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#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include <algorithm>
#include "SimdTransform.h"
#include "Dynamics/RigidBody.h"
#include "BroadphaseCollision/BroadphaseInterface.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "CollisionShapes/ConvexShape.h"
#include "BroadphaseCollision/CollisionDispatcher.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "ConstraintSolver/OdeConstraintSolver.h"
#include "ConstraintSolver/SimpleConstraintSolver.h"
#include "IDebugDraw.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
#include "CollisionDispatch/ToiContactDispatcher.h"
#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
#include "CollisionDispatch/UnionFind.h"
#include "NarrowPhaseCollision/RaycastCallback.h"
#include "CollisionShapes/SphereShape.h"
bool useIslands = true;
#include "ConstraintSolver/ConstraintSolver.h"
#include "ConstraintSolver/Point2PointConstraint.h"
//#include "BroadphaseCollision/QueryDispatcher.h"
//#include "BroadphaseCollision/QueryBox.h"
//todo: change this to allow dynamic registration of types!
#ifdef WIN32
void DrawRasterizerLine(const float* from,const float* to,int color);
#endif
#include "ConstraintSolver/ContactConstraint.h"
#include <stdio.h>
static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
{
SimdVector3 halfExtents = (to-from)* 0.5f;
SimdVector3 center = (to+from) *0.5f;
int i,j;
SimdVector3 edgecoord(1.f,1.f,1.f),pa,pb;
for (i=0;i<4;i++)
{
for (j=0;j<3;j++)
{
pa = SimdVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
edgecoord[2]*halfExtents[2]);
pa+=center;
int othercoord = j%3;
edgecoord[othercoord]*=-1.f;
pb = SimdVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
edgecoord[2]*halfExtents[2]);
pb+=center;
debugDrawer->DrawLine(pa,pb,color);
}
edgecoord = SimdVector3(-1.f,-1.f,-1.f);
if (i<3)
edgecoord[i]*=-1.f;
}
}
CcdPhysicsEnvironment::CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher,BroadphaseInterface* bp)
:m_dispatcher(dispatcher),
m_broadphase(bp),
m_scalingPropagated(false),
m_numIterations(30),
m_ccdMode(0),
m_solverType(-1)
{
if (!m_dispatcher)
{
setSolverType(0);
}
if (!m_broadphase)
{
m_broadphase = new SimpleBroadphase();
}
m_debugDrawer = 0;
m_gravity = SimdVector3(0.f,-10.f,0.f);
}
void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
{
ctrl->GetRigidBody()->setGravity( m_gravity );
m_controllers.push_back(ctrl);
BroadphaseInterface* scene = m_broadphase;
CollisionShape* shapeinterface = ctrl->GetCollisionShape();
assert(shapeinterface);
const SimdTransform& t = ctrl->GetRigidBody()->getCenterOfMassTransform();
RigidBody* body = ctrl->GetRigidBody();
SimdPoint3 minAabb,maxAabb;
shapeinterface->GetAabb(t,minAabb,maxAabb);
float timeStep = 0.02f;
//extent it with the motion
SimdVector3 linMotion = body->getLinearVelocity()*timeStep;
float maxAabbx = maxAabb.getX();
float maxAabby = maxAabb.getY();
float maxAabbz = maxAabb.getZ();
float minAabbx = minAabb.getX();
float minAabby = minAabb.getY();
float minAabbz = minAabb.getZ();
if (linMotion.x() > 0.f)
maxAabbx += linMotion.x();
else
minAabbx += linMotion.x();
if (linMotion.y() > 0.f)
maxAabby += linMotion.y();
else
minAabby += linMotion.y();
if (linMotion.z() > 0.f)
maxAabbz += linMotion.z();
else
minAabbz += linMotion.z();
minAabb = SimdVector3(minAabbx,minAabby,minAabbz);
maxAabb = SimdVector3(maxAabbx,maxAabby,maxAabbz);
if (!ctrl->m_broadphaseHandle)
{
int type = shapeinterface->GetShapeType();
ctrl->m_broadphaseHandle = scene->CreateProxy(
ctrl->GetRigidBody(),
type,
minAabb,
maxAabb);
}
body->SetCollisionShape( shapeinterface );
}
void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl)
{
//also remove constraint
{
std::vector<Point2PointConstraint*>::iterator i;
for (i=m_p2pConstraints.begin();
!(i==m_p2pConstraints.end()); i++)
{
Point2PointConstraint* p2p = (*i);
if ((&p2p->GetRigidBodyA() == ctrl->GetRigidBody() ||
(&p2p->GetRigidBodyB() == ctrl->GetRigidBody())))
{
removeConstraint(p2p);
//only 1 constraint per constroller
break;
}
}
}
{
std::vector<Point2PointConstraint*>::iterator i;
for (i=m_p2pConstraints.begin();
!(i==m_p2pConstraints.end()); i++)
{
Point2PointConstraint* p2p = (*i);
if ((&p2p->GetRigidBodyA() == ctrl->GetRigidBody() ||
(&p2p->GetRigidBodyB() == ctrl->GetRigidBody())))
{
removeConstraint(p2p);
//only 1 constraint per constroller
break;
}
}
}
bool removeFromBroadphase = false;
{
BroadphaseInterface* scene = m_broadphase;
BroadphaseProxy* bp = (BroadphaseProxy*)ctrl->m_broadphaseHandle;
if (removeFromBroadphase)
{
}
//
// only clear the cached algorithms
//
scene->CleanProxyFromPairs(bp);
scene->DestroyProxy(bp);//??
