diff options
Diffstat (limited to 'source/gameengine/Physics')
10 files changed, 90 insertions, 96 deletions
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h index ec1b7702ffd..7c61902f8e2 100644 --- a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h +++ b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h @@ -65,6 +65,7 @@ public: { } virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl) {} + virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl) {} virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) {return 0;} virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;} diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index 5c70b071661..b872fae6138 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -42,7 +42,8 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) { m_collisionDelay = 0; m_newClientInfo = 0; - + m_registerCount = 0; + m_MotionState = ci.m_MotionState; m_bulletMotionState = 0; @@ -217,7 +218,7 @@ void CcdPhysicsController::WriteDynamicsToMotionState() void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl) { m_MotionState = motionstate; - + m_registerCount = 0; m_body = 0; diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 64f1876e199..448e5622eff 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -110,12 +110,19 @@ class CcdPhysicsController : public PHY_IPhysicsController void* m_newClientInfo; - + int m_registerCount; // needed when multiple sensors use the same controller CcdConstructionInfo m_cci;//needed for replication void GetWorldOrientation(btMatrix3x3& mat); void CreateRigidbody(); + bool Register() { + return (m_registerCount++ == 0) ? true : false; + } + bool Unregister() { + return (--m_registerCount == 0) ? true : false; + } + protected: void setWorldOrientation(const btMatrix3x3& mat); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index b773f40650b..dfbcf115fd7 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -368,7 +368,7 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) body->setUserPointer(ctrl); body->setGravity( m_gravity ); - m_controllers.push_back(ctrl); + m_controllers.insert(ctrl); //use explicit group/filter for finer control over collision in bullet => near/radar sensor m_dynamicsWorld->addRigidBody(body, ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask()); @@ -434,36 +434,16 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl) { - //also remove constraint - - m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody()); + m_controllers.erase(ctrl); - - { - 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(); - } - } + if (ctrl->m_registerCount != 0) + printf("Warning: removing controller with non-zero m_registerCount: %d\n", ctrl->m_registerCount); //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(); - } - } - - + m_triggerControllers.erase(ctrl); } void CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask) @@ -487,16 +467,22 @@ void CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctr void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctrl) { - std::vector<CcdPhysicsController*>::iterator i = - std::find(m_controllers.begin(), m_controllers.end(), ctrl); - if (i == m_controllers.end()) + if (m_controllers.insert(ctrl).second) { btRigidBody* body = ctrl->GetRigidBody(); + body->setUserPointer(ctrl); m_dynamicsWorld->addCollisionObject(body, ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask()); } } +void CcdPhysicsEnvironment::disableCcdPhysicsController(CcdPhysicsController* ctrl) +{ + if (m_controllers.erase(ctrl)) + { + m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody()); + } +} void CcdPhysicsEnvironment::beginFrame() @@ -507,12 +493,12 @@ void CcdPhysicsEnvironment::beginFrame() bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) { + std::set<CcdPhysicsController*>::iterator it; + int i; - int i,numCtrl = GetNumControllers(); - for (i=0;i<numCtrl;i++) + for (it=m_controllers.begin(); it!=m_controllers.end(); it++) { - CcdPhysicsController* ctrl = GetPhysicsController(i); - ctrl->SynchronizeMotionStates(timeStep); + (*it)->SynchronizeMotionStates(timeStep); } float subStep = timeStep / float(m_numTimeSubSteps); @@ -521,11 +507,9 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) m_dynamicsWorld->stepSimulation(subStep,0);//perform always a full simulation step } - numCtrl = GetNumControllers(); - for (i=0;i<numCtrl;i++) + for (it=m_controllers.begin(); it!