diff --git a/.codecov.yml b/.codecov.yml index 5d4e53f4a..b0d4bf381 100644 --- a/.codecov.yml +++ b/.codecov.yml @@ -1,3 +1,4 @@ ignore: - "usr/" - "test/" + - "**/CMakeFiles/**/*" diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml new file mode 100644 index 000000000..97e01eba1 --- /dev/null +++ b/.github/workflows/build-and-test.yml @@ -0,0 +1,312 @@ +# Build and run tests for ReactPhysics3D +name: build + +# Controls when the action will run. Triggers the workflow on push +on: + push: + branches: + - master + - develop + pull_request: + release: + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + # This workflow contains a single job called "build" + build: + # The type of runner that the job will run on + name: ${{ matrix.config.name }} + runs-on: ${{ matrix.config.os }} + strategy: + fail-fast: false + matrix: + config: + - { + name: "Linux / GCC (Debug, Single Precision)", + os: ubuntu-latest, + build_type: "Debug", + cc: "gcc", + cxx: "g++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: false, + coverage: false, + } + - { + name: "Linux / GCC (Release, Single Precision)", + os: ubuntu-latest, + build_type: "Release", + cc: "gcc", + cxx: "g++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: false, + coverage: false, + } + - { + name: "Linux / GCC (Debug, Double Precision)", + os: ubuntu-latest, + build_type: "Debug", + cc: "gcc", + cxx: "g++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: true, + coverage: false, + } + - { + name: "Linux / GCC (Release, Double Precision)", + os: ubuntu-latest, + build_type: "Release", + cc: "gcc", + cxx: "g++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: true, + coverage: false, + } + - { + name: "Linux / Clang (Debug, Single Precision)", + os: ubuntu-latest, + build_type: "Debug", + cc: "clang", + cxx: "clang++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: false, + coverage: false, + } + - { + name: "Linux / Clang (Release, Single Precision)", + os: ubuntu-latest, + build_type: "Release", + cc: "clang", + cxx: "clang++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: false, + coverage: false, + } + - { + name: "Linux / Clang (Debug, Double Precision)", + os: ubuntu-latest, + build_type: "Debug", + cc: "clang", + cxx: "clang++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: true, + coverage: false, + } + - { + name: "Linux / Clang (Release, Double Precision)", + os: ubuntu-latest, + build_type: "Release", + cc: "clang", + cxx: "clang++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: true, + coverage: false, + } + - { + name: "Windows / MSVC (Debug, Single Precision)", + os: windows-latest, + build_type: "Debug", + cc: "cl", + cxx: "cl", + cxx_flags: "", + generators: "Visual Studio 17 2022", + double_precision: false, + coverage: false, + } + - { + name: "Windows / MSVC (Release, Single Precision)", + os: windows-latest, + build_type: "Release", + cc: "cl", + cxx: "cl", + cxx_flags: "", + generators: "Visual Studio 17 2022", + double_precision: false, + coverage: false, + } + - { + name: "Windows / MinGW (Debug, Single Precision)", + os: windows-latest, + build_type: "Debug", + cc: "gcc", + cxx: "g++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: false, + coverage: false, + } + - { + name: "Windows / MinGW (Release, Single Precision)", + os: windows-latest, + build_type: "Release", + cc: "gcc", + cxx: "g++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: false, + coverage: false, + } + - { + name: "MacOS / Clang (Debug, Single Precision)", + os: macos-latest, + build_type: "Debug", + cc: "clang", + cxx: "clang++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: false, + coverage: false, + } + - { + name: "MacOS / Clang (Release, Single Precision)", + os: macos-latest, + build_type: "Release", + cc: "clang", + cxx: "clang++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: false, + coverage: false, + } + - { + name: "Code Coverage", + os: ubuntu-latest, + build_type: "Debug", + cc: "gcc", + cxx: "g++", + cxx_flags: "-Wall -Wextra -pedantic", + generators: "Ninja", + double_precision: false, + coverage: true, + } + + steps: + # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it + - uses: actions/checkout@v2 + + - name: Print env + run: | + echo github.event.action: ${{ github.event.action }} + echo github.event_name: ${{ github.event_name }} + + - name: Install dependencies on Windows + if: startsWith(matrix.config.os, 'windows') + run: | + choco install ninja cmake + ninja --version + cmake --version + + - name: Install dependencies on Linux + if: startsWith(matrix.config.os, 'ubuntu') + run: | + sudo apt-get update + sudo apt-get install ninja-build cmake lcov valgrind + ninja --version + cmake --version + gcc --version + clang --version + + - name: Install dependencies on MacOS + if: startsWith(matrix.config.os, 'macos') + run: | + brew install cmake ninja + ninja --version + cmake --version + + - name: CMake Configure + shell: bash + env: + CC: ${{ matrix.config.cc }} + CXX: ${{ matrix.config.cxx }} + run: | + mkdir build + cmake \ + -S . \ + -B build \ + -DCMAKE_BUILD_TYPE=${{ matrix.config.build_type }} \ + -DRP3D_DOUBLE_PRECISION_ENABLED=${{ matrix.config.double_precision }} \ + -DRP3D_CODE_COVERAGE_ENABLED=${{ matrix.config.coverage }} \ + -DCODE_COVERAGE_VERBOSE=True \ + -DRP3D_COMPILE_TESTS=True \ + -DCMAKE_CXX_FLAGS="${{ matrix.config.cxx_flags }}" \ + -G "${{ matrix.config.generators }}" \ + + - name: Build + shell: bash + run: cmake --build build/ --config ${{ matrix.config.build_type }} + + - name: Install Library on Linux/MacOS + if: ${{ !startsWith(matrix.config.os, 'windows') }} + shell: bash + run: sudo cmake --install build/ --config ${{ matrix.config.build_type }} + + - name: Install Library on Windows + if: startsWith(matrix.config.os, 'windows') + shell: bash + run: cmake --install build/ --config ${{ matrix.config.build_type }} + + - name: Run Unit Tests (Linux / MacOS / Windows MinGW) + if: ${{ !startsWith(matrix.config.os, 'windows') }} + shell: bash + run: ./build/test/tests + + - name: Run Unit Tests (Windows MSVC) + if: ${{ startsWith(matrix.config.name, 'Windows / MSVC') }} + shell: bash + run: "./build/test/${{ matrix.config.build_type }}/tests.exe" + + - name: Build Hello World + if: ${{ !matrix.config.coverage }} + shell: bash + env: + CC: ${{ matrix.config.cc }} + CXX: ${{ matrix.config.cxx }} + run: | + mkdir build_hello_world + cmake \ + -S helloworld \ + -B build_hello_world \ + -DCMAKE_BUILD_TYPE=${{ matrix.config.build_type }} \ + -DCMAKE_EXE_LINKER_FLAGS=-no-pie \ + -DCMAKE_CXX_FLAGS="${{ matrix.config.cxx_flags }}" \ + -G "${{ matrix.config.generators }}" + cmake --build build_hello_world/ --config ${{ matrix.config.build_type }} + + - name: Run Hello World (Linux / MacOS / Windows MinGW) + if: ${{ !startsWith(matrix.config.name, 'Windows / MSVC') && !matrix.config.coverage }} + shell: bash + run: "./build_hello_world/helloworld" + + - name: Run Hello World (Windows MSVC) + if: ${{ startsWith(matrix.config.name, 'Windows / MSVC') }} + shell: bash + run: "./build_hello_world/${{ matrix.config.build_type }}/helloworld.exe" + + - name: Memory Leaks Test + if: ${{ startsWith(matrix.config.name, 'Linux / GCC (Debug, Single Precision)') }} + shell: bash + run: valgrind --leak-check=full --show-leak-kinds=all --track-origins=yes --verbose --error-exitcode=1 ./build/test/tests + + - name: Compute Code Coverage + if: ${{ matrix.config.coverage }} + env: + CC: ${{ matrix.config.cc }} + CXX: ${{ matrix.config.cxx }} + shell: bash + run: | + cmake --build build/ --target coverage + + - name: Upload coverage to Codecov + if: ${{ matrix.config.coverage }} + uses: codecov/codecov-action@v2 + with: + fail_ci_if_error: true + verbose: false + diff --git a/.gitmodules b/.gitmodules index 615d5fcd8..c004e876a 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,4 @@ [submodule "testbed/extern/nanogui"] path = testbed/extern/nanogui url = https://github.com/mitsuba-renderer/nanogui.git + ignore = dirty diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 94bf77bc3..000000000 --- a/.travis.yml +++ /dev/null @@ -1,274 +0,0 @@ -language: cpp - -install: - - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then sudo apt-get update -qq; fi - - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then sudo apt-get install valgrind; fi - -matrix: - - # ----- Linux / GCC ----- - include: - - os: linux - name: "Linux / GCC (Debug)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - packages: - - g++-8 - env: - - MATRIX_EVAL="CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Debug" DOUBLE_PRECISION="False" - - - os: linux - name: "Linux / GCC (Release)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - packages: - - g++-8 - env: - - MATRIX_EVAL="CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Release" DOUBLE_PRECISION="False" - - - os: linux - name: "Linux / GCC (Debug, Double Precision)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - packages: - - g++-8 - env: - - MATRIX_EVAL="CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Debug" DOUBLE_PRECISION="True" - - - os: linux - name: "Linux / GCC (Release, Double Precision)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - packages: - - g++-8 - env: - - MATRIX_EVAL="CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Release" DOUBLE_PRECISION="True" - - os: linux - name: "Linux / GCC (Debug, Profiler)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - packages: - - g++-8 - env: - - MATRIX_EVAL="CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Debug" DOUBLE_PRECISION="False" Profiler="True" - - os: linux - name: "Linux / GCC (Release, Profiler)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - packages: - - g++-8 - env: - - MATRIX_EVAL="CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Release" DOUBLE_PRECISION="False" Profiler="True" - - os: linux - name: "Linux / GCC (Debug, Code Coverage)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - packages: - - g++-8 - - lcov - env: - - MATRIX_EVAL="CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Debug" DOUBLE_PRECISION="False" CODE_COVERAGE="True" - - os: linux - name: "Linux / GCC (Debug, Valgrind)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - packages: - - g++-8 - - valgrind - env: - - MATRIX_EVAL="CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Debug" DOUBLE_PRECISION="False" VALGRIND="True" - - # ----- OS X / GCC ----- - - os: osx - name: "OS X / GCC (Debug)" - osx_image: xcode11 - env: - - MATRIX_EVAL="brew install gcc@8 && CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Debug" DOUBLE_PRECISION="False" - - os: osx - name: "OS X / GCC (Release)" - osx_image: xcode11 - env: - - MATRIX_EVAL="brew install gcc@8 && CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Release" DOUBLE_PRECISION="False" - - os: osx - name: "OS X / GCC (Debug, Double Precision)" - osx_image: xcode11 - env: - - MATRIX_EVAL="brew install gcc@8 && CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Debug" DOUBLE_PRECISION="True" - - os: osx - name: "OS X / GCC (Release, Double Precision)" - osx_image: xcode11 - env: - - MATRIX_EVAL="brew install gcc@8 && CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Release" DOUBLE_PRECISION="True" - - os: osx - name: "OS X / GCC (Debug, Profiler)" - osx_image: xcode11 - env: - - MATRIX_EVAL="brew install gcc@8 && CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Debug" DOUBLE_PRECISION="False" PROFILER="True" - - os: osx - name: "OS X / GCC (Release, Profiler)" - osx_image: xcode11 - env: - - MATRIX_EVAL="brew install gcc@8 && CC=gcc-8 && CXX=g++-8" BUILD_TYPE="Release" DOUBLE_PRECISION="False" PROFILER="True" - - # ----- Linux / Clang ----- - - os: linux - name: "Linux / Clang (Debug)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - - llvm-toolchain-precise-3.8 - packages: - - clang-3.8 - - g++-7 - env: - - MATRIX_EVAL="CC=clang-3.8 && CXX=clang++-3.8" BUILD_TYPE="Debug" DOUBLE_PRECISION="False" - - - os: linux - name: "Linux / Clang (Release)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - - llvm-toolchain-precise-3.8 - packages: - - clang-3.8 - - g++-7 - env: - - MATRIX_EVAL="CC=clang-3.8 && CXX=clang++-3.8" BUILD_TYPE="Release" DOUBLE_PRECISION="False" - - - os: linux - name: "Linux / Clang (Debug, Double Precision)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - - llvm-toolchain-precise-3.8 - packages: - - clang-3.8 - - g++-7 - env: - - MATRIX_EVAL="CC=clang-3.8 && CXX=clang++-3.8" BUILD_TYPE="Debug" DOUBLE_PRECISION="True" - - - os: linux - name: "Linux / Clang (Release, Double Precision)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - - llvm-toolchain-precise-3.8 - packages: - - clang-3.8 - - g++-7 - env: - - MATRIX_EVAL="CC=clang-3.8 && CXX=clang++-3.8" BUILD_TYPE="Release" DOUBLE_PRECISION="True" - - os: linux - name: "Linux / Clang (Debug, Double Precision, Profiler)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - - llvm-toolchain-precise-3.8 - packages: - - clang-3.8 - - g++-7 - env: - - MATRIX_EVAL="CC=clang-3.8 && CXX=clang++-3.8" BUILD_TYPE="Debug" DOUBLE_PRECISION="True" PROFILER="True" - - os: linux - name: "Linux / Clang (Release, Double Precision, Profiler)" - addons: - apt: - sources: - - ubuntu-toolchain-r-test - - llvm-toolchain-precise-3.8 - packages: - - clang-3.8 - - g++-7 - env: - - MATRIX_EVAL="CC=clang-3.8 && CXX=clang++-3.8" BUILD_TYPE="Release" DOUBLE_PRECISION="True" PROFILER="True" - - # ----- OS X / Clang ----- - - os: osx - name: "OS X / Clang (Debug)" - osx_image: xcode11 - env: - - BUILD_TYPE="Debug" DOUBLE_PRECISION="False" - - - os: osx - name: "OS X / Clang (Release)" - osx_image: xcode11 - env: - - BUILD_TYPE="Release" DOUBLE_PRECISION="False" - - - os: osx - name: "OS X / Clang (Debug, Double Precision)" - osx_image: xcode11 - env: - - BUILD_TYPE="Debug" DOUBLE_PRECISION="True" - - - os: osx - name: "OS X / Clang (Release, Double Precision)" - osx_image: xcode11 - env: - - BUILD_TYPE="Release" DOUBLE_PRECISION="True" - - - os: osx - name: "OS X / Clang (Debug, Profiler)" - osx_image: xcode11 - env: - - BUILD_TYPE="Debug" DOUBLE_PRECISION="False" PROFILER="True" - - - os: osx - name: "OS X / Clang (Release, Profiler)" - osx_image: xcode11 - env: - - BUILD_TYPE="Release" DOUBLE_PRECISION="False" PROFILER="True" - -before_install: - - eval "${MATRIX_EVAL}" - -branches: - only: - - master - - develop - -script: - - mkdir build_rp3d - - cd build_rp3d - - cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} —DRP3D_DOUBLE_PRECISION_ENABLED=${DOUBLE_PRECISION} -DRP3D_COMPILE_TESTS=True -DRP3D_PROFILING_ENABLED=${PROFILER} -DRP3D_CODE_COVERAGE_ENABLED=${CODE_COVERAGE} ../ - - make -j2 && make test ARGS="-V" - - if [ "${VALGRIND}" == "True" ]; then - valgrind --leak-check=full --show-leak-kinds=all --track-origins=yes --verbose --error-exitcode=1 test/tests; - fi - - if [ "${CODE_COVERAGE}" == "False" ]; then - sudo make install; - cd ../; - mkdir build_helloworld; - cd build_helloworld; - cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ../helloworld/; - make -j2; - fi - - -after_success: - - # Generate code coverage report - - if [ "${CODE_COVERAGE}" == "True" ]; then - bash <(curl -s https://codecov.io/bash) || echo "Codecov did not collect coverage reports"; - fi diff --git a/CHANGELOG.md b/CHANGELOG.md index c7f12e5c0..2c915cfc2 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,73 @@ # Changelog +## Version 0.9.0 (January 4, 2022) + +### Added + + - The performance of the collision detection and rigid bodies simulation (PhysicsWorld::update() method) has been improved significantly (1.7x speedup on average measured in [PEEL](https://github.com/Pierre-Terdiman/PEEL) scenes) + - Method RigidBody::resetForce() to reset the accumulated external force on a rigid body has been added + - Method RigidBody::resetTorque() to reset the accumulated external torque on a rigid body has been added + - Constructors with local-space anchor/axis have been added to BallAndSocketJointInfo, HingeJointInfo, FixedJointInfo and SliderJointInfo classes + - Method HingeJoint::getAngle() to get the current angle of the hinge joint has been added + - Method Joint::getReactionForce() has been added to retrieve the current reaction force of a joint + - Method Joint::getReactionTorque() has been added to retrieve the current reaction torque of a joint + - Method RigidBody::setLinearLockAxisFactor() to lock the translational movement of a body along the world-space x, y and z axes + - Method RigidBody::setAngularLockAxisFactor() to lock the rotational movement of a body around the world-space x, y and z axes + - Method RigidBody::applyLocalForceAtWorldPosition() to manually apply a force to a rigid body + - Method RigidBody::applyLocalForceAtLocalPosition() to manually apply a force to a rigid body + - Method RigidBody::applyLocalForceToCenterOfMass() to manually apply a force to a rigid body + - Method RigidBody::applyLocalTorque() to apply a local-space torque to a rigid body + - Method RigidBody::getForce() to get the total manually applied force on a rigid body + - Method RigidBody::getTorque() to get the total manually applied torque on a rigid body + - Method RigidBody::setIsSleeping() is now public in order to wake up or put to sleep a rigid body + - A cone limit can now be set to the ball-and-socket joint (this is useful for ragdolls) + - New scenes have been added to the testbed application (Box Tower, Ragdoll, Rope, Ball And Socket Joint, Bridge, Hinge Joint, Hinge Joint chain, Ball and + Socket Joint chain, Ball and Socket Joint net, ...) + - It is now possible to move bodies using the mouse (CTRL + click and drag) in the testbed application + +### Changed + + - The PhysicsWorld::setGravity() method now takes a const parameter + - Rolling resistance constraint is not solved anymore in the solver. Angular damping needs to be used instead to simulate it. + - The List class has been renamed to Array + - The default number of iterations for the velocity solver is now 6 instead of 10 + - The default number of iterations for the position solver is now 3 instead of 5 + - Rename method RigidBody::applyForceAtWorldPosition() into RigidBody::applyWorldForceAtWorldPosition() + - Rename method RigidBody::applyForceAtLocalPosition() into RigidBody::applyWorldForceAtLocalPosition() + - Rename method RigidBody::applyForceToCenterOfMass() into RigidBody::applyWorldForceAtCenterOfMass() + - Rename method RigidBody::applyTorque() into RigidBody::applyWorldTorque() + - The raycasting broad-phase performance has been improved + - The raycasting performance against HeighFieldShape has been improved (better middle-phase algorithm) + - Robustness of polyhedron vs polyhedron collision detection has been improved in SAT algorithm (face contacts are favored over edge-edge contacts for better stability) + +### Removed + + - Method Material::getRollingResistance() has been removed (angular damping has to be used instead of rolling resistance) + - Method Material::setRollingResistance() has been removed (angular damping has to be used instead of rolling resistance) + +### Fixed + +- Issue [#165](https://github.com/DanielChappuis/reactphysics3d/issues/165) with order of contact manifolds in islands creation has been fixed +- Issue [#179](https://github.com/DanielChappuis/reactphysics3d/issues/179) with FixedJoint constraint +- Issue [#195](https://github.com/DanielChappuis/reactphysics3d/issues/195) in RigidBodyComponents +- Issue with concave vs convex shape collision detection has been fixed +- Issue with edge vs edge collision has been fixed in SAT algorithm (wrong contact normal was computed) +- Issue with sphere radius in DebugRenderer +- Issue where changing the transform of a Collider attached to a sleeping RigidBody caused the body to remain asleep +- Issue with wrong calculation performed in the ContactSolverSystem +- Issue with joints when center of mass is not at the center of the rigid body local-space +- Issue [#157](https://github.com/DanielChappuis/reactphysics3d/issues/157) with matrix to quaternion conversion has been fixed +- Issue [#184](https://github.com/DanielChappuis/reactphysics3d/issues/184) with update of mass/inertia properties of static bodies +- Issue with the computation of the two friction vectors in the contact solver +- Issue with the rendering of the capsule collision shape in the Debug Renderer (missing triangle faces) +- Issue with wrong linear velocity update computed in RigidBody::setLocalCenterOfMass() method +- Issue with wrong linear velocity update computed in RigidBody::updateLocalCenterOfMassFromColliders() method +- Issue with wrong linear velocity update computed in RigidBody::updateMassPropertiesFromColliders() method +- Issue in copy-constructors in Map and Set classes +- A lot of code warnings have been fixed [#221](https://github.com/DanielChappuis/reactphysics3d/issues/221), [#222](https://github.com/DanielChappuis/reactphysics3d/issues/222), [#223](https://github.com/DanielChappuis/reactphysics3d/issues/223) and [#224](https://github.com/DanielChappuis/reactphysics3d/issues/224) +- The default warning level is not set anymore in CMakeLists.txt file (Issue [#220](https://github.com/DanielChappuis/reactphysics3d/issues/220)) +- Issue [#225](https://github.com/DanielChappuis/reactphysics3d/issues/225) with collision not working when setting a body to be static before calling updateMassPropertiesFromColliders() + ## Version 0.8.0 (May 31, 2020) Note that this release contains some public API changes. Please read carefully the following changes before upgrading to this new version and @@ -68,6 +136,7 @@ do not hesitate to take a look at the user manual. - The RigidBody::recomputeMassInformation() method has been renamed to RigidBody::updateMassPropertiesFromColliders. - Now, you need to manually call the RigidBody::updateMassPropertiesFromColliders() method after adding colliders to a rigid body to recompute its inertia tensor, center of mass and mass. There are other methods that you can use form that (see the user manual) - The RigidBody::applyForce() method has been renamed to RigidBody::applyForceAtWorldPosition() + - The linear and angular damping function of the rigid bodies has been changed - The rendering in the testbed application has been improved - Many of the data inside the library have been refactored for better caching and easier parallelization in the future - The old Logger class has been renamed to DefaultLogger diff --git a/CMakeLists.txt b/CMakeLists.txt index 11cbd844f..c18a8c658 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.8) # Project configuration -project(ReactPhysics3D VERSION 0.8.0 LANGUAGES CXX) +project(ReactPhysics3D VERSION 0.9.0 LANGUAGES CXX) # In order to install libraries into correct locations on all platforms. include(GNUInstallDirs) @@ -31,15 +31,15 @@ option(RP3D_PROFILING_ENABLED "Select this if you want to compile for performana option(RP3D_CODE_COVERAGE_ENABLED "Select this if you need to build for code coverage calculation" OFF) option(RP3D_DOUBLE_PRECISION_ENABLED "Select this if you want to compile using double precision floating values" OFF) +# Code Coverage if(RP3D_CODE_COVERAGE_ENABLED) - if(CMAKE_COMPILER_IS_GNUCXX) - INCLUDE(CodeCoverage) - SETUP_TARGET_FOR_COVERAGE(${PROJECT_NAME}_coverage tests coverage) - endif() - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0 -fprofile-arcs -ftest-coverage") + INCLUDE(CodeCoverage) + SETUP_TARGET_FOR_COVERAGE_LCOV(NAME coverage EXECUTABLE test/tests) + APPEND_COVERAGE_COMPILER_FLAGS() + # set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0 -fprofile-arcs -ftest-coverage") endif() -# Headers filen1s +# Headers files set (REACTPHYSICS3D_HEADERS "include/reactphysics3d/configuration.h" "include/reactphysics3d/decimal.h" @@ -63,9 +63,6 @@ set (REACTPHYSICS3D_HEADERS "include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h" "include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h" "include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h" - "include/reactphysics3d/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h" - "include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h" - "include/reactphysics3d/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h" "include/reactphysics3d/collision/shapes/AABB.h" "include/reactphysics3d/collision/shapes/ConvexShape.h" "include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h" @@ -108,7 +105,6 @@ set (REACTPHYSICS3D_HEADERS "include/reactphysics3d/engine/Island.h" "include/reactphysics3d/engine/Islands.h" "include/reactphysics3d/engine/Material.h" - "include/reactphysics3d/engine/Timer.h" "include/reactphysics3d/engine/OverlappingPairs.h" "include/reactphysics3d/systems/BroadPhaseSystem.h" "include/reactphysics3d/components/Components.h" @@ -124,6 +120,7 @@ set (REACTPHYSICS3D_HEADERS "include/reactphysics3d/collision/CollisionCallback.h" "include/reactphysics3d/collision/OverlapCallback.h" "include/reactphysics3d/mathematics/mathematics.h" + "include/reactphysics3d/mathematics/mathematics_common.h" "include/reactphysics3d/mathematics/mathematics_functions.h" "include/reactphysics3d/mathematics/Matrix2x2.h" "include/reactphysics3d/mathematics/Matrix3x3.h" @@ -140,7 +137,7 @@ set (REACTPHYSICS3D_HEADERS "include/reactphysics3d/memory/MemoryManager.h" "include/reactphysics3d/containers/Stack.h" "include/reactphysics3d/containers/LinkedList.h" - "include/reactphysics3d/containers/List.h" + "include/reactphysics3d/containers/Array.h" "include/reactphysics3d/containers/Map.h" "include/reactphysics3d/containers/Set.h" "include/reactphysics3d/containers/Pair.h" @@ -168,9 +165,6 @@ set (REACTPHYSICS3D_SOURCES "src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp" "src/collision/narrowphase/NarrowPhaseInput.cpp" "src/collision/narrowphase/NarrowPhaseInfoBatch.cpp" - "src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp" - "src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp" - "src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp" "src/collision/shapes/AABB.cpp" "src/collision/shapes/ConvexShape.cpp" "src/collision/shapes/ConvexPolyhedronShape.cpp" @@ -209,7 +203,6 @@ set (REACTPHYSICS3D_SOURCES "src/engine/PhysicsWorld.cpp" "src/engine/Island.cpp" "src/engine/Material.cpp" - "src/engine/Timer.cpp" "src/engine/OverlappingPairs.cpp" "src/engine/Entity.cpp" "src/engine/EntityManager.cpp" @@ -226,7 +219,6 @@ set (REACTPHYSICS3D_SOURCES "src/components/SliderJointComponents.cpp" "src/collision/CollisionCallback.cpp" "src/collision/OverlapCallback.cpp" - "src/mathematics/mathematics_functions.cpp" "src/mathematics/Matrix2x2.cpp" "src/mathematics/Matrix3x3.cpp" "src/mathematics/Quaternion.cpp" @@ -253,12 +245,6 @@ add_library(ReactPhysics3D::reactphysics3d ALIAS reactphysics3d) target_compile_features(reactphysics3d PUBLIC cxx_std_11) set_target_properties(reactphysics3d PROPERTIES CXX_EXTENSIONS OFF) -# Compile with warning messages -target_compile_options(reactphysics3d PRIVATE - $<$:/W4> # for Visual Studio - $<$>:-Wall -Wextra -pedantic> # Other compilers -) - # Library headers target_include_directories(reactphysics3d PUBLIC $ @@ -287,8 +273,8 @@ endif() # Version number and soname for the library set_target_properties(reactphysics3d PROPERTIES - VERSION "0.8.0" - SOVERSION "0.8" + VERSION "0.9.0" + SOVERSION "0.9" ) # Install target (install library only, not headers) @@ -333,3 +319,4 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/ReactPhysics3DConfigVersion.cmake DESTINATION lib/cmake/ReactPhysics3D ) + diff --git a/CMakeModules/CodeCoverage.cmake b/CMakeModules/CodeCoverage.cmake index 0b90a320a..831c285cf 100755 --- a/CMakeModules/CodeCoverage.cmake +++ b/CMakeModules/CodeCoverage.cmake @@ -1,4 +1,4 @@ -# Copyright (c) 2012 - 2015, Lars Bilke +# Copyright (c) 2012 - 2017, Lars Bilke # All rights reserved. # # Redistribution and use in source and binary forms, with or without modification, @@ -26,7 +26,7 @@ # (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. # -# +# CHANGES: # # 2012-01-31, Lars Bilke # - Enable Code Coverage @@ -35,163 +35,674 @@ # - Added support for Clang. # - Some additional usage instructions. # +# 2016-02-03, Lars Bilke +# - Refactored functions to use named parameters +# +# 2017-06-02, Lars Bilke +# - Merged with modified version from github.com/ufz/ogs +# +# 2019-05-06, Anatolii Kurotych +# - Remove unnecessary --coverage flag +# +# 2019-12-13, FeRD (Frank Dana) +# - Deprecate COVERAGE_LCOVR_EXCLUDES and COVERAGE_GCOVR_EXCLUDES lists in favor +# of tool-agnostic COVERAGE_EXCLUDES variable, or EXCLUDE setup arguments. +# - CMake 3.4+: All excludes can be specified relative to BASE_DIRECTORY +# - All setup functions: accept BASE_DIRECTORY, EXCLUDE list +# - Set lcov basedir with -b argument +# - Add automatic --demangle-cpp in lcovr, if 'c++filt' is available (can be +# overridden with NO_DEMANGLE option in setup_target_for_coverage_lcovr().) +# - Delete output dir, .info file on 'make clean' +# - Remove Python detection, since version mismatches will break gcovr +# - Minor cleanup (lowercase function names, update examples...) +# +# 2019-12-19, FeRD (Frank Dana) +# - Rename Lcov outputs, make filtered file canonical, fix cleanup for targets +# +# 2020-01-19, Bob Apthorpe +# - Added gfortran support +# +# 2020-02-17, FeRD (Frank Dana) +# - Make all add_custom_target()s VERBATIM to auto-escape wildcard characters +# in EXCLUDEs, and remove manual escaping from gcovr targets +# +# 2021-01-19, Robin Mueller +# - Add CODE_COVERAGE_VERBOSE option which will allow to print out commands which are run +# - Added the option for users to set the GCOVR_ADDITIONAL_ARGS variable to supply additional +# flags to the gcovr command +# +# 2020-05-04, Mihchael Davis +# - Add -fprofile-abs-path to make gcno files contain absolute paths +# - Fix BASE_DIRECTORY not working when defined +# - Change BYPRODUCT from folder to index.html to stop ninja from complaining about double defines +# +# 2021-05-10, Martin Stump +# - Check if the generator is multi-config before warning about non-Debug builds +# # USAGE: - -# 0. (Mac only) If you use Xcode 5.1 make sure to patch geninfo as described here: -# http://stackoverflow.com/a/22404544/80480 # # 1. Copy this file into your cmake modules path. # -# 2. Add the following line to your CMakeLists.txt: -# INCLUDE(CodeCoverage) +# 2. Add the following line to your CMakeLists.txt (best inside an if-condition +# using a CMake option() to enable it just optionally): +# include(CodeCoverage) +# +# 3. Append necessary compiler flags: +# append_coverage_compiler_flags() # -# 3. Set compiler flags to turn off optimization and enable coverage: -# SET(CMAKE_CXX_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage") -# SET(CMAKE_C_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage") +# 3.a (OPTIONAL) Set appropriate optimization flags, e.g. -O0, -O1 or -Og # -# 3. Use the function SETUP_TARGET_FOR_COVERAGE to create a custom make target -# which runs your test executable and produces a lcov code coverage report: +# 4. If you need to exclude additional directories from the report, specify them +# using full paths in the COVERAGE_EXCLUDES variable before calling +# setup_target_for_coverage_*(). # Example: -# SETUP_TARGET_FOR_COVERAGE( -# my_coverage_target # Name for custom target. -# test_driver # Name of the test driver executable that runs the tests. -# # NOTE! This should always have a ZERO as exit code -# # otherwise the coverage generation will not complete. -# coverage # Name of output directory. -# ) +# set(COVERAGE_EXCLUDES +# '${PROJECT_SOURCE_DIR}/src/dir1/*' +# '/path/to/my/src/dir2/*') +# Or, use the EXCLUDE argument to setup_target_for_coverage_*(). +# Example: +# setup_target_for_coverage_lcov( +# NAME coverage +# EXECUTABLE testrunner +# EXCLUDE "${PROJECT_SOURCE_DIR}/src/dir1/*" "/path/to/my/src/dir2/*") +# +# 4.a NOTE: With CMake 3.4+, COVERAGE_EXCLUDES or EXCLUDE can also be set +# relative to the BASE_DIRECTORY (default: PROJECT_SOURCE_DIR) +# Example: +# set(COVERAGE_EXCLUDES "dir1/*") +# setup_target_for_coverage_gcovr_html( +# NAME coverage +# EXECUTABLE testrunner +# BASE_DIRECTORY "${PROJECT_SOURCE_DIR}/src" +# EXCLUDE "dir2/*") # -# 4. Build a Debug build: -# cmake -DCMAKE_BUILD_TYPE=Debug .. -# make -# make my_coverage_target +# 5. Use the functions described below to create a custom make target which +# runs your test executable and produces a code coverage report. # +# 6. Build a Debug build: +# cmake -DCMAKE_BUILD_TYPE=Debug .. +# make +# make my_coverage_target # +include(CMakeParseArguments) + +option(CODE_COVERAGE_VERBOSE "Verbose information" FALSE) + # Check prereqs -FIND_PROGRAM( GCOV_PATH gcov ) -FIND_PROGRAM( LCOV_PATH lcov ) -FIND_PROGRAM( GENHTML_PATH genhtml ) -FIND_PROGRAM( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/tests) - -IF(NOT GCOV_PATH) - MESSAGE(FATAL_ERROR "gcov not found! Aborting...") -ENDIF() # NOT GCOV_PATH - -IF("${CMAKE_CXX_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang") - IF("${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS 3) - MESSAGE(FATAL_ERROR "Clang version must be 3.0.0 or greater! Aborting...") - ENDIF() -ELSEIF(NOT CMAKE_COMPILER_IS_GNUCXX) - MESSAGE(FATAL_ERROR "Compiler is not GNU gcc! Aborting...") -ENDIF() # CHECK VALID COMPILER - -SET(CMAKE_CXX_FLAGS_COVERAGE - "-g -O0 --coverage -fprofile-arcs -ftest-coverage" +find_program( GCOV_PATH gcov ) +find_program( LCOV_PATH NAMES lcov lcov.bat lcov.exe lcov.perl) +find_program( FASTCOV_PATH NAMES fastcov fastcov.py ) +find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat ) +find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test) +find_program( CPPFILT_PATH NAMES c++filt ) + +if(NOT GCOV_PATH) + message(FATAL_ERROR "gcov not found! Aborting...") +endif() # NOT GCOV_PATH + +get_property(LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES) +list(GET LANGUAGES 0 LANG) + +if("${CMAKE_${LANG}_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang") + if("${CMAKE_${LANG}_COMPILER_VERSION}" VERSION_LESS 3) + message(FATAL_ERROR "Clang version must be 3.0.0 or greater! Aborting...") + endif() +elseif(NOT CMAKE_COMPILER_IS_GNUCXX) + if("${CMAKE_Fortran_COMPILER_ID}" MATCHES "[Ff]lang") + # Do nothing; exit conditional without error if true + elseif("${CMAKE_Fortran_COMPILER_ID}" MATCHES "GNU") + # Do nothing; exit conditional without error if true + else() + message(FATAL_ERROR "Compiler is not GNU gcc! Aborting...") + endif() +endif() + +set(COVERAGE_COMPILER_FLAGS "-g -fprofile-arcs -ftest-coverage" + CACHE INTERNAL "") +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") + include(CheckCXXCompilerFlag) + check_cxx_compiler_flag(-fprofile-abs-path HAVE_fprofile_abs_path) + if(HAVE_fprofile_abs_path) + set(COVERAGE_COMPILER_FLAGS "${COVERAGE_COMPILER_FLAGS} -fprofile-abs-path") + endif() +endif() + +set(CMAKE_Fortran_FLAGS_COVERAGE + ${COVERAGE_COMPILER_FLAGS} + CACHE STRING "Flags used by the Fortran compiler during coverage builds." + FORCE ) +set(CMAKE_CXX_FLAGS_COVERAGE + ${COVERAGE_COMPILER_FLAGS} CACHE STRING "Flags used by the C++ compiler during coverage builds." FORCE ) -SET(CMAKE_C_FLAGS_COVERAGE - "-g -O0 --coverage -fprofile-arcs -ftest-coverage" +set(CMAKE_C_FLAGS_COVERAGE + ${COVERAGE_COMPILER_FLAGS} CACHE STRING "Flags used by the C compiler during coverage builds." FORCE ) -SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE +set(CMAKE_EXE_LINKER_FLAGS_COVERAGE "" CACHE STRING "Flags used for linking binaries during coverage builds." FORCE ) -SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE +set(CMAKE_SHARED_LINKER_FLAGS_COVERAGE "" CACHE STRING "Flags used by the shared libraries linker during coverage builds." FORCE ) -MARK_AS_ADVANCED( +mark_as_advanced( + CMAKE_Fortran_FLAGS_COVERAGE CMAKE_CXX_FLAGS_COVERAGE CMAKE_C_FLAGS_COVERAGE CMAKE_EXE_LINKER_FLAGS_COVERAGE CMAKE_SHARED_LINKER_FLAGS_COVERAGE ) -IF ( NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR CMAKE_BUILD_TYPE STREQUAL "Coverage")) - MESSAGE( WARNING "Code coverage results with an optimized (non-Debug) build may be misleading" ) -ENDIF() # NOT CMAKE_BUILD_TYPE STREQUAL "Debug" +get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG) +if(NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG)) + message(WARNING "Code coverage results with an optimised (non-Debug) build may be misleading") +endif() # NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG) + +if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_Fortran_COMPILER_ID STREQUAL "GNU") + link_libraries(gcov) +endif() + +# Defines a target for running and collection code coverage information +# Builds dependencies, runs the given executable and outputs reports. +# NOTE! The executable should always have a ZERO as exit code otherwise +# the coverage generation will not complete. +# +# setup_target_for_coverage_lcov( +# NAME testrunner_coverage # New target name +# EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR +# DEPENDENCIES testrunner # Dependencies to build first +# BASE_DIRECTORY "../" # Base directory for report +# # (defaults to PROJECT_SOURCE_DIR) +# EXCLUDE "src/dir1/*" "src/dir2/*" # Patterns to exclude (can be relative +# # to BASE_DIRECTORY, with CMake 3.4+) +# NO_DEMANGLE # Don't demangle C++ symbols +# # even if c++filt is found +# ) +function(setup_target_for_coverage_lcov) + + set(options NO_DEMANGLE) + set(oneValueArgs BASE_DIRECTORY NAME) + set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES LCOV_ARGS GENHTML_ARGS) + cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) + + if(NOT LCOV_PATH) + message(FATAL_ERROR "lcov not found! Aborting...") + endif() # NOT LCOV_PATH + + if(NOT GENHTML_PATH) + message(FATAL_ERROR "genhtml not found! Aborting...") + endif() # NOT GENHTML_PATH + + # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR + if(DEFINED Coverage_BASE_DIRECTORY) + get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE) + else() + set(BASEDIR ${PROJECT_SOURCE_DIR}) + endif() + + # Collect excludes (CMake 3.4+: Also compute absolute paths) + set(LCOV_EXCLUDES "") + foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_LCOV_EXCLUDES}) + if(CMAKE_VERSION VERSION_GREATER 3.4) + get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR}) + endif() + list(APPEND LCOV_EXCLUDES "${EXCLUDE}") + endforeach() + list(REMOVE_DUPLICATES LCOV_EXCLUDES) + + # Conditional arguments + if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE}) + set(GENHTML_EXTRA_ARGS "--demangle-cpp") + endif() + + # Setting up commands which will be run to generate coverage data. + # Cleanup lcov + set(LCOV_CLEAN_CMD + ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -directory . + -b ${BASEDIR} --zerocounters + ) + # Create baseline to make sure untouched files show up in the report + set(LCOV_BASELINE_CMD + ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -c -i -d . -b + ${BASEDIR} -o ${Coverage_NAME}.base + ) + # Run tests + set(LCOV_EXEC_TESTS_CMD + ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS} + ) + # Capturing lcov counters and generating report + set(LCOV_CAPTURE_CMD + ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --directory . -b + ${BASEDIR} --capture --output-file ${Coverage_NAME}.capture + ) + # add baseline counters + set(LCOV_BASELINE_COUNT_CMD + ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -a ${Coverage_NAME}.base + -a ${Coverage_NAME}.capture --output-file ${Coverage_NAME}.total + ) + # filter collected data to final coverage report + set(LCOV_FILTER_CMD + ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --remove + ${Coverage_NAME}.total ${LCOV_EXCLUDES} --output-file ${Coverage_NAME}.info + ) + # Generate HTML output + set(LCOV_GEN_HTML_CMD + ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS} -o + ${Coverage_NAME} ${Coverage_NAME}.info + ) + + + if(CODE_COVERAGE_VERBOSE) + message(STATUS "Executed command report") + message(STATUS "Command to clean up lcov: ") + string(REPLACE ";" " " LCOV_CLEAN_CMD_SPACED "${LCOV_CLEAN_CMD}") + message(STATUS "${LCOV_CLEAN_CMD_SPACED}") + + message(STATUS "Command to create baseline: ") + string(REPLACE ";" " " LCOV_BASELINE_CMD_SPACED "${LCOV_BASELINE_CMD}") + message(STATUS "${LCOV_BASELINE_CMD_SPACED}") + + message(STATUS "Command to run the tests: ") + string(REPLACE ";" " " LCOV_EXEC_TESTS_CMD_SPACED "${LCOV_EXEC_TESTS_CMD}") + message(STATUS "${LCOV_EXEC_TESTS_CMD_SPACED}") + + message(STATUS "Command to capture counters and generate report: ") + string(REPLACE ";" " " LCOV_CAPTURE_CMD_SPACED "${LCOV_CAPTURE_CMD}") + message(STATUS "${LCOV_CAPTURE_CMD_SPACED}") + + message(STATUS "Command to add baseline counters: ") + string(REPLACE ";" " " LCOV_BASELINE_COUNT_CMD_SPACED "${LCOV_BASELINE_COUNT_CMD}") + message(STATUS "${LCOV_BASELINE_COUNT_CMD_SPACED}") + + message(STATUS "Command to filter collected data: ") + string(REPLACE ";" " " LCOV_FILTER_CMD_SPACED "${LCOV_FILTER_CMD}") + message(STATUS "${LCOV_FILTER_CMD_SPACED}") + + message(STATUS "Command to generate lcov HTML output: ") + string(REPLACE ";" " " LCOV_GEN_HTML_CMD_SPACED "${LCOV_GEN_HTML_CMD}") + message(STATUS "${LCOV_GEN_HTML_CMD_SPACED}") + endif() + + # Setup target + add_custom_target(${Coverage_NAME} + COMMAND ${LCOV_CLEAN_CMD} + COMMAND ${LCOV_BASELINE_CMD} + COMMAND ${LCOV_EXEC_TESTS_CMD} + COMMAND ${LCOV_CAPTURE_CMD} + COMMAND ${LCOV_BASELINE_COUNT_CMD} + COMMAND ${LCOV_FILTER_CMD} + COMMAND ${LCOV_GEN_HTML_CMD} + + # Set output files as GENERATED (will be removed on 'make clean') + BYPRODUCTS + ${Coverage_NAME}.base + ${Coverage_NAME}.capture + ${Coverage_NAME}.total + ${Coverage_NAME}.info + ${Coverage_NAME}/index.html + WORKING_DIRECTORY ${PROJECT_BINARY_DIR} + DEPENDS ${Coverage_DEPENDENCIES} + VERBATIM # Protect arguments to commands + COMMENT "Resetting code coverage counters to zero.\nProcessing code coverage counters and generating report." + ) + + # Show where to find the lcov info report + add_custom_command(TARGET ${Coverage_NAME} POST_BUILD + COMMAND ; + COMMENT "Lcov code coverage info report saved in ${Coverage_NAME}.info." + ) + + # Show info where to find the report + add_custom_command(TARGET ${Coverage_NAME} POST_BUILD + COMMAND ; + COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report." + ) + +endfunction() # setup_target_for_coverage_lcov + +# Defines a target for running and collection code coverage information +# Builds dependencies, runs the given executable and outputs reports. +# NOTE! The executable should always have a ZERO as exit code otherwise +# the coverage generation will not complete. +# +# setup_target_for_coverage_gcovr_xml( +# NAME ctest_coverage # New target name +# EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR +# DEPENDENCIES executable_target # Dependencies to build first +# BASE_DIRECTORY "../" # Base directory for report +# # (defaults to PROJECT_SOURCE_DIR) +# EXCLUDE "src/dir1/*" "src/dir2/*" # Patterns to exclude (can be relative +# # to BASE_DIRECTORY, with CMake 3.4+) +# ) +# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the +# GCVOR command. +function(setup_target_for_coverage_gcovr_xml) + + set(options NONE) + set(oneValueArgs BASE_DIRECTORY NAME) + set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES) + cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) + + if(NOT GCOVR_PATH) + message(FATAL_ERROR "gcovr not found! Aborting...") + endif() # NOT GCOVR_PATH + + # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR + if(DEFINED Coverage_BASE_DIRECTORY) + get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE) + else() + set(BASEDIR ${PROJECT_SOURCE_DIR}) + endif() + + # Collect excludes (CMake 3.4+: Also compute absolute paths) + set(GCOVR_EXCLUDES "") + foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES}) + if(CMAKE_VERSION VERSION_GREATER 3.4) + get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR}) + endif() + list(APPEND GCOVR_EXCLUDES "${EXCLUDE}") + endforeach() + list(REMOVE_DUPLICATES GCOVR_EXCLUDES) + + # Combine excludes to several -e arguments + set(GCOVR_EXCLUDE_ARGS "") + foreach(EXCLUDE ${GCOVR_EXCLUDES}) + list(APPEND GCOVR_EXCLUDE_ARGS "-e") + list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}") + endforeach() + + # Set up commands which will be run to generate coverage data + # Run tests + set(GCOVR_XML_EXEC_TESTS_CMD + ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS} + ) + # Running gcovr + set(GCOVR_XML_CMD + ${GCOVR_PATH} --xml -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS} ${GCOVR_EXCLUDE_ARGS} + --object-directory=${PROJECT_BINARY_DIR} -o ${Coverage_NAME}.xml + ) + + if(CODE_COVERAGE_VERBOSE) + message(STATUS "Executed command report") + + message(STATUS "Command to run tests: ") + string(REPLACE ";" " " GCOVR_XML_EXEC_TESTS_CMD_SPACED "${GCOVR_XML_EXEC_TESTS_CMD}") + message(STATUS "${GCOVR_XML_EXEC_TESTS_CMD_SPACED}") + + message(STATUS "Command to generate gcovr XML coverage data: ") + string(REPLACE ";" " " GCOVR_XML_CMD_SPACED "${GCOVR_XML_CMD}") + message(STATUS "${GCOVR_XML_CMD_SPACED}") + endif() + + add_custom_target(${Coverage_NAME} + COMMAND ${GCOVR_XML_EXEC_TESTS_CMD} + COMMAND ${GCOVR_XML_CMD} + + BYPRODUCTS ${Coverage_NAME}.xml + WORKING_DIRECTORY ${PROJECT_BINARY_DIR} + DEPENDS ${Coverage_DEPENDENCIES} + VERBATIM # Protect arguments to commands + COMMENT "Running gcovr to produce Cobertura code coverage report." + ) + + # Show info where to find the report + add_custom_command(TARGET ${Coverage_NAME} POST_BUILD + COMMAND ; + COMMENT "Cobertura code coverage report saved in ${Coverage_NAME}.xml." + ) +endfunction() # setup_target_for_coverage_gcovr_xml + +# Defines a target for running and collection code coverage information +# Builds dependencies, runs the given executable and outputs reports. +# NOTE! The executable should always have a ZERO as exit code otherwise +# the coverage generation will not complete. +# +# setup_target_for_coverage_gcovr_html( +# NAME ctest_coverage # New target name +# EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR +# DEPENDENCIES executable_target # Dependencies to build first +# BASE_DIRECTORY "../" # Base directory for report +# # (defaults to PROJECT_SOURCE_DIR) +# EXCLUDE "src/dir1/*" "src/dir2/*" # Patterns to exclude (can be relative +# # to BASE_DIRECTORY, with CMake 3.4+) +# ) +# The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the +# GCVOR command. +function(setup_target_for_coverage_gcovr_html) + + set(options NONE) + set(oneValueArgs BASE_DIRECTORY NAME) + set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES) + cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) + + if(NOT GCOVR_PATH) + message(FATAL_ERROR "gcovr not found! Aborting...") + endif() # NOT GCOVR_PATH + + # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR + if(DEFINED Coverage_BASE_DIRECTORY) + get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE) + else() + set(BASEDIR ${PROJECT_SOURCE_DIR}) + endif() + + # Collect excludes (CMake 3.4+: Also compute absolute paths) + set(GCOVR_EXCLUDES "") + foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES}) + if(CMAKE_VERSION VERSION_GREATER 3.4) + get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR}) + endif() + list(APPEND GCOVR_EXCLUDES "${EXCLUDE}") + endforeach() + list(REMOVE_DUPLICATES GCOVR_EXCLUDES) + + # Combine excludes to several -e arguments + set(GCOVR_EXCLUDE_ARGS "") + foreach(EXCLUDE ${GCOVR_EXCLUDES}) + list(APPEND GCOVR_EXCLUDE_ARGS "-e") + list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}") + endforeach() + + # Set up commands which will be run to generate coverage data + # Run tests + set(GCOVR_HTML_EXEC_TESTS_CMD + ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS} + ) + # Create folder + set(GCOVR_HTML_FOLDER_CMD + ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/${Coverage_NAME} + ) + # Running gcovr + set(GCOVR_HTML_CMD + ${GCOVR_PATH} --html --html-details -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS} + ${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR} + -o ${Coverage_NAME}/index.html + ) + + if(CODE_COVERAGE_VERBOSE) + message(STATUS "Executed command report") + + message(STATUS "Command to run tests: ") + string(REPLACE ";" " " GCOVR_HTML_EXEC_TESTS_CMD_SPACED "${GCOVR_HTML_EXEC_TESTS_CMD}") + message(STATUS "${GCOVR_HTML_EXEC_TESTS_CMD_SPACED}") + + message(STATUS "Command to create a folder: ") + string(REPLACE ";" " " GCOVR_HTML_FOLDER_CMD_SPACED "${GCOVR_HTML_FOLDER_CMD}") + message(STATUS "${GCOVR_HTML_FOLDER_CMD_SPACED}") + + message(STATUS "Command to generate gcovr HTML coverage data: ") + string(REPLACE ";" " " GCOVR_HTML_CMD_SPACED "${GCOVR_HTML_CMD}") + message(STATUS "${GCOVR_HTML_CMD_SPACED}") + endif() + + add_custom_target(${Coverage_NAME} + COMMAND ${GCOVR_HTML_EXEC_TESTS_CMD} + COMMAND ${GCOVR_HTML_FOLDER_CMD} + COMMAND ${GCOVR_HTML_CMD} + + BYPRODUCTS ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html # report directory + WORKING_DIRECTORY ${PROJECT_BINARY_DIR} + DEPENDS ${Coverage_DEPENDENCIES} + VERBATIM # Protect arguments to commands + COMMENT "Running gcovr to produce HTML code coverage report." + ) + + # Show info where to find the report + add_custom_command(TARGET ${Coverage_NAME} POST_BUILD + COMMAND ; + COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report." + ) + +endfunction() # setup_target_for_coverage_gcovr_html + +# Defines a target for running and collection code coverage information +# Builds dependencies, runs the given executable and outputs reports. +# NOTE! The executable should always have a ZERO as exit code otherwise +# the coverage generation will not complete. +# +# setup_target_for_coverage_fastcov( +# NAME testrunner_coverage # New target name +# EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR +# DEPENDENCIES testrunner # Dependencies to build first +# BASE_DIRECTORY "../" # Base directory for report +# # (defaults to PROJECT_SOURCE_DIR) +# EXCLUDE "src/dir1/" "src/dir2/" # Patterns to exclude. +# NO_DEMANGLE # Don't demangle C++ symbols +# # even if c++filt is found +# SKIP_HTML # Don't create html report +# POST_CMD perl -i -pe s!${PROJECT_SOURCE_DIR}/!!g ctest_coverage.json # E.g. for stripping source dir from file paths +# ) +function(setup_target_for_coverage_fastcov) + + set(options NO_DEMANGLE SKIP_HTML) + set(oneValueArgs BASE_DIRECTORY NAME) + set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES FASTCOV_ARGS GENHTML_ARGS POST_CMD) + cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) + + if(NOT FASTCOV_PATH) + message(FATAL_ERROR "fastcov not found! Aborting...") + endif() + if(NOT Coverage_SKIP_HTML AND NOT GENHTML_PATH) + message(FATAL_ERROR "genhtml not found! Aborting...") + endif() -# Param _targetname The name of new the custom make target -# Param _testrunner The name of the target which runs the tests. -# MUST return ZERO always, even on errors. -# If not, no coverage report will be created! -# Param _outputname lcov output is generated as _outputname.info -# HTML report is generated in _outputname/index.html -# Optional fourth parameter is passed as arguments to _testrunner -# Pass them in list form, e.g.: "-j;2" for -j 2 -FUNCTION(SETUP_TARGET_FOR_COVERAGE _targetname _testrunner _outputname) + # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR + if(Coverage_BASE_DIRECTORY) + get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE) + else() + set(BASEDIR ${PROJECT_SOURCE_DIR}) + endif() - IF(NOT LCOV_PATH) - MESSAGE(FATAL_ERROR "lcov not found! Aborting...") - ENDIF() # NOT LCOV_PATH + # Collect excludes (Patterns, not paths, for fastcov) + set(FASTCOV_EXCLUDES "") + foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_FASTCOV_EXCLUDES}) + list(APPEND FASTCOV_EXCLUDES "${EXCLUDE}") + endforeach() + list(REMOVE_DUPLICATES FASTCOV_EXCLUDES) - IF(NOT GENHTML_PATH) - MESSAGE(FATAL_ERROR "genhtml not found! Aborting...") - ENDIF() # NOT GENHTML_PATH + # Conditional arguments + if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE}) + set(GENHTML_EXTRA_ARGS "--demangle-cpp") + endif() - SET(coverage_info "${CMAKE_BINARY_DIR}/${_outputname}.info") - SET(coverage_cleaned "${coverage_info}.cleaned") + # Set up commands which will be run to generate coverage data + set(FASTCOV_EXEC_TESTS_CMD ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}) - SEPARATE_ARGUMENTS(test_command UNIX_COMMAND "${_testrunner}") + set(FASTCOV_CAPTURE_CMD ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH} + --search-directory ${BASEDIR} + --process-gcno + --output ${Coverage_NAME}.json + --exclude ${FASTCOV_EXCLUDES} + --exclude ${FASTCOV_EXCLUDES} + ) + + set(FASTCOV_CONVERT_CMD ${FASTCOV_PATH} + -C ${Coverage_NAME}.json --lcov --output ${Coverage_NAME}.info + ) - # Setup target - ADD_CUSTOM_TARGET(${_targetname} + if(Coverage_SKIP_HTML) + set(FASTCOV_HTML_CMD ";") + else() + set(FASTCOV_HTML_CMD ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS} + -o ${Coverage_NAME} ${Coverage_NAME}.info + ) + endif() - # Cleanup lcov - ${LCOV_PATH} --directory . --zerocounters + set(FASTCOV_POST_CMD ";") + if(Coverage_POST_CMD) + set(FASTCOV_POST_CMD ${Coverage_POST_CMD}) + endif() - # Run tests - COMMAND ${test_command} ${ARGV3} + if(CODE_COVERAGE_VERBOSE) + message(STATUS "Code coverage commands for target ${Coverage_NAME} (fastcov):") - # Capturing lcov counters and generating report - COMMAND ${LCOV_PATH} --directory . --capture --output-file ${coverage_info} - COMMAND ${LCOV_PATH} --remove ${coverage_info} 'tests/*' '/usr/*' --output-file ${coverage_cleaned} - COMMAND ${GENHTML_PATH} -o ${_outputname} ${coverage_cleaned} - COMMAND ${CMAKE_COMMAND} -E remove ${coverage_info} ${coverage_cleaned} + message(" Running tests:") + string(REPLACE ";" " " FASTCOV_EXEC_TESTS_CMD_SPACED "${FASTCOV_EXEC_TESTS_CMD}") + message(" ${FASTCOV_EXEC_TESTS_CMD_SPACED}") - WORKING_DIRECTORY ${CMAKE_BINARY_DIR} - COMMENT "Resetting code coverage counters to zero.\nProcessing code coverage counters and generating report." - ) + message(" Capturing fastcov counters and generating report:") + string(REPLACE ";" " " FASTCOV_CAPTURE_CMD_SPACED "${FASTCOV_CAPTURE_CMD}") + message(" ${FASTCOV_CAPTURE_CMD_SPACED}") - # Show info where to find the report - ADD_CUSTOM_COMMAND(TARGET ${_targetname} POST_BUILD - COMMAND ; - COMMENT "Open ./${_outputname}/index.html in your browser to view the coverage report." - ) + message(" Converting fastcov .json to lcov .info:") + string(REPLACE ";" " " FASTCOV_CONVERT_CMD_SPACED "${FASTCOV_CONVERT_CMD}") + message(" ${FASTCOV_CONVERT_CMD_SPACED}") -ENDFUNCTION() # SETUP_TARGET_FOR_COVERAGE + if(NOT Coverage_SKIP_HTML) + message(" Generating HTML report: ") + string(REPLACE ";" " " FASTCOV_HTML_CMD_SPACED "${FASTCOV_HTML_CMD}") + message(" ${FASTCOV_HTML_CMD_SPACED}") + endif() + if(Coverage_POST_CMD) + message(" Running post command: ") + string(REPLACE ";" " " FASTCOV_POST_CMD_SPACED "${FASTCOV_POST_CMD}") + message(" ${FASTCOV_POST_CMD_SPACED}") + endif() + endif() -# Param _targetname The name of new the custom make target -# Param _testrunner The name of the target which runs the tests -# Param _outputname cobertura output is generated as _outputname.xml -# Optional fourth parameter is passed as arguments to _testrunner -# Pass them in list form, e.g.: "-j;2" for -j 2 -FUNCTION(SETUP_TARGET_FOR_COVERAGE_COBERTURA _targetname _testrunner _outputname) + # Setup target + add_custom_target(${Coverage_NAME} - IF(NOT PYTHON_EXECUTABLE) - MESSAGE(FATAL_ERROR "Python not found! Aborting...") - ENDIF() # NOT PYTHON_EXECUTABLE + # Cleanup fastcov + COMMAND ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH} + --search-directory ${BASEDIR} + --zerocounters - IF(NOT GCOVR_PATH) - MESSAGE(FATAL_ERROR "gcovr not found! Aborting...") - ENDIF() # NOT GCOVR_PATH + COMMAND ${FASTCOV_EXEC_TESTS_CMD} + COMMAND ${FASTCOV_CAPTURE_CMD} + COMMAND ${FASTCOV_CONVERT_CMD} + COMMAND ${FASTCOV_HTML_CMD} + COMMAND ${FASTCOV_POST_CMD} - ADD_CUSTOM_TARGET(${_targetname} + # Set output files as GENERATED (will be removed on 'make clean') + BYPRODUCTS + ${Coverage_NAME}.info + ${Coverage_NAME}.json + ${Coverage_NAME}/index.html # report directory - # Run tests - ${_testrunner} ${ARGV3} + WORKING_DIRECTORY ${PROJECT_BINARY_DIR} + DEPENDS ${Coverage_DEPENDENCIES} + VERBATIM # Protect arguments to commands + COMMENT "Resetting code coverage counters to zero. Processing code coverage counters and generating report." + ) - # Running gcovr - COMMAND ${GCOVR_PATH} -x -r ${CMAKE_SOURCE_DIR} -e '${CMAKE_SOURCE_DIR}/tests/' -o ${_outputname}.xml - WORKING_DIRECTORY ${CMAKE_BINARY_DIR} - COMMENT "Running gcovr to produce Cobertura code coverage report." - ) + set(INFO_MSG "fastcov code coverage info report saved in ${Coverage_NAME}.info and ${Coverage_NAME}.json.") + if(NOT Coverage_SKIP_HTML) + string(APPEND INFO_MSG " Open ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html in your browser to view the coverage report.") + endif() + # Show where to find the fastcov info report + add_custom_command(TARGET ${Coverage_NAME} POST_BUILD + COMMAND ${CMAKE_COMMAND} -E echo ${INFO_MSG} + ) - # Show info where to find the report - ADD_CUSTOM_COMMAND(TARGET ${_targetname} POST_BUILD - COMMAND ; - COMMENT "Cobertura code coverage report saved in ${_outputname}.xml." - ) +endfunction() # setup_target_for_coverage_fastcov -ENDFUNCTION() # SETUP_TARGET_FOR_COVERAGE_COBERTURA \ No newline at end of file +function(append_coverage_compiler_flags) + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE) + set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE) + message(STATUS "Appending code coverage compiler flags: ${COVERAGE_COMPILER_FLAGS}") +endfunction() # append_coverage_compiler_flags diff --git a/LICENSE b/LICENSE index 51e78ee82..c2d4eafed 100644 --- a/LICENSE +++ b/LICENSE @@ -1,4 +1,4 @@ -Copyright (c) 2010-2020 Daniel Chappuis http://www.reactphysics3d.com +Copyright (c) 2010-2022 Daniel Chappuis http://www.reactphysics3d.com This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages diff --git a/README.md b/README.md index f255b8577..5a1fdba85 100644 --- a/README.md +++ b/README.md @@ -1,20 +1,28 @@ -[![Travis Build Status](https://travis-ci.org/DanielChappuis/reactphysics3d.svg?branch=master)](https://travis-ci.org/DanielChappuis/reactphysics3d) -[![Codacy Badge](https://api.codacy.com/project/badge/Grade/3ae24e998e304e4da78ec848eade9e3a)](https://www.codacy.com/app/chappuis.daniel/reactphysics3d?utm_source=github.com&utm_medium=referral&utm_content=DanielChappuis/reactphysics3d&utm_campaign=Badge_Grade) -[![codecov.io](https://codecov.io/github/DanielChappuis/reactphysics3d/coverage.svg?branch=master)](https://codecov.io/github/DanielChappuis/reactphysics3d?branch=master) - -## ReactPhysics3D - -ReactPhysics3D is an open source C++ physics engine library that can be used in 3D simulations and games. - -Website : [https://www.reactphysics3d.com](https://www.reactphysics3d.com) - -Author : Daniel Chappuis - -Drawing - -## Features - -ReactPhysics3D has the following features: +

+ ReactPhysics3D +
+ ReactPhysics3D +
+

+ +

ReactPhysics3D is an open source C++ physics engine library that can be used in 3D simulations and games.

