forked from bartvdbraak/blender
671235b69b
Bullet is now off by default on all platforms until we get an OK from Erwin. To enable it, change USE_PHYSICS to 'bullet' in your config.opts.
814 lines
16 KiB
C++
814 lines
16 KiB
C++
#include "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include <algorithm>
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#include "SimdTransform.h"
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#include "Dynamics/RigidBody.h"
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#include "BroadphaseCollision/BroadphaseInterface.h"
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#include "BroadphaseCollision/SimpleBroadphase.h"
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#include "CollisionShapes/ConvexShape.h"
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#include "BroadphaseCollision/CollisionDispatcher.h"
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#include "NarrowPhaseCollision/PersistentManifold.h"
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#include "CollisionShapes/TriangleMeshShape.h"
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#include "ConstraintSolver/OdeConstraintSolver.h"
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#include "ConstraintSolver/SimpleConstraintSolver.h"
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#include "IDebugDraw.h"
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#include "CollisionDispatch/ToiContactDispatcher.h"
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#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
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#include "CollisionDispatch/UnionFind.h"
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#include "NarrowPhaseCollision/RaycastCallback.h"
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bool useIslands = true;
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#include "ConstraintSolver/ConstraintSolver.h"
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#include "ConstraintSolver/Point2PointConstraint.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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unsigned long gNumIterations = 10;
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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 "ConstraintSolver/ContactConstraint.h"
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#include <stdio.h>
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static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
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{
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SimdVector3 halfExtents = (to-from)* 0.5f;
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SimdVector3 center = (to+from) *0.5f;
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int i,j;
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SimdVector3 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 = SimdVector3(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 = SimdVector3(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 = SimdVector3(-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(ToiContactDispatcher* dispatcher,BroadphaseInterface* bp)
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:m_dispatcher(dispatcher),
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m_broadphase(bp),
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m_scalingPropagated(false)
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{
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if (!m_dispatcher)
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{
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OdeConstraintSolver* solver = new OdeConstraintSolver();
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//SimpleConstraintSolver* solver= new SimpleConstraintSolver();
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m_dispatcher = new ToiContactDispatcher(solver);
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}
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if (!m_broadphase)
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{
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m_broadphase = new SimpleBroadphase();
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}
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m_debugDrawer = 0;
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m_gravity = SimdVector3(0.f,-10.f,0.f);
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}
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void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
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{
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ctrl->GetRigidBody()->setGravity( m_gravity );
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m_controllers.push_back(ctrl);
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BroadphaseInterface* scene = m_broadphase;
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CollisionShape* shapeinterface = ctrl->GetCollisionShape();
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assert(shapeinterface);
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const SimdTransform& t = ctrl->GetRigidBody()->getCenterOfMassTransform();
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RigidBody* body = ctrl->GetRigidBody();
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SimdPoint3 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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SimdVector3 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 = SimdVector3(minAabbx,minAabby,minAabbz);
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maxAabb = SimdVector3(maxAabbx,maxAabby,maxAabbz);
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if (!ctrl->m_broadphaseHandle)
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{
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int type = shapeinterface->GetShapeType();
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ctrl->m_broadphaseHandle = scene->CreateProxy(
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ctrl->GetRigidBody(),
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type,
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minAabb,
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maxAabb);
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}
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body->SetCollisionShape( shapeinterface );
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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<Point2PointConstraint*>::iterator i;
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for (i=m_p2pConstraints.begin();
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!(i==m_p2pConstraints.end()); i++)
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{
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Point2PointConstraint* p2p = (*i);
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if ((&p2p->GetRigidBodyA() == ctrl->GetRigidBody() ||
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(&p2p->GetRigidBodyB() == ctrl->GetRigidBody())))
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{
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removeConstraint(int(p2p));
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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<Point2PointConstraint*>::iterator i;
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for (i=m_p2pConstraints.begin();
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!(i==m_p2pConstraints.end()); i++)
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{
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Point2PointConstraint* p2p = (*i);
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if ((&p2p->GetRigidBodyA() == ctrl->GetRigidBody() ||
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(&p2p->GetRigidBodyB() == ctrl->GetRigidBody())))
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{
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removeConstraint(int(p2p));
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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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bool removeFromBroadphase = false;
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{
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BroadphaseInterface* scene = m_broadphase;
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BroadphaseProxy* bp = (BroadphaseProxy*)ctrl->m_broadphaseHandle;
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if (removeFromBroadphase)
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{
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}
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//
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// only clear the cached algorithms
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//