=m_controllers.end(); it++) { - CcdPhysicsController* ctrl = GetPhysicsController(i); - ctrl->SynchronizeMotionStates(timeStep); + (*it)->SynchronizeMotionStates(timeStep); } for (i=0;i<m_wrapperVehicles.size();i++) @@ -852,20 +836,6 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment() } -int CcdPhysicsEnvironment::GetNumControllers() -{ - return m_controllers.size(); -} - - -CcdPhysicsController* CcdPhysicsEnvironment::GetPhysicsController( int index) -{ - return m_controllers[index]; -} - - - - void CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float value0,float value1) { btTypedConstraint* typedConstraint = getConstraintById(constraintId); @@ -905,12 +875,14 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl) { CcdPhysicsController* ctrl1 = (CcdPhysicsController* )ctrl; - std::vector<CcdPhysicsController*>::iterator i = - std::find(m_controllers.begin(), m_controllers.end(), ctrl); - if ((i == m_controllers.end())) - { - addCcdPhysicsController(ctrl1); - } + // addSensor() is a "light" function for bullet because it is used + // dynamically when the sensor is activated. Use enableCcdPhysicsController() instead + //if (m_controllers.insert(ctrl1).second) + //{ + // addCcdPhysicsController(ctrl1); + //} + enableCcdPhysicsController(ctrl1); + //Collision filter/mask is now set at the time of the creation of the controller //force collision detection with everything, including static objects (might hurt performance!) //ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::SensorTrigger; @@ -923,21 +895,19 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl) void CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl) { - 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(); - } + CcdPhysicsController* ccdCtrl = (CcdPhysicsController*)ctrl; + if (ccdCtrl->Unregister()) + m_triggerControllers.erase(ccdCtrl); } void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl) { removeCollisionCallback(ctrl); - //printf("removeSensor\n"); + + disableCcdPhysicsController((CcdPhysicsController*)ctrl); } + void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user) { /* printf("addTouchCallback\n(response class = %i)\n",response_class); @@ -974,11 +944,10 @@ void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctr { CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl); - //printf("requestCollisionCallback\n"); - m_triggerControllers.push_back(ccdCtrl); + if (ccdCtrl->Register()) + m_triggerControllers.insert(ccdCtrl); } - void CcdPhysicsEnvironment::CallbackTriggers() { @@ -987,13 +956,16 @@ void CcdPhysicsEnvironment::CallbackTriggers() if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints))) { //walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback - int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds(); + btDispatcher* dispatcher = m_dynamicsWorld->getDispatcher(); + int numManifolds = dispatcher->getNumManifolds(); for (int i=0;i<numManifolds;i++) { - btPersistentManifold* manifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i); + btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i); int numContacts = manifold->getNumContacts(); if (numContacts) { + btRigidBody* rb0 = static_cast<btRigidBody*>(manifold->getBody0()); + btRigidBody* rb1 = static_cast<btRigidBody*>(manifold->getBody1()); if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)) { for (int j=0;j<numContacts;j++) @@ -1004,18 +976,17 @@ void CcdPhysicsEnvironment::CallbackTriggers() m_debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color); } } - btRigidBody* obj0 = static_cast<btRigidBody* >(manifold->getBody0()); - btRigidBody* obj1 = static_cast<btRigidBody* >(manifold->getBody1()); + btRigidBody* obj0 = rb0; + btRigidBody* obj1 = rb1; //m_internalOwner is set in 'addPhysicsController' CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->getUserPointer()); CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->getUserPointer()); - std::vector<CcdPhysicsController*>::iterator i = - std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl0); + std::set<CcdPhysicsController*>::const_iterator i = m_triggerControllers.find(ctrl0); if (i == m_triggerControllers.end()) { - i = std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl1); + i = m_triggerControllers.find(ctrl1); } if (!(i == m_triggerControllers.end())) @@ -1023,6 +994,15 @@ void CcdPhysicsEnvironment::CallbackTriggers() m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE], ctrl0,ctrl1,0); } + // Bullet does not refresh the manifold contact point for object without contact response + // may need to remove this when a newer Bullet version is integrated + if (!dispatcher->needsResponse(rb0, rb1)) + { + // Refresh algorithm fails sometimes when there is penetration + // (usuall the case with ghost and sensor objects) + // Let's just clear the manifold, in any case, it is recomputed on each frame. + manifold->clearManifold(); //refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform()); + } } } @@ -1125,7 +1105,6 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::CreateSphereController(float radi CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo); - return sphereController; } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index 453749b27b3..825a5e525f2 