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added basic collision filtering, in broadphase. more advanced collision filtering should happen in CollisionDispatch::NeedsCollision

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fixed CcdPhysicsDemo: don't pick static objects, it create a point 2 point constraint, which assert in jacobian generation
This commit is contained in:
ejcoumans
2006-06-25 19:36:50 +00:00
parent 8376da46a6
commit c8a0c95195
12 changed files with 106 additions and 26 deletions
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10
Bullet/BroadphaseCollision/AxisSweep3.cpp
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@@ -21,11 +21,12 @@
#include <assert.h>
BroadphaseProxy* AxisSweep3::CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr )
BroadphaseProxy* AxisSweep3::CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
{
unsigned short handleId = AddHandle(min,max, userPtr);
unsigned short handleId = AddHandle(min,max, userPtr,collisionFilterGroup,collisionFilterMask);
Handle* handle = GetHandle(handleId);
return handle;
}
@@ -156,7 +157,7 @@ void AxisSweep3::FreeHandle(unsigned short handle)
unsigned short AxisSweep3::AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner)
unsigned short AxisSweep3::AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask)
{
// quantize the bounds
unsigned short min[3], max[3];
@@ -169,10 +170,11 @@ unsigned short AxisSweep3::AddHandle(const SimdPoint3& aabbMin,const SimdPoint3&
Handle* pHandle = GetHandle(handle);
pHandle->m_handleId = handle;
//pHandle->m_pOverlaps = 0;
pHandle->m_clientObject = pOwner;
pHandle->m_collisionFilterGroup = collisionFilterGroup;
pHandle->m_collisionFilterMask = collisionFilterMask;
// compute current limit of edge arrays
int limit = m_numHandles * 2;

4
Bullet/BroadphaseCollision/AxisSweep3.h
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@@ -99,14 +99,14 @@ public:
//this is replace by sweep and prune
}
unsigned short AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner);
unsigned short AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
void RemoveHandle(unsigned short handle);
void UpdateHandle(unsigned short handle, const SimdPoint3& aabbMin,const SimdPoint3& aabbMax);
inline Handle* GetHandle(unsigned short index) const {return m_pHandles + index;}
//Broadphase Interface
virtual BroadphaseProxy* CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr );
virtual BroadphaseProxy* CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void DestroyProxy(BroadphaseProxy* proxy);
virtual void SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);

2
Bullet/BroadphaseCollision/BroadphaseInterface.h
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@@ -29,7 +29,7 @@ class BroadphaseInterface
public:
virtual ~BroadphaseInterface() {}
virtual BroadphaseProxy* CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr ) =0;
virtual BroadphaseProxy* CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask) =0;
virtual void DestroyProxy(BroadphaseProxy* proxy)=0;
virtual void SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)=0;
virtual void CleanProxyFromPairs(BroadphaseProxy* proxy)=0;

12
Bullet/BroadphaseCollision/BroadphaseProxy.h
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@@ -54,12 +54,16 @@ struct BroadphaseProxy
//Usually the client CollisionObject or Rigidbody class
void* m_clientObject;
unsigned int m_collisionFilterGroup;
unsigned int m_collisionFilterMask;
//used for memory pools
BroadphaseProxy() :m_clientObject(0){}
BroadphaseProxy(int shapeType,void* userPtr)
:m_clientObject(userPtr)
//m_clientObjectType(shapeType)
BroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask)
:m_clientObject(userPtr),
m_collisionFilterGroup(collisionFilterGroup),
m_collisionFilterMask(collisionFilterMask)
{
}

8
Bullet/BroadphaseCollision/SimpleBroadphase.cpp
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@@ -74,7 +74,7 @@ SimpleBroadphase::~SimpleBroadphase()
}
BroadphaseProxy* SimpleBroadphase::CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr)
BroadphaseProxy* SimpleBroadphase::CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
{
if (m_numProxies >= m_maxProxies)
{
@@ -84,7 +84,7 @@ BroadphaseProxy* SimpleBroadphase::CreateProxy( const SimdVector3& min, const
assert(min[0]<= max[0] && min[1]<= max[1] && min[2]<= max[2]);
int freeIndex= m_freeProxies[m_firstFreeProxy];
SimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr);
SimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
m_firstFreeProxy++;
SimpleBroadphaseProxy* proxy1 = &m_proxies[0];
@@ -181,6 +181,10 @@ void SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProx
//don't add overlap with own
assert(proxy0 != proxy1);
if (!NeedsCollision(proxy0,proxy1))
return;
BroadphasePair pair(*proxy0,*proxy1);
m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair;

18
Bullet/BroadphaseCollision/SimpleBroadphase.h
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@@ -30,8 +30,8 @@ struct SimpleBroadphaseProxy : public BroadphaseProxy
SimpleBroadphaseProxy() {};
SimpleBroadphaseProxy(const SimdPoint3& minpt,const SimdPoint3& maxpt,int shapeType,void* userPtr)
:BroadphaseProxy(shapeType,userPtr),
SimpleBroadphaseProxy(const SimdPoint3& minpt,const SimdPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
:BroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
m_min(minpt),m_max(maxpt)
{
}
@@ -82,13 +82,25 @@ public:
SimpleBroadphase(int maxProxies=4096,int maxOverlap=8192);
virtual ~SimpleBroadphase();
virtual BroadphaseProxy* CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr);
virtual BroadphaseProxy* CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual void DestroyProxy(BroadphaseProxy* proxy);
virtual void SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);
virtual void CleanProxyFromPairs(BroadphaseProxy* proxy);
virtual void DispatchAllCollisionPairs(Dispatcher& dispatcher,DispatcherInfo& dispatchInfo);
inline bool NeedsCollision(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1) const
{
bool collides = proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
};