forked from bartvdbraak/blender
6f3e593105
remove constraint fixed, Bullet timestep now subdivides Blender game engine timestep, so it runs 60 hertz, SphereShape reverted to old style, so no support for non-uniform scaled spheres for now,
961 lines
20 KiB
C++
961 lines
20 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 "NarrowPhaseCollision/VoronoiSimplexSolver.h"
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#include "NarrowPhaseCollision/SubSimplexConvexCast.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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#include "CollisionShapes/SphereShape.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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#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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m_numIterations(30),
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m_ccdMode(0),
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m_solverType(-1)
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{
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if (!m_dispatcher)
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{
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setSolverType(0);
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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(p2p->GetConstraintId());
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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(p2p->GetConstraintId());
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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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scene->DestroyProxy(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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void CcdPhysicsEnvironment::beginFrame()
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{
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}
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bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
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{
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if (!SimdFuzzyZero(timeStep))
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{
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//Blender runs 30hertz, so subdivide so we get 60 hertz
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proceedDeltaTimeOneStep(0.5f*timeStep);
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proceedDeltaTimeOneStep(0.5f*timeStep);
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} else
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{
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//todo: interpolate
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}
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return true;
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}
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/// Perform an integration step of duration 'timeStep'.
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bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
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{
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// printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
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if (SimdFuzzyZero(timeStep))
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return true;
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if (m_debugDrawer)
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{
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gDisableDeactivation = (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_NoDeactivation);
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}
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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 = m_numIterations;
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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, m_numIterations ,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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SimdVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold);
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minAabb -= manifoldExtraExtents;
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maxAabb += manifoldExtraExtents;
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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 (1,1,0);
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if (m_debugDrawer)
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{
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//draw aabb
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switch (body->GetActivationState())
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{
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case ISLAND_SLEEPING:
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{
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color.setValue(1,1,1);
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break;
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}
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case WANTS_DEACTIVATION:
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{
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color.setValue(0,0,1);
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break;
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}
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case ACTIVE_TAG:
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{
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break;
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}
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};
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if (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawAabb)
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{
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DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
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}
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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 (m_ccdMode == 3)
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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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ctrl->UpdateDeactivation(timeStep);
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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 (m_debugDrawer){
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m_debugDrawer->SetDebugMode(debugMode);
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}
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}
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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_dispatcher->SetSor(sor);
|
|
}
|
|
|
|
void CcdPhysicsEnvironment::setSolverTau(float tau)
|
|
{
|
|
m_dispatcher->SetTau(tau);
|
|
}
|
|
void CcdPhysicsEnvironment::setSolverDamping(float damping)
|
|
{
|
|
m_dispatcher->SetDamping(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)
|
|
{
|
|
if (m_dispatcher)
|
|
delete m_dispatcher;
|
|
|
|
SimpleConstraintSolver* solver= new SimpleConstraintSolver();
|
|
m_dispatcher = new ToiContactDispatcher(solver);
|
|
break;
|
|
}
|
|
}
|
|
|
|
case 0:
|
|
default:
|
|
if (m_solverType != solverType)
|
|
{
|
|
if (m_dispatcher)
|
|
delete m_dispatcher;
|
|
|
|
OdeConstraintSolver* solver= new OdeConstraintSolver();
|
|
m_dispatcher = new ToiContactDispatcher(solver);
|
|
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);
|
|
|
|
}
|
|
}
|
|
|
|
|
|
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;
|
|
|
|
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_p2pConstraints.push_back(p2p);
|
|
|
|
//64 bit systems can't cast pointer to int. could use size_t instead.
