/* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 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. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution. */ #include "CcdPhysicsEnvironment.h" #include "CcdPhysicsController.h" #include #include "SimdTransform.h" #include "Dynamics/RigidBody.h" #include "BroadphaseCollision/BroadphaseInterface.h" #include "BroadphaseCollision/SimpleBroadphase.h" #include "BroadphaseCollision/AxisSweep3.h" #include "CollisionDispatch/CollisionWorld.h" #include "CollisionShapes/ConvexShape.h" #include "BroadphaseCollision/Dispatcher.h" #include "NarrowPhaseCollision/PersistentManifold.h" #include "CollisionShapes/TriangleMeshShape.h" #include "ConstraintSolver/OdeConstraintSolver.h" #include "ConstraintSolver/SimpleConstraintSolver.h" //profiling/timings #include "quickprof.h" #include "IDebugDraw.h" #include "NarrowPhaseCollision/VoronoiSimplexSolver.h" #include "NarrowPhaseCollision/SubSimplexConvexCast.h" #include "NarrowPhaseCollision/GjkConvexCast.h" #include "NarrowPhaseCollision/ContinuousConvexCollision.h" #include "CollisionDispatch/CollisionDispatcher.h" #include "PHY_IMotionState.h" #include "CollisionDispatch/EmptyCollisionAlgorithm.h" #include "CollisionDispatch/UnionFind.h" #include "CollisionShapes/SphereShape.h" bool useIslands = true; #ifdef NEW_BULLET_VEHICLE_SUPPORT #include "Vehicle/RaycastVehicle.h" #include "Vehicle/VehicleRaycaster.h" #include "Vehicle/WheelInfo.h" #include "PHY_IVehicle.h" RaycastVehicle::VehicleTuning gTuning; #endif //NEW_BULLET_VEHICLE_SUPPORT #include "AabbUtil2.h" #include "ConstraintSolver/ConstraintSolver.h" #include "ConstraintSolver/Point2PointConstraint.h" #include "ConstraintSolver/HingeConstraint.h" //#include "BroadphaseCollision/QueryDispatcher.h" //#include "BroadphaseCollision/QueryBox.h" //todo: change this to allow dynamic registration of types! #ifdef WIN32 void DrawRasterizerLine(const float* from,const float* to,int color); #endif #include "ConstraintSolver/ContactConstraint.h" #include #ifdef NEW_BULLET_VEHICLE_SUPPORT class WrapperVehicle : public PHY_IVehicle { RaycastVehicle* m_vehicle; PHY_IPhysicsController* m_chassis; public: WrapperVehicle(RaycastVehicle* vehicle,PHY_IPhysicsController* chassis) :m_vehicle(vehicle), m_chassis(chassis) { } RaycastVehicle* GetVehicle() { return m_vehicle; } PHY_IPhysicsController* GetChassis() { return m_chassis; } virtual void AddWheel( PHY_IMotionState* motionState, PHY__Vector3 connectionPoint, PHY__Vector3 downDirection, PHY__Vector3 axleDirection, float suspensionRestLength, float wheelRadius, bool hasSteering ) { SimdVector3 connectionPointCS0(connectionPoint[0],connectionPoint[1],connectionPoint[2]); SimdVector3 wheelDirectionCS0(downDirection[0],downDirection[1],downDirection[2]); SimdVector3 wheelAxle(axleDirection[0],axleDirection[1],axleDirection[2]); WheelInfo& info = m_vehicle->AddWheel(connectionPointCS0,wheelDirectionCS0,wheelAxle, suspensionRestLength,wheelRadius,gTuning,hasSteering); info.m_clientInfo = motionState; } void SyncWheels() { int numWheels = GetNumWheels(); int i; for (i=0;iGetWheelInfo(i); PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ; m_vehicle->UpdateWheelTransform(i); SimdTransform trans = m_vehicle->GetWheelTransformWS(i); SimdQuaternion orn = trans.getRotation(); const SimdVector3& pos = trans.getOrigin(); motionState->setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]); motionState->setWorldPosition(pos.x(),pos.y(),pos.z()); } } virtual int GetNumWheels() const { return m_vehicle->GetNumWheels(); } virtual void GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const { SimdTransform trans = m_vehicle->GetWheelTransformWS(wheelIndex); posX = trans.getOrigin().x(); posY = trans.getOrigin().y(); posZ = trans.getOrigin().z(); } virtual void GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const { SimdTransform trans = m_vehicle->GetWheelTransformWS(wheelIndex); SimdQuaternion quat = trans.getRotation(); SimdMatrix3x3 orn2(quat); quatX = trans.getRotation().x(); quatY = trans.getRotation().y(); quatZ = trans.getRotation().z(); quatW = trans.getRotation()[3]; //printf("test"); } virtual float GetWheelRotation(int wheelIndex) const { float rotation = 0.f; if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) { WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); rotation = info.m_rotation; } return rotation; } virtual int GetUserConstraintId() const { return m_vehicle->GetUserConstraintId(); } virtual int GetUserConstraintType() const { return m_vehicle->GetUserConstraintType(); } virtual void SetSteeringValue(float steering,int wheelIndex) { m_vehicle->SetSteeringValue(steering,wheelIndex); } virtual void ApplyEngineForce(float force,int wheelIndex) { m_vehicle->ApplyEngineForce(force,wheelIndex); } virtual void ApplyBraking(float braking,int wheelIndex) { if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) { WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); info.m_brake = braking; } } virtual void SetWheelFriction(float friction,int wheelIndex) { if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) { WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); info.m_frictionSlip = friction; } } virtual void SetSuspensionStiffness(float suspensionStiffness,int wheelIndex) { if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) { WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); info.m_suspensionStiffness = suspensionStiffness; } } virtual void SetSuspensionDamping(float suspensionDamping,int wheelIndex) { if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) { WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); info.m_wheelsDampingRelaxation = suspensionDamping; } } virtual void SetSuspensionCompression(float suspensionCompression,int wheelIndex) { if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) { WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); info.m_wheelsDampingCompression = suspensionCompression; } } virtual void SetRollInfluence(float rollInfluence,int wheelIndex) { if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) { WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); info.m_rollInfluence = rollInfluence; } } }; #endif //NEW_BULLET_VEHICLE_SUPPORT static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color) { SimdVector3 halfExtents = (to-from)* 0.5f; SimdVector3 center = (to+from) *0.5f; int i,j; SimdVector3 edgecoord(1.f,1.f,1.f),pa,pb; for (i=0;i<4;i++) { for (j=0;j<3;j++) { pa = SimdVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], edgecoord[2]*halfExtents[2]); pa+=center; int othercoord = j%3; edgecoord[othercoord]*=-1.f; pb = SimdVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], edgecoord[2]*halfExtents[2]); pb+=center; debugDrawer->DrawLine(pa,pb,color); } edgecoord = SimdVector3(-1.f,-1.f,-1.f); if (i<3) edgecoord[i]*=-1.f; } } CcdPhysicsEnvironment::CcdPhysicsEnvironment(CollisionDispatcher* dispatcher,BroadphaseInterface* broadphase) :m_scalingPropagated(false), m_numIterations(10), m_ccdMode(0), m_solverType(-1), m_profileTimings(0), m_enableSatCollisionDetection(false) { for (int i=0;iGetRigidBody(); //this m_userPointer is just