blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
Erwin Coumans 4a5826fa83 Patch from Charlie:
Cleared the python dictionary at the end of the game engine, should fix some issues,
also reverted the python controller changes, related to this

This should fix the following bugs:
[ #3789 ]
[ #3815 ]

possiblyy fixes:
[ #3834 ]
2006-05-13 23:31:36 +00:00

1588 lines
35 KiB
C++

/*
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 <algorithm>
#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 <stdio.h>
#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;i<numWheels;i++)
{
WheelInfo& info = m_vehicle->GetWheelInfo(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;i<PHY_NUM_RESPONSE;i++)
{
m_triggerCallbacks[i] = 0;
}
if (!dispatcher)
dispatcher = new CollisionDispatcher();
if(!broadphase)
{
//todo: calculate/let user specify this world sizes
SimdVector3 worldMin(-10000,-10000,-10000);
SimdVector3 worldMax(10000,10000,10000);
//broadphase = new AxisSweep3(worldMin,worldMax);
broadphase = new SimpleBroadphase();
}
setSolverType(1);//issues with quickstep and memory allocations
m_collisionWorld = new CollisionWorld(dispatcher,broadphase);
m_debugDrawer = 0;
m_gravity = SimdVector3(0.f,-10.f,0.f);
}
void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
{
RigidBody* body = ctrl->GetRigidBody();
//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<TypedConstraint*>::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<TypedConstraint*>::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<CcdPhysicsController*>::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<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::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<CcdPhysicsController*>::iterator i;
int k;
for (k=0;k<GetNumControllers();k++)
{
CcdPhysicsController* ctrl = m_controllers[k];
// SimdTransform predictedTrans;
RigidBody* body = ctrl->GetRigidBody();
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;g<numsubstep;g++)
{
//
// constraint solving
//
int i;
int numConstraints = m_constraints.size();
//point to point constraints
for (i=0;i< numConstraints ; i++ )
{
TypedConstraint* constraint = m_constraints[i];
constraint->BuildJacobian();
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;i<numVehicles;i++)
{
WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
RaycastVehicle* vehicle = wrapperVehicle->GetVehicle();
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<CcdPhysicsController*>::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<CcdPhysicsController*> m_sleepingControllers;
std::vector<CcdPhysicsController*>::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;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 SimpleConstraintSolver();
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 = SimdVector3(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 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<TypedConstraint*>::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<CcdPhysicsController*>(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<CcdPhysicsController*>(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;i<numConstraint;i++)
{
TypedConstraint* constraint = m_constraints[i];
if (constraint->GetUserConstraintId()==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<CcdPhysicsController*>(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;i<numManifolds;i++)
{
PersistentManifold* manifold = m_collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i);
int numContacts = manifold->GetNumContacts();
if (numContacts)
{
RigidBody* obj0 = static_cast<RigidBody* >(manifold->GetBody0());
RigidBody* obj1 = static_cast<RigidBody* >(manifold->GetBody1());
//m_userPointer is set in 'addPhysicsController
CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->m_userPointer);
CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->m_userPointer);
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
void CcdPhysicsEnvironment::UpdateAabbs(float timeStep)
{
std::vector<CcdPhysicsController*>::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);
}
}
}