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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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66
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -376,6 +376,47 @@ struct MyBroadphaseCallback : public btBroadphaseAabbCallback
};
enum MyFilterModes
{
FILTER_GROUPAMASKB_AND_GROUPBMASKA=0,
FILTER_GROUPAMASKB_OR_GROUPBMASKA
};
struct MyOverlapFilterCallback : public btOverlapFilterCallback
{
int m_filterMode;
MyOverlapFilterCallback()
:m_filterMode(FILTER_GROUPAMASKB_AND_GROUPBMASKA)
{
}
virtual ~MyOverlapFilterCallback()
{}
// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
if (m_filterMode==FILTER_GROUPAMASKB_AND_GROUPBMASKA)
{
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_GROUPBMASKA)
{
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
return false;
}
};
struct PhysicsServerCommandProcessorInternalData
{
///handle management
@@ -501,6 +542,9 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<std::string*> m_strings;
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
MyOverlapFilterCallback* m_broadphaseCollisionFilterCallback;
btHashedOverlappingPairCache* m_pairCache;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btMultiBodyConstraintSolver* m_solver;
@@ -559,6 +603,12 @@ struct PhysicsServerCommandProcessorInternalData
m_physicsDeltaTime(1./240.),
m_numSimulationSubSteps(0),
m_userConstraintUIDGenerator(1),
m_broadphaseCollisionFilterCallback(0),
m_pairCache(0),
m_broadphase(0),
m_dispatcher(0),
m_solver(0),
m_collisionConfiguration(0),
m_dynamicsWorld(0),
m_remoteDebugDrawer(0),
m_guiHelper(0),
@@ -698,7 +748,6 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
}
void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
{
///collision configuration contains default setup for memory, collision setup
@@ -711,6 +760,14 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_data->m_dispatcher = new btCollisionDispatcher(m_data->m_collisionConfiguration);
m_data->m_broadphaseCollisionFilterCallback = new MyOverlapFilterCallback();
m_data->m_broadphaseCollisionFilterCallback->m_filterMode = FILTER_GROUPAMASKB_OR_GROUPBMASKA;
m_data->m_pairCache = new btHashedOverlappingPairCache();
m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback);
m_data->m_broadphase = new btDbvtBroadphase();
m_data->m_solver = new btMultiBodyConstraintSolver;
@@ -865,9 +922,16 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
delete m_data->m_solver;
m_data->m_solver=0;
delete m_data->m_broadphase;
m_data->m_broadphase=0;
delete m_data->m_pairCache;
m_data->m_pairCache= 0;
delete m_data->m_broadphaseCollisionFilterCallback;
m_data->m_broadphaseCollisionFilterCallback= 0;
delete m_data->m_dispatcher;
m_data->m_dispatcher=0;