1854 lines
43 KiB
C++
1854 lines
43 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include <algorithm>
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#include "LinearMath/btTransform.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
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#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
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#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btConeShape.h"
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#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
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#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
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#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
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//profiling/timings
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "PHY_IMotionState.h"
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#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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bool useIslands = true;
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#ifdef NEW_BULLET_VEHICLE_SUPPORT
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#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
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#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
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#include "BulletDynamics/Vehicle/btWheelInfo.h"
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#include "PHY_IVehicle.h"
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btRaycastVehicle::btVehicleTuning gTuning;
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#endif //NEW_BULLET_VEHICLE_SUPPORT
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#include "LinearMath/btAabbUtil2.h"
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#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
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#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
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//#include "BroadphaseCollision/QueryDispatcher.h"
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//#include "BroadphaseCollision/QueryBox.h"
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//todo: change this to allow dynamic registration of types!
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#ifdef WIN32
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void DrawRasterizerLine(const float* from,const float* to,int color);
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#endif
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#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
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#include <stdio.h>
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#ifdef NEW_BULLET_VEHICLE_SUPPORT
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class WrapperVehicle : public PHY_IVehicle
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{
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btRaycastVehicle* m_vehicle;
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PHY_IPhysicsController* m_chassis;
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public:
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WrapperVehicle(btRaycastVehicle* vehicle,PHY_IPhysicsController* chassis)
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:m_vehicle(vehicle),
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m_chassis(chassis)
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{
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}
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btRaycastVehicle* GetVehicle()
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{
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return m_vehicle;
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}
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PHY_IPhysicsController* GetChassis()
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{
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return m_chassis;
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}
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virtual void addWheel(
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PHY_IMotionState* motionState,
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PHY__Vector3 connectionPoint,
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PHY__Vector3 downDirection,
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PHY__Vector3 axleDirection,
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float suspensionRestLength,
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float wheelRadius,
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bool hasSteering
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)
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{
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btVector3 connectionPointCS0(connectionPoint[0],connectionPoint[1],connectionPoint[2]);
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btVector3 wheelDirectionCS0(downDirection[0],downDirection[1],downDirection[2]);
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btVector3 wheelAxle(axleDirection[0],axleDirection[1],axleDirection[2]);
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btWheelInfo& info = m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxle,
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suspensionRestLength,wheelRadius,gTuning,hasSteering);
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info.m_clientInfo = motionState;
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}
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void SyncWheels()
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{
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int numWheels = getNumWheels();
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int i;
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for (i=0;i<numWheels;i++)
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(i);
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PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ;
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m_vehicle->updateWheelTransform(i);
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btTransform trans = m_vehicle->getWheelTransformWS(i);
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btQuaternion orn = trans.getRotation();
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const btVector3& pos = trans.getOrigin();
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motionState->setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
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motionState->setWorldPosition(pos.x(),pos.y(),pos.z());
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}
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}
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virtual int getNumWheels() const
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{
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return m_vehicle->getNumWheels();
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}
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virtual void GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const
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{
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btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex);
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posX = trans.getOrigin().x();
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posY = trans.getOrigin().y();
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posZ = trans.getOrigin().z();
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}
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virtual void GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const
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{
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btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex);
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btQuaternion quat = trans.getRotation();
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btMatrix3x3 orn2(quat);
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quatX = trans.getRotation().x();
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quatY = trans.getRotation().y();
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quatZ = trans.getRotation().z();
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quatW = trans.getRotation()[3];
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//printf("test");
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}
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virtual float GetWheelRotation(int wheelIndex) const
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{
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float rotation = 0.f;
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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rotation = info.m_rotation;
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}
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return rotation;
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}
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virtual int getUserConstraintId() const
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{
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return m_vehicle->getUserConstraintId();
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}
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virtual int getUserConstraintType() const
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{
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return m_vehicle->getUserConstraintType();
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}
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virtual void setSteeringValue(float steering,int wheelIndex)
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{
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m_vehicle->setSteeringValue(steering,wheelIndex);
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}
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virtual void applyEngineForce(float force,int wheelIndex)
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{
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m_vehicle->applyEngineForce(force,wheelIndex);
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}
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virtual void ApplyBraking(float braking,int wheelIndex)
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{
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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info.m_brake = braking;
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}
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}
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virtual void SetWheelFriction(float friction,int wheelIndex)
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{
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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info.m_frictionSlip = friction;
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}
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}
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virtual void SetSuspensionStiffness(float suspensionStiffness,int wheelIndex)
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{
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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info.m_suspensionStiffness = suspensionStiffness;
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}
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}
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virtual void SetSuspensionDamping(float suspensionDamping,int wheelIndex)
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{
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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info.m_wheelsDampingRelaxation = suspensionDamping;
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}
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}
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virtual void SetSuspensionCompression(float suspensionCompression,int wheelIndex)
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{
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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info.m_wheelsDampingCompression = suspensionCompression;
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}
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}
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virtual void SetRollInfluence(float rollInfluence,int wheelIndex)
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{
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if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels()))
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{
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btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex);
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info.m_rollInfluence = rollInfluence;
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}
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}
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virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
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{
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m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
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}
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};
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#endif //NEW_BULLET_VEHICLE_SUPPORT
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static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color)
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{
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btVector3 halfExtents = (to-from)* 0.5f;
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btVector3 center = (to+from) *0.5f;
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int i,j;
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btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
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for (i=0;i<4;i++)
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{
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for (j=0;j<3;j++)
