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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;
}
};

6
Bullet/CollisionDispatch/CollisionWorld.cpp
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@@ -112,7 +112,7 @@ void CollisionWorld::StoreIslandActivationState()
void CollisionWorld::AddCollisionObject(CollisionObject* collisionObject)
void CollisionWorld::AddCollisionObject(CollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
{
m_collisionObjects.push_back(collisionObject);
@@ -128,7 +128,9 @@ void CollisionWorld::AddCollisionObject(CollisionObject* collisionObject)
minAabb,
maxAabb,
type,
collisionObject
collisionObject,
collisionFilterGroup,
collisionFilterMask
);

2
Bullet/CollisionDispatch/CollisionWorld.h
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@@ -201,7 +201,7 @@ public:
void RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback);
void AddCollisionObject(CollisionObject* collisionObject);
void AddCollisionObject(CollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);
CollisionObjectArray& GetCollisionObjectArray()
{

17
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -155,11 +155,7 @@ int main(int argc,char** argv)
materialProps.m_friction = 10.5f;
materialProps.m_restitution = 0.0f;
CcdConstructionInfo ccdObjectCi;
ccdObjectCi.m_friction = 0.5f;
ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
SimdTransform tr;
tr.setIdentity();
@@ -180,6 +176,13 @@ int main(int argc,char** argv)
for (i=0;i<numObjects;i++)
{
CcdConstructionInfo ccdObjectCi;
ccdObjectCi.m_friction = 0.5f;
ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
shapeProps.m_shape = shapePtr[shapeIndex[i]];
shapeProps.m_shape->SetMargin(0.05f);
@@ -242,12 +245,16 @@ int main(int argc,char** argv)
shapeProps.m_mass = 0.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
ccdObjectCi.m_collisionFilterGroup = CollisionFilterGroups::Static;
ccdObjectCi.m_collisionFilterMask = CollisionFilterGroups::All ^ CollisionFilterGroups::Static;
}
else
{
shapeProps.m_mass = 1.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_collisionFlags = 0;
}
@@ -817,7 +824,7 @@ void clientMouseFunc(int button, int state, int x, int y)
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
RigidBody* body = physCtrl->GetRigidBody();
if (body)
if (body && !body->IsStatic())
{
pickedBody = body;
pickedBody->SetActivationState(DISABLE_DEACTIVATION);

15
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -20,6 +20,8 @@ subject to the following restrictions:
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "Dynamics/RigidBody.h"
#include "BroadphaseCollision/AxisSweep3.h"
#include "ConstraintSolver/SimpleConstraintSolver.h"
#include "ConstraintSolver/OdeConstraintSolver.h"
#include "CollisionDispatch/CollisionDispatcher.h"
@@ -84,6 +86,19 @@ int gIndices[NUM_TRIANGLES*3];
int main(int argc,char** argv)
{
printf("BroadphaseProxy: %i\n",sizeof(BroadphaseProxy));
printf("AxisSweep3::Handle : %i\n",sizeof(AxisSweep3::Handle));
printf("SimpleBroadphaseProxy : %i\n",sizeof(SimpleBroadphaseProxy));
printf("RigidBody : %i\n",sizeof(RigidBody));
printf("CcdPhysicsController: %i\n",sizeof(CcdPhysicsController));
printf("ManifoldPoint: %i\n",sizeof(ManifoldPoint));
setCameraDistance(30.f);
#define TRISIZE 10.f

34
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
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@@ -39,6 +39,18 @@ extern bool gDisableDeactivation;
class CcdPhysicsEnvironment;
///CollisionFilterGroups provides some optional usage of basic collision filtering
///this is done during broadphase, so very early in the pipeline
///more advanced collision filtering should be done in CollisionDispatcher::NeedsCollision
enum CollisionFilterGroups
{
Default = 1,
Static = 2,
Kinematic = 4,
Debris = 8,
All = Default | Static | Kinematic | Debris,
};
struct CcdConstructionInfo
{
CcdConstructionInfo()
@@ -50,6 +62,8 @@ struct CcdConstructionInfo
m_linearDamping(0.1f),
m_angularDamping(0.1f),
m_collisionFlags(0),
m_collisionFilterGroup(CollisionFilterGroups::Default),
m_collisionFilterMask(CollisionFilterGroups::All),
m_MotionState(0),
m_physicsEnv(0),
m_inertiaFactor(1.f)
@@ -66,6 +80,15 @@ struct CcdConstructionInfo
SimdScalar m_angularDamping;
int m_collisionFlags;
///optional use of collision group/mask:
///only collision with object goups that match the collision mask.
///this is very basic early out. advanced collision filtering should be
///done in the CollisionDispatcher::NeedsCollision and NeedsResponse
///both values default to 1
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
CollisionShape* m_collisionShape;
class PHY_IMotionState* m_MotionState;
@@ -158,6 +181,17 @@ class CcdPhysicsController : public PHY_IPhysicsController
virtual void setNewClientInfo(void* clientinfo);
virtual PHY_IPhysicsController* GetReplica();
///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
short int GetCollisionFilterGroup() const
{
return m_cci.m_collisionFilterGroup;
}
///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
short int GetCollisionFilterMask() const
{
return m_cci.m_collisionFilterMask;
}
virtual void calcXform() {} ;
virtual void SetMargin(float margin) {};

2
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
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@@ -374,7 +374,7 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
body->setGravity( m_gravity );
m_controllers.push_back(ctrl);
m_collisionWorld->AddCollisionObject(body);
m_collisionWorld->AddCollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask());
assert(body->m_broadphaseHandle);