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scene->CleanProxyFromPairs(bp);
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}
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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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}
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void CcdPhysicsEnvironment::UpdateActivationState()
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{
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m_dispatcher->InitUnionFind();
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// put the index into m_controllers into m_tag
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{
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std::vector<CcdPhysicsController*>::iterator i;
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int index = 0;
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for (i=m_controllers.begin();
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!(i==m_controllers.end()); i++)
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{
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CcdPhysicsController* ctrl = (*i);
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RigidBody* body = ctrl->GetRigidBody();
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body->m_islandTag1 = index;
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body->m_hitFraction = 1.f;
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index++;
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}
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}
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// do the union find
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m_dispatcher->FindUnions();
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// put the islandId ('find' value) into m_tag
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{
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UnionFind& unionFind = m_dispatcher->GetUnionFind();
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std::vector<CcdPhysicsController*>::iterator i;
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int index = 0;
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for (i=m_controllers.begin();
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!(i==m_controllers.end()); i++)
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{
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CcdPhysicsController* ctrl = (*i);
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RigidBody* body = ctrl->GetRigidBody();
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if (body->mergesSimulationIslands())
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{
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body->m_islandTag1 = unionFind.find(index);
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} else
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{
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body->m_islandTag1 = -1;
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}
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index++;
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}
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}
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}
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bool gPredictCollision = false;//true;//false;
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/// Perform an integration step of duration 'timeStep'.
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bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
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{
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// printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
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if (timeStep == 0.f)
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return true;
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//clamp hardcoded for now
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if (timeStep > 0.02)
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timeStep = 0.02;
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//this is needed because scaling is not known in advance, and scaling has to propagate to the shape
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if (!m_scalingPropagated)
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{
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//SyncMotionStates(timeStep);
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//m_scalingPropagated = true;
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}
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{
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// std::vector<CcdPhysicsController*>::iterator i;
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int k;
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for (k=0;k<GetNumControllers();k++)
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{
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CcdPhysicsController* ctrl = m_controllers[k];
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// SimdTransform predictedTrans;
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RigidBody* body = ctrl->GetRigidBody();
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if (body->GetActivationState() != ISLAND_SLEEPING)
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{
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body->applyForces( timeStep);
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body->integrateVelocities( timeStep);
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}
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}
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}
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BroadphaseInterface* scene = m_broadphase;
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//
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// collision detection (?)
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//
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int numsubstep = gNumIterations;
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DispatcherInfo dispatchInfo;
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dispatchInfo.m_timeStep = timeStep;
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dispatchInfo.m_stepCount = 0;
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scene->DispatchAllCollisionPairs(*m_dispatcher,dispatchInfo);///numsubstep,g);
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int numRigidBodies = m_controllers.size();
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UpdateActivationState();
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//contacts
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m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer);
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for (int g=0;g<numsubstep;g++)
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{
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//
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// constraint solving
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//
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int i;
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int numPoint2Point = m_p2pConstraints.size();
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//point to point constraints
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for (i=0;i< numPoint2Point ; i++ )
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{
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Point2PointConstraint* p2p = m_p2pConstraints[i];
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p2p->BuildJacobian();
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p2p->SolveConstraint( timeStep );
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}
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/*
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//vehicles
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int numVehicles = m_vehicles.size();
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for (i=0;i<numVehicles;i++)
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{
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Vehicle* vehicle = m_vehicles[i];
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vehicle->UpdateVehicle( timeStep );
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}
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*/
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}
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{
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{
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std::vector<CcdPhysicsController*>::iterator i;
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//
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// update aabbs, only for moving objects (!)