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{
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pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
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edgecoord[2]*halfExtents[2]);
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pa+=center;
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int othercoord = j%3;
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edgecoord[othercoord]*=-1.f;
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pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
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edgecoord[2]*halfExtents[2]);
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pb+=center;
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debugDrawer->drawLine(pa,pb,color);
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}
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edgecoord = btVector3(-1.f,-1.f,-1.f);
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if (i<3)
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edgecoord[i]*=-1.f;
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}
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}
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CcdPhysicsEnvironment::CcdPhysicsEnvironment(btDispatcher* dispatcher,btOverlappingPairCache* pairCache)
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: m_numIterations(10),
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m_numTimeSubSteps(1),
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m_ccdMode(0),
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m_solverType(-1),
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m_profileTimings(0),
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m_enableSatCollisionDetection(false),
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m_scalingPropagated(false)
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{
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for (int i=0;i<PHY_NUM_RESPONSE;i++)
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{
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m_triggerCallbacks[i] = 0;
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}
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if (!dispatcher)
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dispatcher = new btCollisionDispatcher();
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if(!pairCache)
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{
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//todo: calculate/let user specify this world sizes
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btVector3 worldMin(-10000,-10000,-10000);
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btVector3 worldMax(10000,10000,10000);
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pairCache = new btAxisSweep3(worldMin,worldMax);
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//broadphase = new btSimpleBroadphase();
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}
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setSolverType(1);//issues with quickstep and memory allocations
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m_collisionWorld = new btCollisionWorld(dispatcher,pairCache);
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m_debugDrawer = 0;
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m_gravity = btVector3(0.f,-10.f,0.f);
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m_islandManager = new btSimulationIslandManager();
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}
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void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
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{
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btRigidBody* body = ctrl->getRigidBody();
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//this m_userPointer is just used for triggers, see CallbackTriggers
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body->m_internalOwner = ctrl;
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body->setGravity( m_gravity );
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m_controllers.push_back(ctrl);
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m_collisionWorld->addCollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask());
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assert(body->m_broadphaseHandle);
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btCollisionShape* shapeinterface = ctrl->getCollisionShape();
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assert(shapeinterface);
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const btTransform& t = ctrl->getRigidBody()->getCenterOfMassTransform();
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body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
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btPoint3 minAabb,maxAabb;
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shapeinterface->getAabb(t,minAabb,maxAabb);
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float timeStep = 0.02f;
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//extent it with the motion
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btVector3 linMotion = body->getLinearVelocity()*timeStep;
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float maxAabbx = maxAabb.getX();
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float maxAabby = maxAabb.getY();
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float maxAabbz = maxAabb.getZ();
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float minAabbx = minAabb.getX();
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float minAabby = minAabb.getY();
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float minAabbz = minAabb.getZ();
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if (linMotion.x() > 0.f)
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maxAabbx += linMotion.x();
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else
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minAabbx += linMotion.x();
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if (linMotion.y() > 0.f)
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maxAabby += linMotion.y();
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else
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minAabby += linMotion.y();
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if (linMotion.z() > 0.f)
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maxAabbz += linMotion.z();
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else
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minAabbz += linMotion.z();
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minAabb = btVector3(minAabbx,minAabby,minAabbz);
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maxAabb = btVector3(maxAabbx,maxAabby,maxAabbz);
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}
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void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl)
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{
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//also remove constraint
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{
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std::vector<btTypedConstraint*>::iterator i;
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for (i=m_constraints.begin();
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!(i==m_constraints.end()); i++)
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{
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btTypedConstraint* constraint = (*i);
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if ((&constraint->getRigidBodyA() == ctrl->getRigidBody() ||
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(&constraint->getRigidBodyB() == ctrl->getRigidBody())))
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{
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removeConstraint(constraint->getUserConstraintId());
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//only 1 constraint per constroller
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break;
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}
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}
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}
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{
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std::vector<btTypedConstraint*>::iterator i;
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for (i=m_constraints.begin();
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!(i==m_constraints.end()); i++)
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{
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btTypedConstraint* constraint = (*i);
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if ((&constraint->getRigidBodyA() == ctrl->getRigidBody() ||
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(&constraint->getRigidBodyB() == ctrl->getRigidBody())))
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{
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removeConstraint(constraint->getUserConstraintId());
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//only 1 constraint per constroller
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break;
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}
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}
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}
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m_collisionWorld->removeCollisionObject(ctrl->getRigidBody());
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{
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std::vector<CcdPhysicsController*>::iterator i =
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std::find(m_controllers.begin(), m_controllers.end(), ctrl);
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if (!(i == m_controllers.end()))
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{
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std::swap(*i, m_controllers.back());
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m_controllers.pop_back();
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}
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}
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//remove it from the triggers
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{
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std::vector<CcdPhysicsController*>::iterator i =
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std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl);
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if (!(i == m_triggerControllers.end()))
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{
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std::swap(*i, m_triggerControllers.back());
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m_triggerControllers.pop_back();
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}
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}
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}
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void CcdPhysicsEnvironment::beginFrame()
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{
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}
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bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
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{
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//don't simulate without timesubsteps
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if (m_numTimeSubSteps<1)
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return true;
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//printf("proceedDeltaTime\n");
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#ifdef USE_QUICKPROF
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//toggle btProfiler
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if ( m_debugDrawer && m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
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{
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if (!m_profileTimings)
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{
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m_profileTimings = 1;
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// To disable profiling, simply comment out the following line.
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static int counter = 0;
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char filename[128];
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sprintf(filename,"quickprof_bullet_timings%i.csv",counter++);
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btProfiler::init(filename, btProfiler::BLOCK_CYCLE_SECONDS);//BLOCK_TOTAL_MICROSECONDS
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}
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} else
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{
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if (m_profileTimings)
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{
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m_profileTimings = 0;
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btProfiler::destroy();
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}
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}
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#endif //USE_QUICKPROF
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if (!btFuzzyZero(timeStep))
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{
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{
|
|
//do the kinematic calculation here, over the full timestep
|
|
std::vector<CcdPhysicsController*>::iterator i;
|
|
for (i=m_controllers.begin();
|
|
!(i==m_controllers.end()); i++)
|
|
{
|
|
|
|
CcdPhysicsController* ctrl = *i;
|
|
|
|
btTransform predictedTrans;
|
|
btRigidBody* body = ctrl->getRigidBody();
|
|
if (body->GetActivationState() != ISLAND_SLEEPING)
|
|
{
|
|
|
|
if (body->IsStatic())
|
|
{
|
|
//to calculate velocities next frame
|
|
body->saveKinematicState(timeStep);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
int i;
|
|
float subTimeStep = timeStep / float(m_numTimeSubSteps);
|
|
|
|
for (i=0;i<this->m_numTimeSubSteps;i++)
|
|
{
|
|
proceedDeltaTimeOneStep(subTimeStep);
|
|
}
|
|
} else
|
|
{
|
|
//todo: interpolate
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/// Perform an integration step of duration 'timeStep'.