+

www.reactphysics3d.com

+

+ + Build + + + + + +

+ +

+ Drawing +

+ +## :dart: Features - Rigid body dynamics - Discrete collision detection @@ -36,26 +44,42 @@ ReactPhysics3D has the following features: - Logs - Unit tests -## License - -The ReactPhysics3D library is released under the open-source [ZLib license](http://opensource.org/licenses/zlib). +## :book: Documentation -## Documentation +You can find the user manual and the Doxygen API documentation here. -You can find the user manual and the Doxygen API documentation [here](https://www.reactphysics3d.com/documentation.html) +## :information_source: Branches -## Branches - -The "master" branch always contains the last released version of the library and some possible bug fixes. This is the most stable version. On the other side, +The "master" branch always contains the last released version of the library and some possible hot fixes. This is the most stable version. On the other side, the "develop" branch is used for development. This branch is frequently updated and can be quite unstable. Therefore, if you want to use the library in your application, it is recommended to checkout the "master" branch. -## Issues +## :question: Questions + +If you have any questions about the library and how to use it, you should use Github Discussions to read previous questions and answers or to ask new questions. If you want, you can also share your project there if you are using the ReactPhysics3D library. -If you find any issue with the library, you can report it on the issue tracker [here](https://github.com/DanielChappuis/reactphysics3d/issues). +## :warning: Issues -## Credits +If you find any issue with the library, you can report it on the issue tracker here. + +## :man: Author + +The ReactPhysics3D library has been created and is maintained by Daniel Chappuis. + +## :copyright: License + +The ReactPhysics3D library is released under the open-source ZLib license. + +## :+1: Sponsorship + +If you are using this library and want to support its development, you can sponsor it here. + +## :clap: Credits Thanks a lot to Erin Catto, Dirk Gregorius, Erwin Coumans, Pierre Terdiman and Christer Ericson for their amazing GDC presentations, their physics engines, their books or articles and their contributions on many physics engine forums. +Thanks to all the contributors that have reported issues or have taken the time to send pull requests. + + - [Artbake Graphics](https://sketchfab.com/ismir) for the static castle 3D model used in testbed application ([CC license](https://creativecommons.org/licenses/by/4.0)) + diff --git a/VERSION b/VERSION index a3df0a695..ac39a106c 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -0.8.0 +0.9.0 diff --git a/documentation/API/Doxyfile b/documentation/API/Doxyfile index 13c3e4470..ec1f03ef5 100644 --- a/documentation/API/Doxyfile +++ b/documentation/API/Doxyfile @@ -38,7 +38,7 @@ PROJECT_NAME = "ReactPhysics3D" # could be handy for archiving the generated documentation or if some version # control system is used. -PROJECT_NUMBER = "0.8.0" +PROJECT_NUMBER = "0.9.0" # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer a diff --git a/documentation/UserManual/ReactPhysics3D-UserManual.pdf b/documentation/UserManual/ReactPhysics3D-UserManual.pdf index be81259aa..19558364e 100644 Binary files a/documentation/UserManual/ReactPhysics3D-UserManual.pdf and b/documentation/UserManual/ReactPhysics3D-UserManual.pdf differ diff --git a/documentation/UserManual/ReactPhysics3D-UserManual.tex b/documentation/UserManual/ReactPhysics3D-UserManual.tex index 8aaf65bf7..6cf679e87 100644 --- a/documentation/UserManual/ReactPhysics3D-UserManual.tex +++ b/documentation/UserManual/ReactPhysics3D-UserManual.tex @@ -170,11 +170,11 @@ Now, if you go into the folder you have chosen to build the library, you should find the native build tool files that you will use to build the library on your platform. - \subsection{Bulding the library} + \subsection{Building the library} Now, that you have generated the native build tool files on your system, you will need to build (compile) the library. - \subsubsection{Bulding the library using \texttt{make} on the command line (Linux, Mac OS X)} + \subsubsection{Building the library using \texttt{make} on the command line (Linux, Mac OS X)} On Linux or Mac OS X, you can compile the library on the command line using the \texttt{make} command. Go into the directory where you have generated the native build tool files and run the following command: \\ @@ -183,7 +183,7 @@ The library will start compiling. - \subsubsection{Bulding the library with Visual Studio (Windows)} + \subsubsection{Building the library with Visual Studio (Windows)} If you have generated the native build tool files in the previous step on Windows, you should have obtained a Visual Studio solution of ReactPhysics3D. Now, you can open the Visual Studio solution (.sln file). Once Visual Studio is open, you first need to change the compilation mode to \emph{Release} @@ -315,7 +315,7 @@ # Minimum cmake version required cmake_minimum_required(VERSION 3.8) -# Help CMake to find the installed library on Windows or Mac OS X +# Help CMake to find the installed library on Windows or Mac OS X if(WIN32) list(APPEND CMAKE_PREFIX_PATH "C:\\Program Files (x86)\\ReactPhysics3D") elseif(APPLE) @@ -924,8 +924,7 @@ \begin{lstlisting} // Compute the interpolated transform of the rigid body -Transform interpolatedTransform = Transform::interpolateTransforms(prevTransform, - currTransform, factor); +Transform interpolatedTransform = Transform::interpolateTransforms(prevTransform, currTransform, factor); \end{lstlisting} \vspace{0.6cm} @@ -967,8 +966,7 @@ Transform currTransform = body->getTransform(); // Compute the interpolated transform of the rigid body -Transform interpolatedTransform = Transform::interpolateTransforms(prevTransform, - currTransform, factor); +Transform interpolatedTransform = Transform::interpolateTransforms(prevTransform, currTransform, factor); // Now you can render your body using the interpolated transform here @@ -1037,6 +1035,28 @@ \texttt{RigidBody::updateMassPropertiesFromColliders()}. \end{sloppypar} + \subsection{Restricting linear/angular motion of a Rigid Body} + + It is possible to use the \texttt{RigidBody::setLinearLockAxisFactor()} method to restrict the linear motion of a rigid body along the world-space + X,Y and Z axes. For instance, the following code shows how to disable the linear motion of a rigid body along the world-space Y axis by setting the lock + factor to zero for this axis. \\ + + \begin{lstlisting} +// Disable motion along the Y axis +rigidBody->setLinearAxisFactor(Vector3(1, 0, 1)); + \end{lstlisting} + + \vspace{0.6cm} + + In the same way, you can use the \texttt{RigidBody::setAngularLockAxisFactor()} method to restrict the angular motion of a rigid body around the + world-space X,Y and Z axes. For instance, the following code shows how to disable the angular motion of a rigid body around the world-space Y axis + by setting the lock factor to zero for this axis. \\ + + \begin{lstlisting} +// Disable rotation around the Y axis +rigidBody->setAngularAxisFactor(Vector3(1, 0, 1)); + \end{lstlisting} + \subsection{Destroying a Rigid Body} \begin{sloppypar} @@ -1090,7 +1110,9 @@ \label{sec:collisionshapes} As we have just seen, a collision shape is used to describe the shape of a collider for collision detection. They are many types of - collision shapes that you can use. They all inherit from the \texttt{CollisionShape} class. + collision shapes that you can use. They all inherit from the \texttt{CollisionShape} class. \\ + + Note that ReactPhysics3D does not support collision between two concave shapes (\texttt{ConcaveMeshShape} and \texttt{HeightFieldShape}). \subsubsection{Box Shape} @@ -1215,7 +1237,7 @@ } // Create the polygon vertex array -PolygonVertexArray* polygonVertexArray = new PolygonVertexArray(8, vertices, 3 x sizeof(float), +PolygonVertexArray* polygonVertexArray = new PolygonVertexArray(8, vertices, 3 * sizeof(float), indices, sizeof(int), 6, polygonFaces, PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); @@ -1236,6 +1258,9 @@ that you need to avoid coplanar faces in your convex mesh shape. Coplanar faces have to be merged together. Remember that convex meshes are not limited to triangular faces, you can create faces with more than three vertices. \\ + Also note that meshes with duplicated vertices are not supported. The number of vertices you pass to create the PolygonVertexArray must be exactly + the number of vertices in your convex mesh. \\ + When you specify the vertices for each face of your convex mesh, be careful with their order. The vertices of a face must be specified in counter clockwise order as seen from the outside of your convex mesh. \\ @@ -1316,8 +1341,11 @@ \texttt{TriangleMesh} for multiple \texttt{ConcaveMeshShape} with a different scaling factor each time. \\ \end{sloppypar} - In the previous example, the vertex normals that are needed for collision detection are automatically computed. However, if you want to specify your own - vertex normals, you can do it by using another constructor for the \texttt{TriangleVertexArray}. \\ + In the previous example, the vertices normals that are needed for collision detection are automatically computed. However, you can specify your own + vertices normals by using another constructor for the \texttt{TriangleVertexArray}. Note that each vertex normal is computed as weighted average + of the face normals of all the neighboring triangle faces. Therefore, if you specify your mesh with duplicated vertices when you create the + \emph{TriangleVertexArray}, the automatic vertices normals computation will not give correct normals because each vertex of the mesh will only be + part of a single triangle face. In this case, you should provide your own vertices normals when you create the \emph{TriangleVertexArray}. \\ \subsubsection{Heightfield Shape} @@ -1440,14 +1468,13 @@ \subsection{Material} \label{sec:material} - The material of a rigid body is used to describe the physical properties it is made of. This is represented by the \texttt{Material} class. Each body that - you create will have a default material. You can get the material of the rigid body using the \texttt{RigidBody::\allowbreak getMaterial()} method. \\ + The material of a collider is used to describe the physical properties it is made of. This is represented by the \texttt{Material} class. Each collider that you create will have a default material. You can get the material of the collider using the \texttt{Collider::\allowbreak getMaterial()} method. \\ You can use the material to set those physical properties. \\ - For instance, you can change the bounciness of the rigid body. The bounciness is a value between 0 and 1. The value 1 is used for a very bouncy - object and the value 0 means that the body will not be bouncy at all. To change the bounciness of the material, you can use the - \texttt{Material::\allowbreak setBounciness()} method. \\ + For instance, you can change the bounciness of the collider. The bounciness is a value between 0 and 1. The value 1 is used for + a very bouncy object and the value 0 means that the collider will not be bouncy at all. To change the bounciness of the material, + you can use the \texttt{Material::\allowbreak setBounciness()} method. \\ \begin{sloppypar} It is also possible to set the mass density of the collider which has a default value of 1. As described in section \ref{sec:rigidbodymass}, the @@ -1455,25 +1482,20 @@ mass density of a collider, you need to use the \texttt{Material::setMassDensity()} method. \\ \end{sloppypar} - You are also able to change the friction coefficient of the body. This value needs to be between 0 and 1. If the value is 0, no friction will be - applied when the body is in contact with another body. However, if the value is 1, the friction force will be high. You can change the - friction coefficient of the material with the \texttt{Material::\allowbreak setFrictionCoefficient()} method. \\ + You are also able to change the friction coefficient of the collider. This value needs to be between 0 and 1. If the value is 0, + no friction will be applied when the collider is in contact with another collider. However, if the value is 1, the friction force will be high. You can + change the friction coefficient of the material with the \texttt{Material::\allowbreak setFrictionCoefficient()} method. \\ - You can use the material to add rolling resistance to a rigid body. Rolling resistance can be used to stop - a rolling object on a flat surface for instance. You should use this only with SphereShape or - CapsuleShape collision shapes. By default, rolling resistance is zero but you can - set a positive value using the \texttt{Material::\allowbreak setRollingResistance()} method to increase resistance. \\ - - Here is how to get the material of a rigid body and how to modify some of its properties: \\ + Here is how to get the material of a collider and how to modify some of its properties: \\ \begin{lstlisting} -// Get the current material of the body -Material& material = rigidBody->getMaterial(); +// Get the current material of the collider +Material& material = collider->getMaterial(); -// Change the bounciness of the body +// Change the bounciness of the collider material.setBounciness(0.4); -// Change the friction coefficient of the body +// Change the friction coefficient of the collider material.setFrictionCoefficient(0.2); \end{lstlisting} @@ -1509,12 +1531,15 @@ \subsection{Ball and Socket Joint} - The \texttt{BallAndSocketJoint} class describes a ball and socket joint between two bodies. In a ball and socket joint, the two bodies cannot translate with respect to each other. - However, they can rotate freely around a common anchor point. This joint has three degrees of freedom and can be used to simulate a chain of bodies for instance. \\ + The \texttt{BallAndSocketJoint} class describes a ball and socket joint between two bodies. In a ball and socket joint, the two bodies cannot + translate with respect to each other. However, they can rotate freely around a common anchor point. This joint has three degrees of freedom + and can be used to simulate a chain of bodies for instance. \\ - In order to create a ball and socket joint, you first need to create an instance of the \texttt{BallAndSocketJointInfo} class with the necessary information. You need to provide the pointers to the - two rigid bodies and also the coordinates of the anchor point (in world-space). At the joint creation, the world-space anchor point will be converted into the local-space of the two rigid - bodies and then, the joint will make sure that the two local-space anchor points match in world-space. Therefore, the two bodies need to be in a correct position at the joint creation. \\ + In order to create a ball and socket joint, you first need to create an instance of the \texttt{BallAndSocketJointInfo} class with the necessary + information. You need to provide the pointers to the two rigid bodies and also the coordinates of the anchor point. The \texttt{BallAndSocketJointInfo} + class contains different constructors that you can use whether you want to specify the anchor point in world-space or local-space coordinates. + The joint will make sure that the two local-space anchor points match in world-space. Make sure that the two bodies are in a valid position (with + respect to the joint constraint) at the beginning of the simulation. \\ Here is the code to create the \texttt{BallAndSocketJointInfo} object: \\ @@ -1542,7 +1567,22 @@ joint = dynamic_cast(world->createJoint(jointInfo)); \end{lstlisting} - \vspace{0.6cm} + \subsubsection{Cone limit} + + With the ball and socket joint, it is possible to enable a cone limit. Let's call the \texttt{anchor axis} for body 1 the axis from body 1 center of mass + to the joint anchor point. The cone limit can be used to constraint the angle between the anchor axis of body 1 and the anchor axis of body 2. + The idea is to limit the angle of the anchor axis of body 2 inside a cone around the anchor axis of body 1. The cone is defined by its main axis + which is the anchor axis of body 1 and is also defined by the cone half angle. \\ + + In the following example, we enable the cone limit for a given ball and socket joint. \\ + + \begin{lstlisting} +// Set the maximum half angle (in radians) +joint->setConeLimitHalfAngle(45.0 * PI / 180.0); + +// Enable the cone limit for this joint +joint->enableConeLimit(true); + \end{lstlisting} \subsection{Hinge Joint} @@ -1550,8 +1590,9 @@ anchor point and around a single axis (the hinge axis). This joint can be used to simulate doors or pendulums for instance. \\ In order to create a hinge joint, you first need to create a \texttt{HingeJointInfo} object with the necessary information. You need to provide - the pointers to the two rigid bodies, the coordinates of the anchor point (in world-space) and also the hinge rotation axis (in world-space). The - two bodies need to be in a correct position when the joint is created. \\ + the pointers to the two rigid bodies, the coordinates of the anchor point and also the hinge rotation axis. The \texttt{HingeJointInfo} class contains + different constructors that you can use whether you want to specify the anchor point or the rotation axis in local-space or world-space. + Make sure that the two bodies are in a valid position (with respect to the joint constraint) at the beginning of the simulation. \\ Here is the code to create the \texttt{HingeJointInfo} object: \\ @@ -1584,10 +1625,11 @@ \subsubsection{Limits} - With the hinge joint, you can constrain the motion range using limits. The limits of the hinge joint are the minimum and maximum angle of rotation allowed with respect to the initial - angle between the bodies when the joint is created. The limits are disabled by default. If you want to use the limits, you first need to enable them by setting the - \texttt{isLimitEnabled} variable of the \texttt{HingeJointInfo} object to \emph{true} before you create the joint. You also have to specify the minimum and maximum limit - angles (in radians) using the \texttt{minAngleLimit} and \texttt{maxAngleLimit} variables of the joint info object. Note that the minimum limit angle must be in the + With the hinge joint, you can constrain the motion range using limits. The limits of the hinge joint are the minimum and maximum angle of + rotation allowed with respect to the initial angle between the bodies when the joint is created. The limits are disabled by default. + If you want to use the limits, you first need to enable them by setting the \texttt{isLimitEnabled} variable of the \texttt{HingeJointInfo} + object to \emph{true} before you create the joint. You also have to specify the minimum and maximum limit angles (in radians) using + the \texttt{minAngleLimit} and \texttt{maxAngleLimit} variables of the joint info object. Note that the minimum limit angle must be in the range $[ -2 \pi; 0 ]$ and the maximum limit angle must be in the range $[ 0; 2 \pi ]$. \\ For instance, here is the way to use the limits for a hinge joint when the joint is created: \\ @@ -1654,10 +1696,14 @@ \subsection{Slider Joint} - The \texttt{SliderJoint} class describes a slider joint (or prismatic joint) that only allows relative translation along a single direction. It has a single degree of freedom and allows no - relative rotation. In order to create a slider joint, you first need to specify the anchor point (in world-space) and the slider axis direction (in world-space). The constructor of the - \texttt{SliderJointInfo} object needs two pointers to the bodies of the joint, the anchor point and the axis direction. Note that the two bodies have to be in a correct initial position when - the joint is created. \\ + The \texttt{SliderJoint} class describes a slider joint (or prismatic joint) that only allows relative translation along a single direction. + It has a single degree of freedom and allows no relative rotation. \\ + + In order to create a slider joint, you first need to specify the anchor point and the slider axis direction. + The constructor of the \texttt{SliderJointInfo} object needs two pointers to the bodies of the joint, the anchor point and the axis direction. + The \texttt{SliderJointInfo} class contains different constructors that you can use whether you want to specify the anchor point and the direction axis + in local-space or world-space. Make sure that the two bodies are in a valid position (with respect to the joint constraint) at the beginning + of the simulation.\\ You can see in the following code how to specify the information to create a slider joint: \\ @@ -1758,9 +1804,12 @@ \subsection{Fixed Joint} - The \texttt{FixedJoint} class describes a fixed joint between two bodies. In a fixed joint, there is no degree of freedom, the bodies are not allowed to translate - or rotate with respect to each other. In order to create a fixed joint, you simply need to specify an anchor point (in world-space) to create the \texttt{FixedJointInfo} - object. \\ + The \texttt{FixedJoint} class describes a fixed joint between two bodies. In a fixed joint, there is no degree of freedom, the bodies are not + allowed to translate or rotate with respect to each other. \\ + + In order to create a fixed joint, you simply need to specify an anchor point to create the \texttt{FixedJointInfo} + object. The \texttt{FixedJointInfo} class contains different constructors that you can use whether you want to specify the anchor point in local-space + or world-space. Make sure that the two bodies are in a valid position (with respect to the joint constraint) at the beginning of the simulation.\\ For instance, here is how to create the joint info object for a fixed joint: \\ @@ -2002,51 +2051,6 @@ the ReactPhysics3D library. Do not hesitate to take a look at the code of the demo scenes to better understand how to use the library in your application. \\ - The following subsections describe the demo scenes that can be found in the testbed application. - - \subsection{Cubes Scene} - - In this scene, you will see how to create a floor and some cubes using the Box Shape for collision detection. Because of gravity, - the cubes will fall down on the floor. After falling down, the cubes will come to rest and start sleeping (become inactive). In this scene, - the cubes will become red as they get inactive (sleeping). - - \subsection{Cubes Stack Scene} - - This scene has a physics world and a pyramid of cubes. - - \subsection{Joints Scene} - - In this scene, you will learn how to create different joints (ball and socket, hinge, slider, fixed) into the physics world. You can also see how - to set the motor or limits of the joints. - - \subsection{Collision Shapes Scene} - - In this scene, you will see how to create a floor (using the Box Shape) and some other bodies using the different collision shapes available - in the ReactPhysics3D library like capsules, spheres, boxes and convex meshes. Those bodies will fall down to the floor. - - \subsection{Heightfield Scene} - - In this scene, you will see how to use the Height field collision shape of the library. Several bodies will fall - down to the height field. - - \subsection{Raycast Scene} - - In this scene, you will see how to use the ray casting methods of the library. Several rays are thrown against the different collision shapes. - It is possible to switch from a collision shape to another using the spacebar key. - - \subsection{Collision Detection Scene} - - This scene has a physics world and several collision bodies that can be move around with keyboard keys. This scene shows how to manually compute - collision detection in a physics world. - - \subsection{Concave Mesh Scene} - - In this scene, you will see how to use the static concave mesh collision shape of the library. - - \subsection{Pile Scene} - - This demo is basically a pile of many bodies with different types of shapes. - \section{Receiving Feedback} \label{sec:receiving_feedback} @@ -2092,6 +2096,13 @@ will be no contact points in the contact pair. \\ \end{sloppypar} + \begin{sloppypar} + As you know, rigid bodies can sleep. During that time, no contacts will be reported using the \texttt{EventListener::onContact()} method. Therefore, + If you stop receiving contact notifications for a rigid body, it does not necessarily mean that there is no contacts anymore but it could mean that the + body has fallen asleep. You need to use the \texttt{getEventType()} method to know if the body is not colliding anymore (when you receive an event of type + \texttt{ContactExit}). \\ + \end{sloppypar} + \begin{sloppypar} In the following example, you can see how to override the \texttt{EventListener::onContact()} method to get the current contact points of the physics world: \\ @@ -2148,7 +2159,14 @@ The overlapping pair also has a \texttt{getEventType()} method that gives information about the type of overlapping event for the pair. It can be \texttt{OverlapStart} if the two bodies of the pair where not overlapping in the previous call to \texttt{PhysicsWorld::update()} and are now overlapping. It can be \texttt{OverlapStay}, if the two bodies where overlapping in the previous frame and are still overlapping or it can be - \texttt{OverlapExit} if the two bodies where overlapping in the previous frame but are not overlapping anymore. + \texttt{OverlapExit} if the two bodies where overlapping in the previous frame but are not overlapping anymore. \\ + \end{sloppypar} + + \begin{sloppypar} + As you know, rigid bodies can sleep. During that time, no overlap will be reported using the \texttt{EventListener::onTrigger()} method. Therefore, + If you stop receiving trigger overlap notifications for a rigid body, it does not necessarily mean that there is no overlap anymore but it could mean + that the body has fallen asleep. You need to use the \texttt{getEventType()} method to know if the body is not overlapping anymore (when you receive an + event of type \texttt{OverlapExit}). \\ \end{sloppypar} Note that the \texttt{onTrigger()} method is only called for colliders that you have set as triggers using the \texttt{Collider::setIsTrigger()} method. @@ -2169,21 +2187,27 @@ \section{Logger} \label{sec:logger} - ReactPhysics3D has an internal logger that can be used to get logs while running the application. This can be useful for debugging for instance. \\ + ReactPhysics3D has an internal logger that can be used to get logs from the library while the application is running. This can be useful for + debugging for instance. \\ The logger is part of the \texttt{PhysicsCommon} class. By default there is no logger set. If you want to create your custom logger to receive logs from ReactPhysics3D, you can inherit the \texttt{Logger} class and override the \texttt{Logger::log()} method. Then, you have to use the \texttt{PhysicsCommon::setLogger()} method to set the logger. \\ + Getting the logs is the way for you to see the errors reported by the library and therefore, you should not just ignore the errors from the logs. + You should at least redirect the logs (warnings and errors) in the standard output while debugging your application as described in the example + below. \\ + \begin{sloppypar} If you don't want to create your custom logger class, you can use the default logger of ReactPhysics3D (class \texttt{DefaultLogger}). With this logger, you can output the logs into - a file or a std::stream. The logs can have different format like raw text of HTML. In order to create a default logger, you need to call the - \texttt{PhysicsCommon::createDefaultLogger()} method. Then, you can customize this default logger and finally, you need to set this logger using the + a file or a std::stream. The logs can have different format like raw text of HTML. In order to instantiate the default logger, you need to call the + \texttt{PhysicsCommon::createDefaultLogger()} method. Then, you can customize this logger and finally, you need to set this logger using the \texttt{PhysicsCommon::setLogger()} method. \\ \end{sloppypar} - The following code shows how to create a default logger that will output logs (warning and errors) in HTML into a file: \\ + The following code shows how to create a default logger that will output logs (warning and errors) in HTML into a file and in raw text into + the standard output: \\ \begin{lstlisting} // Create the default logger @@ -2193,8 +2217,10 @@ uint logLevel = static_cast(static_cast(Logger::Level::Warning) | static_cast(Logger::Level::Error); // Output the logs into an HTML file -logger->addFileDestination("rp3d_log_" + name + ".html", logLevel, - DefaultLogger::Format::HTML); +logger->addFileDestination("rp3d_log_" + name + ".html", logLevel, DefaultLogger::Format::HTML); + +// Output the logs into the standard output +logger->addStreamDestination(std::cout, logLevel, DefaultLogger::Format::Text); // Set the logger physicsCommon.setLogger(logger); @@ -2253,6 +2279,16 @@ are defined in world-space coordinates of the physics world. \end{sloppypar} + \section{Determinism} + \label{sec:determinism} + + Sometimes, it is important that the simulation of a physics world behaves exactly the same each time we run it. Because of the differences in + compilers and computer hardware it is quite difficult to achieve this between different machines. However, ReactPhysics3D should be deterministic when + compiled with the same compiler and running on the same machine. In order to obtain two similar runs of the simulation of a physics world, it is + adviced to completely destroy and recreate the physics world, the bodies and the joints inside it (in order to reset all the internal data cached + for the simulation). You must also create the bodies and joints in the same order each time and make sure that all the calls to the methods + of your physics world, bodies and joints happen in the same order. + \section{API Reference Documentation} ReactPhysics3D contains Doxygen documentation for its API. \\ diff --git a/documentation/UserManual/title.tex b/documentation/UserManual/title.tex index 5e375ef72..14411650c 100644 --- a/documentation/UserManual/title.tex +++ b/documentation/UserManual/title.tex @@ -10,7 +10,7 @@ \vskip 1.3cm {\Huge \@title\par}% \vskip 0.3cm - {\Large Version: 0.8.0\par}% + {\Large Version: 0.9.0\par}% \vskip 0.3cm {\Large \@author\par}% \vskip 2cm diff --git a/include/reactphysics3d/body/CollisionBody.h b/include/reactphysics3d/body/CollisionBody.h index 9b77bec6f..5dd6a879d 100644 --- a/include/reactphysics3d/body/CollisionBody.h +++ b/include/reactphysics3d/body/CollisionBody.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -75,7 +75,7 @@ class CollisionBody { void removeAllColliders(); /// Update the broad-phase state for this body (because it has moved for instance) - void updateBroadPhaseState(decimal timeStep) const; + void updateBroadPhaseState() const; /// Ask the broad-phase to test again the collision shapes of the body for collision /// (as if the body has moved). @@ -137,13 +137,13 @@ class CollisionBody { AABB getAABB() const; /// Return a const pointer to a given collider of the body - const Collider* getCollider(uint colliderIndex) const; + const Collider* getCollider(uint32 colliderIndex) const; /// Return a pointer to a given collider of the body - Collider* getCollider(uint colliderIndex); + Collider* getCollider(uint32 colliderIndex); /// Return the number of colliders associated with this body - uint getNbColliders() const; + uint32 getNbColliders() const; /// Return the world-space coordinates of a point given the local-space coordinates of the body Vector3 getWorldPoint(const Vector3& localPoint) const; @@ -178,7 +178,7 @@ class CollisionBody { * @param worldAABB The AABB (in world-space coordinates) that will be used to test overlap * @return True if the given AABB overlaps with the AABB of the collision body */ -inline bool CollisionBody::testAABBOverlap(const AABB& worldAABB) const { +RP3D_FORCE_INLINE bool CollisionBody::testAABBOverlap(const AABB& worldAABB) const { return worldAABB.testCollision(getAABB()); } @@ -186,14 +186,14 @@ inline bool CollisionBody::testAABBOverlap(const AABB& worldAABB) const { /** * @return The entity of the body */ -inline Entity CollisionBody::getEntity() const { +RP3D_FORCE_INLINE Entity CollisionBody::getEntity() const { return mEntity; } #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void CollisionBody::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void CollisionBody::setProfiler(Profiler* profiler) { mProfiler = profiler; } diff --git a/include/reactphysics3d/body/RigidBody.h b/include/reactphysics3d/body/RigidBody.h index 1e73386f5..2c3971669 100644 --- a/include/reactphysics3d/body/RigidBody.h +++ b/include/reactphysics3d/body/RigidBody.