used for triggers, see CallbackTriggers body->m_userPointer = ctrl; body->setGravity( m_gravity ); m_controllers.push_back(ctrl); m_collisionWorld->AddCollisionObject(body); assert(body->m_broadphaseHandle); BroadphaseInterface* scene = GetBroadphase(); CollisionShape* shapeinterface = ctrl->GetCollisionShape(); assert(shapeinterface); const SimdTransform& t = ctrl->GetRigidBody()->getCenterOfMassTransform(); SimdPoint3 minAabb,maxAabb; shapeinterface->GetAabb(t,minAabb,maxAabb); float timeStep = 0.02f; //extent it with the motion SimdVector3 linMotion = body->getLinearVelocity()*timeStep; float maxAabbx = maxAabb.getX(); float maxAabby = maxAabb.getY(); float maxAabbz = maxAabb.getZ(); float minAabbx = minAabb.getX(); float minAabby = minAabb.getY(); float minAabbz = minAabb.getZ(); if (linMotion.x() > 0.f) maxAabbx += linMotion.x(); else minAabbx += linMotion.x(); if (linMotion.y() > 0.f) maxAabby += linMotion.y(); else minAabby += linMotion.y(); if (linMotion.z() > 0.f) maxAabbz += linMotion.z(); else minAabbz += linMotion.z(); minAabb = SimdVector3(minAabbx,minAabby,minAabbz); maxAabb = SimdVector3(maxAabbx,maxAabby,maxAabbz); } void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl) { //also remove constraint { std::vector::iterator i; for (i=m_constraints.begin(); !(i==m_constraints.end()); i++) { TypedConstraint* constraint = (*i); if ((&constraint->GetRigidBodyA() == ctrl->GetRigidBody() || (&constraint->GetRigidBodyB() == ctrl->GetRigidBody()))) { removeConstraint(constraint->GetUserConstraintId()); //only 1 constraint per constroller break; } } } { std::vector::iterator i; for (i=m_constraints.begin(); !(i==m_constraints.end()); i++) { TypedConstraint* constraint = (*i); if ((&constraint->GetRigidBodyA() == ctrl->GetRigidBody() || (&constraint->GetRigidBodyB() == ctrl->GetRigidBody()))) { removeConstraint(constraint->GetUserConstraintId()); //only 1 constraint per constroller break; } } } m_collisionWorld->RemoveCollisionObject(ctrl->GetRigidBody()); { std::vector::iterator i = std::find(m_controllers.begin(), m_controllers.end(), ctrl); if (!(i == m_controllers.end())) { std::swap(*i, m_controllers.back()); m_controllers.pop_back(); } } //remove it from the triggers { std::vector::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::beginFrame() { } bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) { #ifdef USE_QUICKPROF //toggle Profiler if ( m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_ProfileTimings) { if (!m_profileTimings) { m_profileTimings = 1; // To disable profiling, simply comment out the following line. static int counter = 0; char filename[128]; sprintf(filename,"quickprof_bullet_timings%i.csv",counter++); Profiler::init(filename, Profiler::BLOCK_CYCLE_SECONDS);//BLOCK_TOTAL_MICROSECONDS } } else { if (m_profileTimings) { m_profileTimings = 0; Profiler::destroy(); } } #endif //USE_QUICKPROF if (!SimdFuzzyZero(timeStep)) { // define this in blender, the stepsize is 30 hertz, 60 hertz works much better //#define SPLIT_TIMESTEP 1 #ifdef SPLIT_TIMESTEP proceedDeltaTimeOneStep(0.5f*timeStep); proceedDeltaTimeOneStep(0.5f*timeStep); #else proceedDeltaTimeOneStep(timeStep); #endif } else { //todo: interpolate } return true; } /// Perform an integration step of duration 'timeStep'. bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep) { // printf("CcdPhysicsEnvironment::proceedDeltaTime\n"); if (SimdFuzzyZero(timeStep)) return true; if (m_debugDrawer) { gDisableDeactivation = (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_NoDeactivation); } #ifdef USE_QUICKPROF