|
|
bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
|
|
{
|
|
|
|
|
|
//printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
|
|
|
|
if (btFuzzyZero(timeStep))
|
|
return true;
|
|
|
|
if (m_debugDrawer)
|
|
{
|
|
gDisableDeactivation = (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation);
|
|
}
|
|
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::beginBlock("SyncMotionStates");
|
|
#endif //USE_QUICKPROF
|
|
|
|
|
|
//this is needed because scaling is not known in advance, and scaling has to propagate to the shape
|
|
if (!m_scalingPropagated)
|
|
{
|
|
SyncMotionStates(timeStep);
|
|
m_scalingPropagated = true;
|
|
}
|
|
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::endBlock("SyncMotionStates");
|
|
|
|
btProfiler::beginBlock("predictIntegratedTransform");
|
|
#endif //USE_QUICKPROF
|
|
|
|
{
|
|
// std::vector<CcdPhysicsController*>::iterator i;
|
|
|
|
|
|
|
|
int k;
|
|
for (k=0;k<GetNumControllers();k++)
|
|
{
|
|
CcdPhysicsController* ctrl = m_controllers[k];
|
|
// btTransform predictedTrans;
|
|
btRigidBody* body = ctrl->getRigidBody();
|
|
|
|
body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse();
|
|
|
|
if (body->IsActive())
|
|
{
|
|
if (!body->IsStatic())
|
|
{
|
|
body->applyForces( timeStep);
|
|
body->integrateVelocities( timeStep);
|
|
body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::endBlock("predictIntegratedTransform");
|
|
#endif //USE_QUICKPROF
|
|
|
|
btOverlappingPairCache* scene = m_collisionWorld->getPairCache();
|
|
|
|
|
|
//
|
|
// collision detection (?)
|
|
//
|
|
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::beginBlock("dispatchAllCollisionPairs");
|
|
#endif //USE_QUICKPROF
|
|
|
|
|
|
int numsubstep = m_numIterations;
|
|
|
|
|
|
btDispatcherInfo dispatchInfo;
|
|
dispatchInfo.m_timeStep = timeStep;
|
|
dispatchInfo.m_stepCount = 0;
|
|
dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection;
|
|
dispatchInfo.m_debugDraw = this->m_debugDrawer;
|
|
|
|
scene->refreshOverlappingPairs();
|
|
|
|
getCollisionWorld()->getDispatcher()->dispatchAllCollisionPairs(scene,dispatchInfo);
|
|
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::endBlock("dispatchAllCollisionPairs");
|
|
#endif //USE_QUICKPROF
|
|
|
|
m_islandManager->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
|
|
|
|
{
|
|
int i;
|
|
int numConstraints = m_constraints.size();
|
|
for (i=0;i< numConstraints ; i++ )
|
|
{
|
|
btTypedConstraint* constraint = m_constraints[i];
|
|
|
|
const btRigidBody* colObj0 = &constraint->getRigidBodyA();
|
|
const btRigidBody* colObj1 = &constraint->getRigidBodyB();
|
|
|
|
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
|
|
((colObj1) && ((colObj1)->mergesSimulationIslands())))
|
|
{
|
|
if (colObj0->IsActive() || colObj1->IsActive())
|
|
{
|
|
|
|
m_islandManager->getUnionFind().unite((colObj0)->m_islandTag1,
|
|
(colObj1)->m_islandTag1);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
m_islandManager->storeIslandActivationState(getCollisionWorld());
|
|
|
|
|
|
//contacts
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::beginBlock("solveConstraint");
|
|
#endif //USE_QUICKPROF
|
|
|
|
|
|
//solve the regular constraints (point 2 point, hinge, etc)
|
|
|
|
for (int g=0;g<numsubstep;g++)
|
|
{
|
|
//
|
|
// constraint solving
|
|
//
|
|
|
|
|
|
int i;
|
|
int numConstraints = m_constraints.size();
|
|
|
|
//point to point constraints
|
|
for (i=0;i< numConstraints ; i++ )
|
|
{
|
|
btTypedConstraint* constraint = m_constraints[i];
|
|
|
|
constraint->buildJacobian();
|
|
constraint->solveConstraint( timeStep );
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::endBlock("solveConstraint");
|
|
#endif //USE_QUICKPROF
|
|
|
|
//solve the vehicles
|
|
|
|
#ifdef NEW_BULLET_VEHICLE_SUPPORT
|
|
//vehicles
|
|
int numVehicles = m_wrapperVehicles.size();
|
|
for (int i=0;i<numVehicles;i++)
|
|
{
|
|
WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
|
|
btRaycastVehicle* vehicle = wrapperVehicle->GetVehicle();
|
|
vehicle->updateVehicle( timeStep);
|
|
}
|
|
#endif //NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
|
|
struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
|
|
{
|
|
|
|
btContactSolverInfo& m_solverInfo;
|
|
btConstraintSolver* m_solver;
|
|
btIDebugDraw* m_debugDrawer;
|
|
|
|
InplaceSolverIslandCallback(
|
|
btContactSolverInfo& solverInfo,
|
|
btConstraintSolver* solver,
|
|
btIDebugDraw* debugDrawer)
|
|
:m_solverInfo(solverInfo),
|
|
m_solver(solver),
|
|
m_debugDrawer(debugDrawer)
|
|
{
|
|
|
|
}
|
|
|
|
virtual void ProcessIsland(btPersistentManifold** manifolds,int numManifolds)
|
|
{
|
|
m_solver->solveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
|
|
}
|
|
|
|
};
|
|
|
|
|
|
m_solverInfo.m_friction = 0.9f;
|
|
m_solverInfo.m_numIterations = m_numIterations;
|
|
m_solverInfo.m_timeStep = timeStep;
|
|
m_solverInfo.m_restitution = 0.f;//m_restitution;
|
|
|
|
InplaceSolverIslandCallback solverCallback(
|
|
m_solverInfo,
|
|
m_solver,
|
|
m_debugDrawer);
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::beginBlock("buildAndProcessIslands");
|
|
#endif //USE_QUICKPROF
|
|
|
|
/// solve all the contact points and contact friction
|
|
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),m_collisionWorld->getCollisionObjectArray(),&solverCallback);
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::endBlock("buildAndProcessIslands");
|
|
|
|
btProfiler::beginBlock("CallbackTriggers");
|
|
#endif //USE_QUICKPROF
|
|
|
|
CallbackTriggers();
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::endBlock("CallbackTriggers");
|
|
|
|
|
|
btProfiler::beginBlock("proceedToTransform");
|
|
|
|
#endif //USE_QUICKPROF
|
|
{
|
|
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
UpdateAabbs(timeStep);
|
|
|
|
|
|
float toi = 1.f;
|
|
|
|
|
|
|
|
if (m_ccdMode == 3)
|
|
{
|
|
btDispatcherInfo dispatchInfo;
|
|
dispatchInfo.m_timeStep = timeStep;
|
|
dispatchInfo.m_stepCount = 0;
|
|
dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_CONTINUOUS;
|
|
|
|
//pairCache->refreshOverlappingPairs();//??