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -53,11 +53,8 @@ class RigidBody : public CollisionBody { // -------------------- Methods -------------------- // - /// Set the variable to know whether or not the body is sleeping - void setIsSleeping(bool isSleeping); - /// Update whether the current overlapping pairs where this body is involed are active or not - void updateOverlappingPairs(); + void resetOverlappingPairs(); /// Compute and return the local-space center of mass of the body using its colliders Vector3 computeCenterOfMass() const; @@ -65,8 +62,8 @@ class RigidBody : public CollisionBody { /// Compute the local-space inertia tensor and total mass of the body using its colliders void computeMassAndInertiaTensorLocal(Vector3& inertiaTensorLocal, decimal& totalMass) const; - /// Return the inverse of the inertia tensor in world coordinates. - static const Matrix3x3 getWorldInertiaTensorInverse(PhysicsWorld& world, Entity bodyEntity); + /// Compute the inverse of the inertia tensor in world coordinates. + static void computeWorldInertiaTensorInverse(const Matrix3x3& orientation, const Vector3& inverseInertiaTensorLocal, Matrix3x3& outInverseInertiaTensorWorld); public : @@ -141,6 +138,9 @@ class RigidBody : public CollisionBody { /// Set the variable to know if the gravity is applied to this rigid body void enableGravity(bool isEnabled); + /// Set the variable to know whether or not the body is sleeping + void setIsSleeping(bool isSleeping); + /// Return the linear velocity damping factor decimal getLinearDamping() const; @@ -153,17 +153,53 @@ class RigidBody : public CollisionBody { /// Set the angular damping factor void setAngularDamping(decimal angularDamping); - /// Apply an external force to the body at its center of mass. - void applyForceToCenterOfMass(const Vector3& force); + /// Return the lock translation factor + const Vector3& getLinearLockAxisFactor() const; + + /// Set the linear lock factor + void setLinearLockAxisFactor(const Vector3& linearLockAxisFactor) const; + + /// Return the lock rotation factor + const Vector3& getAngularLockAxisFactor() const; + + /// Set the lock rotation factor + void setAngularLockAxisFactor(const Vector3& angularLockAxisFactor) const; + + /// Manually apply an external force (in local-space) to the body at its center of mass. + void applyLocalForceAtCenterOfMass(const Vector3& force); + + /// Manually apply an external force (in world-space) to the body at its center of mass. + void applyWorldForceAtCenterOfMass(const Vector3& force); + + /// Manually apply an external force (in local-space) to the body at a given point (in local-space). + void applyLocalForceAtLocalPosition(const Vector3& force, const Vector3& point); - /// Apply an external force to the body at a given point (in local-space coordinates). - void applyForceAtLocalPosition(const Vector3& force, const Vector3& point); + /// Manually apply an external force (in world-space) to the body at a given point (in local-space). + void applyWorldForceAtLocalPosition(const Vector3& force, const Vector3& point); - /// Apply an external force to the body at a given point (in world-space coordinates). - void applyForceAtWorldPosition(const Vector3& force, const Vector3& point); + /// Manually apply an external force (in local-space) to the body at a given point (in world-space). + void applyLocalForceAtWorldPosition(const Vector3& force, const Vector3& point); - /// Apply an external torque to the body. - void applyTorque(const Vector3& torque); + /// Manually apply an external force (in world-space) to the body at a given point (in world-space). + void applyWorldForceAtWorldPosition(const Vector3& force, const Vector3& point); + + /// Manually apply an external torque to the body (in world-space). + void applyWorldTorque(const Vector3& torque); + + /// Manually apply an external torque to the body (in local-space). + void applyLocalTorque(const Vector3& torque); + + /// Reset the manually applied force to zero + void resetForce(); + + /// Reset the manually applied torque to zero + void resetTorque(); + + /// Return the total manually applied force on the body (in world-space) + const Vector3& getForce() const; + + /// Return the total manually applied torque on the body (in world-space) + const Vector3& getTorque() const; /// Return whether or not the body is allowed to sleep bool isAllowedToSleep() const; @@ -204,8 +240,27 @@ class RigidBody : public CollisionBody { friend class SolveHingeJointSystem; friend class SolveSliderJointSystem; friend class Joint; + friend class Collider; }; +/// Compute the inverse of the inertia tensor in world coordinates. +RP3D_FORCE_INLINE void RigidBody::computeWorldInertiaTensorInverse(const Matrix3x3& orientation, const Vector3& inverseInertiaTensorLocal, Matrix3x3& outInverseInertiaTensorWorld) { + + outInverseInertiaTensorWorld[0][0] = orientation[0][0] * inverseInertiaTensorLocal.x; + outInverseInertiaTensorWorld[0][1] = orientation[1][0] * inverseInertiaTensorLocal.x; + outInverseInertiaTensorWorld[0][2] = orientation[2][0] * inverseInertiaTensorLocal.x; + + outInverseInertiaTensorWorld[1][0] = orientation[0][1] * inverseInertiaTensorLocal.y; + outInverseInertiaTensorWorld[1][1] = orientation[1][1] * inverseInertiaTensorLocal.y; + outInverseInertiaTensorWorld[1][2] = orientation[2][1] * inverseInertiaTensorLocal.y; + + outInverseInertiaTensorWorld[2][0] = orientation[0][2] * inverseInertiaTensorLocal.z; + outInverseInertiaTensorWorld[2][1] = orientation[1][2] * inverseInertiaTensorLocal.z; + outInverseInertiaTensorWorld[2][2] = orientation[2][2] * inverseInertiaTensorLocal.z; + + outInverseInertiaTensorWorld = orientation * outInverseInertiaTensorWorld; +} + } #endif diff --git a/include/reactphysics3d/collision/Collider.h b/include/reactphysics3d/collision/Collider.h index 9fee33da2..425afb078 100644 --- a/include/reactphysics3d/collision/Collider.h +++ b/include/reactphysics3d/collision/Collider.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -59,9 +59,6 @@ class Collider { /// Pointer to the parent body CollisionBody* mBody; - /// Material properties of the rigid body - Material mMaterial; - /// Pointer to user data void* mUserData; @@ -188,7 +185,7 @@ class Collider { /** * @return The entity of the collider */ -inline Entity Collider::getEntity() const { +RP3D_FORCE_INLINE Entity Collider::getEntity() const { return mEntity; } @@ -196,7 +193,7 @@ inline Entity Collider::getEntity() const { /** * @return Pointer to the parent body */ -inline CollisionBody* Collider::getBody() const { +RP3D_FORCE_INLINE CollisionBody* Collider::getBody() const { return mBody; } @@ -204,7 +201,7 @@ inline CollisionBody* Collider::getBody() const { /** * @return A pointer to the user data stored into the collider */ -inline void* Collider::getUserData() const { +RP3D_FORCE_INLINE void* Collider::getUserData() const { return mUserData; } @@ -212,7 +209,7 @@ inline void* Collider::getUserData() const { /** * @param userData Pointer to the user data you want to store within the collider */ -inline void Collider::setUserData(void* userData) { +RP3D_FORCE_INLINE void Collider::setUserData(void* userData) { mUserData = userData; } @@ -221,18 +218,10 @@ inline void Collider::setUserData(void* userData) { * @param worldAABB The AABB (in world-space coordinates) that will be used to test overlap * @return True if the given AABB overlaps with the AABB of the collision body */ -inline bool Collider::testAABBOverlap(const AABB& worldAABB) const { +RP3D_FORCE_INLINE bool Collider::testAABBOverlap(const AABB& worldAABB) const { return worldAABB.testCollision(getWorldAABB()); } -// Return a reference to the material properties of the collider -/** - * @return A reference to the material of the body - */ -inline Material& Collider::getMaterial() { - return mMaterial; -} - } #endif diff --git a/include/reactphysics3d/collision/CollisionCallback.h b/include/reactphysics3d/collision/CollisionCallback.h index f3f2b41d0..1f9b13c43 100644 --- a/include/reactphysics3d/collision/CollisionCallback.h +++ b/include/reactphysics3d/collision/CollisionCallback.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_COLLISION_CALLBACK_H // Libraries -#include +#include #include #include @@ -114,7 +114,7 @@ class CollisionCallback { // Class ContactPair /** * This class represents the contact between two colliders of the physics world. - * A contact pair contains a list of contact points. + * A contact pair contains an array of contact points. */ class ContactPair { @@ -141,7 +141,7 @@ class CollisionCallback { const reactphysics3d::ContactPair& mContactPair; /// Pointer to the contact points - List* mContactPoints; + Array* mContactPoints; /// Reference to the physics world PhysicsWorld& mWorld; @@ -152,7 +152,7 @@ class CollisionCallback { // -------------------- Methods -------------------- // /// Constructor - ContactPair(const reactphysics3d::ContactPair& contactPair, List* contactPoints, + ContactPair(const reactphysics3d::ContactPair& contactPair, Array* contactPoints, PhysicsWorld& world, bool mIsLostContactPair); public: @@ -172,14 +172,14 @@ class CollisionCallback { /** * @return The number of contact points in the contact pair */ - uint getNbContactPoints() const; + uint32 getNbContactPoints() const; /// Return a given contact point /** * @param index Index of the contact point to retrieve * @return A contact point object */ - ContactPoint getContactPoint(uint index) const; + ContactPoint getContactPoint(uint32 index) const; /// Return a pointer to the first body in contact /** @@ -226,23 +226,23 @@ class CollisionCallback { // -------------------- Attributes -------------------- // - /// Pointer to the list of contact pairs (contains contacts and triggers events) - List* mContactPairs; + /// Pointer to the array of contact pairs (contains contacts and triggers events) + Array* mContactPairs; - /// Pointer to the list of contact manifolds - List* mContactManifolds; + /// Pointer to the array of contact manifolds + Array* mContactManifolds; /// Pointer to the contact points - List* mContactPoints; + Array* mContactPoints; - /// Pointer to the list of lost contact pairs (contains contacts and triggers events) - List& mLostContactPairs; + /// Pointer to the array of lost contact pairs (contains contacts and triggers events) + Array& mLostContactPairs; - /// List of indices of the mContactPairs list that are contact events (not overlap/triggers) - List mContactPairsIndices; + /// Array of indices in the mContactPairs array that are contact events (not overlap/triggers) + Array mContactPairsIndices; - /// List of indices of the mLostContactPairs list that are contact events (not overlap/triggers) - List mLostContactPairsIndices; + /// Array of indices in the mLostContactPairs array that are contact events (not overlap/triggers) + Array mLostContactPairsIndices; /// Reference to the physics world PhysicsWorld& mWorld; @@ -250,8 +250,8 @@ class CollisionCallback { // -------------------- Methods -------------------- // /// Constructor - CallbackData(List* contactPairs, List* manifolds, - List* contactPoints, List& lostContactPairs, + CallbackData(Array* contactPairs, Array* manifolds, + Array* contactPoints, Array& lostContactPairs, PhysicsWorld& world); /// Deleted copy constructor @@ -271,14 +271,14 @@ class CollisionCallback { /** * @return The number of contact pairs */ - uint getNbContactPairs() const; + uint32 getNbContactPairs() const; /// Return a given contact pair /** * @param index Index of the contact pair to retrieve * @return A contact pair object */ - ContactPair getContactPair(uint index) const; + ContactPair getContactPair(uint64 index) const; // -------------------- Friendship -------------------- // @@ -296,15 +296,15 @@ class CollisionCallback { /** * @return The number of contact pairs */ -inline uint CollisionCallback::CallbackData::getNbContactPairs() const { - return mContactPairsIndices.size() + mLostContactPairsIndices.size(); +RP3D_FORCE_INLINE uint32 CollisionCallback::CallbackData::getNbContactPairs() const { + return static_cast(mContactPairsIndices.size() + mLostContactPairsIndices.size()); } // Return the number of contact points in the contact pair /** * @return The number of contact points */ -inline uint CollisionCallback::ContactPair::getNbContactPoints() const { +RP3D_FORCE_INLINE uint32 CollisionCallback::ContactPair::getNbContactPoints() const { return mContactPair.nbToTalContactPoints; } @@ -312,7 +312,7 @@ inline uint CollisionCallback::ContactPair::getNbContactPoints() const { /** * @return The penetration depth (larger than zero) */ -inline decimal CollisionCallback::ContactPoint::getPenetrationDepth() const { +RP3D_FORCE_INLINE decimal CollisionCallback::ContactPoint::getPenetrationDepth() const { return mContactPoint.getPenetrationDepth(); } @@ -320,7 +320,7 @@ inline decimal CollisionCallback::ContactPoint::getPenetrationDepth() const { /** * @return The contact normal direction at the contact point (in world-space) */ -inline const Vector3& CollisionCallback::ContactPoint::getWorldNormal() const { +RP3D_FORCE_INLINE const Vector3& CollisionCallback::ContactPoint::getWorldNormal() const { return mContactPoint.getNormal(); } @@ -328,7 +328,7 @@ inline const Vector3& CollisionCallback::ContactPoint::getWorldNormal() const { /** * @return The contact point in the local-space of the first collider (from body1) in contact */ -inline const Vector3& CollisionCallback::ContactPoint::getLocalPointOnCollider1() const { +RP3D_FORCE_INLINE const Vector3& CollisionCallback::ContactPoint::getLocalPointOnCollider1() const { return mContactPoint.getLocalPointOnShape1(); } @@ -336,7 +336,7 @@ inline const Vector3& CollisionCallback::ContactPoint::getLocalPointOnCollider1( /** * @return The contact point in the local-space of the second collider (from body2) in contact */ -inline const Vector3& CollisionCallback::ContactPoint::getLocalPointOnCollider2() const { +RP3D_FORCE_INLINE const Vector3& CollisionCallback::ContactPoint::getLocalPointOnCollider2() const { return mContactPoint.getLocalPointOnShape2(); } diff --git a/include/reactphysics3d/collision/ContactManifold.h b/include/reactphysics3d/collision/ContactManifold.h index 3e4c546a1..c55c20763 100644 --- a/include/reactphysics3d/collision/ContactManifold.h +++ b/include/reactphysics3d/collision/ContactManifold.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,7 +34,7 @@ namespace reactphysics3d { // Class declarations class ContactManifold; -class ContactManifoldInfo; +struct ContactManifoldInfo; struct ContactPointInfo; class CollisionBody; class ContactPoint; @@ -58,12 +58,12 @@ class ContactManifold { // -------------------- Constants -------------------- // /// Maximum number of contact points in a reduced contact manifold - const int MAX_CONTACT_POINTS_IN_MANIFOLD = 4; + static constexpr int MAX_CONTACT_POINTS_IN_MANIFOLD = 4; // -------------------- Attributes -------------------- // - /// Index of the first contact point of the manifold in the list of contact points - uint contactPointsIndex; + /// Index of the first contact point of the manifold in the array of contact points + uint32 contactPointsIndex; /// Entity of the first body in contact Entity bodyEntity1; @@ -78,7 +78,7 @@ class ContactManifold { Entity colliderEntity2; /// Number of contacts in the cache - int8 nbContactPoints; + uint8 nbContactPoints; /// First friction vector of the contact manifold Vector3 frictionVector1; @@ -95,9 +95,6 @@ class ContactManifold { /// Twist friction constraint accumulated impulse decimal frictionTwistImpulse; - /// Accumulated rolling resistance impulse - Vector3 rollingResistanceImpulse; - /// True if the contact manifold has already been added into an island bool isAlreadyInIsland; @@ -107,16 +104,7 @@ class ContactManifold { /// Constructor ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity colliderEntity1, Entity colliderEntity2, - uint contactPointsIndex, int8 nbContactPoints); - - /// Destructor - ~ContactManifold(); - - /// Copy-constructor - ContactManifold(const ContactManifold& contactManifold) = default; - - /// Assignment operator - ContactManifold& operator=(const ContactManifold& contactManifold) = default; + uint32 contactPointsIndex, uint8 nbContactPoints); // -------------------- Friendship -------------------- // diff --git a/include/reactphysics3d/collision/ContactManifoldInfo.h b/include/reactphysics3d/collision/ContactManifoldInfo.h index 728ee1ed3..5a15b3eca 100644 --- a/include/reactphysics3d/collision/ContactManifoldInfo.h +++ b/include/reactphysics3d/collision/ContactManifoldInfo.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -45,8 +45,12 @@ struct ContactManifoldInfo { // -------------------- Attributes -------------------- // + /// Number of potential contact points + uint8 nbPotentialContactPoints; + /// Indices of the contact points in the mPotentialContactPoints array - List potentialContactPointsIndices; + uint32 potentialContactPointsIndices[NB_MAX_CONTACT_POINTS_IN_POTENTIAL_MANIFOLD]; + /// Overlapping pair id uint64 pairId; @@ -54,8 +58,7 @@ struct ContactManifoldInfo { // -------------------- Methods -------------------- // /// Constructor - ContactManifoldInfo(uint64 pairId, MemoryAllocator& allocator) - : potentialContactPointsIndices(allocator), pairId(pairId) { + ContactManifoldInfo(uint64 pairId) : nbPotentialContactPoints(0), potentialContactPointsIndices{0}, pairId(pairId) { } diff --git a/include/reactphysics3d/collision/ContactPair.h b/include/reactphysics3d/collision/ContactPair.h index 82bf9d209..81cd991e3 100644 --- a/include/reactphysics3d/collision/ContactPair.h +++ b/include/reactphysics3d/collision/ContactPair.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -47,8 +47,11 @@ struct ContactPair { /// Overlapping pair Id uint64 pairId; + /// Number of potential contact manifolds + uint8 nbPotentialContactManifolds; + /// Indices of the potential contact manifolds - List potentialContactManifoldsIndices; + uint32 potentialContactManifoldsIndices[NB_MAX_POTENTIAL_CONTACT_MANIFOLDS]; /// Entity of the first body of the contact Entity body1Entity; @@ -66,19 +69,19 @@ struct ContactPair { bool isAlreadyInIsland; /// Index of the contact pair in the array of pairs - uint contactPairIndex; + uint32 contactPairIndex; /// Index of the first contact manifold in the array - uint contactManifoldsIndex; + uint32 contactManifoldsIndex; /// Number of contact manifolds - int8 nbContactManifolds; + uint32 nbContactManifolds; /// Index of the first contact point in the array of contact points - uint contactPointsIndex; + uint32 contactPointsIndex; /// Total number of contact points in all the manifolds of the contact pair - uint nbToTalContactPoints; + uint32 nbToTalContactPoints; /// True if the colliders of the pair were already colliding in the previous frame bool collidingInPreviousFrame; @@ -90,13 +93,21 @@ struct ContactPair { /// Constructor ContactPair(uint64 pairId, Entity body1Entity, Entity body2Entity, Entity collider1Entity, - Entity collider2Entity, uint contactPairIndex, bool collidingInPreviousFrame, bool isTrigger, MemoryAllocator& allocator) - : pairId(pairId), potentialContactManifoldsIndices(allocator), body1Entity(body1Entity), body2Entity(body2Entity), + Entity collider2Entity, uint32 contactPairIndex, bool collidingInPreviousFrame, bool isTrigger) + : pairId(pairId), nbPotentialContactManifolds(0), potentialContactManifoldsIndices{0}, body1Entity(body1Entity), body2Entity(body2Entity), collider1Entity(collider1Entity), collider2Entity(collider2Entity), isAlreadyInIsland(false), contactPairIndex(contactPairIndex), contactManifoldsIndex(0), nbContactManifolds(0), contactPointsIndex(0), nbToTalContactPoints(0), collidingInPreviousFrame(collidingInPreviousFrame), isTrigger(isTrigger) { } + + // Remove a potential manifold at a given index in the array + void removePotentialManifoldAtIndex(uint32 index) { + assert(index < nbPotentialContactManifolds); + + potentialContactManifoldsIndices[index] = potentialContactManifoldsIndices[nbPotentialContactManifolds - 1]; + nbPotentialContactManifolds--; + } }; } diff --git a/include/reactphysics3d/collision/ContactPointInfo.h b/include/reactphysics3d/collision/ContactPointInfo.h index cb44673db..779d35fef 100644 --- a/include/reactphysics3d/collision/ContactPointInfo.h +++ b/include/reactphysics3d/collision/ContactPointInfo.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -45,10 +45,6 @@ class CollisionBody; */ struct ContactPointInfo { - private: - - // -------------------- Methods -------------------- // - public: // -------------------- Attributes -------------------- // @@ -56,29 +52,15 @@ struct ContactPointInfo { /// Normalized normal vector of the collision contact in world space Vector3 normal; - /// Penetration depth of the contact - decimal penetrationDepth; - /// Contact point of body 1 in local space of body 1 Vector3 localPoint1; /// Contact point of body 2 in local space of body 2 Vector3 localPoint2; - // -------------------- Methods -------------------- // - - /// Constructor - ContactPointInfo(const Vector3& contactNormal, decimal penDepth, - const Vector3& localPt1, const Vector3& localPt2) - : normal(contactNormal), penetrationDepth(penDepth), - localPoint1(localPt1), localPoint2(localPt2) { - - assert(contactNormal.lengthSquare() > decimal(0.8)); - assert(penDepth > decimal(0.0)); - } + /// Penetration depth of the contact + decimal penetrationDepth; - /// Destructor - ~ContactPointInfo() = default; }; } diff --git a/include/reactphysics3d/collision/HalfEdgeStructure.h b/include/reactphysics3d/collision/HalfEdgeStructure.h index d0d915df3..06f110fe1 100644 --- a/include/reactphysics3d/collision/HalfEdgeStructure.h +++ b/include/reactphysics3d/collision/HalfEdgeStructure.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -41,35 +41,35 @@ class HalfEdgeStructure { public: - using VerticesPair = Pair; + using VerticesPair = Pair; /// Edge struct Edge { - uint vertexIndex; // Index of the vertex at the beginning of the edge - uint twinEdgeIndex; // Index of the twin edge - uint faceIndex; // Adjacent face index of the edge - uint nextEdgeIndex; // Index of the next edge + uint32 vertexIndex; // Index of the vertex at the beginning of the edge + uint32 twinEdgeIndex; // Index of the twin edge + uint32 faceIndex; // Adjacent face index of the edge + uint32 nextEdgeIndex; // Index of the next edge }; /// Face struct Face { - uint edgeIndex; // Index of an half-edge of the face - List faceVertices; // Index of the vertices of the face + uint32 edgeIndex; // Index of an half-edge of the face + Array faceVertices; // Index of the vertices of the face /// Constructor - Face(MemoryAllocator& allocator) : faceVertices(allocator) {} + Face(MemoryAllocator& allocator) : edgeIndex(0), faceVertices(allocator) {} /// Constructor - Face(List vertices) : faceVertices(vertices) {} + Face(Array vertices) : edgeIndex(0), faceVertices(vertices) {} }; /// Vertex struct Vertex { - uint vertexPointIndex; // Index of the vertex point in the origin vertex array - uint edgeIndex; // Index of one edge emanting from this vertex + uint32 vertexPointIndex; // Index of the vertex point in the origin vertex array + uint32 edgeIndex; // Index of one edge emanting from this vertex /// Constructor - Vertex(uint vertexCoordsIndex) : vertexPointIndex(vertexCoordsIndex) { } + Vertex(uint32 vertexCoordsIndex) : vertexPointIndex(vertexCoordsIndex), edgeIndex(0) { } }; private: @@ -78,19 +78,19 @@ class HalfEdgeStructure { MemoryAllocator& mAllocator; /// All the faces - List mFaces; + Array mFaces; /// All the vertices - List mVertices; + Array mVertices; /// All the half-edges - List mEdges; + Array mEdges; public: /// Constructor - HalfEdgeStructure(MemoryAllocator& allocator, uint facesCapacity, uint verticesCapacity, - uint edgesCapacity) :mAllocator(allocator), mFaces(allocator, facesCapacity), + HalfEdgeStructure(MemoryAllocator& allocator, uint32 facesCapacity, uint32 verticesCapacity, + uint32 edgesCapacity) :mAllocator(allocator), mFaces(allocator, facesCapacity), mVertices(allocator, verticesCapacity), mEdges(allocator, edgesCapacity) {} /// Destructor @@ -100,28 +100,28 @@ class HalfEdgeStructure { void init(); /// Add a vertex - uint addVertex(uint vertexPointIndex); + uint32 addVertex(uint32 vertexPointIndex); /// Add a face - void addFace(List faceVertices); + void addFace(Array faceVertices); /// Return the number of faces - uint getNbFaces() const; + uint32 getNbFaces() const; /// Return the number of half-edges - uint getNbHalfEdges() const; + uint32 getNbHalfEdges() const; /// Return the number of vertices - uint getNbVertices() const; + uint32 getNbVertices() const; /// Return a given face - const Face& getFace(uint index) const; + const Face& getFace(uint32 index) const; /// Return a given edge - const Edge& getHalfEdge(uint index) const; + const Edge& getHalfEdge(uint32 index) const; /// Return a given vertex - const Vertex& getVertex(uint index) const; + const Vertex& getVertex(uint32 index) const; }; @@ -129,18 +129,18 @@ class HalfEdgeStructure { /** * @param vertexPointIndex Index of the vertex in the vertex data array */ -inline uint HalfEdgeStructure::addVertex(uint vertexPointIndex) { +RP3D_FORCE_INLINE uint32 HalfEdgeStructure::addVertex(uint32 vertexPointIndex) { Vertex vertex(vertexPointIndex); mVertices.add(vertex); - return mVertices.size() - 1; + return static_cast(mVertices.size()) - 1; } // Add a face /** - * @param faceVertices List of the vertices in a face (ordered in CCW order as seen from outside + * @param faceVertices Array of the vertices in a face (ordered in CCW order as seen from outside * the polyhedron */ -inline void HalfEdgeStructure::addFace(List faceVertices) { +RP3D_FORCE_INLINE void HalfEdgeStructure::addFace(Array faceVertices) { // Create a new face Face face(faceVertices); @@ -151,31 +151,31 @@ inline void HalfEdgeStructure::addFace(List faceVertices) { /** * @return The number of faces in the polyhedron */ -inline uint HalfEdgeStructure::getNbFaces() const { - return static_cast(mFaces.size()); +RP3D_FORCE_INLINE uint32 HalfEdgeStructure::getNbFaces() const { + return static_cast(mFaces.size()); } // Return the number of edges /** * @return The number of edges in the polyhedron */ -inline uint HalfEdgeStructure::getNbHalfEdges() const { - return static_cast(mEdges.size()); +RP3D_FORCE_INLINE uint32 HalfEdgeStructure::getNbHalfEdges() const { + return static_cast(mEdges.size()); } // Return the number of vertices /** * @return The number of vertices in the polyhedron */ -inline uint HalfEdgeStructure::getNbVertices() const { - return static_cast(mVertices.size()); +RP3D_FORCE_INLINE uint32 HalfEdgeStructure::getNbVertices() const { + return static_cast(mVertices.size()); } // Return a given face /** * @return A given face of the polyhedron */ -inline const HalfEdgeStructure::Face& HalfEdgeStructure::getFace(uint index) const { +RP3D_FORCE_INLINE const HalfEdgeStructure::Face& HalfEdgeStructure::getFace(uint32 index) const { assert(index < mFaces.size()); return mFaces[index]; } @@ -184,7 +184,7 @@ inline const HalfEdgeStructure::Face& HalfEdgeStructure::getFace(uint index) con /** * @return A given edge of the polyhedron */ -inline const HalfEdgeStructure::Edge& HalfEdgeStructure::getHalfEdge(uint index) const { +RP3D_FORCE_INLINE const HalfEdgeStructure::Edge& HalfEdgeStructure::getHalfEdge(uint32 index) const { assert(index < mEdges.size()); return mEdges[index]; } @@ -193,7 +193,7 @@ inline const HalfEdgeStructure::Edge& HalfEdgeStructure::getHalfEdge(uint index) /** * @return A given vertex of the polyhedron */ -inline const HalfEdgeStructure::Vertex& HalfEdgeStructure::getVertex(uint index) const { +RP3D_FORCE_INLINE const HalfEdgeStructure::Vertex& HalfEdgeStructure::getVertex(uint32 index) const { assert(index < mVertices.size()); return mVertices[index]; } diff --git a/include/reactphysics3d/collision/OverlapCallback.h b/include/reactphysics3d/collision/OverlapCallback.h index 1fb99660f..58e628960 100644 --- a/include/reactphysics3d/collision/OverlapCallback.h +++ b/include/reactphysics3d/collision/OverlapCallback.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_OVERLAP_CALLBACK_H // Libraries -#include +#include #include /// ReactPhysics3D namespace @@ -131,17 +131,17 @@ class OverlapCallback { // -------------------- Attributes -------------------- // - /// Reference to the list of contact pairs (contains contacts and triggers events) - List& mContactPairs; + /// Reference to the array of contact pairs (contains contacts and triggers events) + Array& mContactPairs; - /// Reference to the list of lost contact pairs (contains contacts and triggers events) - List& mLostContactPairs; + /// Reference to the array of lost contact pairs (contains contacts and triggers events) + Array& mLostContactPairs; - /// List of indices of the mContactPairs list that are overlap/triggers events (not contact events) - List mContactPairsIndices; + /// Array of indices of the mContactPairs array that are overlap/triggers events (not contact events) + Array mContactPairsIndices; - /// List of indices of the mLostContactPairs list that are overlap/triggers events (not contact events) - List mLostContactPairsIndices; + /// Array of indices of the mLostContactPairs array that are overlap/triggers events (not contact events) + Array mLostContactPairsIndices; /// Reference to the physics world PhysicsWorld& mWorld; @@ -149,7 +149,7 @@ class OverlapCallback { // -------------------- Methods -------------------- // /// Constructor - CallbackData(List& contactPairs, List& lostContactPairs, bool onlyReportTriggers, PhysicsWorld& world); + CallbackData(Array& contactPairs, Array& lostContactPairs, bool onlyReportTriggers, PhysicsWorld& world); /// Deleted copy constructor CallbackData(const CallbackData& callbackData) = delete; @@ -165,10 +165,10 @@ class OverlapCallback { // -------------------- Methods -------------------- // /// Return the number of overlapping pairs of bodies - uint getNbOverlappingPairs() const; + uint32 getNbOverlappingPairs() const; /// Return a given overlapping pair of bodies - OverlapPair getOverlappingPair(uint index) const; + OverlapPair getOverlappingPair(uint32 index) const; // -------------------- Friendship -------------------- // @@ -185,15 +185,15 @@ class OverlapCallback { }; // Return the number of overlapping pairs of bodies -inline uint OverlapCallback::CallbackData::getNbOverlappingPairs() const { - return mContactPairsIndices.size() + mLostContactPairsIndices.size(); +RP3D_FORCE_INLINE uint32 OverlapCallback::CallbackData::getNbOverlappingPairs() const { + return static_cast(mContactPairsIndices.size() + mLostContactPairsIndices.size()); } // Return a given overlapping pair of bodies /// Note that the returned OverlapPair object is only valid during the call of the CollisionCallback::onOverlap() /// method. Therefore, you need to get contact data from it and make a copy. Do not make a copy of the OverlapPair /// object itself because it won't be valid after the CollisionCallback::onOverlap() call. -inline OverlapCallback::OverlapPair OverlapCallback::CallbackData::getOverlappingPair(uint index) const { +RP3D_FORCE_INLINE OverlapCallback::OverlapPair OverlapCallback::CallbackData::getOverlappingPair(uint32 index) const { assert(index < getNbOverlappingPairs()); diff --git a/include/reactphysics3d/collision/PolygonVertexArray.h b/include/reactphysics3d/collision/PolygonVertexArray.h index fe97d146b..fd3faf902 100644 --- a/include/reactphysics3d/collision/PolygonVertexArray.h +++ b/include/reactphysics3d/collision/PolygonVertexArray.