Speed up the physics engine: hook the SOLID broad phase, so we can either reject the test or request the penetration depth test as necessary. Previously we were doing the penetration depth test, as well as SOLID's intersection test.

1 files changed, 31 insertions, 19 deletions

diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp
index 940f0d221a0..42adfcd4d9e 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp
+++ b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Object.cpp
@@ -101,16 +101,6 @@ SM_Object::SM_Object(
 	m_suspended = false;
 }
 
-	void
-SM_Object::
-beginFrame(
-){
-	if (!m_suspended) {
-		m_prev_state = *this;
-		m_prev_state.setLinearVelocity(actualLinVelocity());
-		m_prev_state.setAngularVelocity(actualAngVelocity());
-	}
-}
 
 	void 
 SM_Object::
@@ -118,6 +108,9 @@ integrateForces(
 	MT_Scalar timeStep
 ){
 	if (!m_suspended) {
+		m_prev_state = *this;
+		m_prev_state.setLinearVelocity(actualLinVelocity());
+		m_prev_state.setAngularVelocity(actualAngVelocity());
 		if (isDynamic()) {
 			// Integrate momentum (forward Euler)
 			m_lin_mom += m_force * timeStep;
@@ -348,49 +341,68 @@ void SM_Object::dynamicCollision(const MT_Point3 &local2,
 	}
 }
 
+static void AddCallback(SM_Scene *scene, SM_Object *obj1, SM_Object *obj2)
+{
+	// If we have callbacks on either of the client objects, do a collision test
+	// and add a callback if they intersect.
+	DT_Vector3 v;
+	if ((obj1->getClientObject() && obj1->getClientObject()->hasCollisionCallback()) || 
+	    (obj2->getClientObject() && obj2->getClientObject()->hasCollisionCallback()) &&
+	     DT_GetIntersect(obj1->getObjectHandle(), obj2->getObjectHandle(), v))
+		scene->addPair(obj1, obj2);
+}
+
 DT_Bool SM_Object::boing(
 	void *client_data,  
 	void *object1,
 	void *object2,
 	const DT_CollData *coll_data
 ){
-	//if (!coll_data)
-	//	return DT_CONTINUE;
-
 	SM_Scene  *scene = (SM_Scene *)client_data; 
 	SM_Object *obj1  = (SM_Object *)object1;  
 	SM_Object *obj2  = (SM_Object *)object2;  
 	
-	scene->addPair(obj1, obj2); // Record this collision for client callbacks
+	// at this point it is unknown whether we are really intersecting (broad phase)
+	
+	DT_Vector3 p1, p2;
+	if (!obj2->isDynamic()) {
+		std::swap(obj1, obj2);
+	}
 	
 	// If one of the objects is a ghost then ignore it for the dynamics
 	if (obj1->isGhost() || obj2->isGhost()) {
+		AddCallback(scene, obj1, obj2);
 		return DT_CONTINUE;
 	}
 
 	// Objects do not collide with parent objects
 	if (obj1->getDynamicParent() == obj2 || obj2->getDynamicParent() == obj1) {
+		AddCallback(scene, obj1, obj2);
 		return DT_CONTINUE;
 	}
 	
 	if (!obj2->isDynamic()) {
-		std::swap(obj1, obj2);
-	}
-
-	if (!obj2->isDynamic()) {
+		AddCallback(scene, obj1, obj2);
 		return DT_CONTINUE;
 	}
 
 	// Get collision data from SOLID
-	DT_Vector3 p1, p2;
 	if (!DT_GetPenDepth(obj1->getObjectHandle(), obj2->getObjectHandle(), p1, p2))
 		return DT_CONTINUE;
+	
 	MT_Point3 local1(p1), local2(p2);
 	MT_Vector3 normal(local2 - local1);
 	MT_Scalar dist = normal.length();
 	
 	if (dist < MT_EPSILON)
 		return DT_CONTINUE;
+		
+	// Now we are definately intersecting.
+
+	// Set callbacks for game engine.
+	if ((obj1->getClientObject() && obj1->getClientObject()->hasCollisionCallback()) || 
+	    (obj2->getClientObject() && obj2->getClientObject()->hasCollisionCallback()))
+		scene->addPair(obj1, obj2);
 	
 	local1 -= obj1->m_pos;
 	local2 -= obj2->m_pos;