|
|
getCollisionWorld()->getDispatcher()->dispatchAllCollisionPairs(scene,dispatchInfo);
|
|
|
|
toi = dispatchInfo.m_timeOfImpact;
|
|
|
|
}
|
|
|
|
|
|
|
|
//
|
|
// integrating solution
|
|
//
|
|
|
|
{
|
|
|
|
std::vector<CcdPhysicsController*>::iterator i;
|
|
|
|
for (i=m_controllers.begin();
|
|
!(i==m_controllers.end()); i++)
|
|
{
|
|
|
|
CcdPhysicsController* ctrl = *i;
|
|
|
|
btTransform predictedTrans;
|
|
btRigidBody* body = ctrl->getRigidBody();
|
|
|
|
if (body->IsActive())
|
|
{
|
|
|
|
if (!body->IsStatic())
|
|
{
|
|
if (body->m_hitFraction < 1.f)
|
|
{
|
|
//set velocity to zero... until we have proper CCD integrated
|
|
body->setLinearVelocity(body->getLinearVelocity()*0.5f);
|
|
}
|
|
body->predictIntegratedTransform(timeStep* toi, predictedTrans);
|
|
body->proceedToTransform( predictedTrans);
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
//
|
|
// disable sleeping physics objects
|
|
//
|
|
|
|
std::vector<CcdPhysicsController*> m_sleepingControllers;
|
|
|
|
std::vector<CcdPhysicsController*>::iterator i;
|
|
|
|
for (i=m_controllers.begin();
|
|
!(i==m_controllers.end()); i++)
|
|
{
|
|
CcdPhysicsController* ctrl = (*i);
|
|
btRigidBody* body = ctrl->getRigidBody();
|
|
|
|
ctrl->UpdateDeactivation(timeStep);
|
|
|
|
|
|
if (ctrl->wantsSleeping())
|
|
{
|
|
if (body->GetActivationState() == ACTIVE_TAG)
|
|
body->SetActivationState( WANTS_DEACTIVATION );
|
|
} else
|
|
{
|
|
if (body->GetActivationState() != DISABLE_DEACTIVATION)
|
|
body->SetActivationState( ACTIVE_TAG );
|
|
}
|
|
|
|
if (useIslands)
|
|
{
|
|
if (body->GetActivationState() == ISLAND_SLEEPING)
|
|
{
|
|
m_sleepingControllers.push_back(ctrl);
|
|
}
|
|
} else
|
|
{
|
|
if (ctrl->wantsSleeping())
|
|
{
|
|
m_sleepingControllers.push_back(ctrl);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::endBlock("proceedToTransform");
|
|
|
|
btProfiler::beginBlock("SyncMotionStates");
|
|
#endif //USE_QUICKPROF
|
|
|
|
SyncMotionStates(timeStep);
|
|
|
|
#ifdef USE_QUICKPROF
|
|
btProfiler::endBlock("SyncMotionStates");
|
|
|
|
btProfiler::endProfilingCycle();
|
|
#endif //USE_QUICKPROF
|
|
|
|
|
|
#ifdef NEW_BULLET_VEHICLE_SUPPORT
|
|
//sync wheels for vehicles
|
|
int numVehicles = m_wrapperVehicles.size();
|
|
for (int i=0;i<numVehicles;i++)
|
|
{
|
|
WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
|
|
|
|
wrapperVehicle->SyncWheels();
|
|
}
|
|
#endif //NEW_BULLET_VEHICLE_SUPPORT
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
void CcdPhysicsEnvironment::setDebugMode(int debugMode)
|
|
{
|
|
if (m_debugDrawer){
|
|
m_debugDrawer->setDebugMode(debugMode);
|
|
}
|
|
}
|
|
|
|
void CcdPhysicsEnvironment::setNumIterations(int numIter)
|
|
{
|
|
m_numIterations = numIter;
|
|
}
|
|
void CcdPhysicsEnvironment::setDeactivationTime(float dTime)
|
|
{
|
|
gDeactivationTime = dTime;
|
|
}
|
|
void CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh)
|
|
{
|
|
gLinearSleepingTreshold = linTresh;
|
|
}
|
|
void CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh)
|
|
{
|
|
gAngularSleepingTreshold = angTresh;
|
|
}
|
|
void CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold)
|
|
{
|
|
gContactBreakingTreshold = contactBreakingTreshold;
|
|
|
|
}
|
|
|
|
|
|
void CcdPhysicsEnvironment::setCcdMode(int ccdMode)
|
|
{
|
|
m_ccdMode = ccdMode;
|
|
}
|
|
|
|
|
|
void CcdPhysicsEnvironment::setSolverSorConstant(float sor)
|
|
{
|
|
m_solverInfo.m_sor = sor;
|
|
}
|
|
|
|
void CcdPhysicsEnvironment::setSolverTau(float tau)
|
|
{
|
|
m_solverInfo.m_tau = tau;
|
|
}
|
|
void CcdPhysicsEnvironment::setSolverDamping(float damping)
|
|
{
|
|
m_solverInfo.m_damping = damping;
|
|
}
|
|
|
|
|
|
void CcdPhysicsEnvironment::setLinearAirDamping(float damping)
|
|
{
|
|
gLinearAirDamping = damping;
|
|
}
|
|
|
|
void CcdPhysicsEnvironment::setUseEpa(bool epa)
|
|
{
|
|
gUseEpa = epa;
|
|
}
|
|
|
|
void CcdPhysicsEnvironment::setSolverType(int solverType)
|
|
{
|
|
|
|
switch (solverType)
|
|
{
|
|
case 1:
|
|
{
|
|
if (m_solverType != solverType)
|
|
{
|
|
|
|
m_solver = new btSequentialImpulseConstraintSolver();
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
case 0:
|
|
default:
|
|
if (m_solverType != solverType)
|
|
{
|
|
// m_solver = new OdeConstraintSolver();
|
|
|
|
break;
|
|
}
|
|
|
|
};
|
|
|
|
m_solverType = solverType ;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void CcdPhysicsEnvironment::SyncMotionStates(float timeStep)
|
|
{
|
|
std::vector<CcdPhysicsController*>::iterator i;
|
|
|
|
//
|
|
// synchronize the physics and graphics transformations
|
|
//
|
|
|
|
for (i=m_controllers.begin();
|
|
!(i==m_controllers.end()); i++)
|
|
{
|
|
CcdPhysicsController* ctrl = (*i);
|
|
ctrl->SynchronizeMotionStates(timeStep);
|