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -18,6 +18,7 @@ subject to the following restrictions: #include "PHY_IPhysicsEnvironment.h" #include <vector> +#include <set> class CcdPhysicsController; #include "LinearMath/btVector3.h" #include "LinearMath/btTransform.h" @@ -185,10 +186,7 @@ protected: void updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask); - void disableCcdPhysicsController(CcdPhysicsController* ctrl) - { - removeCcdPhysicsController(ctrl); - } + void disableCcdPhysicsController(CcdPhysicsController* ctrl); void enableCcdPhysicsController(CcdPhysicsController* ctrl); @@ -209,12 +207,6 @@ protected: } - int GetNumControllers(); - - CcdPhysicsController* GetPhysicsController( int index); - - - const btPersistentManifold* GetManifold(int index) const; @@ -229,9 +221,9 @@ protected: - std::vector<CcdPhysicsController*> m_controllers; + std::set<CcdPhysicsController*> m_controllers; - std::vector<CcdPhysicsController*> m_triggerControllers; + std::set<CcdPhysicsController*> m_triggerControllers; PHY_ResponseCallback m_triggerCallbacks[PHY_NUM_RESPONSE]; void* m_triggerCallbacksUserPtrs[PHY_NUM_RESPONSE]; diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h index f0761618e4e..b5a61f72e4a 100644 --- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h +++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h @@ -80,6 +80,7 @@ public: { } virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl) {} + virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl) {} virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) {return 0;} virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;} diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp index b5bf67b14ea..f0791bbf89f 100644 --- a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp +++ b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp @@ -98,12 +98,17 @@ void SM_Scene::addTouchCallback(int response_class, DT_ResponseCallback callback void SM_Scene::addSensor(SM_Object& object) { - object.calcXform(); - m_objectList.push_back(&object); - DT_AddObject(m_scene, object.getObjectHandle()); - DT_SetResponseClass(m_respTable, object.getObjectHandle(), m_ResponseClass[SENSOR_RESPONSE]); - DT_SetResponseClass(m_secondaryRespTable, object.getObjectHandle(), m_secondaryResponseClass[SENSOR_RESPONSE]); - DT_SetResponseClass(m_fixRespTable, object.getObjectHandle(), m_fixResponseClass[SENSOR_RESPONSE]); + T_ObjectList::iterator i = + std::find(m_objectList.begin(), m_objectList.end(), &object); + if (i == m_objectList.end()) + { + object.calcXform(); + m_objectList.push_back(&object); + DT_AddObject(m_scene, object.getObjectHandle()); + DT_SetResponseClass(m_respTable, object.getObjectHandle(), m_ResponseClass[SENSOR_RESPONSE]); + DT_SetResponseClass(m_secondaryRespTable, object.getObjectHandle(), m_secondaryResponseClass [SENSOR_RESPONSE]); + DT_SetResponseClass(m_fixRespTable, object.getObjectHandle(), m_fixResponseClass[SENSOR_RESPONSE]); + } } void SM_Scene::add(SM_Object& object) { diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp index 16ba45a0be5..65018d2523e 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp @@ -228,6 +228,12 @@ void SumoPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ct m_sumoScene->requestCollisionCallback(*smObject); } } + +void SumoPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl) +{ + // intentionally empty +} + PHY_IPhysicsController* SumoPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position) { DT_ShapeHandle shape = DT_NewSphere(0.0); diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h index ce5cd70e8cc..8b9fb463034 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h +++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h @@ -84,6 +84,7 @@ public: virtual void removeSensor(PHY_IPhysicsController* ctrl); virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user); virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl); + virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl); virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position); virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight); diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h index c148210903f..5b275066665 100644 --- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h +++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h @@ -104,6 +104,7 @@ class PHY_IPhysicsEnvironment virtual void removeSensor(PHY_IPhysicsController* ctrl)=0; virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)=0; virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl)=0; + virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl)=0; //These two methods are *solely* used to create controllers for sensor! Don't use for anything else virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) =0; virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0; |