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -56,34 +56,34 @@ class PolygonVertexArray { struct PolygonFace { /// Number of vertices in the polygon face - uint nbVertices; + uint32 nbVertices; /// Index of the first vertex of the polygon face /// inside the array with all vertex indices - uint indexBase; + uint32 indexBase; }; protected: /// Number of vertices in the array - uint mNbVertices; + uint32 mNbVertices; /// Pointer to the first vertex value in the array const unsigned char* mVerticesStart; /// Stride (number of bytes) between the beginning of two vertices /// values in the array - int mVerticesStride; + uint32 mVerticesStride; /// Pointer to the first vertex index of the array const unsigned char* mIndicesStart; /// Stride (number of bytes) between the beginning of two indices in /// the array - int mIndicesStride; + uint32 mIndicesStride; /// Number of polygon faces in the array - uint mNbFaces; + uint32 mNbFaces; /// Pointer to the first polygon face in the polyhedron PolygonFace* mPolygonFacesStart; @@ -97,9 +97,9 @@ class PolygonVertexArray { public: /// Constructor - PolygonVertexArray(uint nbVertices, const void* verticesStart, int verticesStride, - const void* indexesStart, int indexesStride, - uint nbFaces, PolygonFace* facesStart, + PolygonVertexArray(uint32 nbVertices, const void* verticesStart, uint32 verticesStride, + const void* indexesStart, uint32 indexesStride, + uint32 nbFaces, PolygonFace* facesStart, VertexDataType vertexDataType, IndexDataType indexDataType); /// Destructor @@ -112,22 +112,22 @@ class PolygonVertexArray { IndexDataType getIndexDataType() const; /// Return the number of vertices - uint getNbVertices() const; + uint32 getNbVertices() const; /// Return the number of faces - uint getNbFaces() const; + uint32 getNbFaces() const; /// Return the vertices stride (number of bytes) - int getVerticesStride() const; + uint32 getVerticesStride() const; /// Return the indices stride (number of bytes) - int getIndicesStride() const; + uint32 getIndicesStride() const; /// Return the vertex index of a given vertex in a face - uint getVertexIndexInFace(uint faceIndex, uint noVertexInFace) const; + uint32 getVertexIndexInFace(uint32 faceIndex32, uint32 noVertexInFace) const; /// Return a polygon face of the polyhedron - PolygonFace* getPolygonFace(uint faceIndex) const; + PolygonFace* getPolygonFace(uint32 faceIndex) const; /// Return the pointer to the start of the vertices array const unsigned char* getVerticesStart() const; @@ -140,7 +140,7 @@ class PolygonVertexArray { /** * @return The data type of the vertices in the array */ -inline PolygonVertexArray::VertexDataType PolygonVertexArray::getVertexDataType() const { +RP3D_FORCE_INLINE PolygonVertexArray::VertexDataType PolygonVertexArray::getVertexDataType() const { return mVertexDataType; } @@ -148,7 +148,7 @@ inline PolygonVertexArray::VertexDataType PolygonVertexArray::getVertexDataType( /** * @return The data type of the indices in the array */ -inline PolygonVertexArray::IndexDataType PolygonVertexArray::getIndexDataType() const { +RP3D_FORCE_INLINE PolygonVertexArray::IndexDataType PolygonVertexArray::getIndexDataType() const { return mIndexDataType; } @@ -156,7 +156,7 @@ inline PolygonVertexArray::IndexDataType PolygonVertexArray::getIndexDataType() /** * @return The number of vertices in the array */ -inline uint PolygonVertexArray::getNbVertices() const { +RP3D_FORCE_INLINE uint32 PolygonVertexArray::getNbVertices() const { return mNbVertices; } @@ -164,7 +164,7 @@ inline uint PolygonVertexArray::getNbVertices() const { /** * @return The number of faces in the array */ -inline uint PolygonVertexArray::getNbFaces() const { +RP3D_FORCE_INLINE uint32 PolygonVertexArray::getNbFaces() const { return mNbFaces; } @@ -172,7 +172,7 @@ inline uint PolygonVertexArray::getNbFaces() const { /** * @return The number of bytes between two vertices */ -inline int PolygonVertexArray::getVerticesStride() const { +RP3D_FORCE_INLINE uint32 PolygonVertexArray::getVerticesStride() const { return mVerticesStride; } @@ -180,7 +180,7 @@ inline int PolygonVertexArray::getVerticesStride() const { /** * @return The number of bytes between two consecutive face indices */ -inline int PolygonVertexArray::getIndicesStride() const { +RP3D_FORCE_INLINE uint32 PolygonVertexArray::getIndicesStride() const { return mIndicesStride; } @@ -189,7 +189,7 @@ inline int PolygonVertexArray::getIndicesStride() const { * @param faceIndex Index of a given face * @return A polygon face */ -inline PolygonVertexArray::PolygonFace* PolygonVertexArray::getPolygonFace(uint faceIndex) const { +RP3D_FORCE_INLINE PolygonVertexArray::PolygonFace* PolygonVertexArray::getPolygonFace(uint32 faceIndex) const { assert(faceIndex < mNbFaces); return &mPolygonFacesStart[faceIndex]; } @@ -198,7 +198,7 @@ inline PolygonVertexArray::PolygonFace* PolygonVertexArray::getPolygonFace(uint /** * @return A pointer to the start of the vertex array of the polyhedron */ -inline const unsigned char* PolygonVertexArray::getVerticesStart() const { +RP3D_FORCE_INLINE const unsigned char* PolygonVertexArray::getVerticesStart() const { return mVerticesStart; } @@ -206,7 +206,7 @@ inline const unsigned char* PolygonVertexArray::getVerticesStart() const { /** * @return A pointer to the start of the face indices array of the polyhedron */ -inline const unsigned char* PolygonVertexArray::getIndicesStart() const { +RP3D_FORCE_INLINE const unsigned char* PolygonVertexArray::getIndicesStart() const { return mIndicesStart; } diff --git a/include/reactphysics3d/collision/PolyhedronMesh.h b/include/reactphysics3d/collision/PolyhedronMesh.h index e7fd932f5..c06cc2301 100644 --- a/include/reactphysics3d/collision/PolyhedronMesh.h +++ b/include/reactphysics3d/collision/PolyhedronMesh.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -28,6 +28,7 @@ // Libraries #include +#include #include "HalfEdgeStructure.h" namespace reactphysics3d { @@ -69,7 +70,7 @@ class PolyhedronMesh { PolyhedronMesh(PolygonVertexArray* polygonVertexArray, MemoryAllocator& allocator); /// Create the half-edge structure of the mesh - void createHalfEdgeStructure(); + bool createHalfEdgeStructure(); /// Compute the faces normals void computeFacesNormals(); @@ -78,7 +79,10 @@ class PolyhedronMesh { void computeCentroid() ; /// Compute and return the area of a face - decimal getFaceArea(uint faceIndex) const; + decimal getFaceArea(uint32 faceIndex) const; + + /// Static factory method to create a polyhedron mesh + static PolyhedronMesh* create(PolygonVertexArray* polygonVertexArray, MemoryAllocator& polyhedronMeshAllocator, MemoryAllocator& dataAllocator); public: @@ -88,16 +92,16 @@ class PolyhedronMesh { ~PolyhedronMesh(); /// Return the number of vertices - uint getNbVertices() const; + uint32 getNbVertices() const; /// Return a vertex - Vector3 getVertex(uint index) const; + Vector3 getVertex(uint32 index) const; /// Return the number of faces - uint getNbFaces() const; + uint32 getNbFaces() const; /// Return a face normal - Vector3 getFaceNormal(uint faceIndex) const; + Vector3 getFaceNormal(uint32 faceIndex) const; /// Return the half-edge structure of the mesh const HalfEdgeStructure& getHalfEdgeStructure() const; @@ -117,7 +121,7 @@ class PolyhedronMesh { /** * @return The number of vertices in the mesh */ -inline uint PolyhedronMesh::getNbVertices() const { +RP3D_FORCE_INLINE uint32 PolyhedronMesh::getNbVertices() const { return mHalfEdgeStructure.getNbVertices(); } @@ -125,7 +129,7 @@ inline uint PolyhedronMesh::getNbVertices() const { /** * @return The number of faces in the mesh */ -inline uint PolyhedronMesh::getNbFaces() const { +RP3D_FORCE_INLINE uint32 PolyhedronMesh::getNbFaces() const { return mHalfEdgeStructure.getNbFaces(); } @@ -134,7 +138,7 @@ inline uint PolyhedronMesh::getNbFaces() const { * @param faceIndex The index of a given face of the mesh * @return The normal vector of a given face of the mesh */ -inline Vector3 PolyhedronMesh::getFaceNormal(uint faceIndex) const { +RP3D_FORCE_INLINE Vector3 PolyhedronMesh::getFaceNormal(uint32 faceIndex) const { assert(faceIndex < mHalfEdgeStructure.getNbFaces()); return mFacesNormals[faceIndex]; } @@ -143,7 +147,7 @@ inline Vector3 PolyhedronMesh::getFaceNormal(uint faceIndex) const { /** * @return The Half-Edge structure of the mesh */ -inline const HalfEdgeStructure& PolyhedronMesh::getHalfEdgeStructure() const { +RP3D_FORCE_INLINE const HalfEdgeStructure& PolyhedronMesh::getHalfEdgeStructure() const { return mHalfEdgeStructure; } @@ -151,7 +155,7 @@ inline const HalfEdgeStructure& PolyhedronMesh::getHalfEdgeStructure() const { /** * @return The centroid of the mesh */ -inline Vector3 PolyhedronMesh::getCentroid() const { +RP3D_FORCE_INLINE Vector3 PolyhedronMesh::getCentroid() const { return mCentroid; } diff --git a/include/reactphysics3d/collision/RaycastInfo.h b/include/reactphysics3d/collision/RaycastInfo.h index 62b9aa937..50c418c06 100644 --- a/include/reactphysics3d/collision/RaycastInfo.h +++ b/include/reactphysics3d/collision/RaycastInfo.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -137,6 +137,7 @@ struct RaycastTest { /// Constructor RaycastTest(RaycastCallback* callback) { userCallback = callback; + } /// Ray cast test against a collider diff --git a/include/reactphysics3d/collision/TriangleMesh.h b/include/reactphysics3d/collision/TriangleMesh.h index 155f7a44b..0728b5678 100644 --- a/include/reactphysics3d/collision/TriangleMesh.h +++ b/include/reactphysics3d/collision/TriangleMesh.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -28,7 +28,7 @@ // Libraries #include -#include +#include #include namespace reactphysics3d { @@ -49,7 +49,7 @@ class TriangleMesh { protected: /// All the triangle arrays of the mesh (one triangle array per part) - List mTriangleArrays; + Array mTriangleArrays; /// Constructor TriangleMesh(reactphysics3d::MemoryAllocator& allocator); @@ -63,10 +63,10 @@ class TriangleMesh { void addSubpart(TriangleVertexArray* triangleVertexArray); /// Return a pointer to a given subpart (triangle vertex array) of the mesh - TriangleVertexArray* getSubpart(uint indexSubpart) const; + TriangleVertexArray* getSubpart(uint32 indexSubpart) const; /// Return the number of subparts of the mesh - uint getNbSubparts() const; + uint32 getNbSubparts() const; // ---------- Friendship ---------- // @@ -78,7 +78,7 @@ class TriangleMesh { /** * @param triangleVertexArray Pointer to the TriangleVertexArray to add into the mesh */ -inline void TriangleMesh::addSubpart(TriangleVertexArray* triangleVertexArray) { +RP3D_FORCE_INLINE void TriangleMesh::addSubpart(TriangleVertexArray* triangleVertexArray) { mTriangleArrays.add(triangleVertexArray ); } @@ -87,7 +87,7 @@ inline void TriangleMesh::addSubpart(TriangleVertexArray* triangleVertexArray) { * @param indexSubpart The index of the sub-part of the mesh * @return A pointer to the triangle vertex array of a given sub-part of the mesh */ -inline TriangleVertexArray* TriangleMesh::getSubpart(uint indexSubpart) const { +RP3D_FORCE_INLINE TriangleVertexArray* TriangleMesh::getSubpart(uint32 indexSubpart) const { assert(indexSubpart < mTriangleArrays.size()); return mTriangleArrays[indexSubpart]; } @@ -96,8 +96,8 @@ inline TriangleVertexArray* TriangleMesh::getSubpart(uint indexSubpart) const { /** * @return The number of sub-parts of the mesh */ -inline uint TriangleMesh::getNbSubparts() const { - return mTriangleArrays.size(); +RP3D_FORCE_INLINE uint32 TriangleMesh::getNbSubparts() const { + return static_cast(mTriangleArrays.size()); } } diff --git a/include/reactphysics3d/collision/TriangleVertexArray.h b/include/reactphysics3d/collision/TriangleVertexArray.h index b5002be5e..046698bb3 100644 --- a/include/reactphysics3d/collision/TriangleVertexArray.h +++ b/include/reactphysics3d/collision/TriangleVertexArray.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -62,30 +62,30 @@ class TriangleVertexArray { // -------------------- Attributes -------------------- // /// Number of vertices in the array - uint mNbVertices; + uint32 mNbVertices; /// Pointer to the first vertex value in the array const uchar* mVerticesStart; /// Stride (number of bytes) between the beginning of two vertices /// values in the array - uint mVerticesStride; + uint32 mVerticesStride; /// Pointer to the first vertex normal value in the array const uchar* mVerticesNormalsStart; /// Stride (number of bytes) between the beginning of two vertex normals /// values in the array - uint mVerticesNormalsStride; + uint32 mVerticesNormalsStride; /// Number of triangles in the array - uint mNbTriangles; + uint32 mNbTriangles; /// Pointer to the first vertex index of the array const uchar* mIndicesStart; /// Stride (number of bytes) between the beginning of the three indices of two triangles - uint mIndicesStride; + uint32 mIndicesStride; /// Data type of the vertices in the array VertexDataType mVertexDataType; @@ -109,14 +109,14 @@ class TriangleVertexArray { // -------------------- Methods -------------------- // /// Constructor without vertices normals - TriangleVertexArray(uint nbVertices, const void* verticesStart, uint verticesStride, - uint nbTriangles, const void* indexesStart, uint indexesStride, + TriangleVertexArray(uint32 nbVertices, const void* verticesStart, uint32 verticesStride, + uint32 nbTriangles, const void* indexesStart, uint32 indexesStride, VertexDataType vertexDataType, IndexDataType indexDataType); /// Constructor with vertices normals - TriangleVertexArray(uint nbVertices, const void* verticesStart, uint verticesStride, - const void* verticesNormalsStart, uint uverticesNormalsStride, - uint nbTriangles, const void* indexesStart, uint indexesStride, + TriangleVertexArray(uint32 nbVertices, const void* verticesStart, uint32 verticesStride, + const void* verticesNormalsStart, uint32 uverticesNormalsStride, + uint32 nbTriangles, const void* indexesStart, uint32 indexesStride, VertexDataType vertexDataType, NormalDataType normalDataType, IndexDataType indexDataType); @@ -139,19 +139,19 @@ class TriangleVertexArray { IndexDataType getIndexDataType() const; /// Return the number of vertices - uint getNbVertices() const; + uint32 getNbVertices() const; /// Return the number of triangles - uint getNbTriangles() const; + uint32 getNbTriangles() const; /// Return the vertices stride (number of bytes) - uint getVerticesStride() const; + uint32 getVerticesStride() const; /// Return the vertex normals stride (number of bytes) - uint getVerticesNormalsStride() const; + uint32 getVerticesNormalsStride() const; /// Return the indices stride (number of bytes) - uint getIndicesStride() const; + uint32 getIndicesStride() const; /// Return the pointer to the start of the vertices array const void* getVerticesStart() const; @@ -163,26 +163,26 @@ class TriangleVertexArray { const void* getIndicesStart() const; /// Return the vertices coordinates of a triangle - void getTriangleVertices(uint triangleIndex, Vector3* outTriangleVertices) const; + void getTriangleVertices(uint32 triangleIndex, Vector3* outTriangleVertices) const; /// Return the three vertices normals of a triangle - void getTriangleVerticesNormals(uint triangleIndex, Vector3* outTriangleVerticesNormals) const; + void getTriangleVerticesNormals(uint32 triangleIndex, Vector3* outTriangleVerticesNormals) const; /// Return the indices of the three vertices of a given triangle in the array - void getTriangleVerticesIndices(uint triangleIndex, uint* outVerticesIndices) const; + void getTriangleVerticesIndices(uint32 triangleIndex, uint32* outVerticesIndices) const; /// Return a vertex of the array - void getVertex(uint vertexIndex, Vector3* outVertex); + void getVertex(uint32 vertexIndex, Vector3* outVertex); /// Return a vertex normal of the array - void getNormal(uint vertexIndex, Vector3* outNormal); + void getNormal(uint32 vertexIndex, Vector3* outNormal); }; // Return the vertex data type /** * @return The data type of the vertices in the array */ -inline TriangleVertexArray::VertexDataType TriangleVertexArray::getVertexDataType() const { +RP3D_FORCE_INLINE TriangleVertexArray::VertexDataType TriangleVertexArray::getVertexDataType() const { return mVertexDataType; } @@ -190,7 +190,7 @@ inline TriangleVertexArray::VertexDataType TriangleVertexArray::getVertexDataTyp /** * @return The data type of the normals in the array */ -inline TriangleVertexArray::NormalDataType TriangleVertexArray::getVertexNormalDataType() const { +RP3D_FORCE_INLINE TriangleVertexArray::NormalDataType TriangleVertexArray::getVertexNormalDataType() const { return mVertexNormaldDataType; } @@ -198,7 +198,7 @@ inline TriangleVertexArray::NormalDataType TriangleVertexArray::getVertexNormalD /** * @return The data type of the face indices in the array */ -inline TriangleVertexArray::IndexDataType TriangleVertexArray::getIndexDataType() const { +RP3D_FORCE_INLINE TriangleVertexArray::IndexDataType TriangleVertexArray::getIndexDataType() const { return mIndexDataType; } @@ -206,7 +206,7 @@ inline TriangleVertexArray::IndexDataType TriangleVertexArray::getIndexDataType( /** * @return The number of vertices in the array */ -inline uint TriangleVertexArray::getNbVertices() const { +RP3D_FORCE_INLINE uint32 TriangleVertexArray::getNbVertices() const { return mNbVertices; } @@ -214,7 +214,7 @@ inline uint TriangleVertexArray::getNbVertices() const { /** * @return The number of triangles in the array */ -inline uint TriangleVertexArray::getNbTriangles() const { +RP3D_FORCE_INLINE uint32 TriangleVertexArray::getNbTriangles() const { return mNbTriangles; } @@ -222,7 +222,7 @@ inline uint TriangleVertexArray::getNbTriangles() const { /** * @return The number of bytes separating two consecutive vertices in the array */ -inline uint TriangleVertexArray::getVerticesStride() const { +RP3D_FORCE_INLINE uint32 TriangleVertexArray::getVerticesStride() const { return mVerticesStride; } @@ -230,7 +230,7 @@ inline uint TriangleVertexArray::getVerticesStride() const { /** * @return The number of bytes separating two consecutive normals in the array */ -inline uint TriangleVertexArray::getVerticesNormalsStride() const { +RP3D_FORCE_INLINE uint32 TriangleVertexArray::getVerticesNormalsStride() const { return mVerticesNormalsStride; } @@ -238,7 +238,7 @@ inline uint TriangleVertexArray::getVerticesNormalsStride() const { /** * @return The number of bytes separating two consecutive face indices in the array */ -inline uint TriangleVertexArray::getIndicesStride() const { +RP3D_FORCE_INLINE uint32 TriangleVertexArray::getIndicesStride() const { return mIndicesStride; } @@ -246,7 +246,7 @@ inline uint TriangleVertexArray::getIndicesStride() const { /** * @return A pointer to the start of the vertices data in the array */ -inline const void* TriangleVertexArray::getVerticesStart() const { +RP3D_FORCE_INLINE const void* TriangleVertexArray::getVerticesStart() const { return mVerticesStart; } @@ -254,7 +254,7 @@ inline const void* TriangleVertexArray::getVerticesStart() const { /** * @return A pointer to the start of the normals data in the array */ -inline const void* TriangleVertexArray::getVerticesNormalsStart() const { +RP3D_FORCE_INLINE const void* TriangleVertexArray::getVerticesNormalsStart() const { return mVerticesNormalsStart; } @@ -262,7 +262,7 @@ inline const void* TriangleVertexArray::getVerticesNormalsStart() const { /** * @return A pointer to the start of the face indices data in the array */ -inline const void* TriangleVertexArray::getIndicesStart() const { +RP3D_FORCE_INLINE const void* TriangleVertexArray::getIndicesStart() const { return mIndicesStart; } diff --git a/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h b/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h index 315d54d14..ac80cfe96 100644 --- a/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h +++ b/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -58,7 +58,7 @@ struct TreeNode { // -------------------- Attributes -------------------- // - // A node is either in the tree (has a parent) or in the free nodes list + // A node is either in the tree (has a parent) or in the free nodes array // (has a next node) union { @@ -90,6 +90,11 @@ struct TreeNode { // -------------------- Methods -------------------- // + /// Constructor + TreeNode() : nextNodeID(NULL_TREE_NODE), height(-1) { + + } + /// Return true if the node is a leaf of the tree bool isLeaf() const; }; @@ -149,7 +154,7 @@ class DynamicAABBTree { /// ID of the root node of the tree int32 mRootNodeID; - /// ID of the first node of the list of free (allocated) nodes in the tree that we can use + /// ID of the first node of the array of free (allocated) nodes in the tree that we can use int32 mFreeNodeID; /// Number of allocated nodes in the tree @@ -236,11 +241,11 @@ class DynamicAABBTree { void* getNodeDataPointer(int32 nodeID) const; /// Report all shapes overlapping with all the shapes in the map in parameter - void reportAllShapesOverlappingWithShapes(const List& nodesToTest, size_t startIndex, - size_t endIndex, List>& outOverlappingNodes) const; + void reportAllShapesOverlappingWithShapes(const Array& nodesToTest, uint32 startIndex, + size_t endIndex, Array>& outOverlappingNodes) const; /// Report all shapes overlapping with the AABB given in parameter. - void reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const; + void reportAllShapesOverlappingWithAABB(const AABB& aabb, Array& overlappingNodes) const; /// Ray casting method void raycast(const Ray& ray, DynamicAABBTreeRaycastCallback& callback) const; @@ -264,38 +269,38 @@ class DynamicAABBTree { }; // Return true if the node is a leaf of the tree -inline bool TreeNode::isLeaf() const { +RP3D_FORCE_INLINE bool TreeNode::isLeaf() const { return (height == 0); } // Return the fat AABB corresponding to a given node ID -inline const AABB& DynamicAABBTree::getFatAABB(int32 nodeID) const { +RP3D_FORCE_INLINE const AABB& DynamicAABBTree::getFatAABB(int32 nodeID) const { assert(nodeID >= 0 && nodeID < mNbAllocatedNodes); return mNodes[nodeID].aabb; } // Return the pointer to the data array of a given leaf node of the tree -inline int32* DynamicAABBTree::getNodeDataInt(int32 nodeID) const { +RP3D_FORCE_INLINE int32* DynamicAABBTree::getNodeDataInt(int32 nodeID) const { assert(nodeID >= 0 && nodeID < mNbAllocatedNodes); assert(mNodes[nodeID].isLeaf()); return mNodes[nodeID].dataInt; } // Return the pointer to the data pointer of a given leaf node of the tree -inline void* DynamicAABBTree::getNodeDataPointer(int32 nodeID) const { +RP3D_FORCE_INLINE void* DynamicAABBTree::getNodeDataPointer(int32 nodeID) const { assert(nodeID >= 0 && nodeID < mNbAllocatedNodes); assert(mNodes[nodeID].isLeaf()); return mNodes[nodeID].dataPointer; } // Return the root AABB of the tree -inline AABB DynamicAABBTree::getRootAABB() const { +RP3D_FORCE_INLINE AABB DynamicAABBTree::getRootAABB() const { return getFatAABB(mRootNodeID); } // Add an object into the tree. This method creates a new leaf node in the tree and // returns the ID of the corresponding node. -inline int32 DynamicAABBTree::addObject(const AABB& aabb, int32 data1, int32 data2) { +RP3D_FORCE_INLINE int32 DynamicAABBTree::addObject(const AABB& aabb, int32 data1, int32 data2) { int32 nodeId = addObjectInternal(aabb); @@ -307,7 +312,7 @@ inline int32 DynamicAABBTree::addObject(const AABB& aabb, int32 data1, int32 dat // Add an object into the tree. This method creates a new leaf node in the tree and // returns the ID of the corresponding node. -inline int32 DynamicAABBTree::addObject(const AABB& aabb, void* data) { +RP3D_FORCE_INLINE int32 DynamicAABBTree::addObject(const AABB& aabb, void* data) { int32 nodeId = addObjectInternal(aabb); @@ -319,7 +324,7 @@ inline int32 DynamicAABBTree::addObject(const AABB& aabb, void* data) { #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void DynamicAABBTree::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void DynamicAABBTree::setProfiler(Profiler* profiler) { mProfiler = profiler; } diff --git a/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h b/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h index a34d58bf1..35a7cca52 100644 --- a/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,7 +34,7 @@ namespace reactphysics3d { // Declarations -struct CapsuleVsCapsuleNarrowPhaseInfoBatch; +struct NarrowPhaseInfoBatch; class ContactPoint; // Class CapsuleVsCapsuleAlgorithm @@ -66,8 +66,8 @@ class CapsuleVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { CapsuleVsCapsuleAlgorithm& operator=(const CapsuleVsCapsuleAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between two capsules - bool testCollision(CapsuleVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, MemoryAllocator& memoryAllocator); + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, + uint32 batchNbItems, MemoryAllocator& memoryAllocator); }; } diff --git a/include/reactphysics3d/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h b/include/reactphysics3d/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h index 80987bf31..de3b108a7 100644 --- a/include/reactphysics3d/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,6 +34,7 @@ namespace reactphysics3d { // Declarations class ContactPoint; +struct NarrowPhaseInfoBatch; // Class CapsuleVsConvexPolyhedronAlgorithm /** @@ -69,8 +70,8 @@ class CapsuleVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { CapsuleVsConvexPolyhedronAlgorithm& operator=(const CapsuleVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a capsule and a polyhedron - bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool clipWithPreviousAxisIfStillColliding, + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, + uint32 batchNbItems, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator); }; diff --git a/include/reactphysics3d/collision/narrowphase/CollisionDispatch.h b/include/reactphysics3d/collision/narrowphase/CollisionDispatch.h index 8b77f8d9c..cf09f961a 100644 --- a/include/reactphysics3d/collision/narrowphase/CollisionDispatch.h +++ b/include/reactphysics3d/collision/narrowphase/CollisionDispatch.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -173,39 +173,39 @@ class CollisionDispatch { }; // Get the Sphere vs Sphere narrow-phase collision detection algorithm -inline SphereVsSphereAlgorithm* CollisionDispatch::getSphereVsSphereAlgorithm() { +RP3D_FORCE_INLINE SphereVsSphereAlgorithm* CollisionDispatch::getSphereVsSphereAlgorithm() { return mSphereVsSphereAlgorithm; } // Get the Sphere vs Capsule narrow-phase collision detection algorithm -inline SphereVsCapsuleAlgorithm* CollisionDispatch::getSphereVsCapsuleAlgorithm() { +RP3D_FORCE_INLINE SphereVsCapsuleAlgorithm* CollisionDispatch::getSphereVsCapsuleAlgorithm() { return mSphereVsCapsuleAlgorithm; } // Get the Capsule vs Capsule narrow-phase collision detection algorithm -inline CapsuleVsCapsuleAlgorithm* CollisionDispatch::getCapsuleVsCapsuleAlgorithm() { +RP3D_FORCE_INLINE CapsuleVsCapsuleAlgorithm* CollisionDispatch::getCapsuleVsCapsuleAlgorithm() { return mCapsuleVsCapsuleAlgorithm; } // Get the Sphere vs Convex Polyhedron narrow-phase collision detection algorithm -inline SphereVsConvexPolyhedronAlgorithm* CollisionDispatch::getSphereVsConvexPolyhedronAlgorithm() { +RP3D_FORCE_INLINE SphereVsConvexPolyhedronAlgorithm* CollisionDispatch::getSphereVsConvexPolyhedronAlgorithm() { return mSphereVsConvexPolyhedronAlgorithm; } // Get the Capsule vs Convex Polyhedron narrow-phase collision detection algorithm -inline CapsuleVsConvexPolyhedronAlgorithm* CollisionDispatch::getCapsuleVsConvexPolyhedronAlgorithm() { +RP3D_FORCE_INLINE CapsuleVsConvexPolyhedronAlgorithm* CollisionDispatch::getCapsuleVsConvexPolyhedronAlgorithm() { return mCapsuleVsConvexPolyhedronAlgorithm; } // Get the Convex Polyhedron vs Convex Polyhedron narrow-phase collision detection algorithm -inline ConvexPolyhedronVsConvexPolyhedronAlgorithm* CollisionDispatch::getConvexPolyhedronVsConvexPolyhedronAlgorithm() { +RP3D_FORCE_INLINE ConvexPolyhedronVsConvexPolyhedronAlgorithm* CollisionDispatch::getConvexPolyhedronVsConvexPolyhedronAlgorithm() { return mConvexPolyhedronVsConvexPolyhedronAlgorithm; } #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void CollisionDispatch::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void CollisionDispatch::setProfiler(Profiler* profiler) { mProfiler = profiler; mSphereVsSphereAlgorithm->setProfiler(profiler); diff --git a/include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h b/include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h index c3cb6e0d7..42daf1592 100644 --- a/include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,6 +34,7 @@ namespace reactphysics3d { // Declarations class ContactPoint; +struct NarrowPhaseInfoBatch; // Class ConvexPolyhedronVsConvexPolyhedronAlgorithm /** @@ -64,7 +65,7 @@ class ConvexPolyhedronVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm ConvexPolyhedronVsConvexPolyhedronAlgorithm& operator=(const ConvexPolyhedronVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between two convex polyhedra - bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, uint32 batchNbItems, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator); }; diff --git a/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h b/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h index 7b727920c..b98e7914c 100644 --- a/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,12 +34,12 @@ namespace reactphysics3d { // Declarations -class ContactManifoldInfo; +struct ContactManifoldInfo; struct NarrowPhaseInfoBatch; class ConvexShape; class Profiler; class VoronoiSimplex; -template class List; +template class Array; // Constants constexpr decimal REL_ERROR = decimal(1.0e-3); @@ -97,8 +97,8 @@ class GJKAlgorithm { GJKAlgorithm& operator=(const GJKAlgorithm& algorithm) = delete; /// Compute a contact info if the two bounding volumes collide. - void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, List& gjkResults); + void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, + uint32 batchNbItems, Array& gjkResults); #ifdef IS_RP3D_PROFILING_ENABLED @@ -112,7 +112,7 @@ class GJKAlgorithm { #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void GJKAlgorithm::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void GJKAlgorithm::setProfiler(Profiler* profiler) { mProfiler = profiler; } diff --git a/include/reactphysics3d/collision/narrowphase/GJK/VoronoiSimplex.h b/include/reactphysics3d/collision/narrowphase/GJK/VoronoiSimplex.h index 4d721b0df..a4943687c 100644 --- a/include/reactphysics3d/collision/narrowphase/GJK/VoronoiSimplex.h +++ b/include/reactphysics3d/collision/narrowphase/GJK/VoronoiSimplex.