|
|
|
}
|
|
|
|
}
|
|
void CcdPhysicsEnvironment::setGravity(float x,float y,float z)
|
|
{
|
|
m_gravity = btVector3(x,y,z);
|
|
|
|
std::vector<CcdPhysicsController*>::iterator i;
|
|
|
|
//todo: review this gravity stuff
|
|
for (i=m_controllers.begin();
|
|
!(i==m_controllers.end()); i++)
|
|
{
|
|
|
|
CcdPhysicsController* ctrl = (*i);
|
|
ctrl->getRigidBody()->setGravity(m_gravity);
|
|
|
|
}
|
|
}
|
|
|
|
|
|
#ifdef NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
class DefaultVehicleRaycaster : public btVehicleRaycaster
|
|
{
|
|
CcdPhysicsEnvironment* m_physEnv;
|
|
PHY_IPhysicsController* m_chassis;
|
|
|
|
public:
|
|
DefaultVehicleRaycaster(CcdPhysicsEnvironment* physEnv,PHY_IPhysicsController* chassis):
|
|
m_physEnv(physEnv),
|
|
m_chassis(chassis)
|
|
{
|
|
}
|
|
|
|
virtual ~DefaultVehicleRaycaster()
|
|
{
|
|
}
|
|
/* struct btVehicleRaycasterResult
|
|
{
|
|
btVehicleRaycasterResult() :m_distFraction(-1.f){};
|
|
btVector3 m_hitPointInWorld;
|
|
btVector3 m_hitNormalInWorld;
|
|
btScalar m_distFraction;
|
|
};
|
|
*/
|
|
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result)
|
|
{
|
|
|
|
|
|
float hit[3];
|
|
float normal[3];
|
|
|
|
PHY_IPhysicsController* ignore = m_chassis;
|
|
void* hitObject = m_physEnv->rayTest(ignore,from.x(),from.y(),from.z(),to.x(),to.y(),to.z(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
|
|
if (hitObject)
|
|
{
|
|
result.m_hitPointInWorld[0] = hit[0];
|
|
result.m_hitPointInWorld[1] = hit[1];
|
|
result.m_hitPointInWorld[2] = hit[2];
|
|
result.m_hitNormalInWorld[0] = normal[0];
|
|
result.m_hitNormalInWorld[1] = normal[1];
|
|
result.m_hitNormalInWorld[2] = normal[2];
|
|
result.m_hitNormalInWorld.normalize();
|
|
//calc fraction? or put it in the interface?
|
|
//calc for now
|
|
|
|
result.m_distFraction = (result.m_hitPointInWorld-from).length() / (to-from).length();
|
|
//some safety for 'explosion' due to sudden penetration of the full 'ray'
|
|
/* if (result.m_distFraction<0.1)
|
|
{
|
|
printf("Vehicle rayCast: avoided instability due to penetration. Consider moving the connection points deeper inside vehicle chassis");
|
|
result.m_distFraction = 1.f;
|
|
hitObject = 0;
|
|
}
|
|
*/
|
|
|
|
/* if (result.m_distFraction>1.)
|
|
{
|
|
printf("Vehicle rayCast: avoided instability 1Consider moving the connection points deeper inside vehicle chassis");
|
|
result.m_distFraction = 1.f;
|
|
hitObject = 0;
|
|
}
|
|
*/
|
|
|
|
|
|
|
|
}
|
|
//?
|
|
return hitObject;
|
|
}
|
|
};
|
|
#endif //NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
static int gConstraintUid = 1;
|
|
|
|
int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
|
|
float pivotX,float pivotY,float pivotZ,
|
|
float axisX,float axisY,float axisZ)
|
|
{
|
|
|
|
|
|
CcdPhysicsController* c0 = (CcdPhysicsController*)ctrl0;
|
|
CcdPhysicsController* c1 = (CcdPhysicsController*)ctrl1;
|
|
|
|
btRigidBody* rb0 = c0 ? c0->getRigidBody() : 0;
|
|
btRigidBody* rb1 = c1 ? c1->getRigidBody() : 0;
|
|
|
|
ASSERT(rb0);
|
|
|
|
btVector3 pivotInA(pivotX,pivotY,pivotZ);
|
|
btVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
|
|
btVector3 axisInA(axisX,axisY,axisZ);
|
|
btVector3 axisInB = rb1 ?
|
|
(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) :
|
|
rb0->getCenterOfMassTransform().getBasis() * axisInA;
|
|
|
|
bool angularOnly = false;
|
|
|
|
switch (type)
|
|
{
|
|
case PHY_POINT2POINT_CONSTRAINT:
|
|
{
|
|
|
|
btPoint2PointConstraint* p2p = 0;
|
|
|
|
if (rb1)
|
|
{
|
|
p2p = new btPoint2PointConstraint(*rb0,
|
|
*rb1,pivotInA,pivotInB);
|
|
} else
|
|
{
|
|
p2p = new btPoint2PointConstraint(*rb0,
|
|
pivotInA);
|
|
}
|
|
|
|
m_constraints.push_back(p2p);
|
|
p2p->setUserConstraintId(gConstraintUid++);
|
|
p2p->setUserConstraintType(type);
|
|
//64 bit systems can't cast pointer to int. could use size_t instead.
|
|
return p2p->getUserConstraintId();
|
|
|
|
break;
|
|
}
|
|
|
|
case PHY_GENERIC_6DOF_CONSTRAINT:
|
|
{
|
|
btGeneric6DofConstraint* genericConstraint = 0;
|
|
|
|
if (rb1)
|
|
{
|
|
btTransform frameInA;
|
|
btTransform frameInB;
|
|
|
|
btVector3 axis1, axis2;
|
|
btPlaneSpace1( axisInA, axis1, axis2 );
|
|
|
|
frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(),
|
|
axisInA.y(), axis1.y(), axis2.y(),
|
|
axisInA.z(), axis1.z(), axis2.z() );
|
|
|
|
|
|
btPlaneSpace1( axisInB, axis1, axis2 );
|
|
frameInB.getBasis().setValue( axisInB.x(), axis1.x(), axis2.x(),
|
|
axisInB.y(), axis1.y(), axis2.y(),
|
|
axisInB.z(), axis1.z(), axis2.z() );
|
|
|
|
frameInA.setOrigin( pivotInA );
|
|
frameInB.setOrigin( pivotInB );
|
|
|
|
genericConstraint = new btGeneric6DofConstraint(
|
|
*rb0,*rb1,
|
|
frameInA,frameInB);
|
|
|
|
|
|
} else
|
|
{
|
|
// TODO: Implement single body case...
