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[MJCF import] add custom broadphase collision filter, for MJCF/MuJoCo compatibility

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[MJCF import] improve MuJoCo importer, support collision filters
fixed a few more warnings
This commit is contained in:
Erwin Coumans
2017-01-16 08:23:49 -08:00
parent c0c4c8ba3f
commit 8e9181f85c
8 changed files with 156 additions and 24 deletions
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58
examples/CommonInterfaces/CommonMultiBodyBase.h
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@@ -18,10 +18,49 @@
#include "CommonWindowInterface.h"
#include "CommonCameraInterface.h"
enum MyFilterModes
{
FILTER_GROUPAMASKB_AND_GROUPBMASKA2=0,
FILTER_GROUPAMASKB_OR_GROUPBMASKA2
};
struct MyOverlapFilterCallback2 : public btOverlapFilterCallback
{
int m_filterMode;
MyOverlapFilterCallback2()
:m_filterMode(FILTER_GROUPAMASKB_AND_GROUPBMASKA2)
{
}
virtual ~MyOverlapFilterCallback2()
{}
// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
if (m_filterMode==FILTER_GROUPAMASKB_AND_GROUPBMASKA2)
{
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
if (m_filterMode==FILTER_GROUPAMASKB_OR_GROUPBMASKA2)
{
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
return false;
}
};
struct CommonMultiBodyBase : public CommonExampleInterface
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
MyOverlapFilterCallback2* m_filterCallback;
btOverlappingPairCache* m_pairCache;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btMultiBodyConstraintSolver* m_solver;
@@ -41,7 +80,9 @@ struct CommonMultiBodyBase : public CommonExampleInterface
struct GUIHelperInterface* m_guiHelper;
CommonMultiBodyBase(GUIHelperInterface* helper)
:m_broadphase(0),
:m_filterCallback(0),
m_pairCache(0),
m_broadphase(0),
m_dispatcher(0),
m_solver(0),
m_collisionConfiguration(0),
@@ -59,11 +100,16 @@ struct CommonMultiBodyBase : public CommonExampleInterface
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
m_filterCallback = new MyOverlapFilterCallback2();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();//btSimpleBroadphase();
m_pairCache = new btHashedOverlappingPairCache();
m_pairCache->setOverlapFilterCallback(m_filterCallback);
m_broadphase = new btDbvtBroadphase(m_pairCache);//btSimpleBroadphase();
m_solver = new btMultiBodyConstraintSolver;
@@ -142,7 +188,13 @@ struct CommonMultiBodyBase : public CommonExampleInterface
delete m_dispatcher;
m_dispatcher=0;
delete m_pairCache;
m_pairCache = 0;
delete m_filterCallback;
m_filterCallback = 0;
delete m_collisionConfiguration;
m_collisionConfiguration=0;
}