
btCollisionObject* collisionObject= m_overlappingObjects[i];
//only perform raycast if filterMask matches
if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
btVector3 hitNormal;
if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
btCollisionWorld::objectQuerySingle(castShape, convexFromTrans,convexToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
resultCallback,
allowedCcdPenetration);
}
}
}
}
void btGhostObject::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const
{
btTransform rayFromTrans;
rayFromTrans.setIdentity();
rayFromTrans.setOrigin(rayFromWorld);
btTransform rayToTrans;
rayToTrans.setIdentity();
rayToTrans.setOrigin(rayToWorld);
int i;
for (i=0;i<m_overlappingObjects.size();i++)
{
btCollisionObject* collisionObject= m_overlappingObjects[i];
//only perform raycast if filterMask matches
if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
{
btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
resultCallback);
}
}
}

92
src/BulletCollision/CollisionDispatch/btGhostObject.h
View File

@@ -21,8 +21,11 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
#include "LinearMath/btAlignedAllocator.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "btCollisionWorld.h"
///work-in-progress, not complete
class btConvexShape;
class btDispatcher;
///The btGhostObject can keep track of all objects that are overlapping
///By default, this overlap is based on the AABB
@@ -32,20 +35,7 @@ ATTRIBUTE_ALIGNED16(class) btGhostObject : public btCollisionObject
{
protected:
btOverlappingPairCache* m_overlappingPairCache;
struct btGhostOverlapFilterCallback : public btOverlapFilterCallback
{
bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
};
btGhostOverlapFilterCallback m_ghostOverlapFilterCallback;
btAlignedObjectArray<btCollisionObject*> m_overlappingObjects;
public:
@@ -53,33 +43,41 @@ public:
virtual ~btGhostObject();
void convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btScalar allowedCcdPenetration,btCollisionWorld::ConvexResultCallback& resultCallback) const;
virtual void addOverlappingObject(btCollisionObject* otherObject);
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const;
virtual void removeOverlappingObject(btCollisionObject* otherObject);
virtual void addOverlappingObject(btBroadphaseProxy* otherProxy);
btOverlappingPairCache* getPairCache()
virtual void removeOverlappingObject(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher);
int getNumOverlappingObjects() const
{
return m_overlappingPairCache;
};
const btOverlappingPairCache* getPairCache() const
{
return m_overlappingPairCache;
};
btBroadphasePairArray& getOverlappingPairArray()
{
return m_overlappingPairCache->getOverlappingPairArray();
return m_overlappingObjects.size();
}
btOverlappingPairCache* getOverlappingPairCache()
btCollisionObject* getOverlappingObject(int index)
{
return m_overlappingPairCache;
return m_overlappingObjects[index];
}
const btCollisionObject* getOverlappingObject(int index) const
{
return m_overlappingObjects[index];
}
btAlignedObjectArray<btCollisionObject*>& getOverlappingPairs()
{
return m_overlappingObjects;
}
const btAlignedObjectArray<btCollisionObject*> getOverlappingPairs() const
{
return m_overlappingObjects;
}
//
// Cast
// internal cast
//
static const btGhostObject* upcast(const btCollisionObject* colObj)
@@ -95,11 +93,31 @@ public:
return 0;
}
};
class btPairCachingGhostObject : public btGhostObject
{
btHashedOverlappingPairCache* m_hashPairCache;
public:
btPairCachingGhostObject();
virtual ~btPairCachingGhostObject();
virtual void addOverlappingObject(btBroadphaseProxy* otherProxy);
virtual void removeOverlappingObject(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher);
btHashedOverlappingPairCache* getOverlappingPairCache()
{
return m_hashPairCache;
}
};
///btGhostPairCache keeps track of overlapping objects that have AABB overlap with the ghost
class btGhostPairCallback : public btOverlappingPairCallback
{
@@ -121,9 +139,10 @@ public:
btGhostObject* ghost0 = btGhostObject::upcast(colObj0);
btGhostObject* ghost1 = btGhostObject::upcast(colObj1);
if (ghost0)
ghost0->addOverlappingObject(colObj1);
ghost0->addOverlappingObject(proxy1);
if (ghost1)
ghost1->addOverlappingObject(colObj0);
ghost1->addOverlappingObject(proxy0);
return 0;
}
virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
@@ -133,9 +152,10 @@ public:
btGhostObject* ghost0 = btGhostObject::upcast(colObj0);
btGhostObject* ghost1 = btGhostObject::upcast(colObj1);
if (ghost0)
ghost0->removeOverlappingObject(colObj1);
ghost0->removeOverlappingObject(proxy1,dispatcher);
if (ghost1)
ghost1->removeOverlappingObject(colObj0);
ghost1->removeOverlappingObject(proxy0,dispatcher);
return 0;
}
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)

2
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
View File

@@ -19,7 +19,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btUnionFind.h"
#include "btCollisionCreateFunc.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btCollisionObject.h"
class btCollisionObject;
class btCollisionWorld;