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//
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for (i=m_controllers.begin();
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!(i==m_controllers.end()); i++)
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{
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CcdPhysicsController* ctrl = (*i);
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RigidBody* body = ctrl->GetRigidBody();
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SimdPoint3 minAabb,maxAabb;
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CollisionShape* shapeinterface = ctrl->GetCollisionShape();
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shapeinterface->CalculateTemporalAabb(body->getCenterOfMassTransform(),
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body->getLinearVelocity(),body->getAngularVelocity(),
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timeStep,minAabb,maxAabb);
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shapeinterface->GetAabb(body->getCenterOfMassTransform(),
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minAabb,maxAabb);
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BroadphaseProxy* bp = (BroadphaseProxy*) ctrl->m_broadphaseHandle;
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if (bp)
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{
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#ifdef WIN32
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SimdVector3 color (1,0,0);
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if (m_debugDrawer)
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{
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//draw aabb
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DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
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}
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#endif
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scene->SetAabb(bp,minAabb,maxAabb);
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}
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}
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float toi = 1.f;
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if (gPredictCollision)
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{
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DispatcherInfo dispatchInfo;
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dispatchInfo.m_timeStep = timeStep;
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dispatchInfo.m_stepCount = 0;
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dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
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scene->DispatchAllCollisionPairs( *m_dispatcher,dispatchInfo);///numsubstep,g);
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toi = dispatchInfo.m_timeOfImpact;
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}
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//
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// integrating solution
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//
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{
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std::vector<CcdPhysicsController*>::iterator i;
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for (i=m_controllers.begin();
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!(i==m_controllers.end()); i++)
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{
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CcdPhysicsController* ctrl = *i;
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SimdTransform predictedTrans;
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RigidBody* body = ctrl->GetRigidBody();
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if (body->GetActivationState() != ISLAND_SLEEPING)
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{
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body->predictIntegratedTransform(timeStep* toi, predictedTrans);
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body->proceedToTransform( predictedTrans);
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}
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}
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}
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//
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// disable sleeping physics objects
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//
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std::vector<CcdPhysicsController*> m_sleepingControllers;
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for (i=m_controllers.begin();
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!(i==m_controllers.end()); i++)
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{
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CcdPhysicsController* ctrl = (*i);
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RigidBody* body = ctrl->GetRigidBody();
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if (ctrl->wantsSleeping())
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{
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if (body->GetActivationState() == ACTIVE_TAG)
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body->SetActivationState( WANTS_DEACTIVATION );
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} else
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{
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body->SetActivationState( ACTIVE_TAG );
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}
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if (useIslands)
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{
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if (body->GetActivationState() == ISLAND_SLEEPING)
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{
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m_sleepingControllers.push_back(ctrl);
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}
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} else
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{
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if (ctrl->wantsSleeping())
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{
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m_sleepingControllers.push_back(ctrl);
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}
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}
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}
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}
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SyncMotionStates(timeStep);
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}
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return true;
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}
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void CcdPhysicsEnvironment::setDebugMode(int debugMode)
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{
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if (debugMode > 10)
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{
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if (m_dispatcher)
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delete m_dispatcher;
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if (debugMode == 11)
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{
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SimpleConstraintSolver* solver= new SimpleConstraintSolver();
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m_dispatcher = new ToiContactDispatcher(solver);
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} else
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{
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OdeConstraintSolver* solver = new OdeConstraintSolver();
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m_dispatcher = new ToiContactDispatcher(solver);
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}
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}
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if (m_debugDrawer){
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m_debugDrawer->SetDebugMode(debugMode);
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}
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}
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void CcdPhysicsEnvironment::SyncMotionStates(float timeStep)
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{
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std::vector<CcdPhysicsController*>::iterator i;
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//
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// synchronize the physics and graphics transformations
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//
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for (i=m_controllers.begin();
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!(i==m_controllers.end()); i++)
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{
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CcdPhysicsController* ctrl = (*i);
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ctrl->SynchronizeMotionStates(timeStep);
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}
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}
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void CcdPhysicsEnvironment::setGravity(float x,float y,float z)
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{
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m_gravity = SimdVector3(x,y,z);
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std::vector<CcdPhysicsController*>::iterator i;
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//todo: review this gravity stuff
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for (i=m_controllers.begin();
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!(i==m_controllers.end()); i++)
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{
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CcdPhysicsController* ctrl = (*i);
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ctrl->GetRigidBody()->setGravity(m_gravity);
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}
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}
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#ifdef DASHDASJKHASDJK
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class RaycastingQueryBox : public QueryBox
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{
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SimdVector3 m_aabbMin;
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SimdVector3 m_aabbMax;
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public:
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RaycastCallback m_raycastCallback;
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RaycastingQueryBox(QueryBoxConstructionInfo& ci,const SimdVector3& from,const SimdVector3& to)
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: QueryBox(ci),
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m_raycastCallback(from,to)
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{
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for (int i=0;i<3;i++)
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{
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float fromI = from[i];
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float toI = to[i];
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if (fromI < toI)
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{
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m_aabbMin[i] = fromI;
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m_aabbMax[i] = toI;
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} else
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{
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m_aabbMin[i] = toI;
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m_aabbMax[i] = fromI;
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}
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}
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}
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virtual void AddCollider( BroadphaseProxy* proxy)
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{
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//perform raycast if wanted, and update the m_hitFraction
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if (proxy->GetClientObjectType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
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{
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//do it
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RigidBody* body = (RigidBody*)proxy->m_clientObject;
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TriangleMeshInterface* meshInterface = (TriangleMeshInterface*)
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body->m_minkowski1;
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//if the hit is closer, record the proxy!