|
|
return p2p->GetConstraintId();
|
|
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
}
|
|
};
|
|
|
|
//RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
void CcdPhysicsEnvironment::removeConstraint(int constraintId)
|
|
{
|
|
std::vector<Point2PointConstraint*>::iterator i;
|
|
|
|
//std::find(m_p2pConstraints.begin(), m_p2pConstraints.end(),
|
|
// (Point2PointConstraint *)p2p);
|
|
|
|
for (i=m_p2pConstraints.begin();
|
|
!(i==m_p2pConstraints.end()); i++)
|
|
{
|
|
Point2PointConstraint* p2p = (*i);
|
|
if (p2p->GetConstraintId() == constraintId)
|
|
{
|
|
std::swap(*i, m_p2pConstraints.back());
|
|
m_p2pConstraints.pop_back();
|
|
break;
|
|
}
|
|
}
|
|
|
|
}
|
|
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;
|
|
|
|
SimdTransform rayFromTrans,rayToTrans;
|
|
rayFromTrans.setIdentity();
|
|
rayFromTrans.setOrigin(SimdVector3(fromX,fromY,fromZ));
|
|
rayToTrans.setIdentity();
|
|
rayToTrans.setOrigin(SimdVector3(toX,toY,toZ));
|
|
|
|
|
|
CcdPhysicsController* nearestHit = 0;
|
|
|
|
std::vector<CcdPhysicsController*>::iterator i;
|
|
SphereShape pointShape(0.0f);
|
|
|
|
/// brute force go over all objects. Once there is a broadphase, use that, or
|
|
/// add a raycast against aabb first.
|
|
for (i=m_controllers.begin();
|
|
!(i==m_controllers.end()); i++)
|
|
{
|
|
CcdPhysicsController* ctrl = (*i);
|
|
RigidBody* body = ctrl->GetRigidBody();
|
|
|
|
if (body->GetCollisionShape()->IsConvex())
|
|
{
|
|
ConvexCast::CastResult rayResult;
|
|
rayResult.m_fraction = 1.f;
|
|
|
|
ConvexShape* convexShape = (ConvexShape*) body->GetCollisionShape();
|
|
VoronoiSimplexSolver simplexSolver;
|
|
SubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
|
|
|
|
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,body->getCenterOfMassTransform(),body->getCenterOfMassTransform(),rayResult))
|
|
{
|
|
//add hit
|
|
rayResult.m_normal.normalize();
|
|
if (rayResult.m_fraction < minFraction)
|
|
{
|
|
|
|
|
|
minFraction = rayResult.m_fraction;
|
|
nearestHit = ctrl;
|
|
normalX = rayResult.m_normal.getX();
|
|
normalY = rayResult.m_normal.getY();
|
|
normalZ = rayResult.m_normal.getZ();
|
|
hitX = rayResult.m_hitTransformA.getOrigin().getX();
|
|
hitY = rayResult.m_hitTransformA.getOrigin().getY();
|
|
hitZ = rayResult.m_hitTransformA.getOrigin().getZ();
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (body->GetCollisionShape()->IsConcave())
|
|
{
|
|
|
|
TriangleMeshShape* triangleMesh = (TriangleMeshShape*)body->GetCollisionShape();
|
|
|
|
SimdTransform worldToBody = body->getCenterOfMassTransform().inverse();
|
|
|
|
SimdVector3 rayFromLocal = worldToBody * rayFromTrans.getOrigin();
|
|
SimdVector3 rayToLocal = worldToBody * rayToTrans.getOrigin();
|
|
|
|
RaycastCallback rcb(rayFromLocal,rayToLocal);
|
|
rcb.m_hitFraction = minFraction;
|
|
|
|
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
|
|
|
|
triangleMesh->ProcessAllTriangles(&rcb,-aabbMax,aabbMax);
|
|
if (rcb.m_hitFound)// && (rcb.m_hitFraction < minFraction))
|
|
{
|
|
nearestHit = ctrl;
|
|
minFraction = rcb.m_hitFraction;
|
|
SimdVector3 hitNormalWorld = body->getCenterOfMassTransform()(rcb.m_hitNormalLocal);
|
|
|
|
normalX = hitNormalWorld.getX();
|
|
normalY = hitNormalWorld.getY();
|
|
normalZ = hitNormalWorld.getZ();
|
|
SimdVector3 hitWorld;
|
|
hitWorld.setInterpolate3(rayFromTrans.getOrigin(),rayToTrans.getOrigin(),rcb.m_hitFraction);
|
|
hitX = hitWorld.getX();
|
|
hitY = hitWorld.getY();
|
|
hitZ = hitWorld.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)
|
|
{
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
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);
|
|
}
|