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -28,6 +28,7 @@ // Libraries #include +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -171,17 +172,17 @@ class VoronoiSimplex { }; // Return true if the simplex contains 4 points -inline bool VoronoiSimplex::isFull() const { +RP3D_FORCE_INLINE bool VoronoiSimplex::isFull() const { return mNbPoints == 4; } // Return true if the simple is empty -inline bool VoronoiSimplex::isEmpty() const { +RP3D_FORCE_INLINE bool VoronoiSimplex::isEmpty() const { return mNbPoints == 0; } // Set the barycentric coordinates of the closest point -inline void VoronoiSimplex::setBarycentricCoords(decimal a, decimal b, decimal c, decimal d) { +RP3D_FORCE_INLINE void VoronoiSimplex::setBarycentricCoords(decimal a, decimal b, decimal c, decimal d) { mBarycentricCoords[0] = a; mBarycentricCoords[1] = b; mBarycentricCoords[2] = c; @@ -189,7 +190,7 @@ inline void VoronoiSimplex::setBarycentricCoords(decimal a, decimal b, decimal c } // Compute the closest point "v" to the origin of the current simplex. -inline bool VoronoiSimplex::computeClosestPoint(Vector3& v) { +RP3D_FORCE_INLINE bool VoronoiSimplex::computeClosestPoint(Vector3& v) { bool isValid = recomputeClosestPoint(); v = mClosestPoint; @@ -197,7 +198,7 @@ inline bool VoronoiSimplex::computeClosestPoint(Vector3& v) { } // Return true if the -inline bool VoronoiSimplex::checkClosestPointValid() const { +RP3D_FORCE_INLINE bool VoronoiSimplex::checkClosestPointValid() const { return mBarycentricCoords[0] >= decimal(0.0) && mBarycentricCoords[1] >= decimal(0.0) && mBarycentricCoords[2] >= decimal(0.0) && mBarycentricCoords[3] >= decimal(0.0); } diff --git a/include/reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h b/include/reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h index c360b2bcd..6b74e55aa 100644 --- a/include/reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -33,7 +33,7 @@ namespace reactphysics3d { class CollisionDetectionSystem; -class ContactManifoldInfo; +struct ContactManifoldInfo; class DefaultPoolAllocator; class OverlappingPair; struct NarrowPhaseInfoBatch; @@ -106,7 +106,7 @@ class NarrowPhaseAlgorithm { #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void NarrowPhaseAlgorithm::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void NarrowPhaseAlgorithm::setProfiler(Profiler* profiler) { mProfiler = profiler; } diff --git a/include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h b/include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h index 73ce4e339..126d92022 100644 --- a/include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h +++ b/include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -28,6 +28,8 @@ // Libraries #include +#include +#include /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -35,98 +37,148 @@ namespace reactphysics3d { // Declarations class CollisionShape; struct LastFrameCollisionInfo; -class ContactManifoldInfo; +struct ContactManifoldInfo; struct ContactPointInfo; // Struct NarrowPhaseInfoBatch /** - * This abstract structure collects all the potential collisions from the middle-phase algorithm - * that have to be tested during narrow-phase collision detection. There is an implementation of - * this class for each kind of collision detection test. For instance, one for sphere vs sphere, - * one for sphere vs capsule, ... + * This structure collects all the potential collisions from the middle-phase algorithm + * that have to be tested during narrow-phase collision detection. */ struct NarrowPhaseInfoBatch { - protected: + struct NarrowPhaseInfo { - /// Memory allocator - MemoryAllocator& mMemoryAllocator; + /// Broadphase overlapping pairs ids + uint64 overlappingPairId; - /// Reference to all the broad-phase overlapping pairs - OverlappingPairs& mOverlappingPairs; + /// Entity of the first collider to test collision with + Entity colliderEntity1; - /// Cached capacity - uint mCachedCapacity = 0; + /// Entity of the second collider to test collision with + Entity colliderEntity2; - public: + /// Collision info of the previous frame + LastFrameCollisionInfo* lastFrameCollisionInfo; + + /// Memory allocator for the collision shape (Used to release TriangleShape memory in destructor) + MemoryAllocator* collisionShapeAllocator; - /// List of Broadphase overlapping pairs ids - List overlappingPairIds; + /// Shape local to world transform of sphere 1 + Transform shape1ToWorldTransform; - /// List of pointers to the first colliders to test collision with - List colliderEntities1; + /// Shape local to world transform of sphere 2 + Transform shape2ToWorldTransform; - /// List of pointers to the second colliders to test collision with - List colliderEntities2; + /// Pointer to the first collision shapes to test collision with + CollisionShape* collisionShape1; - /// List of pointers to the first collision shapes to test collision with - List collisionShapes1; + /// Pointer to the second collision shapes to test collision with + CollisionShape* collisionShape2; - /// List of pointers to the second collision shapes to test collision with - List collisionShapes2; + /// True if we need to report contacts (false for triggers for instance) + bool reportContacts; - /// List of transforms that maps from collision shape 1 local-space to world-space - List shape1ToWorldTransforms; + /// Result of the narrow-phase collision detection test + bool isColliding; - /// List of transforms that maps from collision shape 2 local-space to world-space - List shape2ToWorldTransforms; + /// Number of contact points + uint8 nbContactPoints; - /// True for each pair of objects that we need to report contacts (false for triggers for instance) - List reportContacts; + /// Array of contact points created during the narrow-phase + ContactPointInfo contactPoints[NB_MAX_CONTACT_POINTS_IN_NARROWPHASE_INFO]; - /// Result of the narrow-phase collision detection test - List isColliding; + /// Constructor + NarrowPhaseInfo(uint64 pairId, Entity collider1, Entity collider2, LastFrameCollisionInfo* lastFrameInfo, MemoryAllocator& shapeAllocator, + const Transform& shape1ToWorldTransform, const Transform& shape2ToWorldTransform, CollisionShape* shape1, + CollisionShape* shape2, bool needToReportContacts) + : overlappingPairId(pairId), colliderEntity1(collider1), colliderEntity2(collider2), lastFrameCollisionInfo(lastFrameInfo), + collisionShapeAllocator(&shapeAllocator), shape1ToWorldTransform(shape1ToWorldTransform), + shape2ToWorldTransform(shape2ToWorldTransform), collisionShape1(shape1), + collisionShape2(shape2), reportContacts(needToReportContacts), isColliding(false), nbContactPoints(0) { - /// List of contact points created during the narrow-phase - List> contactPoints; + } + }; - /// Memory allocators for the collision shape (Used to release TriangleShape memory in destructor) - List collisionShapeAllocators; + protected: - /// Collision infos of the previous frame - List lastFrameCollisionInfos; + /// Reference to the memory allocator + MemoryAllocator& mMemoryAllocator; + + /// Reference to all the broad-phase overlapping pairs + OverlappingPairs& mOverlappingPairs; + + /// Cached capacity + uint32 mCachedCapacity = 0; + + public: + + /// For each collision test, we keep some meta data + Array narrowPhaseInfos; /// Constructor - NarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); + NarrowPhaseInfoBatch(OverlappingPairs& overlappingPairs, MemoryAllocator& allocator); /// Destructor - virtual ~NarrowPhaseInfoBatch(); - - /// Return the number of objects in the batch - uint getNbObjects() const; + ~NarrowPhaseInfoBatch(); /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, - CollisionShape* shape2, const Transform& shape1Transform, - const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator& shapeAllocator); + void addNarrowPhaseInfo(uint64 pairId, Entity collider1, Entity collider2, CollisionShape* shape1, + CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, + bool needToReportContacts, LastFrameCollisionInfo* lastFrameInfo, MemoryAllocator& shapeAllocator); + + /// Return the number of objects in the batch + uint32 getNbObjects() const; /// Add a new contact point - virtual void addContactPoint(uint index, const Vector3& contactNormal, decimal penDepth, + void addContactPoint(uint32 index, const Vector3& contactNormal, decimal penDepth, const Vector3& localPt1, const Vector3& localPt2); /// Reset the remaining contact points - void resetContactPoints(uint index); + void resetContactPoints(uint32 index); // Initialize the containers using cached capacity - virtual void reserveMemory(); + void reserveMemory(); /// Clear all the objects in the batch - virtual void clear(); + void clear(); }; /// Return the number of objects in the batch -inline uint NarrowPhaseInfoBatch::getNbObjects() const { - return overlappingPairIds.size(); +RP3D_FORCE_INLINE uint32 NarrowPhaseInfoBatch::getNbObjects() const { + return static_cast(narrowPhaseInfos.size()); +} + +// Add shapes to be tested during narrow-phase collision detection into the batch +RP3D_FORCE_INLINE void NarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity collider1, Entity collider2, CollisionShape* shape1, + CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, + bool needToReportContacts, LastFrameCollisionInfo* lastFrameInfo, MemoryAllocator& shapeAllocator) { + + // Create a meta data object + narrowPhaseInfos.emplace(pairId, collider1, collider2, lastFrameInfo, shapeAllocator, shape1Transform, shape2Transform, shape1, shape2, needToReportContacts); +} + +// Add a new contact point +RP3D_FORCE_INLINE void NarrowPhaseInfoBatch::addContactPoint(uint32 index, const Vector3& contactNormal, decimal penDepth, const Vector3& localPt1, const Vector3& localPt2) { + + assert(penDepth > decimal(0.0)); + + if (narrowPhaseInfos[index].nbContactPoints < NB_MAX_CONTACT_POINTS_IN_NARROWPHASE_INFO) { + + assert(contactNormal.length() > 0.8f); + + // Add it into the array of contact points + narrowPhaseInfos[index].contactPoints[narrowPhaseInfos[index].nbContactPoints].normal = contactNormal; + narrowPhaseInfos[index].contactPoints[narrowPhaseInfos[index].nbContactPoints].penetrationDepth = penDepth; + narrowPhaseInfos[index].contactPoints[narrowPhaseInfos[index].nbContactPoints].localPoint1 = localPt1; + narrowPhaseInfos[index].contactPoints[narrowPhaseInfos[index].nbContactPoints].localPoint2 = localPt2; + narrowPhaseInfos[index].nbContactPoints++; + } +} + +// Reset the remaining contact points +RP3D_FORCE_INLINE void NarrowPhaseInfoBatch::resetContactPoints(uint32 index) { + narrowPhaseInfos[index].nbContactPoints = 0; } } diff --git a/include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h b/include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h index 5e8b4d9b6..4ac07eab4 100644 --- a/include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h +++ b/include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -27,11 +27,9 @@ #define REACTPHYSICS3D_NARROW_PHASE_INPUT_H // Libraries -#include +#include #include -#include -#include -#include +#include /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -55,9 +53,9 @@ class NarrowPhaseInput { private: - SphereVsSphereNarrowPhaseInfoBatch mSphereVsSphereBatch; - SphereVsCapsuleNarrowPhaseInfoBatch mSphereVsCapsuleBatch; - CapsuleVsCapsuleNarrowPhaseInfoBatch mCapsuleVsCapsuleBatch; + NarrowPhaseInfoBatch mSphereVsSphereBatch; + NarrowPhaseInfoBatch mSphereVsCapsuleBatch; + NarrowPhaseInfoBatch mCapsuleVsCapsuleBatch; NarrowPhaseInfoBatch mSphereVsConvexPolyhedronBatch; NarrowPhaseInfoBatch mCapsuleVsConvexPolyhedronBatch; NarrowPhaseInfoBatch mConvexPolyhedronVsConvexPolyhedronBatch; @@ -68,19 +66,19 @@ class NarrowPhaseInput { NarrowPhaseInput(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); /// Add shapes to be tested during narrow-phase collision detection into the batch - void addNarrowPhaseTest(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, + void addNarrowPhaseTest(uint64 pairId, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, bool reportContacts, - MemoryAllocator& shapeAllocator); + LastFrameCollisionInfo* lastFrameInfo, MemoryAllocator& shapeAllocator); /// Get a reference to the sphere vs sphere batch - SphereVsSphereNarrowPhaseInfoBatch& getSphereVsSphereBatch(); + NarrowPhaseInfoBatch& getSphereVsSphereBatch(); /// Get a reference to the sphere vs capsule batch - SphereVsCapsuleNarrowPhaseInfoBatch& getSphereVsCapsuleBatch(); + NarrowPhaseInfoBatch& getSphereVsCapsuleBatch(); /// Get a reference to the capsule vs capsule batch - CapsuleVsCapsuleNarrowPhaseInfoBatch& getCapsuleVsCapsuleBatch(); + NarrowPhaseInfoBatch& getCapsuleVsCapsuleBatch(); /// Get a reference to the sphere vs convex polyhedron batch NarrowPhaseInfoBatch& getSphereVsConvexPolyhedronBatch(); @@ -100,34 +98,65 @@ class NarrowPhaseInput { // Get a reference to the sphere vs sphere batch contacts -inline SphereVsSphereNarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsSphereBatch() { +RP3D_FORCE_INLINE NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsSphereBatch() { return mSphereVsSphereBatch; } // Get a reference to the sphere vs capsule batch contacts -inline SphereVsCapsuleNarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsCapsuleBatch() { +RP3D_FORCE_INLINE NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsCapsuleBatch() { return mSphereVsCapsuleBatch; } // Get a reference to the capsule vs capsule batch contacts -inline CapsuleVsCapsuleNarrowPhaseInfoBatch& NarrowPhaseInput::getCapsuleVsCapsuleBatch() { +RP3D_FORCE_INLINE NarrowPhaseInfoBatch& NarrowPhaseInput::getCapsuleVsCapsuleBatch() { return mCapsuleVsCapsuleBatch; } // Get a reference to the sphere vs convex polyhedron batch contacts -inline NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsConvexPolyhedronBatch() { +RP3D_FORCE_INLINE NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsConvexPolyhedronBatch() { return mSphereVsConvexPolyhedronBatch; } // Get a reference to the capsule vs convex polyhedron batch contacts -inline NarrowPhaseInfoBatch& NarrowPhaseInput::getCapsuleVsConvexPolyhedronBatch() { +RP3D_FORCE_INLINE NarrowPhaseInfoBatch& NarrowPhaseInput::getCapsuleVsConvexPolyhedronBatch() { return mCapsuleVsConvexPolyhedronBatch; } // Get a reference to the convex polyhedron vs convex polyhedron batch contacts -inline NarrowPhaseInfoBatch& NarrowPhaseInput::getConvexPolyhedronVsConvexPolyhedronBatch() { +RP3D_FORCE_INLINE NarrowPhaseInfoBatch &NarrowPhaseInput::getConvexPolyhedronVsConvexPolyhedronBatch() { return mConvexPolyhedronVsConvexPolyhedronBatch; } +// Add shapes to be tested during narrow-phase collision detection into the batch +RP3D_FORCE_INLINE void NarrowPhaseInput::addNarrowPhaseTest(uint64 pairId, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, + const Transform& shape1Transform, const Transform& shape2Transform, + NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, bool reportContacts, LastFrameCollisionInfo* lastFrameInfo, + MemoryAllocator& shapeAllocator) { + + switch (narrowPhaseAlgorithmType) { + case NarrowPhaseAlgorithmType::SphereVsSphere: + mSphereVsSphereBatch.addNarrowPhaseInfo(pairId, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, lastFrameInfo, shapeAllocator); + break; + case NarrowPhaseAlgorithmType::SphereVsCapsule: + mSphereVsCapsuleBatch.addNarrowPhaseInfo(pairId, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, lastFrameInfo, shapeAllocator); + break; + case NarrowPhaseAlgorithmType::CapsuleVsCapsule: + mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pairId, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, lastFrameInfo, shapeAllocator); + break; + case NarrowPhaseAlgorithmType::SphereVsConvexPolyhedron: + mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, lastFrameInfo, shapeAllocator); + break; + case NarrowPhaseAlgorithmType::CapsuleVsConvexPolyhedron: + mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, lastFrameInfo, shapeAllocator); + break; + case NarrowPhaseAlgorithmType::ConvexPolyhedronVsConvexPolyhedron: + mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, lastFrameInfo, shapeAllocator); + break; + case NarrowPhaseAlgorithmType::None: + // Must never happen + assert(false); + break; + } +} } #endif diff --git a/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h index 9f8a4beff..36ffa25b1 100644 --- a/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -36,7 +36,7 @@ namespace reactphysics3d { // Declarations class CapsuleShape; class SphereShape; -class ContactManifoldInfo; +struct ContactManifoldInfo; struct NarrowPhaseInfoBatch; class ConvexPolyhedronShape; class MemoryAllocator; @@ -107,7 +107,7 @@ class SATAlgorithm { decimal testSingleFaceDirectionPolyhedronVsPolyhedron(const ConvexPolyhedronShape* polyhedron1, const ConvexPolyhedronShape* polyhedron2, const Transform& polyhedron1ToPolyhedron2, - uint faceIndex) const; + uint32 faceIndex) const; /// Test all the normals of a polyhedron for separating axis in the polyhedron vs polyhedron case @@ -115,11 +115,11 @@ class SATAlgorithm { const Transform& polyhedron1ToPolyhedron2, uint& minFaceIndex) const; /// Compute the penetration depth between a face of the polyhedron and a sphere along the polyhedron face normal direction - decimal computePolyhedronFaceVsSpherePenetrationDepth(uint faceIndex, const ConvexPolyhedronShape* polyhedron, + decimal computePolyhedronFaceVsSpherePenetrationDepth(uint32 faceIndex, const ConvexPolyhedronShape* polyhedron, const SphereShape* sphere, const Vector3& sphereCenter) const; /// Compute the penetration depth between the face of a polyhedron and a capsule along the polyhedron face normal direction - decimal computePolyhedronFaceVsCapsulePenetrationDepth(uint polyhedronFaceIndex, const ConvexPolyhedronShape* polyhedron, + decimal computePolyhedronFaceVsCapsulePenetrationDepth(uint32 polyhedronFaceIndex, const ConvexPolyhedronShape* polyhedron, const CapsuleShape* capsule, const Transform& polyhedronToCapsuleTransform, Vector3& outFaceNormalCapsuleSpace) const; @@ -132,8 +132,8 @@ class SATAlgorithm { /// Compute the contact points between two faces of two convex polyhedra. bool computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPenetrationFaceNormalPolyhedron1, const ConvexPolyhedronShape* polyhedron1, const ConvexPolyhedronShape* polyhedron2, const Transform& polyhedron1ToPolyhedron2, - const Transform& polyhedron2ToPolyhedron1, uint minFaceIndex, - NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex) const; + const Transform& polyhedron2ToPolyhedron1, uint32 minFaceIndex, + NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchIndex) const; public : @@ -154,24 +154,24 @@ class SATAlgorithm { /// Test collision between a sphere and a convex mesh bool testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, - uint batchStartIndex, uint batchNbItems) const; + uint32 batchStartIndex, uint32 batchNbItems) const; /// Test collision between a capsule and a convex mesh - bool testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex) const; + bool testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchIndex) const; /// Compute the two contact points between a polyhedron and a capsule when the separating axis is a face normal of the polyhedron - bool computeCapsulePolyhedronFaceContactPoints(uint referenceFaceIndex, decimal capsuleRadius, const ConvexPolyhedronShape* polyhedron, + bool computeCapsulePolyhedronFaceContactPoints(uint32 referenceFaceIndex, decimal capsuleRadius, const ConvexPolyhedronShape* polyhedron, decimal penetrationDepth, const Transform& polyhedronToCapsuleTransform, Vector3& normalWorld, const Vector3& separatingAxisCapsuleSpace, const Vector3& capsuleSegAPolyhedronSpace, const Vector3& capsuleSegBPolyhedronSpace, - NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, bool isCapsuleShape1) const; + NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchIndex, bool isCapsuleShape1) const; // This method returns true if an edge of a polyhedron and a capsule forms a face of the Minkowski Difference bool isMinkowskiFaceCapsuleVsEdge(const Vector3& capsuleSegment, const Vector3& edgeAdjacentFace1Normal, const Vector3& edgeAdjacentFace2Normal) const; /// Test collision between two convex meshes - bool testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems) const; + bool testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, uint32 batchNbItems) const; #ifdef IS_RP3D_PROFILING_ENABLED @@ -185,7 +185,7 @@ class SATAlgorithm { #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void SATAlgorithm::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void SATAlgorithm::setProfiler(Profiler* profiler) { mProfiler = profiler; } diff --git a/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleAlgorithm.h index 21c859188..86f58036b 100644 --- a/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleAlgorithm.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,7 +34,7 @@ namespace reactphysics3d { // Declarations class ContactPoint; -struct SphereVsCapsuleNarrowPhaseInfoBatch; +struct NarrowPhaseInfoBatch; // Class SphereVsCapsuleAlgorithm /** @@ -65,8 +65,8 @@ class SphereVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { SphereVsCapsuleAlgorithm& operator=(const SphereVsCapsuleAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a sphere and a capsule - bool testCollision(SphereVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, MemoryAllocator& memoryAllocator); + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, + uint32 batchNbItems, MemoryAllocator& memoryAllocator); }; } diff --git a/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h b/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h deleted file mode 100644 index 4841a3cf2..000000000 --- a/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h +++ /dev/null @@ -1,78 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_SPHERE_VS_CAPSULE_NARROW_PHASE_INFO_BATCH_H -#define REACTPHYSICS3D_SPHERE_VS_CAPSULE_NARROW_PHASE_INFO_BATCH_H - -// Libraries -#include - -/// Namespace ReactPhysics3D -namespace reactphysics3d { - -// Struct SphereVsCapsuleNarrowPhaseInfoBatch -/** - * This structure collects all the potential collisions from the middle-phase algorithm - * that have to be tested during narrow-phase collision detection. This class collects all the - * sphere vs capsule collision detection tests. - */ -struct SphereVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { - - public: - - /// List of boolean values to know if the the sphere is the first or second shape - List isSpheresShape1; - - /// List of radiuses for the spheres - List sphereRadiuses; - - /// List of radiuses for the capsules - List capsuleRadiuses; - - /// List of heights for the capsules - List capsuleHeights; - - /// Constructor - SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); - - /// Destructor - virtual ~SphereVsCapsuleNarrowPhaseInfoBatch() override = default; - - /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, - CollisionShape* shape2, const Transform& shape1Transform, - const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator& shapeAllocator) override; - - // Initialize the containers using cached capacity - virtual void reserveMemory() override; - - /// Clear all the objects in the batch - virtual void clear() override; -}; - -} - -#endif - diff --git a/include/reactphysics3d/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h index 264e9f5ab..d113862cc 100644 --- a/include/reactphysics3d/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,6 +34,7 @@ namespace reactphysics3d { // Declarations class ContactPoint; +struct NarrowPhaseInfoBatch; // Class SphereVsConvexPolyhedronAlgorithm /** @@ -70,7 +71,7 @@ class SphereVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { SphereVsConvexPolyhedronAlgorithm& operator=(const SphereVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a sphere and a convex polyhedron - bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, uint32 batchNbItems, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator); }; diff --git a/include/reactphysics3d/collision/narrowphase/SphereVsSphereAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SphereVsSphereAlgorithm.h index e6f68e7aa..78b5f5cfc 100644 --- a/include/reactphysics3d/collision/narrowphase/SphereVsSphereAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsSphereAlgorithm.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,7 +34,7 @@ namespace reactphysics3d { // Declarations class ContactPoint; -struct SphereVsSphereNarrowPhaseInfoBatch; +struct NarrowPhaseInfoBatch; // Class SphereVsSphereAlgorithm /** @@ -65,8 +65,8 @@ class SphereVsSphereAlgorithm : public NarrowPhaseAlgorithm { SphereVsSphereAlgorithm& operator=(const SphereVsSphereAlgorithm& algorithm) = delete; /// Compute a contact info if the two bounding volume collide - bool testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, MemoryAllocator& memoryAllocator); + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, + uint32 batchNbItems, MemoryAllocator& memoryAllocator); }; } diff --git a/include/reactphysics3d/collision/shapes/AABB.h b/include/reactphysics3d/collision/shapes/AABB.h index 17aea61c2..1cfebf129 100644 --- a/include/reactphysics3d/collision/shapes/AABB.h +++ b/include/reactphysics3d/collision/shapes/AABB.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -61,12 +61,6 @@ class AABB { /// Constructor AABB(const Vector3& minCoordinates, const Vector3& maxCoordinates); - /// Copy-constructor - AABB(const AABB& aabb); - - /// Destructor - ~AABB() = default; - /// Return the center point Vector3 getCenter() const; @@ -110,7 +104,10 @@ class AABB { bool testCollisionTriangleAABB(const Vector3* trianglePoints) const; /// Return true if the ray intersects the AABB - bool testRayIntersect(const Ray& ray) const; + bool testRayIntersect(const Vector3& rayOrigin, const Vector3& rayDirectionInv, decimal rayMaxFraction) const; + + /// Compute the intersection of a ray and the AABB + bool raycast(const Ray& ray, Vector3& hitPoint) const; /// Apply a scale factor to the AABB void applyScale(const Vector3& scale); @@ -118,53 +115,50 @@ class AABB { /// Create and return an AABB for a triangle static AABB createAABBForTriangle(const Vector3* trianglePoints); - /// Assignment operator - AABB& operator=(const AABB& aabb); - // -------------------- Friendship -------------------- // friend class DynamicAABBTree; }; // Return the center point of the AABB in world coordinates -inline Vector3 AABB::getCenter() const { +RP3D_FORCE_INLINE Vector3 AABB::getCenter() const { return (mMinCoordinates + mMaxCoordinates) * decimal(0.5); } // Return the minimum coordinates of the AABB -inline const Vector3& AABB::getMin() const { +RP3D_FORCE_INLINE const Vector3& AABB::getMin() const { return mMinCoordinates; } // Set the minimum coordinates of the AABB -inline void AABB::setMin(const Vector3& min) { +RP3D_FORCE_INLINE void AABB::setMin(const Vector3& min) { mMinCoordinates = min; } // Return the maximum coordinates of the AABB -inline const Vector3& AABB::getMax() const { +RP3D_FORCE_INLINE const Vector3& AABB::getMax() const { return mMaxCoordinates; } // Set the maximum coordinates of the AABB -inline void AABB::setMax(const Vector3& max) { +RP3D_FORCE_INLINE void AABB::setMax(const Vector3& max) { mMaxCoordinates = max; } // Return the size of the AABB in the three dimension x, y and z -inline Vector3 AABB::getExtent() const { +RP3D_FORCE_INLINE Vector3 AABB::getExtent() const { return mMaxCoordinates - mMinCoordinates; } // Inflate each side of the AABB by a given size -inline void AABB::inflate(decimal dx, decimal dy, decimal dz) { +RP3D_FORCE_INLINE void AABB::inflate(decimal dx, decimal dy, decimal dz) { mMaxCoordinates += Vector3(dx, dy, dz); mMinCoordinates -= Vector3(dx, dy, dz); } // Return true if the current AABB is overlapping with the AABB in argument. /// Two AABBs overlap if they overlap in the three x, y and z axis at the same time -inline bool AABB::testCollision(const AABB& aabb) const { +RP3D_FORCE_INLINE bool AABB::testCollision(const AABB& aabb) const { if (mMaxCoordinates.x < aabb.mMinCoordinates.x || aabb.mMaxCoordinates.x < mMinCoordinates.x) return false; if (mMaxCoordinates.y < aabb.mMinCoordinates.y || @@ -175,13 +169,13 @@ inline bool AABB::testCollision(const AABB& aabb) const { } // Return the volume of the AABB -inline decimal AABB::getVolume() const { +RP3D_FORCE_INLINE decimal AABB::getVolume() const { const Vector3 diff = mMaxCoordinates - mMinCoordinates; return (diff.x * diff.y * diff.z); } // Return true if the AABB of a triangle intersects the AABB -inline bool AABB::testCollisionTriangleAABB(const Vector3* trianglePoints) const { +RP3D_FORCE_INLINE bool AABB::testCollisionTriangleAABB(const Vector3* trianglePoints) const { if (min3(trianglePoints[0].x, trianglePoints[1].x, trianglePoints[2].x) > mMaxCoordinates.x) return false; if (min3(trianglePoints[0].y, trianglePoints[1].y, trianglePoints[2].y) > mMaxCoordinates.y) return false; @@ -195,7 +189,7 @@ inline bool AABB::testCollisionTriangleAABB(const Vector3* trianglePoints) const } // Return true if a point is inside the AABB -inline bool AABB::contains(const Vector3& point) const { +RP3D_FORCE_INLINE bool AABB::contains(const Vector3& point) const { return (point.x >= mMinCoordinates.x - MACHINE_EPSILON && point.x <= mMaxCoordinates.x + MACHINE_EPSILON && point.y >= mMinCoordinates.y - MACHINE_EPSILON && point.y <= mMaxCoordinates.y + MACHINE_EPSILON && @@ -203,18 +197,150 @@ inline bool AABB::contains(const Vector3& point) const { } // Apply a scale factor to the AABB -inline void AABB::applyScale(const Vector3& scale) { +RP3D_FORCE_INLINE void AABB::applyScale(const Vector3& scale) { mMinCoordinates = mMinCoordinates * scale; mMaxCoordinates = mMaxCoordinates * scale; } -// Assignment operator -inline AABB& AABB::operator=(const AABB& aabb) { - if (this != &aabb) { - mMinCoordinates = aabb.mMinCoordinates; - mMaxCoordinates = aabb.mMaxCoordinates; +// Merge the AABB in parameter with the current one +RP3D_FORCE_INLINE void AABB::mergeWithAABB(const AABB& aabb) { + mMinCoordinates.x = std::min(mMinCoordinates.x, aabb.mMinCoordinates.x); + mMinCoordinates.y = std::min(mMinCoordinates.y, aabb.mMinCoordinates.y); + mMinCoordinates.z = std::min(mMinCoordinates.z, aabb.mMinCoordinates.z); + + mMaxCoordinates.x = std::max(mMaxCoordinates.x, aabb.mMaxCoordinates.x); + mMaxCoordinates.y = std::max(mMaxCoordinates.y, aabb.mMaxCoordinates.y); + mMaxCoordinates.z = std::max(mMaxCoordinates.z, aabb.mMaxCoordinates.z); +} + +// Replace the current AABB with a new AABB that is the union of two AABBs in parameters +RP3D_FORCE_INLINE void AABB::mergeTwoAABBs(const AABB& aabb1, const AABB& aabb2) { + mMinCoordinates.x = std::min(aabb1.mMinCoordinates.x, aabb2.mMinCoordinates.x); + mMinCoordinates.y = std::min(aabb1.mMinCoordinates.y, aabb2.mMinCoordinates.y); + mMinCoordinates.z = std::min(aabb1.mMinCoordinates.z, aabb2.mMinCoordinates.z); + + mMaxCoordinates.x = std::max(aabb1.mMaxCoordinates.x, aabb2.mMaxCoordinates.x); + mMaxCoordinates.y = std::max(aabb1.mMaxCoordinates.y, aabb2.mMaxCoordinates.y); + mMaxCoordinates.z = std::max(aabb1.mMaxCoordinates.z, aabb2.mMaxCoordinates.z); +} + +// Return true if the current AABB contains the AABB given in parameter +RP3D_FORCE_INLINE bool AABB::contains(const AABB& aabb) const { + + bool isInside = true; + isInside = isInside && mMinCoordinates.x <= aabb.mMinCoordinates.x; + isInside = isInside && mMinCoordinates.y <= aabb.mMinCoordinates.y; + isInside = isInside && mMinCoordinates.z <= aabb.mMinCoordinates.z; + + isInside = isInside && mMaxCoordinates.x >= aabb.mMaxCoordinates.x; + isInside = isInside && mMaxCoordinates.y >= aabb.mMaxCoordinates.y; + isInside = isInside && mMaxCoordinates.z >= aabb.mMaxCoordinates.z; + return isInside; +} + +// Create and return an AABB for a triangle +RP3D_FORCE_INLINE AABB AABB::createAABBForTriangle(const Vector3* trianglePoints) { + + Vector3 minCoords(trianglePoints[0].x, trianglePoints[0].y, trianglePoints[0].z); + Vector3 maxCoords(trianglePoints[0].x, trianglePoints[0].y, trianglePoints[0].z); + + if (trianglePoints[1].x < minCoords.x) minCoords.x = trianglePoints[1].x; + if (trianglePoints[1].y < minCoords.y) minCoords.y = trianglePoints[1].y; + if (trianglePoints[1].z < minCoords.z) minCoords.z = trianglePoints[1].z; + + if (trianglePoints[2].x < minCoords.x) minCoords.x = trianglePoints[2].x; + if (trianglePoints[2].y < minCoords.y) minCoords.y = trianglePoints[2].y; + if (trianglePoints[2].z < minCoords.z) minCoords.z = trianglePoints[2].z; + + if (trianglePoints[1].x > maxCoords.x) maxCoords.x = trianglePoints[1].x; + if (trianglePoints[1].y > maxCoords.y) maxCoords.y = trianglePoints[1].y; + if (trianglePoints[1].z > maxCoords.z) maxCoords.z = trianglePoints[1].z; + + if (trianglePoints[2].x > maxCoords.x) maxCoords.x = trianglePoints[2].x; + if (trianglePoints[2].y > maxCoords.y) maxCoords.y = trianglePoints[2].y; + if (trianglePoints[2].z > maxCoords.z) maxCoords.z = trianglePoints[2].z; + + return AABB(minCoords, maxCoords); +} + +// Return true if the ray intersects the AABB +RP3D_FORCE_INLINE bool AABB::testRayIntersect(const Vector3& rayOrigin, const Vector3& rayDirectionInverse, decimal rayMaxFraction) const { + + // This algorithm relies on the IEE floating point properties (division by zero). If the rayDirection is zero, rayDirectionInverse and + // therfore t1 and t2 will be +-INFINITY. If the i coordinate of the ray's origin is inside the AABB (mMinCoordinates[i] < rayOrigin[i] < mMaxCordinates[i)), we have + // t1 = -t2 = +- INFINITY. Since max(n, -INFINITY) = min(n, INFINITY) = n for all n, tMin and tMax will stay unchanged. Secondly, if the i + // coordinate of the ray's origin is outside the box (rayOrigin[i] < mMinCoordinates[i] or rayOrigin[i] > mMaxCoordinates[i]) we have + // t1 = t2 = +- INFINITY and therefore either tMin = +INFINITY or tMax = -INFINITY. One of those values will stay until the end and make the + // method to return false. Unfortunately, if the ray lies exactly on a slab (rayOrigin[i] = mMinCoordinates[i] or rayOrigin[i] = mMaxCoordinates[i]) we + // have t1 = (mMinCoordinates[i] - rayOrigin[i]) * rayDirectionInverse[i] = 0 * INFINITY = NaN which is a problem for the remaining of the algorithm. + // This will cause the method to return true when the ray is not intersecting the AABB and therefore cause to traverse more nodes than necessary in + // the BVH tree. Because this should be rare, it is not really a big issue. + // Reference: https://tavianator.com/2011/ray_box.html + + decimal t1 = (mMinCoordinates[0] - rayOrigin[0]) * rayDirectionInverse[0]; + decimal t2 = (mMaxCoordinates[0] - rayOrigin[0]) * rayDirectionInverse[0]; + + decimal tMin = std::min(t1, t2); + decimal tMax = std::max(t1, t2); + tMax = std::min(tMax, rayMaxFraction); + + for (int i = 1; i < 3; i++) { + + t1 = (mMinCoordinates[i] - rayOrigin[i]) * rayDirectionInverse[i]; + t2 = (mMaxCoordinates[i] - rayOrigin[i]) * rayDirectionInverse[i]; + + tMin = std::max(tMin, std::min(t1, t2)); + tMax = std::min(tMax, std::max(t1, t2)); + } + + return tMax >= std::max(tMin, decimal(0.0)); +} + +// Compute the intersection of a ray and the AABB +RP3D_FORCE_INLINE bool AABB::raycast(const Ray& ray, Vector3& hitPoint) const { + + decimal tMin = decimal(0.0); + decimal tMax = DECIMAL_LARGEST; + + const decimal epsilon = decimal(0.00001); + + const Vector3 rayDirection = ray.point2 - ray.point1; + + // For all three slabs + for (int i=0; i < 3; i++) { + + // If the ray is parallel to the slab + if (std::abs(rayDirection[i]) < epsilon) { + + // If origin of the ray is not inside the slab, no hit + if (ray.point1[i] < mMinCoordinates[i] || ray.point1[i] > mMaxCoordinates[i]) return false; + } + else { + + decimal rayDirectionInverse = decimal(1.0) / rayDirection[i]; + decimal t1 = (mMinCoordinates[i] - ray.point1[i]) * rayDirectionInverse; + decimal t2 = (mMaxCoordinates[i] - ray.point1[i]) * rayDirectionInverse; + + if (t1 > t2) { + + // Swap t1 and t2 + decimal tTemp = t2; + t2 = t1; + t1 = tTemp; + } + + tMin = std::max(tMin, t1); + tMax = std::min(tMax, t2); + + // Exit with no collision + if (tMin > tMax) return false; + } } - return *this; + + // Compute the hit point + hitPoint = ray.point1 + tMin * rayDirection; + + return true; } } diff --git a/include/reactphysics3d/collision/shapes/BoxShape.h b/include/reactphysics3d/collision/shapes/BoxShape.h index fc78c353d..0c8e503e1 100644 --- a/include/reactphysics3d/collision/shapes/BoxShape.h +++ b/include/reactphysics3d/collision/shapes/BoxShape.