|
|
|
|
}
|
|
|
|
|
|
m_constraints.push_back(genericConstraint);
|
|
genericConstraint->setUserConstraintId(gConstraintUid++);
|
|
genericConstraint->setUserConstraintType(type);
|
|
//64 bit systems can't cast pointer to int. could use size_t instead.
|
|
return genericConstraint->getUserConstraintId();
|
|
|
|
break;
|
|
}
|
|
case PHY_ANGULAR_CONSTRAINT:
|
|
angularOnly = true;
|
|
|
|
|
|
case PHY_LINEHINGE_CONSTRAINT:
|
|
{
|
|
btHingeConstraint* hinge = 0;
|
|
|
|
if (rb1)
|
|
{
|
|
hinge = new btHingeConstraint(
|
|
*rb0,
|
|
*rb1,pivotInA,pivotInB,axisInA,axisInB);
|
|
|
|
|
|
} else
|
|
{
|
|
hinge = new btHingeConstraint(*rb0,
|
|
pivotInA,axisInA);
|
|
|
|
}
|
|
hinge->setAngularOnly(angularOnly);
|
|
|
|
m_constraints.push_back(hinge);
|
|
hinge->setUserConstraintId(gConstraintUid++);
|
|
hinge->setUserConstraintType(type);
|
|
//64 bit systems can't cast pointer to int. could use size_t instead.
|
|
return hinge->getUserConstraintId();
|
|
break;
|
|
}
|
|
#ifdef NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
case PHY_VEHICLE_CONSTRAINT:
|
|
{
|
|
btRaycastVehicle::btVehicleTuning* tuning = new btRaycastVehicle::btVehicleTuning();
|
|
btRigidBody* chassis = rb0;
|
|
DefaultVehicleRaycaster* raycaster = new DefaultVehicleRaycaster(this,ctrl0);
|
|
btRaycastVehicle* vehicle = new btRaycastVehicle(*tuning,chassis,raycaster);
|
|
WrapperVehicle* wrapperVehicle = new WrapperVehicle(vehicle,ctrl0);
|
|
m_wrapperVehicles.push_back(wrapperVehicle);
|
|
vehicle->setUserConstraintId(gConstraintUid++);
|
|
vehicle->setUserConstraintType(type);
|
|
return vehicle->getUserConstraintId();
|
|
|
|
break;
|
|
};
|
|
#endif //NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
default:
|
|
{
|
|
}
|
|
};
|
|
|
|
//RigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
//Following the COLLADA physics specification for constraints
|
|
int CcdPhysicsEnvironment::createUniversalD6Constraint(
|
|
class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
|
|
btTransform& frameInA,
|
|
btTransform& frameInB,
|
|
const btVector3& linearMinLimits,
|
|
const btVector3& linearMaxLimits,
|
|
const btVector3& angularMinLimits,
|
|
const btVector3& angularMaxLimits
|
|
)
|
|
{
|
|
|
|
//we could either add some logic to recognize ball-socket and hinge, or let that up to the user
|
|
//perhaps some warning or hint that hinge/ball-socket is more efficient?
|
|
|
|
btGeneric6DofConstraint* genericConstraint = 0;
|
|
CcdPhysicsController* ctrl0 = (CcdPhysicsController*) ctrlRef;
|
|
CcdPhysicsController* ctrl1 = (CcdPhysicsController*) ctrlOther;
|
|
|
|
btRigidBody* rb0 = ctrl0->getRigidBody();
|
|
btRigidBody* rb1 = ctrl1->getRigidBody();
|
|
|
|
if (rb1)
|
|
{
|
|
|
|
|
|
genericConstraint = new btGeneric6DofConstraint(
|
|
*rb0,*rb1,
|
|
frameInA,frameInB);
|
|
genericConstraint->setLinearLowerLimit(linearMinLimits);
|
|
genericConstraint->setLinearUpperLimit(linearMaxLimits);
|
|
genericConstraint->setAngularLowerLimit(angularMinLimits);
|
|
genericConstraint->setAngularUpperLimit(angularMaxLimits);
|
|
} else
|
|
{
|
|
// TODO: Implement single body case...
|
|
//No, we can use a fixed rigidbody in above code, rather then unnecessary duplation of code
|
|
|
|
}
|
|
|
|
if (genericConstraint)
|
|
{
|
|
m_constraints.push_back(genericConstraint);
|
|
genericConstraint->setUserConstraintId(gConstraintUid++);
|
|
genericConstraint->setUserConstraintType(PHY_GENERIC_6DOF_CONSTRAINT);
|
|
//64 bit systems can't cast pointer to int. could use size_t instead.
|
|
return genericConstraint->getUserConstraintId();
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
|
|
|
|
void CcdPhysicsEnvironment::removeConstraint(int constraintId)
|
|
{
|
|
std::vector<btTypedConstraint*>::iterator i;
|
|
|
|
for (i=m_constraints.begin();
|
|
!(i==m_constraints.end()); i++)
|
|
{
|
|
btTypedConstraint* constraint = (*i);
|
|
if (constraint->getUserConstraintId() == constraintId)
|
|
{
|
|
std::swap(*i, m_constraints.back());
|
|
m_constraints.pop_back();
|
|
break;
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
|
|
struct FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
|
|
{
|
|
PHY_IPhysicsController* m_ignoreClient;
|
|
|
|
FilterClosestRayResultCallback (PHY_IPhysicsController* ignoreClient,const btVector3& rayFrom,const btVector3& rayTo)
|
|
: btCollisionWorld::ClosestRayResultCallback(rayFrom,rayTo),
|
|
m_ignoreClient(ignoreClient)
|
|
{
|
|
|
|
}
|
|
|
|
virtual ~FilterClosestRayResultCallback()
|
|
{
|
|
}
|
|
|
|
virtual float AddSingleResult(const btCollisionWorld::LocalRayResult& rayResult)
|
|
{
|
|
CcdPhysicsController* curHit = static_cast<CcdPhysicsController*>(rayResult.m_collisionObject->m_internalOwner);
|
|
//ignore client...