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float curFraction = m_raycastCallback.m_hitFraction;
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meshInterface->ProcessAllTriangles(&m_raycastCallback,m_aabbMin,m_aabbMax);
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if (m_raycastCallback.m_hitFraction < curFraction)
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{
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m_raycastCallback.m_hitProxy = proxy;
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}
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}
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}
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};
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struct InternalVehicleRaycaster : public VehicleRaycaster
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{
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CcdPhysicsEnvironment* m_env;
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public:
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InternalVehicleRaycaster(CcdPhysicsEnvironment* env)
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: m_env(env)
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{
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}
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virtual void* CastRay(const SimdVector3& from,const SimdVector3& to, VehicleRaycasterResult& result)
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{
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return 0;
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}
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};
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#endif
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int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
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float pivotX,float pivotY,float pivotZ,
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float axisX,float axisY,float axisZ)
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{
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|
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CcdPhysicsController* c0 = (CcdPhysicsController*)ctrl0;
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CcdPhysicsController* c1 = (CcdPhysicsController*)ctrl1;
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RigidBody* rb0 = c0 ? c0->GetRigidBody() : 0;
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RigidBody* rb1 = c1 ? c1->GetRigidBody() : 0;
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ASSERT(rb0);
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SimdVector3 pivotInA(pivotX,pivotY,pivotZ);
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SimdVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
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switch (type)
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{
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case PHY_POINT2POINT_CONSTRAINT:
|
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{
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|
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Point2PointConstraint* p2p = 0;
|
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|
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if (rb1)
|
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{
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p2p = new Point2PointConstraint(*rb0,
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*rb1,pivotInA,pivotInB);
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} else
|
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{
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p2p = new Point2PointConstraint(*rb0,
|
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pivotInA);
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}
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m_p2pConstraints.push_back(p2p);
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return 0;
|
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|
|
break;
|
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}
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default:
|
|
{
|
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}
|
|
};
|
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|
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//RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB
|
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|
|
return 0;
|
|
|
|
}
|
|
|
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void CcdPhysicsEnvironment::removeConstraint(int constraintid)
|
|
{
|
|
|
|
Point2PointConstraint* p2p = (Point2PointConstraint*) constraintid;
|
|
|
|
std::vector<Point2PointConstraint*>::iterator i =
|
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std::find(m_p2pConstraints.begin(), m_p2pConstraints.end(), p2p);
|
|
|
|
if (!(i == m_p2pConstraints.end()) )
|
|
{
|
|
std::swap(*i, m_p2pConstraints.back());
|
|
m_p2pConstraints.pop_back();
|
|
}
|
|
|
|
}
|
|
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)
|
|
{
|
|
|
|
|
|
// m_broadphase->cast(
|
|
return 0;
|
|
}
|
|
|
|
|
|
|
|
int CcdPhysicsEnvironment::getNumContactPoints()
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
void CcdPhysicsEnvironment::getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
|
|
{
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
Dispatcher* CcdPhysicsEnvironment::GetDispatcher()
|
|
{
|
|
return m_dispatcher;
|
|
}
|
|
|
|
CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
|
|
{
|
|
|
|
|
|
m_vehicles.clear();
|
|
|
|
//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;
|
|
|
|
}
|
|
|
|
|
|
int CcdPhysicsEnvironment::GetNumControllers()
|
|
{
|
|
return m_controllers.size();
|
|
}
|
|
|
|
|
|
CcdPhysicsController* CcdPhysicsEnvironment::GetPhysicsController( int index)
|
|
{
|
|
return m_controllers[index];
|
|
}
|
|
|
|
|
|
int CcdPhysicsEnvironment::GetNumManifolds() const
|
|
{
|
|
return m_dispatcher->GetNumManifolds();
|
|
}
|
|
|
|
const PersistentManifold* CcdPhysicsEnvironment::GetManifold(int index) const
|
|
{
|
|
return m_dispatcher->GetManifoldByIndexInternal(index);
|
|
}
|