}
{
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();
}
}
}
void CcdPhysicsEnvironment::UpdateActivationState()
{
m_dispatcher->InitUnionFind();
// put the index into m_controllers into m_tag
{
std::vector<CcdPhysicsController*>::iterator i;
int index = 0;
for (i=m_controllers.begin();
!(i==m_controllers.end()); i++)
{
CcdPhysicsController* ctrl = (*i);
RigidBody* body = ctrl->GetRigidBody();
body->m_islandTag1 = index;
body->m_hitFraction = 1.f;
index++;
}
}
// do the union find
m_dispatcher->FindUnions();
// put the islandId ('find' value) into m_tag
{
UnionFind& unionFind = m_dispatcher->GetUnionFind();
std::vector<CcdPhysicsController*>::iterator i;
int index = 0;
for (i=m_controllers.begin();
!(i==m_controllers.end()); i++)
{
CcdPhysicsController* ctrl = (*i);
RigidBody* body = ctrl->GetRigidBody();
if (body->mergesSimulationIslands())
{
body->m_islandTag1 = unionFind.find(index);
} else
{
body->m_islandTag1 = -1;
}
index++;
}
}
}
/// Perform an integration step of duration 'timeStep'.
bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
{
// printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
if (timeStep == 0.f)
return true;
if (m_debugDrawer)
{
gDisableDeactivation = (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_NoDeactivation);
}
//clamp hardcoded for now
if (timeStep > 0.02)
timeStep = 0.02;
//this is needed because scaling is not known in advance, and scaling has to propagate to the shape
if (!m_scalingPropagated)
{
//SyncMotionStates(timeStep);
//m_scalingPropagated = true;
}
{
// std::vector<CcdPhysicsController*>::iterator i;
int k;
for (k=0;k<GetNumControllers();k++)
{
CcdPhysicsController* ctrl = m_controllers[k];
// SimdTransform predictedTrans;
RigidBody* body = ctrl->GetRigidBody();
if (body->GetActivationState() != ISLAND_SLEEPING)
{
body->applyForces( timeStep);
body->integrateVelocities( timeStep);
}
}
}
BroadphaseInterface* scene = m_broadphase;
//
// collision detection (?)
//
int numsubstep = m_numIterations;
DispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
scene->DispatchAllCollisionPairs(*m_dispatcher,dispatchInfo);///numsubstep,g);
int numRigidBodies = m_controllers.size();
UpdateActivationState();
//contacts
m_dispatcher->SolveConstraints(timeStep, m_numIterations ,numRigidBodies,m_debugDrawer);
for (int g=0;g<numsubstep;g++)
{
//
// constraint solving
//
int i;
int numPoint2Point = m_p2pConstraints.size();
//point to point constraints
for (i=0;i< numPoint2Point ; i++ )
{
Point2PointConstraint* p2p = m_p2pConstraints[i];
p2p->BuildJacobian();
p2p->SolveConstraint( timeStep );
}
/*
//vehicles
int numVehicles = m_vehicles.size();
for (i=0;i<numVehicles;i++)
{
Vehicle* vehicle = m_vehicles[i];
vehicle->UpdateVehicle( timeStep );
}
*/
}
{
{
std::vector<CcdPhysicsController*>::iterator i;
//
// update aabbs, only for moving objects (!)