|
|
if (curHit != m_ignoreClient)
|
|
{
|
|
//if valid
|
|
return ClosestRayResultCallback::AddSingleResult(rayResult);
|
|
}
|
|
return m_closestHitFraction;
|
|
}
|
|
|
|
};
|
|
|
|
PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
|
|
float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
|
|
{
|
|
btVector3 rayFrom(fromX,fromY,fromZ);
|
|
btVector3 rayTo(toX,toY,toZ);
|
|
|
|
btVector3 hitPointWorld,normalWorld;
|
|
|
|
//Either Ray Cast with or without filtering
|
|
|
|
//CollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
|
|
FilterClosestRayResultCallback rayCallback(ignoreClient,rayFrom,rayTo);
|
|
|
|
|
|
PHY_IPhysicsController* nearestHit = 0;
|
|
|
|
m_collisionWorld->rayTest(rayFrom,rayTo,rayCallback);
|
|
if (rayCallback.HasHit())
|
|
{
|
|
nearestHit = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->m_internalOwner);
|
|
hitX = rayCallback.m_hitPointWorld.getX();
|
|
hitY = rayCallback.m_hitPointWorld.getY();
|
|
hitZ = rayCallback.m_hitPointWorld.getZ();
|
|
|
|
normalX = rayCallback.m_hitNormalWorld.getX();
|
|
normalY = rayCallback.m_hitNormalWorld.getY();
|
|
normalZ = rayCallback.m_hitNormalWorld.getZ();
|
|
|
|
}
|
|
|
|
|
|
return nearestHit;
|
|
}
|
|
|
|
|
|
|
|
int CcdPhysicsEnvironment::getNumContactPoints()
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
void CcdPhysicsEnvironment::getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
|
|
{
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
btBroadphaseInterface* CcdPhysicsEnvironment::getBroadphase()
|
|
{
|
|
return m_collisionWorld->getBroadphase();
|
|
}
|
|
|
|
|
|
|
|
|
|
CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
|
|
{
|
|
|
|
#ifdef NEW_BULLET_VEHICLE_SUPPORT
|
|
m_wrapperVehicles.clear();
|
|
#endif //NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
//m_broadphase->DestroyScene();
|
|
//delete broadphase ? release reference on broadphase ?
|
|
|
|
//first delete scene, then dispatcher, because pairs have to release manifolds on the dispatcher
|
|
//delete m_dispatcher;
|
|
delete m_collisionWorld;
|
|
|
|
delete m_islandManager;
|
|
|
|
}
|
|
|
|
|
|
int CcdPhysicsEnvironment::GetNumControllers()
|
|
{
|
|
return m_controllers.size();
|
|
}
|
|
|
|
|
|
CcdPhysicsController* CcdPhysicsEnvironment::GetPhysicsController( int index)
|
|
{
|
|
return m_controllers[index];
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
btTypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId)
|
|
{
|
|
int numConstraint = m_constraints.size();
|
|
int i;
|
|
for (i=0;i<numConstraint;i++)
|
|
{
|
|
btTypedConstraint* constraint = m_constraints[i];
|
|
if (constraint->getUserConstraintId()==constraintId)
|
|
{
|
|
return constraint;
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
|
|
void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
|
|
{
|
|
|
|
CcdPhysicsController* ctrl1 = (CcdPhysicsController* )ctrl;
|
|
std::vector<CcdPhysicsController*>::iterator i =
|
|
std::find(m_controllers.begin(), m_controllers.end(), ctrl);
|
|
if ((i == m_controllers.end()))
|
|
{
|
|
addCcdPhysicsController(ctrl1);
|
|
}
|
|
|
|
requestCollisionCallback(ctrl);
|
|
//printf("addSensor\n");
|
|
}
|
|
|
|
void CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
|
|
{
|
|
std::vector<CcdPhysicsController*>::iterator i =
|
|
std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl);
|
|
if (!(i == m_triggerControllers.end()))
|
|
{
|
|
std::swap(*i, m_triggerControllers.back());
|
|
m_triggerControllers.pop_back();
|
|
}
|
|
}
|
|
|
|
|
|
void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
|
|
{
|
|
removeCollisionCallback(ctrl);
|
|
//printf("removeSensor\n");
|
|
}
|
|
void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
|
|
{
|
|
/* printf("addTouchCallback\n(response class = %i)\n",response_class);
|
|
|
|
//map PHY_ convention into SM_ convention
|
|
switch (response_class)
|
|
{
|
|
case PHY_FH_RESPONSE:
|
|
printf("PHY_FH_RESPONSE\n");
|
|
break;
|
|
case PHY_SENSOR_RESPONSE:
|
|
printf("PHY_SENSOR_RESPONSE\n");
|
|
break;
|
|
case PHY_CAMERA_RESPONSE:
|
|
printf("PHY_CAMERA_RESPONSE\n");
|
|
break;
|
|
case PHY_OBJECT_RESPONSE:
|
|
printf("PHY_OBJECT_RESPONSE\n");
|
|
break;
|
|
case PHY_STATIC_RESPONSE:
|
|
printf("PHY_STATIC_RESPONSE\n");
|
|
break;
|
|
default:
|
|
assert(0);
|
|
return;
|
|
}
|
|
*/
|
|
|
|
m_triggerCallbacks[response_class] = callback;
|
|
m_triggerCallbacksUserPtrs[response_class] = user;
|
|
|
|
}
|
|
void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl)
|
|
{
|
|
CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
|
|
|
|
//printf("requestCollisionCallback\n");
|
|
m_triggerControllers.push_back(ccdCtrl);
|
|
}
|
|
|
|
|
|
void CcdPhysicsEnvironment::CallbackTriggers()
|
|
{
|
|
if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)))
|
|
{
|
|
//walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
|
|
int numManifolds = m_collisionWorld->getDispatcher()->getNumManifolds();
|
|
for (int i=0;i<numManifolds;i++)
|
|
{
|
|
btPersistentManifold* manifold = m_collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
|
|
int numContacts = manifold->getNumContacts();
|
|
if (numContacts)
|
|
{
|
|
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints))
|
|
{
|
|
for (int j=0;j<numContacts;j++)
|
|
{
|
|
btVector3 color(1,0,0);
|
|
const btManifoldPoint& cp = manifold->getContactPoint(j);
|
|
if (m_debugDrawer)
|
|
m_debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
|
|
}
|
|
}
|
|
btRigidBody* obj0 = static_cast<btRigidBody* >(manifold->getBody0());
|
|
btRigidBody* obj1 = static_cast<btRigidBody* >(manifold->getBody1());
|
|
|
|
//m_internalOwner is set in 'addPhysicsController'
|
|
CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->m_internalOwner);
|
|
CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->m_internalOwner);
|
|
|
|
std::vector<CcdPhysicsController*>::iterator i =
|
|
std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl0);
|
|
if (i == m_triggerControllers.end())
|
|
{
|
|
i = std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl1);
|
|
}
|
|
|
|
if (!(i == m_triggerControllers.end()))
|
|
{
|
|
m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE],
|
|
ctrl0,ctrl1,0);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#ifdef NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
//complex constraint for vehicles
|
|
PHY_IVehicle* CcdPhysicsEnvironment::getVehicleConstraint(int constraintId)
|
|
{
|
|
int i;
|
|
|
|
int numVehicles = m_wrapperVehicles.size();
|
|
for (i=0;i<numVehicles;i++)
|
|
{
|
|
WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
|
|
if (wrapperVehicle->GetVehicle()->getUserConstraintId() == constraintId)
|
|
return wrapperVehicle;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
#endif //NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
|
|
int currentController = 0;
|
|
int numController = 0;
|
|
|
|
|
|
void CcdPhysicsEnvironment::UpdateAabbs(float timeStep)
|
|
{
|
|
std::vector<CcdPhysicsController*>::iterator i;
|
|
btBroadphaseInterface* scene = getBroadphase();
|
|
|
|
numController = m_controllers.size();
|
|
currentController = 0;
|
|
|
|
//
|
|
// update aabbs, only for moving objects (!)