Profiler::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 Profiler::endBlock("SyncMotionStates"); Profiler::beginBlock("predictIntegratedTransform"); #endif //USE_QUICKPROF { // std::vector::iterator i; int k; for (k=0;kGetRigidBody(); if (body->GetActivationState() != ISLAND_SLEEPING) { if (!body->IsStatic()) { body->applyForces( timeStep); body->integrateVelocities( timeStep); body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform); } } } } #ifdef USE_QUICKPROF Profiler::endBlock("predictIntegratedTransform"); #endif //USE_QUICKPROF BroadphaseInterface* scene = GetBroadphase(); // // collision detection (?) // #ifdef USE_QUICKPROF Profiler::beginBlock("DispatchAllCollisionPairs"); #endif //USE_QUICKPROF int numsubstep = m_numIterations; DispatcherInfo dispatchInfo; dispatchInfo.m_timeStep = timeStep; dispatchInfo.m_stepCount = 0; dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection; scene->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);///numsubstep,g); #ifdef USE_QUICKPROF Profiler::endBlock("DispatchAllCollisionPairs"); #endif //USE_QUICKPROF int numRigidBodies = m_controllers.size(); m_collisionWorld->UpdateActivationState(); //contacts #ifdef USE_QUICKPROF Profiler::beginBlock("SolveConstraint"); #endif //USE_QUICKPROF //solve the regular constraints (point 2 point, hinge, etc) for (int g=0;gBuildJacobian(); constraint->SolveConstraint( timeStep ); } } #ifdef USE_QUICKPROF Profiler::endBlock("SolveConstraint"); #endif //USE_QUICKPROF //solve the vehicles #ifdef NEW_BULLET_VEHICLE_SUPPORT //vehicles int numVehicles = m_wrapperVehicles.size(); for (int i=0;iGetVehicle(); vehicle->UpdateVehicle( timeStep); } #endif //NEW_BULLET_VEHICLE_SUPPORT struct InplaceSolverIslandCallback : public CollisionDispatcher::IslandCallback { ContactSolverInfo& m_solverInfo; ConstraintSolver* m_solver; IDebugDraw* m_debugDrawer; InplaceSolverIslandCallback( ContactSolverInfo& solverInfo, ConstraintSolver* solver, IDebugDraw* debugDrawer) :m_solverInfo(solverInfo), m_solver(solver), m_debugDrawer(debugDrawer) { } virtual void ProcessIsland(PersistentManifold** 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 Profiler::beginBlock("BuildAndProcessIslands"); #endif //USE_QUICKPROF /// solve all the contact points and contact friction GetDispatcher()->BuildAndProcessIslands(numRigidBodies,&solverCallback); #ifdef USE_QUICKPROF Profiler::endBlock("BuildAndProcessIslands"); Profiler::beginBlock("CallbackTriggers"); #endif //USE_QUICKPROF CallbackTriggers(); #ifdef USE_QUICKPROF Profiler::endBlock("CallbackTriggers"); Profiler::beginBlock("proceedToTransform"); #endif //USE_QUICKPROF { { UpdateAabbs(timeStep); float toi = 1.f; if (m_ccdMode == 3) { DispatcherInfo dispatchInfo; dispatchInfo.m_timeStep = timeStep; dispatchInfo.m_stepCount = 0; dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS; scene->DispatchAllCollisionPairs( *GetDispatcher(),dispatchInfo);///numsubstep,g); toi = dispatchInfo.m_timeOfImpact; } // // integrating solution // { std::vector::iterator i; for (i=m_controllers.begin(); !(i==m_controllers.end()); i++) { CcdPhysicsController* ctrl = *i; SimdTransform predictedTrans; RigidBody* body = ctrl->GetRigidBody(); if (body->GetActivationState() != ISLAND_SLEEPING) { if (body->IsStatic()) { //to calculate velocities next frame body->saveKinematicState(timeStep); } else { body->predictIntegratedTransform(timeStep* toi, predictedTrans); body->proceedToTransform( predictedTrans); } } } } // // disable sleeping physics objects // std::vector m_sleepingControllers; std::vector::iterator i; for (i=m_controllers.begin(); !