//
for (i=m_controllers.begin();
!(i==m_controllers.end()); i++)
{
CcdPhysicsController* ctrl = (*i);
RigidBody* body = ctrl->GetRigidBody();
SimdPoint3 minAabb,maxAabb;
CollisionShape* shapeinterface = ctrl->GetCollisionShape();
shapeinterface->CalculateTemporalAabb(body->getCenterOfMassTransform(),
body->getLinearVelocity(),body->getAngularVelocity(),
timeStep,minAabb,maxAabb);
shapeinterface->GetAabb(body->getCenterOfMassTransform(),
minAabb,maxAabb);
SimdVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold);
minAabb -= manifoldExtraExtents;
maxAabb += manifoldExtraExtents;
BroadphaseProxy* bp = (BroadphaseProxy*) ctrl->m_broadphaseHandle;
if (bp)
{
#ifdef WIN32
SimdVector3 color (1,1,0);
if (m_debugDrawer)
{
//draw aabb
switch (body->GetActivationState())
{
case ISLAND_SLEEPING:
{
color.setValue(1,1,1);
break;
}
case WANTS_DEACTIVATION:
{
color.setValue(0,0,1);
break;
}
case ACTIVE_TAG:
{
break;
}
};
if (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawAabb)
{
DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
}
}
#endif
scene->SetAabb(bp,minAabb,maxAabb);
}
}
float toi = 1.f;
if (m_ccdMode == 3)
{
DispatcherInfo dispatchInfo;
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
scene->DispatchAllCollisionPairs( *m_dispatcher,dispatchInfo);///numsubstep,g);
toi = dispatchInfo.m_timeOfImpact;
}
//
// integrating solution
//
{
std::vector<CcdPhysicsController*>::iterator i;
for (i=m_controllers.begin();
!(i==m_controllers.end()); i++)
{
CcdPhysicsController* ctrl = *i;
SimdTransform predictedTrans;
RigidBody* body = ctrl->GetRigidBody();
if (body->GetActivationState() != ISLAND_SLEEPING)
{
body->predictIntegratedTransform(timeStep* toi, predictedTrans);
body->proceedToTransform( predictedTrans);
}
}
}
//
// disable sleeping physics objects
//
std::vector<CcdPhysicsController*> m_sleepingControllers;
for (i=m_controllers.begin();
!(i==m_controllers.end()); i++)
{
CcdPhysicsController* ctrl = (*i);
RigidBody* body = ctrl->GetRigidBody();
ctrl->UpdateDeactivation(timeStep);
if (ctrl->wantsSleeping())
{
if (body->GetActivationState() == ACTIVE_TAG)
body->SetActivationState( WANTS_DEACTIVATION );
} else
{
body->SetActivationState( ACTIVE_TAG );
}
if (useIslands)
{
if (body->GetActivationState() == ISLAND_SLEEPING)
{
m_sleepingControllers.push_back(ctrl);
}
} else
{
if (ctrl->wantsSleeping())
{
m_sleepingControllers.push_back(ctrl);
}
}
}
}
SyncMotionStates(timeStep);
}
return true;
}
void CcdPhysicsEnvironment::setDebugMode(int debugMode)
{
if (m_debugDrawer){
m_debugDrawer->SetDebugMode(debugMode);
}
}
void CcdPhysicsEnvironment::setNumIterations(int numIter)
{
m_numIterations = numIter;
}
void CcdPhysicsEnvironment::setDeactivationTime(float dTime)
{
gDeactivationTime = dTime;
}
void CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh)
{
gLinearSleepingTreshold = linTresh;
}
void CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh)
{
gAngularSleepingTreshold = angTresh;
}
void CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold)
{
gContactBreakingTreshold = contactBreakingTreshold;
}
void CcdPhysicsEnvironment::setCcdMode(int ccdMode)
{
m_ccdMode = ccdMode;
}
void CcdPhysicsEnvironment::setSolverSorConstant(float sor)
{
m_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);
return 0;
break;
}
default:
{
}
};
//RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB
return 0;
}
void CcdPhysicsEnvironment::removeConstraint(void* p2p)
{
std::vector<Point2PointConstraint*>::iterator i =
std::find(m_p2pConstraints.begin(), m_p2pConstraints.end(),
(Point2PointConstraint *)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)
{
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);
}
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