|
|
//
|
|
for (i=m_controllers.begin();
|
|
!(i==m_controllers.end()); i++)
|
|
{
|
|
currentController++;
|
|
CcdPhysicsController* ctrl = (*i);
|
|
btRigidBody* body = ctrl->getRigidBody();
|
|
|
|
|
|
btPoint3 minAabb,maxAabb;
|
|
btCollisionShape* shapeinterface = ctrl->getCollisionShape();
|
|
|
|
|
|
|
|
shapeinterface->calculateTemporalAabb(body->getCenterOfMassTransform(),
|
|
body->getLinearVelocity(),
|
|
//body->getAngularVelocity(),
|
|
btVector3(0.f,0.f,0.f),//no angular effect for now //body->getAngularVelocity(),
|
|
timeStep,minAabb,maxAabb);
|
|
|
|
|
|
btVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold);
|
|
minAabb -= manifoldExtraExtents;
|
|
maxAabb += manifoldExtraExtents;
|
|
|
|
btBroadphaseProxy* bp = body->m_broadphaseHandle;
|
|
if (bp)
|
|
{
|
|
|
|
btVector3 color (1,1,0);
|
|
|
|
if (m_debugDrawer)
|
|
{
|
|
//draw aabb
|
|
switch (body->GetActivationState())
|
|
{
|
|
case ISLAND_SLEEPING:
|
|
{
|
|
color.setValue(1,1,1);
|
|
break;
|
|
}
|
|
case WANTS_DEACTIVATION:
|
|
{
|
|
color.setValue(0,0,1);
|
|
break;
|
|
}
|
|
case ACTIVE_TAG:
|
|
{
|
|
break;
|
|
}
|
|
case DISABLE_DEACTIVATION:
|
|
{
|
|
color.setValue(1,0,1);
|
|
};
|
|
|
|
};
|
|
|
|
if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb)
|
|
{
|
|
DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
|
|
}
|
|
}
|
|
|
|
|
|
if ( (maxAabb-minAabb).length2() < 1e12f)
|
|
{
|
|
scene->setAabb(bp,minAabb,maxAabb);
|
|
} else
|
|
{
|
|
//something went wrong, investigate
|
|
//removeCcdPhysicsController(ctrl);
|
|
body->SetActivationState(DISABLE_SIMULATION);
|
|
|
|
static bool reportMe = true;
|
|
if (reportMe)
|
|
{
|
|
reportMe = false;
|
|
printf("Overflow in AABB, object removed from simulation \n");
|
|
printf("If you can reproduce this, please email bugs@continuousphysics.com\n");
|
|
printf("Please include above information, your Platform, version of OS.\n");
|
|
printf("Thanks.\n");
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
PHY_IPhysicsController* CcdPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position)
|
|
{
|
|
|
|
btCcdConstructionInfo cinfo;
|
|
cinfo.m_collisionShape = new btSphereShape(radius);
|
|
cinfo.m_MotionState = 0;
|
|
cinfo.m_physicsEnv = this;
|
|
cinfo.m_collisionFlags |= btCollisionObject::noContactResponse;
|
|
DefaultMotionState* motionState = new DefaultMotionState();
|
|
cinfo.m_MotionState = motionState;
|
|
motionState->m_worldTransform.setIdentity();
|
|
motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2]));
|
|
|
|
CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
|
|
|
|
|
|
return sphereController;
|
|
}
|
|
|
|
|
|
PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
|
|
{
|
|
btCcdConstructionInfo cinfo;
|
|
cinfo.m_collisionShape = new btConeShape(coneradius,coneheight);
|
|
cinfo.m_MotionState = 0;
|
|
cinfo.m_physicsEnv = this;
|
|
DefaultMotionState* motionState = new DefaultMotionState();
|
|
cinfo.m_MotionState = motionState;
|
|
motionState->m_worldTransform.setIdentity();
|
|
// motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2]));
|
|
|
|
CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
|
|
|
|
|
|
return sphereController;
|
|
}
|
|
|
|
float CcdPhysicsEnvironment::getAppliedImpulse(int constraintid)
|
|
{
|
|
std::vector<btTypedConstraint*>::iterator i;
|
|
|
|
for (i=m_constraints.begin();
|
|
!(i==m_constraints.end()); i++)
|
|
{
|
|
btTypedConstraint* constraint = (*i);
|
|
if (constraint->getUserConstraintId() == constraintid)
|
|
{
|
|
return constraint->getAppliedImpulse();
|
|
}
|
|
}
|
|
return 0.f;
|
|
}
|