(i==m_controllers.end()); i++) { CcdPhysicsController* ctrl = (*i); RigidBody* 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 Profiler::endBlock("proceedToTransform"); Profiler::beginBlock("SyncMotionStates"); #endif //USE_QUICKPROF SyncMotionStates(timeStep); #ifdef USE_QUICKPROF Profiler::endBlock("SyncMotionStates"); Profiler::endProfilingCycle(); #endif //USE_QUICKPROF #ifdef NEW_BULLET_VEHICLE_SUPPORT //sync wheels for vehicles int numVehicles = m_wrapperVehicles.size(); for (int i=0;iSyncWheels(); } #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 SimpleConstraintSolver(); break; } } case 0: default: if (m_solverType != solverType) { m_solver = new OdeConstraintSolver(); break; } }; m_solverType = solverType ; } void CcdPhysicsEnvironment::SyncMotionStates(float timeStep) { std::vector::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 = SimdVector3(x,y,z); std::vector::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 VehicleRaycaster { CcdPhysicsEnvironment* m_physEnv; PHY_IPhysicsController* m_chassis; public: DefaultVehicleRaycaster(CcdPhysicsEnvironment* physEnv,PHY_IPhysicsController* chassis): m_physEnv(physEnv), m_chassis(chassis) { } /* struct VehicleRaycasterResult { VehicleRaycasterResult() :m_distFraction(-1.f){}; SimdVector3 m_hitPointInWorld; SimdVector3 m_hitNormalInWorld; SimdScalar m_distFraction; }; */ virtual void* CastRay(const SimdVector3& from,const SimdVector3& to, VehicleRaycasterResult& 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; RigidBody* rb0 = c0 ? c0->GetRigidBody() : 0; RigidBody* rb1 = c1 ? c1->GetRigidBody() : 0; ASSERT(rb0); SimdVector3 pivotInA(pivotX,pivotY,pivotZ); SimdVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA; SimdVector3 axisInA(axisX,axisY,axisZ); SimdVector3 axisInB = rb1 ? (rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * -axisInA)) : rb0->getCenterOfMassTransform().getBasis() * -axisInA; bool angularOnly = false; switch (type) { case PHY_POINT2POINT_CONSTRAINT: { Point2PointConstraint* p2p = 0; if (rb1) { p2p = new Point2PointConstraint(*rb0, *rb1,pivotInA,pivotInB); } else { p2p = new Point2PointConstraint(*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_ANGULAR_CONSTRAINT: angularOnly = true; case PHY_LINEHINGE_CONSTRAINT: { HingeConstraint* hinge = 0; if (rb1) { hinge = new HingeConstraint( *rb0, *rb1,pivotInA,pivotInB,axisInA,axisInB); } else { hinge = new HingeConstraint(*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: { RaycastVehicle::VehicleTuning* tuning = new RaycastVehicle::VehicleTuning(); RigidBody* chassis = rb0; DefaultVehicleRaycaster* raycaster = new DefaultVehicleRaycaster(this,ctrl0); RaycastVehicle* vehicle = new RaycastVehicle(*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,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB return 0; } void CcdPhysicsEnvironment::removeConstraint(int constraintId) { std::vector::iterator i; for (i=m_constraints.begin(); !(i==m_constraints.end()); i++) { TypedConstraint* constraint = (*i); if (constraint->GetUserConstraintId() == constraintId) { std::swap(*i, m_constraints.back()); m_constraints.pop_back(); break; } } } struct FilterClosestRayResultCallback : public CollisionWorld::ClosestRayResultCallback { PHY_IPhysicsController* m_ignoreClient; FilterClosestRayResultCallback (PHY_IPhysicsController* ignoreClient,const SimdVector3& rayFrom,const SimdVector3& rayTo) : CollisionWorld::ClosestRayResultCallback(rayFrom,rayTo), m_ignoreClient(ignoreClient) { } virtual ~FilterClosestRayResultCallback() { } virtual float