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -36,6 +36,7 @@ namespace reactphysics3d { // Declarations class CollisionBody; class DefaultAllocator; +class PhysicsCommon; // Class BoxShape /** @@ -53,13 +54,13 @@ class BoxShape : public ConvexPolyhedronShape { /// Half-extents of the box in the x, y and z direction Vector3 mHalfExtents; - /// Half-edge structure of the polyhedron - HalfEdgeStructure mHalfEdgeStructure; + /// Reference to the physics common object + PhysicsCommon& mPhysicsCommon; // -------------------- Methods -------------------- // /// Constructor - BoxShape(const Vector3& halfExtents, MemoryAllocator& allocator); + BoxShape(const Vector3& halfExtents, MemoryAllocator& allocator, PhysicsCommon& physicsCommon); /// Return a local support point in a given direction without the object margin virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override; @@ -102,28 +103,28 @@ class BoxShape : public ConvexPolyhedronShape { virtual decimal getVolume() const override; /// Return the number of faces of the polyhedron - virtual uint getNbFaces() const override; + virtual uint32 getNbFaces() const override; /// Return a given face of the polyhedron - virtual const HalfEdgeStructure::Face& getFace(uint faceIndex) const override; + virtual const HalfEdgeStructure::Face& getFace(uint32 faceIndex) const override; /// Return the number of vertices of the polyhedron - virtual uint getNbVertices() const override; + virtual uint32 getNbVertices() const override; /// Return a given vertex of the polyhedron - virtual HalfEdgeStructure::Vertex getVertex(uint vertexIndex) const override; + virtual const HalfEdgeStructure::Vertex& getVertex(uint32 vertexIndex) const override; /// Return the number of half-edges of the polyhedron - virtual uint getNbHalfEdges() const override; + virtual uint32 getNbHalfEdges() const override; /// Return a given half-edge of the polyhedron - virtual const HalfEdgeStructure::Edge& getHalfEdge(uint edgeIndex) const override; + virtual const HalfEdgeStructure::Edge& getHalfEdge(uint32 edgeIndex) const override; /// Return the position of a given vertex - virtual Vector3 getVertexPosition(uint vertexIndex) const override; + virtual Vector3 getVertexPosition(uint32 vertexIndex) const override; /// Return the normal vector of a given face of the polyhedron - virtual Vector3 getFaceNormal(uint faceIndex) const override; + virtual Vector3 getFaceNormal(uint32 faceIndex) const override; /// Return the centroid of the polyhedron virtual Vector3 getCentroid() const override; @@ -140,7 +141,7 @@ class BoxShape : public ConvexPolyhedronShape { /** * @return The vector with the three half-extents of the box shape */ -inline Vector3 BoxShape::getHalfExtents() const { +RP3D_FORCE_INLINE Vector3 BoxShape::getHalfExtents() const { return mHalfExtents; } @@ -150,7 +151,7 @@ inline Vector3 BoxShape::getHalfExtents() const { /** * @param halfExtents The vector with the three half-extents of the box */ -inline void BoxShape::setHalfExtents(const Vector3& halfExtents) { +RP3D_FORCE_INLINE void BoxShape::setHalfExtents(const Vector3& halfExtents) { mHalfExtents = halfExtents; notifyColliderAboutChangedSize(); @@ -162,7 +163,7 @@ inline void BoxShape::setHalfExtents(const Vector3& halfExtents) { * @param min The minimum bounds of the shape in local-space coordinates * @param max The maximum bounds of the shape in local-space coordinates */ -inline void BoxShape::getLocalBounds(Vector3& min, Vector3& max) const { +RP3D_FORCE_INLINE void BoxShape::getLocalBounds(Vector3& min, Vector3& max) const { // Maximum bounds max = mHalfExtents; @@ -172,12 +173,12 @@ inline void BoxShape::getLocalBounds(Vector3& min, Vector3& max) const { } // Return the number of bytes used by the collision shape -inline size_t BoxShape::getSizeInBytes() const { +RP3D_FORCE_INLINE size_t BoxShape::getSizeInBytes() const { return sizeof(BoxShape); } // Return a local support point in a given direction without the object margin -inline Vector3 BoxShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const { +RP3D_FORCE_INLINE Vector3 BoxShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const { return Vector3(direction.x < decimal(0.0) ? -mHalfExtents.x : mHalfExtents.x, direction.y < decimal(0.0) ? -mHalfExtents.y : mHalfExtents.y, @@ -185,49 +186,35 @@ inline Vector3 BoxShape::getLocalSupportPointWithoutMargin(const Vector3& direct } // Return true if a point is inside the collision shape -inline bool BoxShape::testPointInside(const Vector3& localPoint, Collider* collider) const { +RP3D_FORCE_INLINE bool BoxShape::testPointInside(const Vector3& localPoint, Collider* /*collider*/) const { return (localPoint.x < mHalfExtents[0] && localPoint.x > -mHalfExtents[0] && localPoint.y < mHalfExtents[1] && localPoint.y > -mHalfExtents[1] && localPoint.z < mHalfExtents[2] && localPoint.z > -mHalfExtents[2]); } // Return the number of faces of the polyhedron -inline uint BoxShape::getNbFaces() const { +RP3D_FORCE_INLINE uint32 BoxShape::getNbFaces() const { return 6; } -// Return a given face of the polyhedron -inline const HalfEdgeStructure::Face& BoxShape::getFace(uint faceIndex) const { - assert(faceIndex < mHalfEdgeStructure.getNbFaces()); - return mHalfEdgeStructure.getFace(faceIndex); -} - // Return the number of vertices of the polyhedron -inline uint BoxShape::getNbVertices() const { +RP3D_FORCE_INLINE uint32 BoxShape::getNbVertices() const { return 8; } -// Return a given vertex of the polyhedron -inline HalfEdgeStructure::Vertex BoxShape::getVertex(uint vertexIndex) const { - assert(vertexIndex < getNbVertices()); - return mHalfEdgeStructure.getVertex(vertexIndex); -} - // Return the position of a given vertex -inline Vector3 BoxShape::getVertexPosition(uint vertexIndex) const { +RP3D_FORCE_INLINE Vector3 BoxShape::getVertexPosition(uint32 vertexIndex) const { assert(vertexIndex < getNbVertices()); - Vector3 extent = getHalfExtents(); - switch(vertexIndex) { - case 0: return Vector3(-extent.x, -extent.y, extent.z); - case 1: return Vector3(extent.x, -extent.y, extent.z); - case 2: return Vector3(extent.x, extent.y, extent.z); - case 3: return Vector3(-extent.x, extent.y, extent.z); - case 4: return Vector3(-extent.x, -extent.y, -extent.z); - case 5: return Vector3(extent.x, -extent.y, -extent.z); - case 6: return Vector3(extent.x, extent.y, -extent.z); - case 7: return Vector3(-extent.x, extent.y, -extent.z); + case 0: return Vector3(-mHalfExtents.x, -mHalfExtents.y, mHalfExtents.z); + case 1: return Vector3(mHalfExtents.x, -mHalfExtents.y, mHalfExtents.z); + case 2: return Vector3(mHalfExtents.x, mHalfExtents.y, mHalfExtents.z); + case 3: return Vector3(-mHalfExtents.x, mHalfExtents.y, mHalfExtents.z); + case 4: return Vector3(-mHalfExtents.x, -mHalfExtents.y, -mHalfExtents.z); + case 5: return Vector3(mHalfExtents.x, -mHalfExtents.y, -mHalfExtents.z); + case 6: return Vector3(mHalfExtents.x, mHalfExtents.y, -mHalfExtents.z); + case 7: return Vector3(-mHalfExtents.x, mHalfExtents.y, -mHalfExtents.z); } assert(false); @@ -235,7 +222,7 @@ inline Vector3 BoxShape::getVertexPosition(uint vertexIndex) const { } // Return the normal vector of a given face of the polyhedron -inline Vector3 BoxShape::getFaceNormal(uint faceIndex) const { +RP3D_FORCE_INLINE Vector3 BoxShape::getFaceNormal(uint32 faceIndex) const { assert(faceIndex < getNbFaces()); switch(faceIndex) { @@ -252,31 +239,25 @@ inline Vector3 BoxShape::getFaceNormal(uint faceIndex) const { } // Return the centroid of the box -inline Vector3 BoxShape::getCentroid() const { +RP3D_FORCE_INLINE Vector3 BoxShape::getCentroid() const { return Vector3::zero(); } // Compute and return the volume of the collision shape -inline decimal BoxShape::getVolume() const { +RP3D_FORCE_INLINE decimal BoxShape::getVolume() const { return 8 * mHalfExtents.x * mHalfExtents.y * mHalfExtents.z; } // Return the string representation of the shape -inline std::string BoxShape::to_string() const { +RP3D_FORCE_INLINE std::string BoxShape::to_string() const { return "BoxShape{extents=" + mHalfExtents.to_string() + "}"; } // Return the number of half-edges of the polyhedron -inline uint BoxShape::getNbHalfEdges() const { +RP3D_FORCE_INLINE uint32 BoxShape::getNbHalfEdges() const { return 24; } -// Return a given half-edge of the polyhedron -inline const HalfEdgeStructure::Edge& BoxShape::getHalfEdge(uint edgeIndex) const { - assert(edgeIndex < getNbHalfEdges()); - return mHalfEdgeStructure.getHalfEdge(edgeIndex); -} - } #endif diff --git a/include/reactphysics3d/collision/shapes/CapsuleShape.h b/include/reactphysics3d/collision/shapes/CapsuleShape.h index c42619e32..b4976d97d 100644 --- a/include/reactphysics3d/collision/shapes/CapsuleShape.h +++ b/include/reactphysics3d/collision/shapes/CapsuleShape.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -126,7 +126,7 @@ class CapsuleShape : public ConvexShape { /** * @return The radius of the capsule shape (in meters) */ -inline decimal CapsuleShape::getRadius() const { +RP3D_FORCE_INLINE decimal CapsuleShape::getRadius() const { return mMargin; } @@ -136,7 +136,7 @@ inline decimal CapsuleShape::getRadius() const { /** * @param radius The radius of the capsule (in meters) */ -inline void CapsuleShape::setRadius(decimal radius) { +RP3D_FORCE_INLINE void CapsuleShape::setRadius(decimal radius) { assert(radius > decimal(0.0)); mMargin = radius; @@ -148,7 +148,7 @@ inline void CapsuleShape::setRadius(decimal radius) { /** * @return The height of the capsule shape (in meters) */ -inline decimal CapsuleShape::getHeight() const { +RP3D_FORCE_INLINE decimal CapsuleShape::getHeight() const { return mHalfHeight + mHalfHeight; } @@ -158,7 +158,7 @@ inline decimal CapsuleShape::getHeight() const { /** * @param height The height of the capsule (in meters) */ -inline void CapsuleShape::setHeight(decimal height) { +RP3D_FORCE_INLINE void CapsuleShape::setHeight(decimal height) { assert(height > decimal(0.0)); mHalfHeight = height * decimal(0.5); @@ -167,7 +167,7 @@ inline void CapsuleShape::setHeight(decimal height) { } // Return the number of bytes used by the collision shape -inline size_t CapsuleShape::getSizeInBytes() const { +RP3D_FORCE_INLINE size_t CapsuleShape::getSizeInBytes() const { return sizeof(CapsuleShape); } @@ -177,7 +177,7 @@ inline size_t CapsuleShape::getSizeInBytes() const { * @param min The minimum bounds of the shape in local-space coordinates * @param max The maximum bounds of the shape in local-space coordinates */ -inline void CapsuleShape::getLocalBounds(Vector3& min, Vector3& max) const { +RP3D_FORCE_INLINE void CapsuleShape::getLocalBounds(Vector3& min, Vector3& max) const { // Maximum bounds max.x = mMargin; @@ -191,12 +191,12 @@ inline void CapsuleShape::getLocalBounds(Vector3& min, Vector3& max) const { } // Compute and return the volume of the collision shape -inline decimal CapsuleShape::getVolume() const { - return reactphysics3d::PI * mMargin * mMargin * (decimal(4.0) * mMargin / decimal(3.0) + decimal(2.0) * mHalfHeight); +RP3D_FORCE_INLINE decimal CapsuleShape::getVolume() const { + return reactphysics3d::PI_RP3D * mMargin * mMargin * (decimal(4.0) * mMargin / decimal(3.0) + decimal(2.0) * mHalfHeight); } // Return true if the collision shape is a polyhedron -inline bool CapsuleShape::isPolyhedron() const { +RP3D_FORCE_INLINE bool CapsuleShape::isPolyhedron() const { return false; } @@ -207,7 +207,7 @@ inline bool CapsuleShape::isPolyhedron() const { /// Therefore, in this method, we compute the support points of both top and bottom spheres of /// the capsule and return the point with the maximum dot product with the direction vector. Note /// that the object margin is implicitly the radius and height of the capsule. -inline Vector3 CapsuleShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const { +RP3D_FORCE_INLINE Vector3 CapsuleShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const { // Support point top sphere decimal dotProductTop = mHalfHeight * direction.y; @@ -225,7 +225,7 @@ inline Vector3 CapsuleShape::getLocalSupportPointWithoutMargin(const Vector3& di } // Return the string representation of the shape -inline std::string CapsuleShape::to_string() const { +RP3D_FORCE_INLINE std::string CapsuleShape::to_string() const { return "CapsuleShape{halfHeight=" + std::to_string(mHalfHeight) + ", radius=" + std::to_string(getRadius()) + "}"; } diff --git a/include/reactphysics3d/collision/shapes/CollisionShape.h b/include/reactphysics3d/collision/shapes/CollisionShape.h index ad7bb3d2c..3d061c0d6 100644 --- a/include/reactphysics3d/collision/shapes/CollisionShape.h +++ b/include/reactphysics3d/collision/shapes/CollisionShape.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -30,7 +30,7 @@ #include #include #include -#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -76,8 +76,8 @@ class CollisionShape { /// Unique identifier of the shape inside an overlapping pair uint32 mId; - /// List of the colliders associated with this shape - List mColliders; + /// Array of the colliders associated with this shape + Array mColliders; #ifdef IS_RP3D_PROFILING_ENABLED @@ -89,7 +89,7 @@ class CollisionShape { // -------------------- Methods -------------------- // /// Return true if a point is inside the collision shape - virtual bool testPointInside(const Vector3& worldPoint, Collider* collider) const=0; + virtual bool testPointInside(const Vector3& localPoint, Collider* collider) const=0; /// Raycast method with feedback information virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const=0; @@ -164,6 +164,7 @@ class CollisionShape { friend class Collider; friend class CollisionBody; friend class RigidBody; + friend class PhysicsWorld; friend class BroadPhaseSystem; }; @@ -171,7 +172,7 @@ class CollisionShape { /** * @return The name of the collision shape (box, sphere, triangle, ...) */ -inline CollisionShapeName CollisionShape::getName() const { +RP3D_FORCE_INLINE CollisionShapeName CollisionShape::getName() const { return mName; } @@ -179,29 +180,29 @@ inline CollisionShapeName CollisionShape::getName() const { /** * @return The type of the collision shape (sphere, capsule, convex polyhedron, concave mesh) */ -inline CollisionShapeType CollisionShape::getType() const { +RP3D_FORCE_INLINE CollisionShapeType CollisionShape::getType() const { return mType; } // Return the id of the shape -inline uint32 CollisionShape::getId() const { +RP3D_FORCE_INLINE uint32 CollisionShape::getId() const { return mId; } // Assign a new collider to the collision shape -inline void CollisionShape::addCollider(Collider* collider) { +RP3D_FORCE_INLINE void CollisionShape::addCollider(Collider* collider) { mColliders.add(collider); } // Remove an assigned collider from the collision shape -inline void CollisionShape::removeCollider(Collider* collider) { +RP3D_FORCE_INLINE void CollisionShape::removeCollider(Collider* collider) { mColliders.remove(collider); } #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void CollisionShape::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void CollisionShape::setProfiler(Profiler* profiler) { mProfiler = profiler; } diff --git a/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h b/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h index 3ecfc5e02..f794d9bea 100644 --- a/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h +++ b/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -29,7 +29,7 @@ // Libraries #include #include -#include +#include namespace reactphysics3d { @@ -72,7 +72,7 @@ class ConcaveMeshRaycastCallback : public DynamicAABBTreeRaycastCallback { private : - List mHitAABBNodes; + Array mHitAABBNodes; const DynamicAABBTree& mDynamicAABBTree; const ConcaveMeshShape& mConcaveMeshShape; Collider* mCollider; @@ -142,10 +142,13 @@ class ConcaveMeshShape : public ConcaveShape { /// if the user did not provide its own vertices normals) Vector3** mComputedVerticesNormals; + /// Reference to the triangle half-edge structure + HalfEdgeStructure& mTriangleHalfEdgeStructure; + // -------------------- Methods -------------------- // /// Constructor - ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, const Vector3& scaling = Vector3(1, 1, 1)); + ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, HalfEdgeStructure& triangleHalfEdgeStructure, const Vector3& scaling = Vector3(1, 1, 1)); /// Raycast method with feedback information virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const override; @@ -156,18 +159,18 @@ class ConcaveMeshShape : public ConcaveShape { /// Insert all the triangles into the dynamic AABB tree void initBVHTree(); - /// Return the three vertices coordinates (in the list outTriangleVertices) of a triangle - void getTriangleVertices(uint subPart, uint triangleIndex, Vector3* outTriangleVertices) const; + /// Return the three vertices coordinates (in the array outTriangleVertices) of a triangle + void getTriangleVertices(uint32 subPart, uint32 triangleIndex, Vector3* outTriangleVertices) const; /// Return the three vertex normals (in the array outVerticesNormals) of a triangle - void getTriangleVerticesNormals(uint subPart, uint triangleIndex, Vector3* outVerticesNormals) const; + void getTriangleVerticesNormals(uint32 subPart, uint32 triangleIndex, Vector3* outVerticesNormals) const; /// Compute the shape Id for a given triangle of the mesh - uint computeTriangleShapeId(uint subPart, uint triangleIndex) const; + uint32 computeTriangleShapeId(uint32 subPart, uint32 triangleIndex) const; /// Compute all the triangles of the mesh that are overlapping with the AABB in parameter - virtual void computeOverlappingTriangles(const AABB& localAABB, List& triangleVertices, - List &triangleVerticesNormals, List& shapeIds, + virtual void computeOverlappingTriangles(const AABB& localAABB, Array& triangleVertices, + Array &triangleVerticesNormals, Array& shapeIds, MemoryAllocator& allocator) const override; /// Destructor @@ -182,13 +185,13 @@ class ConcaveMeshShape : public ConcaveShape { ConcaveMeshShape& operator=(const ConcaveMeshShape& shape) = delete; /// Return the number of sub parts contained in this mesh - uint getNbSubparts() const; + uint32 getNbSubparts() const; /// Return the number of triangles in a sub part of the mesh - uint getNbTriangles(uint subPart) const; + uint32 getNbTriangles(uint32 subPart) const; /// Return the indices of the three vertices of a given triangle in the array - void getTriangleVerticesIndices(uint subPart, uint triangleIndex, uint* outVerticesIndices) const; + void getTriangleVerticesIndices(uint32 subPart, uint32 triangleIndex, uint32* outVerticesIndices) const; /// Return the local bounds of the shape in x, y and z directions. virtual void getLocalBounds(Vector3& min, Vector3& max) const override; @@ -212,7 +215,7 @@ class ConcaveMeshShape : public ConcaveShape { }; // Return the number of bytes used by the collision shape -inline size_t ConcaveMeshShape::getSizeInBytes() const { +RP3D_FORCE_INLINE size_t ConcaveMeshShape::getSizeInBytes() const { return sizeof(ConcaveMeshShape); } @@ -222,7 +225,7 @@ inline size_t ConcaveMeshShape::getSizeInBytes() const { * @param min The minimum bounds of the shape in local-space coordinates * @param max The maximum bounds of the shape in local-space coordinates */ -inline void ConcaveMeshShape::getLocalBounds(Vector3& min, Vector3& max) const { +RP3D_FORCE_INLINE void ConcaveMeshShape::getLocalBounds(Vector3& min, Vector3& max) const { // Get the AABB of the whole tree AABB treeAABB = mDynamicAABBTree.getRootAABB(); @@ -233,7 +236,7 @@ inline void ConcaveMeshShape::getLocalBounds(Vector3& min, Vector3& max) const { // Called when a overlapping node has been found during the call to // DynamicAABBTree:reportAllShapesOverlappingWithAABB() -inline void ConvexTriangleAABBOverlapCallback::notifyOverlappingNode(int nodeId) { +RP3D_FORCE_INLINE void ConvexTriangleAABBOverlapCallback::notifyOverlappingNode(int nodeId) { // Get the node data (triangle index and mesh subpart index) int32* data = mDynamicAABBTree.getNodeDataInt(nodeId); @@ -253,7 +256,7 @@ inline void ConvexTriangleAABBOverlapCallback::notifyOverlappingNode(int nodeId) #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void ConcaveMeshShape::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void ConcaveMeshShape::setProfiler(Profiler* profiler) { CollisionShape::setProfiler(profiler); diff --git a/include/reactphysics3d/collision/shapes/ConcaveShape.h b/include/reactphysics3d/collision/shapes/ConcaveShape.h index d4ec18ebf..0f9837dbc 100644 --- a/include/reactphysics3d/collision/shapes/ConcaveShape.h +++ b/include/reactphysics3d/collision/shapes/ConcaveShape.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -46,7 +46,7 @@ class TriangleCallback { virtual ~TriangleCallback() = default; /// Report a triangle - virtual void testTriangle(const Vector3* trianglePoints, const Vector3* verticesNormals, uint shapeId)=0; + virtual void testTriangle(const Vector3* trianglePoints, const Vector3* verticesNormals, uint32 shapeId)=0; }; @@ -111,8 +111,8 @@ class ConcaveShape : public CollisionShape { virtual bool isPolyhedron() const override; /// Use a callback method on all triangles of the concave shape inside a given AABB - virtual void computeOverlappingTriangles(const AABB& localAABB, List& triangleVertices, - List& triangleVerticesNormals, List& shapeIds, + virtual void computeOverlappingTriangles(const AABB& localAABB, Array& triangleVertices, + Array& triangleVerticesNormals, Array& shapeIds, MemoryAllocator& allocator) const=0; /// Compute and return the volume of the collision shape @@ -120,22 +120,22 @@ class ConcaveShape : public CollisionShape { }; // Return true if the collision shape is convex, false if it is concave -inline bool ConcaveShape::isConvex() const { +RP3D_FORCE_INLINE bool ConcaveShape::isConvex() const { return false; } // Return true if the collision shape is a polyhedron -inline bool ConcaveShape::isPolyhedron() const { +RP3D_FORCE_INLINE bool ConcaveShape::isPolyhedron() const { return true; } // Return true if a point is inside the collision shape -inline bool ConcaveShape::testPointInside(const Vector3& localPoint, Collider* collider) const { +RP3D_FORCE_INLINE bool ConcaveShape::testPointInside(const Vector3& /*localPoint*/, Collider* /*collider*/) const { return false; } // Return the raycast test type (front, back, front-back) -inline TriangleRaycastSide ConcaveShape::getRaycastTestType() const { +RP3D_FORCE_INLINE TriangleRaycastSide ConcaveShape::getRaycastTestType() const { return mRaycastTestType; } @@ -143,19 +143,19 @@ inline TriangleRaycastSide ConcaveShape::getRaycastTestType() const { /** * @param testType Raycast test type for the triangle (front, back, front-back) */ -inline void ConcaveShape::setRaycastTestType(TriangleRaycastSide testType) { +RP3D_FORCE_INLINE void ConcaveShape::setRaycastTestType(TriangleRaycastSide testType) { mRaycastTestType = testType; } // Return the scale of the shape -inline const Vector3& ConcaveShape::getScale() const { +RP3D_FORCE_INLINE const Vector3& ConcaveShape::getScale() const { return mScale; } // Set the scale of the shape /// Note that you might want to recompute the inertia tensor and center of mass of the body /// after changing the scale of a collision shape -inline void ConcaveShape::setScale(const Vector3& scale) { +RP3D_FORCE_INLINE void ConcaveShape::setScale(const Vector3& scale) { mScale = scale; notifyColliderAboutChangedSize(); @@ -165,7 +165,7 @@ inline void ConcaveShape::setScale(const Vector3& scale) { /** * @param mass Mass to use to compute the inertia tensor of the collision shape */ -inline Vector3 ConcaveShape::getLocalInertiaTensor(decimal mass) const { +RP3D_FORCE_INLINE Vector3 ConcaveShape::getLocalInertiaTensor(decimal mass) const { // Default inertia tensor // Note that this is not very realistic for a concave triangle mesh. diff --git a/include/reactphysics3d/collision/shapes/ConvexMeshShape.h b/include/reactphysics3d/collision/shapes/ConvexMeshShape.h index 0cbb5c43f..ab09099ed 100644 --- a/include/reactphysics3d/collision/shapes/ConvexMeshShape.h +++ b/include/reactphysics3d/collision/shapes/ConvexMeshShape.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -109,28 +109,28 @@ class ConvexMeshShape : public ConvexPolyhedronShape { virtual Vector3 getLocalInertiaTensor(decimal mass) const override; /// Return the number of faces of the polyhedron - virtual uint getNbFaces() const override; + virtual uint32 getNbFaces() const override; /// Return a given face of the polyhedron - virtual const HalfEdgeStructure::Face& getFace(uint faceIndex) const override; + virtual const HalfEdgeStructure::Face& getFace(uint32 faceIndex) const override; /// Return the number of vertices of the polyhedron - virtual uint getNbVertices() const override; + virtual uint32 getNbVertices() const override; /// Return a given vertex of the polyhedron - virtual HalfEdgeStructure::Vertex getVertex(uint vertexIndex) const override; + virtual const HalfEdgeStructure::Vertex& getVertex(uint32 vertexIndex) const override; /// Return the number of half-edges of the polyhedron - virtual uint getNbHalfEdges() const override; + virtual uint32 getNbHalfEdges() const override; /// Return a given half-edge of the polyhedron - virtual const HalfEdgeStructure::Edge& getHalfEdge(uint edgeIndex) const override; + virtual const HalfEdgeStructure::Edge& getHalfEdge(uint32 edgeIndex) const override; /// Return the position of a given vertex - virtual Vector3 getVertexPosition(uint vertexIndex) const override; + virtual Vector3 getVertexPosition(uint32 vertexIndex) const override; /// Return the normal vector of a given face of the polyhedron - virtual Vector3 getFaceNormal(uint faceIndex) const override; + virtual Vector3 getFaceNormal(uint32 faceIndex) const override; /// Return the centroid of the polyhedron virtual Vector3 getCentroid() const override; @@ -147,19 +147,19 @@ class ConvexMeshShape : public ConvexPolyhedronShape { }; // Return the number of bytes used by the collision shape -inline size_t ConvexMeshShape::getSizeInBytes() const { +RP3D_FORCE_INLINE size_t ConvexMeshShape::getSizeInBytes() const { return sizeof(ConvexMeshShape); } // Return the scaling vector -inline const Vector3& ConvexMeshShape::getScale() const { +RP3D_FORCE_INLINE const Vector3& ConvexMeshShape::getScale() const { return mScale; } // Set the scale /// Note that you might want to recompute the inertia tensor and center of mass of the body /// after changing the scale of a collision shape -inline void ConvexMeshShape::setScale(const Vector3& scale) { +RP3D_FORCE_INLINE void ConvexMeshShape::setScale(const Vector3& scale) { mScale = scale; recalculateBounds(); notifyColliderAboutChangedSize(); @@ -170,7 +170,7 @@ inline void ConvexMeshShape::setScale(const Vector3& scale) { * @param min The minimum bounds of the shape in local-space coordinates * @param max The maximum bounds of the shape in local-space coordinates */ -inline void ConvexMeshShape::getLocalBounds(Vector3& min, Vector3& max) const { +RP3D_FORCE_INLINE void ConvexMeshShape::getLocalBounds(Vector3& min, Vector3& max) const { min = mMinBounds; max = mMaxBounds; } @@ -181,7 +181,7 @@ inline void ConvexMeshShape::getLocalBounds(Vector3& min, Vector3& max) const { /** * @param mass Mass to use to compute the inertia tensor of the collision shape */ -inline Vector3 ConvexMeshShape::getLocalInertiaTensor(decimal mass) const { +RP3D_FORCE_INLINE Vector3 ConvexMeshShape::getLocalInertiaTensor(decimal mass) const { const decimal factor = (decimal(1.0) / decimal(3.0)) * mass; const Vector3 realExtent = decimal(0.5) * (mMaxBounds - mMinBounds); assert(realExtent.x > 0 && realExtent.y > 0 && realExtent.z > 0); @@ -192,58 +192,58 @@ inline Vector3 ConvexMeshShape::getLocalInertiaTensor(decimal mass) const { } // Return the number of faces of the polyhedron -inline uint ConvexMeshShape::getNbFaces() const { +RP3D_FORCE_INLINE uint32 ConvexMeshShape::getNbFaces() const { return mPolyhedronMesh->getHalfEdgeStructure().getNbFaces(); } // Return a given face of the polyhedron -inline const HalfEdgeStructure::Face& ConvexMeshShape::getFace(uint faceIndex) const { +RP3D_FORCE_INLINE const HalfEdgeStructure::Face& ConvexMeshShape::getFace(uint32 faceIndex) const { assert(faceIndex < getNbFaces()); return mPolyhedronMesh->getHalfEdgeStructure().getFace(faceIndex); } // Return the number of vertices of the polyhedron -inline uint ConvexMeshShape::getNbVertices() const { +RP3D_FORCE_INLINE uint32 ConvexMeshShape::getNbVertices() const { return mPolyhedronMesh->getHalfEdgeStructure().getNbVertices(); } // Return a given vertex of the polyhedron -inline HalfEdgeStructure::Vertex ConvexMeshShape::getVertex(uint vertexIndex) const { +RP3D_FORCE_INLINE const HalfEdgeStructure::Vertex& ConvexMeshShape::getVertex(uint32 vertexIndex) const { assert(vertexIndex < getNbVertices()); return mPolyhedronMesh->getHalfEdgeStructure().getVertex(vertexIndex); } // Return the number of half-edges of the polyhedron -inline uint ConvexMeshShape::getNbHalfEdges() const { +RP3D_FORCE_INLINE uint32 ConvexMeshShape::getNbHalfEdges() const { return mPolyhedronMesh->getHalfEdgeStructure().getNbHalfEdges(); } // Return a given half-edge of the polyhedron -inline const HalfEdgeStructure::Edge& ConvexMeshShape::getHalfEdge(uint edgeIndex) const { +RP3D_FORCE_INLINE const HalfEdgeStructure::Edge& ConvexMeshShape::getHalfEdge(uint32 edgeIndex) const { assert(edgeIndex < getNbHalfEdges()); return mPolyhedronMesh->getHalfEdgeStructure().getHalfEdge(edgeIndex); } // Return the position of a given vertex -inline Vector3 ConvexMeshShape::getVertexPosition(uint vertexIndex) const { +RP3D_FORCE_INLINE Vector3 ConvexMeshShape::getVertexPosition(uint32 vertexIndex) const { assert(vertexIndex < getNbVertices()); return mPolyhedronMesh->getVertex(vertexIndex) * mScale; } // Return the normal vector of a given face of the polyhedron -inline Vector3 ConvexMeshShape::getFaceNormal(uint faceIndex) const { +RP3D_FORCE_INLINE Vector3 ConvexMeshShape::getFaceNormal(uint32 faceIndex) const { assert(faceIndex < getNbFaces()); return mPolyhedronMesh->getFaceNormal(faceIndex); } // Return the centroid of the polyhedron -inline Vector3 ConvexMeshShape::getCentroid() const { +RP3D_FORCE_INLINE Vector3 ConvexMeshShape::getCentroid() const { return mPolyhedronMesh->getCentroid() * mScale; } // Compute and return the volume of the collision shape -inline decimal ConvexMeshShape::getVolume() const { +RP3D_FORCE_INLINE decimal ConvexMeshShape::getVolume() const { return mPolyhedronMesh->getVolume(); } diff --git a/include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h b/include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h index 6a037cf80..43953c4c6 100644 --- a/include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h +++ b/include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -59,28 +59,28 @@ class ConvexPolyhedronShape : public ConvexShape { ConvexPolyhedronShape& operator=(const ConvexPolyhedronShape& shape) = delete; /// Return the number of faces of the polyhedron - virtual uint getNbFaces() const=0; + virtual uint32 getNbFaces() const=0; /// Return a given face of the polyhedron - virtual const HalfEdgeStructure::Face& getFace(uint faceIndex) const=0; + virtual const HalfEdgeStructure::Face& getFace(uint32 faceIndex) const=0; /// Return the number of vertices of the polyhedron - virtual uint getNbVertices() const=0; + virtual uint32 getNbVertices() const=0; /// Return a given vertex of the polyhedron - virtual HalfEdgeStructure::Vertex getVertex(uint vertexIndex) const=0; + virtual const HalfEdgeStructure::Vertex& getVertex(uint32 vertexIndex) const=0; /// Return the position of a given vertex - virtual Vector3 getVertexPosition(uint vertexIndex) const=0; + virtual Vector3 getVertexPosition(uint32 vertexIndex) const=0; /// Return the normal vector of a given face of the polyhedron - virtual Vector3 getFaceNormal(uint faceIndex) const=0; + virtual Vector3 getFaceNormal(uint32 faceIndex) const=0; /// Return the number of half-edges of the polyhedron - virtual uint getNbHalfEdges() const=0; + virtual uint32 getNbHalfEdges() const=0; /// Return a given half-edge of the polyhedron - virtual const HalfEdgeStructure::Edge& getHalfEdge(uint edgeIndex) const=0; + virtual const HalfEdgeStructure::Edge& getHalfEdge(uint32 edgeIndex) const=0; /// Return true if the collision shape is a polyhedron virtual bool isPolyhedron() const override; @@ -90,15 +90,38 @@ class ConvexPolyhedronShape : public ConvexShape { /// Find and return the index of the polyhedron face with the most anti-parallel face /// normal given a direction vector - uint findMostAntiParallelFace(const Vector3& direction) const; + uint32 findMostAntiParallelFace(const Vector3& direction) const; }; // Return true if the collision shape is a polyhedron -inline bool ConvexPolyhedronShape::isPolyhedron() const { +RP3D_FORCE_INLINE bool ConvexPolyhedronShape::isPolyhedron() const { return true; } +// Find and return the index of the polyhedron face with the most anti-parallel face +// normal given a direction vector. This is used to find the incident face on +// a polyhedron of a given reference face of another polyhedron +RP3D_FORCE_INLINE uint32 ConvexPolyhedronShape::findMostAntiParallelFace(const Vector3& direction) const { + + decimal minDotProduct = DECIMAL_LARGEST; + uint32 mostAntiParallelFace = 0; + + // For each face of the polyhedron + const uint32 nbFaces = getNbFaces(); + for (uint32 i=0; i < nbFaces; i++) { + + // Get the face normal + const decimal dotProduct = getFaceNormal(i).dot(direction); + if (dotProduct < minDotProduct) { + minDotProduct = dotProduct; + mostAntiParallelFace = i; + } + } + + return mostAntiParallelFace; +} + } #endif diff --git a/include/reactphysics3d/collision/shapes/ConvexShape.h b/include/reactphysics3d/collision/shapes/ConvexShape.h index 9335d6625..21dc377b8 100644 --- a/include/reactphysics3d/collision/shapes/ConvexShape.h +++ b/include/reactphysics3d/collision/shapes/ConvexShape.