AddSingleResult(const CollisionWorld::LocalRayResult& rayResult) { CcdPhysicsController* curHit = static_cast(rayResult.m_collisionObject->m_userPointer); //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) { float minFraction = 1.f; SimdVector3 rayFrom(fromX,fromY,fromZ); SimdVector3 rayTo(toX,toY,toZ); SimdVector3 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(rayCallback.m_collisionObject->m_userPointer); 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) { } BroadphaseInterface* CcdPhysicsEnvironment::GetBroadphase() { return m_collisionWorld->GetBroadphase(); } const CollisionDispatcher* CcdPhysicsEnvironment::GetDispatcher() const { return m_collisionWorld->GetDispatcher(); } CollisionDispatcher* CcdPhysicsEnvironment::GetDispatcher() { return m_collisionWorld->GetDispatcher(); } 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; } int CcdPhysicsEnvironment::GetNumControllers() { return m_controllers.size(); } CcdPhysicsController* CcdPhysicsEnvironment::GetPhysicsController( int index) { return m_controllers[index]; } int CcdPhysicsEnvironment::GetNumManifolds() const { return GetDispatcher()->GetNumManifolds(); } const PersistentManifold* CcdPhysicsEnvironment::GetManifold(int index) const { return GetDispatcher()->GetManifoldByIndexInternal(index); } TypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId) { int numConstraint = m_constraints.size(); int i; for (i=0;iGetUserConstraintId()==constraintId) { return constraint; } } return 0; } void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl) { //printf("addSensor\n"); } void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* 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(ctrl); //printf("requestCollisionCallback\n"); m_triggerControllers.push_back(ccdCtrl); } void CcdPhysicsEnvironment::CallbackTriggers() { CcdPhysicsController* ctrl0=0,*ctrl1=0; if (m_triggerCallbacks[PHY_OBJECT_RESPONSE]) { //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;iGetDispatcher()->GetManifoldByIndexInternal(i); int numContacts = manifold->GetNumContacts(); if (numContacts) { RigidBody* obj0 = static_cast(manifold->GetBody0()); RigidBody* obj1 = static_cast(manifold->GetBody1()); //m_userPointer is set in 'addPhysicsController CcdPhysicsController* ctrl0 = static_cast(obj0->m_userPointer); CcdPhysicsController* ctrl1 = static_cast(obj1->m_userPointer); std::vector::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;iGetVehicle()->GetUserConstraintId() == constraintId) return wrapperVehicle; } return 0; } #endif //NEW_BULLET_VEHICLE_SUPPORT void CcdPhysicsEnvironment::UpdateAabbs(float timeStep) { std::vector::iterator i; BroadphaseInterface* scene = GetBroadphase(); // // update aabbs, only for moving objects (!) // for (i=m_controllers.begin(); !(i==m_controllers.end()); i++) { CcdPhysicsController* ctrl = (*i); RigidBody* body = ctrl->GetRigidBody(); SimdPoint3 minAabb,maxAabb; CollisionShape* shapeinterface = ctrl->GetCollisionShape(); shapeinterface->CalculateTemporalAabb(body->getCenterOfMassTransform(), body->getLinearVelocity(), //body->getAngularVelocity(), SimdVector3(0.f,0.f,0.f),//no angular effect for now //body->getAngularVelocity(), timeStep,minAabb,maxAabb); SimdVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold); minAabb -= manifoldExtraExtents; maxAabb += manifoldExtraExtents; BroadphaseProxy* bp = body->m_broadphaseHandle; if (bp) { SimdVector3 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() & IDebugDraw::DBG_DrawAabb) { DrawAabb(m_debugDrawer,minAabb,maxAabb,color); } } scene->SetAabb(bp,minAabb,maxAabb); } } }