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -83,7 +83,7 @@ class ConvexShape : public CollisionShape { }; // Return true if the collision shape is convex, false if it is concave -inline bool ConvexShape::isConvex() const { +RP3D_FORCE_INLINE bool ConvexShape::isConvex() const { return true; } @@ -91,7 +91,7 @@ inline bool ConvexShape::isConvex() const { /** * @return The margin (in meters) around the collision shape */ -inline decimal ConvexShape::getMargin() const { +RP3D_FORCE_INLINE decimal ConvexShape::getMargin() const { return mMargin; } diff --git a/include/reactphysics3d/collision/shapes/HeightFieldShape.h b/include/reactphysics3d/collision/shapes/HeightFieldShape.h index adb4c9470..c13964e89 100644 --- a/include/reactphysics3d/collision/shapes/HeightFieldShape.h +++ b/include/reactphysics3d/collision/shapes/HeightFieldShape.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -91,37 +91,41 @@ class HeightFieldShape : public ConcaveShape { /// Local AABB of the height field (without scaling) AABB mAABB; + /// Reference to the half-edge structure + HalfEdgeStructure& mTriangleHalfEdgeStructure; + // -------------------- Methods -------------------- // /// Constructor HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight, const void* heightFieldData, HeightDataType dataType, MemoryAllocator& allocator, - int upAxis = 1, decimal integerHeightScale = 1.0f, + HalfEdgeStructure& triangleHalfEdgeStructure, int upAxis = 1, decimal integerHeightScale = 1.0f, const Vector3& scaling = Vector3(1,1,1)); + /// Raycast a single triangle of the height-field + bool raycastTriangle(const Ray& ray, const Vector3& p1, const Vector3& p2, const Vector3& p3, uint32 shapeId, + Collider *collider, RaycastInfo& raycastInfo, decimal &smallestHitFraction, MemoryAllocator& allocator) const; + /// Raycast method with feedback information virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const override; /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const override; - /// Insert all the triangles into the dynamic AABB tree - void initBVHTree(); - /// Return the three vertices coordinates (in the array outTriangleVertices) of a triangle /// given the start vertex index pointer of the triangle. void getTriangleVerticesWithIndexPointer(int32 subPart, int32 triangleIndex, Vector3* outTriangleVertices) const; - /// Return the closest inside integer grid value of a given floating grid value - int computeIntegerGridValue(decimal value) const; - /// Compute the min/max grid coords corresponding to the intersection of the AABB of the height field and the AABB to collide void computeMinMaxGridCoordinates(int* minCoords, int* maxCoords, const AABB& aabbToCollide) const; /// Compute the shape Id for a given triangle - uint computeTriangleShapeId(uint iIndex, uint jIndex, uint secondTriangleIncrement) const; + uint32 computeTriangleShapeId(uint32 iIndex, uint32 jIndex, uint32 secondTriangleIncrement) const; + /// Compute the first grid cell of the heightfield intersected by a ray + bool computeEnteringRayGridCoordinates(const Ray& ray, int& i, int& j, Vector3& outHitPoint) const; + /// Destructor virtual ~HeightFieldShape() override = default; @@ -152,8 +156,8 @@ class HeightFieldShape : public ConcaveShape { virtual void getLocalBounds(Vector3& min, Vector3& max) const override; /// Use a callback method on all triangles of the concave shape inside a given AABB - virtual void computeOverlappingTriangles(const AABB& localAABB, List& triangleVertices, - List& triangleVerticesNormals, List& shapeIds, + virtual void computeOverlappingTriangles(const AABB& localAABB, Array& triangleVertices, + Array& triangleVerticesNormals, Array& shapeIds, MemoryAllocator& allocator) const override; /// Return the string representation of the shape @@ -167,46 +171,41 @@ class HeightFieldShape : public ConcaveShape { }; // Return the number of rows in the height field -inline int HeightFieldShape::getNbRows() const { +RP3D_FORCE_INLINE int HeightFieldShape::getNbRows() const { return mNbRows; } // Return the number of columns in the height field -inline int HeightFieldShape::getNbColumns() const { +RP3D_FORCE_INLINE int HeightFieldShape::getNbColumns() const { return mNbColumns; } // Return the type of height value in the height field -inline HeightFieldShape::HeightDataType HeightFieldShape::getHeightDataType() const { +RP3D_FORCE_INLINE HeightFieldShape::HeightDataType HeightFieldShape::getHeightDataType() const { return mHeightDataType; } // Return the number of bytes used by the collision shape -inline size_t HeightFieldShape::getSizeInBytes() const { +RP3D_FORCE_INLINE size_t HeightFieldShape::getSizeInBytes() const { return sizeof(HeightFieldShape); } // Return the height of a given (x,y) point in the height field -inline decimal HeightFieldShape::getHeightAt(int x, int y) const { +RP3D_FORCE_INLINE decimal HeightFieldShape::getHeightAt(int x, int y) const { assert(x >= 0 && x < mNbColumns); assert(y >= 0 && y < mNbRows); switch(mHeightDataType) { - case HeightDataType::HEIGHT_FLOAT_TYPE : return ((float*)mHeightFieldData)[y * mNbColumns + x]; - case HeightDataType::HEIGHT_DOUBLE_TYPE : return ((double*)mHeightFieldData)[y * mNbColumns + x]; - case HeightDataType::HEIGHT_INT_TYPE : return ((int*)mHeightFieldData)[y * mNbColumns + x] * mIntegerHeightScale; + case HeightDataType::HEIGHT_FLOAT_TYPE : return decimal(((float*)mHeightFieldData)[y * mNbColumns + x]); + case HeightDataType::HEIGHT_DOUBLE_TYPE : return decimal(((double*)mHeightFieldData)[y * mNbColumns + x]); + case HeightDataType::HEIGHT_INT_TYPE : return decimal(((int*)mHeightFieldData)[y * mNbColumns + x] * mIntegerHeightScale); default: assert(false); return 0; } } -// Return the closest inside integer grid value of a given floating grid value -inline int HeightFieldShape::computeIntegerGridValue(decimal value) const { - return (value < decimal(0.0)) ? value - decimal(0.5) : value + decimal(0.5); -} - // Compute the shape Id for a given triangle -inline uint HeightFieldShape::computeTriangleShapeId(uint iIndex, uint jIndex, uint secondTriangleIncrement) const { +RP3D_FORCE_INLINE uint32 HeightFieldShape::computeTriangleShapeId(uint32 iIndex, uint32 jIndex, uint32 secondTriangleIncrement) const { return (jIndex * (mNbColumns - 1) + iIndex) * 2 + secondTriangleIncrement; } diff --git a/include/reactphysics3d/collision/shapes/SphereShape.h b/include/reactphysics3d/collision/shapes/SphereShape.h index cba750fd2..f06166d9c 100644 --- a/include/reactphysics3d/collision/shapes/SphereShape.h +++ b/include/reactphysics3d/collision/shapes/SphereShape.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -111,7 +111,7 @@ class SphereShape : public ConvexShape { /** * @return Radius of the sphere */ -inline decimal SphereShape::getRadius() const { +RP3D_FORCE_INLINE decimal SphereShape::getRadius() const { return mMargin; } @@ -121,7 +121,7 @@ inline decimal SphereShape::getRadius() const { /** * @param radius Radius of the sphere */ -inline void SphereShape::setRadius(decimal radius) { +RP3D_FORCE_INLINE void SphereShape::setRadius(decimal radius) { assert(radius > decimal(0.0)); mMargin = radius; @@ -132,7 +132,7 @@ inline void SphereShape::setRadius(decimal radius) { /** * @return False because the sphere shape is not a polyhedron */ -inline bool SphereShape::isPolyhedron() const { +RP3D_FORCE_INLINE bool SphereShape::isPolyhedron() const { return false; } @@ -140,12 +140,12 @@ inline bool SphereShape::isPolyhedron() const { /** * @return The size (in bytes) of the sphere shape */ -inline size_t SphereShape::getSizeInBytes() const { +RP3D_FORCE_INLINE size_t SphereShape::getSizeInBytes() const { return sizeof(SphereShape); } // Return a local support point in a given direction without the object margin -inline Vector3 SphereShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const { +RP3D_FORCE_INLINE Vector3 SphereShape::getLocalSupportPointWithoutMargin(const Vector3& /*direction*/) const { // Return the center of the sphere (the radius is taken into account in the object margin) return Vector3(0.0, 0.0, 0.0); @@ -157,7 +157,7 @@ inline Vector3 SphereShape::getLocalSupportPointWithoutMargin(const Vector3& dir * @param min The minimum bounds of the shape in local-space coordinates * @param max The maximum bounds of the shape in local-space coordinates */ -inline void SphereShape::getLocalBounds(Vector3& min, Vector3& max) const { +RP3D_FORCE_INLINE void SphereShape::getLocalBounds(Vector3& min, Vector3& max) const { // Maximum bounds max.x = mMargin; @@ -174,23 +174,23 @@ inline void SphereShape::getLocalBounds(Vector3& min, Vector3& max) const { /** * @param mass Mass to use to compute the inertia tensor of the collision shape */ -inline Vector3 SphereShape::getLocalInertiaTensor(decimal mass) const { +RP3D_FORCE_INLINE Vector3 SphereShape::getLocalInertiaTensor(decimal mass) const { decimal diag = decimal(0.4) * mass * mMargin * mMargin; return Vector3(diag, diag, diag); } // Compute and return the volume of the collision shape -inline decimal SphereShape::getVolume() const { - return decimal(4.0) / decimal(3.0) * reactphysics3d::PI * mMargin * mMargin * mMargin; +RP3D_FORCE_INLINE decimal SphereShape::getVolume() const { + return decimal(4.0) / decimal(3.0) * reactphysics3d::PI_RP3D * mMargin * mMargin * mMargin; } // Return true if a point is inside the collision shape -inline bool SphereShape::testPointInside(const Vector3& localPoint, Collider* collider) const { +RP3D_FORCE_INLINE bool SphereShape::testPointInside(const Vector3& localPoint, Collider* /*collider*/) const { return (localPoint.lengthSquare() < mMargin * mMargin); } // Return the string representation of the shape -inline std::string SphereShape::to_string() const { +RP3D_FORCE_INLINE std::string SphereShape::to_string() const { return "SphereShape{radius=" + std::to_string(getRadius()) + "}"; } diff --git a/include/reactphysics3d/collision/shapes/TriangleShape.h b/include/reactphysics3d/collision/shapes/TriangleShape.h index 9bfc754d2..3767b7aff 100644 --- a/include/reactphysics3d/collision/shapes/TriangleShape.h +++ b/include/reactphysics3d/collision/shapes/TriangleShape.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -33,6 +33,9 @@ /// ReactPhysics3D namespace namespace reactphysics3d { +// Forward declarations +class PhysicsCommon; + /// Raycast test side for the triangle enum class TriangleRaycastSide { @@ -73,11 +76,8 @@ class TriangleShape : public ConvexPolyhedronShape { /// Raycast test type for the triangle (front, back, front-back) TriangleRaycastSide mRaycastTestType; - /// Faces information for the two faces of the triangle - HalfEdgeStructure::Face mFaces[2]; - - /// Edges information for the six edges of the triangle - HalfEdgeStructure::Edge mEdges[6]; + /// Reference to triangle half-edge structure + HalfEdgeStructure& mTriangleHalfEdgeStructure; // -------------------- Methods -------------------- // @@ -91,8 +91,7 @@ class TriangleShape : public ConvexPolyhedronShape { virtual bool testPointInside(const Vector3& localPoint, Collider* collider) const override; /// Raycast method with feedback information - virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, - MemoryAllocator& allocator) const override; + virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const override; /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const override; @@ -108,8 +107,11 @@ class TriangleShape : public ConvexPolyhedronShape { Vector3& outNewLocalContactPointOtherShape, Vector3& outSmoothWorldContactTriangleNormal) const; /// Constructor - TriangleShape(const Vector3* vertices, const Vector3* verticesNormals, - uint shapeId, MemoryAllocator& allocator); + TriangleShape(const Vector3* vertices, const Vector3* verticesNormals, uint32 shapeId, HalfEdgeStructure& triangleHalfEdgeStructure, + MemoryAllocator& allocator); + + /// Constructor + TriangleShape(const Vector3* vertices, uint32 shapeId, HalfEdgeStructure& triangleHalfEdgeStructure, MemoryAllocator& allocator); /// Destructor virtual ~TriangleShape() override = default; @@ -140,28 +142,28 @@ class TriangleShape : public ConvexPolyhedronShape { void setRaycastTestType(TriangleRaycastSide testType); /// Return the number of faces of the polyhedron - virtual uint getNbFaces() const override; + virtual uint32 getNbFaces() const override; /// Return a given face of the polyhedron - virtual const HalfEdgeStructure::Face& getFace(uint faceIndex) const override; + virtual const HalfEdgeStructure::Face& getFace(uint32 faceIndex) const override; /// Return the number of vertices of the polyhedron - virtual uint getNbVertices() const override; + virtual uint32 getNbVertices() const override; /// Return a given vertex of the polyhedron - virtual HalfEdgeStructure::Vertex getVertex(uint vertexIndex) const override; + virtual const HalfEdgeStructure::Vertex& getVertex(uint32 vertexIndex) const override; /// Return the position of a given vertex - virtual Vector3 getVertexPosition(uint vertexIndex) const override; + virtual Vector3 getVertexPosition(uint32 vertexIndex) const override; /// Return the normal vector of a given face of the polyhedron - virtual Vector3 getFaceNormal(uint faceIndex) const override; + virtual Vector3 getFaceNormal(uint32 faceIndex) const override; /// Return the number of half-edges of the polyhedron - virtual uint getNbHalfEdges() const override; + virtual uint32 getNbHalfEdges() const override; /// Return a given half-edge of the polyhedron - virtual const HalfEdgeStructure::Edge& getHalfEdge(uint edgeIndex) const override; + virtual const HalfEdgeStructure::Edge& getHalfEdge(uint32 edgeIndex) const override; /// Return the centroid of the polyhedron virtual Vector3 getCentroid() const override; @@ -188,12 +190,12 @@ class TriangleShape : public ConvexPolyhedronShape { }; // Return the number of bytes used by the collision shape -inline size_t TriangleShape::getSizeInBytes() const { +RP3D_FORCE_INLINE size_t TriangleShape::getSizeInBytes() const { return sizeof(TriangleShape); } // Return a local support point in a given direction without the object margin -inline Vector3 TriangleShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const { +RP3D_FORCE_INLINE Vector3 TriangleShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const { Vector3 dotProducts(direction.dot(mPoints[0]), direction.dot(mPoints[1]), direction.dot(mPoints[2])); return mPoints[dotProducts.getMaxAxis()]; } @@ -204,7 +206,7 @@ inline Vector3 TriangleShape::getLocalSupportPointWithoutMargin(const Vector3& d * @param min The minimum bounds of the shape in local-space coordinates * @param max The maximum bounds of the shape in local-space coordinates */ -inline void TriangleShape::getLocalBounds(Vector3& min, Vector3& max) const { +RP3D_FORCE_INLINE void TriangleShape::getLocalBounds(Vector3& min, Vector3& max) const { const Vector3 xAxis(mPoints[0].x, mPoints[1].x, mPoints[2].x); const Vector3 yAxis(mPoints[0].y, mPoints[1].y, mPoints[2].y); @@ -222,74 +224,56 @@ inline void TriangleShape::getLocalBounds(Vector3& min, Vector3& max) const { * coordinates * @param mass Mass to use to compute the inertia tensor of the collision shape */ -inline Vector3 TriangleShape::getLocalInertiaTensor(decimal mass) const { +RP3D_FORCE_INLINE Vector3 TriangleShape::getLocalInertiaTensor(decimal /*mass*/) const { return Vector3(0, 0, 0); } // Return true if a point is inside the collision shape -inline bool TriangleShape::testPointInside(const Vector3& localPoint, Collider* collider) const { +RP3D_FORCE_INLINE bool TriangleShape::testPointInside(const Vector3& /*localPoint*/, Collider* /*collider*/) const { return false; } // Return the number of faces of the polyhedron -inline uint TriangleShape::getNbFaces() const { +RP3D_FORCE_INLINE uint32 TriangleShape::getNbFaces() const { return 2; } -// Return a given face of the polyhedron -inline const HalfEdgeStructure::Face& TriangleShape::getFace(uint faceIndex) const { - assert(faceIndex < 2); - return mFaces[faceIndex]; -} - // Return the number of vertices of the polyhedron -inline uint TriangleShape::getNbVertices() const { +RP3D_FORCE_INLINE uint32 TriangleShape::getNbVertices() const { return 3; } // Return a given vertex of the polyhedron -inline HalfEdgeStructure::Vertex TriangleShape::getVertex(uint vertexIndex) const { +RP3D_FORCE_INLINE const HalfEdgeStructure::Vertex& TriangleShape::getVertex(uint32 vertexIndex) const { assert(vertexIndex < 3); - - HalfEdgeStructure::Vertex vertex(vertexIndex); - switch (vertexIndex) { - case 0: vertex.edgeIndex = 0; break; - case 1: vertex.edgeIndex = 2; break; - case 2: vertex.edgeIndex = 4; break; - } - return vertex; -} - -// Return a given half-edge of the polyhedron -inline const HalfEdgeStructure::Edge& TriangleShape::getHalfEdge(uint edgeIndex) const { - assert(edgeIndex < getNbHalfEdges()); - return mEdges[edgeIndex]; + return mTriangleHalfEdgeStructure.getVertex(vertexIndex); } // Return the position of a given vertex -inline Vector3 TriangleShape::getVertexPosition(uint vertexIndex) const { +RP3D_FORCE_INLINE Vector3 TriangleShape::getVertexPosition(uint32 vertexIndex) const { assert(vertexIndex < 3); return mPoints[vertexIndex]; } // Return the normal vector of a given face of the polyhedron -inline Vector3 TriangleShape::getFaceNormal(uint faceIndex) const { +RP3D_FORCE_INLINE Vector3 TriangleShape::getFaceNormal(uint32 faceIndex) const { assert(faceIndex < 2); + assert(mNormal.length() > decimal(0.0)); return faceIndex == 0 ? mNormal : -mNormal; } // Return the centroid of the box -inline Vector3 TriangleShape::getCentroid() const { +RP3D_FORCE_INLINE Vector3 TriangleShape::getCentroid() const { return (mPoints[0] + mPoints[1] + mPoints[2]) / decimal(3.0); } // Return the number of half-edges of the polyhedron -inline uint TriangleShape::getNbHalfEdges() const { +RP3D_FORCE_INLINE uint32 TriangleShape::getNbHalfEdges() const { return 6; } // Return the raycast test type (front, back, front-back) -inline TriangleRaycastSide TriangleShape::getRaycastTestType() const { +RP3D_FORCE_INLINE TriangleRaycastSide TriangleShape::getRaycastTestType() const { return mRaycastTestType; } @@ -297,21 +281,100 @@ inline TriangleRaycastSide TriangleShape::getRaycastTestType() const { /** * @param testType Raycast test type for the triangle (front, back, front-back) */ -inline void TriangleShape::setRaycastTestType(TriangleRaycastSide testType) { +RP3D_FORCE_INLINE void TriangleShape::setRaycastTestType(TriangleRaycastSide testType) { mRaycastTestType = testType; } // Return the string representation of the shape -inline std::string TriangleShape::to_string() const { +RP3D_FORCE_INLINE std::string TriangleShape::to_string() const { return "TriangleShape{v1=" + mPoints[0].to_string() + ", v2=" + mPoints[1].to_string() + "," + "v3=" + mPoints[2].to_string() + "}"; } // Compute and return the volume of the collision shape -inline decimal TriangleShape::getVolume() const { +RP3D_FORCE_INLINE decimal TriangleShape::getVolume() const { return decimal(0.0); } +// Get a smooth contact normal for collision for a triangle of the mesh +/// This is used to avoid the internal edges issue that occurs when a shape is colliding with +/// several triangles of a concave mesh. If the shape collide with an edge of the triangle for instance, +/// the computed contact normal from this triangle edge is not necessarily in the direction of the surface +/// normal of the mesh at this point. The idea to solve this problem is to use the real (smooth) surface +/// normal of the mesh at this point as the contact normal. This technique is described in the chapter 5 +/// of the Game Physics Pearl book by Gino van der Bergen and Dirk Gregorius. The vertices normals of the +/// mesh are either provided by the user or precomputed if the user did not provide them. Note that we only +/// use the interpolated normal if the contact point is on an edge of the triangle. If the contact is in the +/// middle of the triangle, we return the true triangle normal. +RP3D_FORCE_INLINE Vector3 TriangleShape::computeSmoothLocalContactNormalForTriangle(const Vector3& localContactPoint) const { + + assert(mNormal.length() > decimal(0.0)); + + // Compute the barycentric coordinates of the point in the triangle + decimal u, v, w; + computeBarycentricCoordinatesInTriangle(mPoints[0], mPoints[1], mPoints[2], localContactPoint, u, v, w); + + // If the contact is in the middle of the triangle face (not on the edges) + if (u > MACHINE_EPSILON && v > MACHINE_EPSILON && w > MACHINE_EPSILON) { + + // We return the true triangle face normal (not the interpolated one) + return mNormal; + } + + // We compute the contact normal as the barycentric interpolation of the three vertices normals + const Vector3 interpolatedNormal = u * mVerticesNormals[0] + v * mVerticesNormals[1] + w * mVerticesNormals[2]; + + // If the interpolated normal is degenerated + if (interpolatedNormal.lengthSquare() < MACHINE_EPSILON) { + + // Return the original normal + return mNormal; + } + + return interpolatedNormal.getUnit(); +} + +// This method compute the smooth mesh contact with a triangle in case one of the two collision +// shapes is a triangle. The idea in this case is to use a smooth vertex normal of the triangle mesh +// at the contact point instead of the triangle normal to avoid the internal edge collision issue. +// This method will return the new smooth world contact +// normal of the triangle and the the local contact point on the other shape. +RP3D_FORCE_INLINE void TriangleShape::computeSmoothTriangleMeshContact(const CollisionShape* shape1, const CollisionShape* shape2, + Vector3& localContactPointShape1, Vector3& localContactPointShape2, + const Transform& shape1ToWorld, const Transform& shape2ToWorld, + decimal penetrationDepth, Vector3& outSmoothVertexNormal) { + + assert(shape1->getName() != CollisionShapeName::TRIANGLE || shape2->getName() != CollisionShapeName::TRIANGLE); + + // If one the shape is a triangle + bool isShape1Triangle = shape1->getName() == CollisionShapeName::TRIANGLE; + if (isShape1Triangle || shape2->getName() == CollisionShapeName::TRIANGLE) { + + const TriangleShape* triangleShape = isShape1Triangle ? static_cast(shape1): + static_cast(shape2); + + // Compute the smooth triangle mesh contact normal and recompute the local contact point on the other shape + triangleShape->computeSmoothMeshContact(isShape1Triangle ? localContactPointShape1 : localContactPointShape2, + isShape1Triangle ? shape1ToWorld : shape2ToWorld, + isShape1Triangle ? shape2ToWorld.getInverse() : shape1ToWorld.getInverse(), + penetrationDepth, isShape1Triangle, + isShape1Triangle ? localContactPointShape2 : localContactPointShape1, + outSmoothVertexNormal); + } +} + +// Return a given face of the polyhedron +RP3D_FORCE_INLINE const HalfEdgeStructure::Face& TriangleShape::getFace(uint32 faceIndex) const { + assert(faceIndex < 2); + return mTriangleHalfEdgeStructure.getFace(faceIndex); +} + +// Return a given half-edge of the polyhedron +RP3D_FORCE_INLINE const HalfEdgeStructure::Edge& TriangleShape::getHalfEdge(uint32 edgeIndex) const { + assert(edgeIndex < getNbHalfEdges()); + return mTriangleHalfEdgeStructure.getHalfEdge(edgeIndex); +} + } #endif diff --git a/include/reactphysics3d/components/BallAndSocketJointComponents.h b/include/reactphysics3d/components/BallAndSocketJointComponents.h index 7778bf10c..dc6954746 100644 --- a/include/reactphysics3d/components/BallAndSocketJointComponents.h +++ b/include/reactphysics3d/components/BallAndSocketJointComponents.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -85,6 +85,27 @@ class BallAndSocketJointComponents : public Components { /// Accumulated impulse Vector3* mImpulse; + /// True if the joint cone limit is enabled + bool* mIsConeLimitEnabled; + + /// Cone limit impulse + decimal* mConeLimitImpulse; + + /// Cone limit half angle + decimal* mConeLimitHalfAngle; + + /// Inverse of mass matrix K=JM^-1J^t for the cone limit + decimal* mInverseMassMatrixConeLimit; + + /// Bias of the cone limit constraint + decimal* mBConeLimit; + + /// True if the cone limit is violated + bool* mIsConeLimitViolated; + + /// Cross product of cone limit axis of both bodies + Vector3* mConeLimitACrossB; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -104,8 +125,12 @@ class BallAndSocketJointComponents : public Components { /// Structure for the data of a transform component struct BallAndSocketJointComponent { + bool isConeLimitEnabled; + decimal coneLimitHalfAngle; + /// Constructor - BallAndSocketJointComponent() { + BallAndSocketJointComponent(bool isConeLimitEnabled, decimal coneLimitHalfAngle) + : isConeLimitEnabled(isConeLimitEnabled), coneLimitHalfAngle(coneLimitHalfAngle) { } }; @@ -181,6 +206,42 @@ class BallAndSocketJointComponents : public Components { /// Set the accumulated impulse void setImpulse(Entity jointEntity, const Vector3& impulse); + /// Return true if the cone limit is enabled + bool getIsConeLimitEnabled(Entity jointEntity) const; + + /// Set to true if the cone limit is enabled + void setIsConeLimitEnabled(Entity jointEntity, bool isLimitEnabled); + + /// Return the cone limit impulse + bool getConeLimitImpulse(Entity jointEntity) const; + + /// Set the cone limit impulse + void setConeLimitImpulse(Entity jointEntity, decimal impulse); + + /// Return the cone limit half angle + decimal getConeLimitHalfAngle(Entity jointEntity) const; + + /// Set the cone limit half angle + void setConeLimitHalfAngle(Entity jointEntity, decimal halfAngle); + + /// Return the inverse mass matrix cone limit + bool getInverseMassMatrixConeLimit(Entity jointEntity) const; + + /// Set the inverse mass matrix cone limit + void setInverseMassMatrixConeLimit(Entity jointEntity, decimal inverseMassMatrix); + + /// Get the cone limit local axis of body 1 + Vector3 getConeLimitLocalAxisBody1(Entity jointEntity) const; + + /// Set the cone limit local axis of body 1 + void setConeLimitLocalAxisBody1(Entity jointEntity, const Vector3& localAxisBody1); + + /// Get the cone limit local axis of body 2 + Vector3 getConeLimitLocalAxisBody2(Entity jointEntity) const; + + /// Set the cone limit local axis of body 2 + void setConeLimitLocalAxisBody2(Entity jointEntity, const Vector3& localAxisBody2); + // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; @@ -188,145 +249,201 @@ class BallAndSocketJointComponents : public Components { }; // Return a pointer to a given joint -inline BallAndSocketJoint* BallAndSocketJointComponents::getJoint(Entity jointEntity) const { +RP3D_FORCE_INLINE BallAndSocketJoint* BallAndSocketJointComponents::getJoint(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mJoints[mMapEntityToComponentIndex[jointEntity]]; } // Set the joint pointer to a given joint -inline void BallAndSocketJointComponents::setJoint(Entity jointEntity, BallAndSocketJoint* joint) const { +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setJoint(Entity jointEntity, BallAndSocketJoint* joint) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mJoints[mMapEntityToComponentIndex[jointEntity]] = joint; } // Return the local anchor point of body 1 for a given joint -inline const Vector3& BallAndSocketJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& BallAndSocketJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]]; } // Set the local anchor point of body 1 for a given joint -inline void BallAndSocketJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody1; } // Return the local anchor point of body 2 for a given joint -inline const Vector3& BallAndSocketJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& BallAndSocketJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]]; } // Set the local anchor point of body 2 for a given joint -inline void BallAndSocketJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody2; } // Return the vector from center of body 1 to anchor point in world-space -inline const Vector3& BallAndSocketJointComponents::getR1World(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& BallAndSocketJointComponents::getR1World(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR1World[mMapEntityToComponentIndex[jointEntity]]; } // Set the vector from center of body 1 to anchor point in world-space -inline void BallAndSocketJointComponents::setR1World(Entity jointEntity, const Vector3& r1World) { +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setR1World(Entity jointEntity, const Vector3& r1World) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR1World[mMapEntityToComponentIndex[jointEntity]] = r1World; } // Return the vector from center of body 2 to anchor point in world-space -inline const Vector3& BallAndSocketJointComponents::getR2World(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& BallAndSocketJointComponents::getR2World(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR2World[mMapEntityToComponentIndex[jointEntity]]; } // Set the vector from center of body 2 to anchor point in world-space -inline void BallAndSocketJointComponents::setR2World(Entity jointEntity, const Vector3& r2World) { +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setR2World(Entity jointEntity, const Vector3& r2World) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR2World[mMapEntityToComponentIndex[jointEntity]] = r2World; } // Return the inertia tensor of body 1 (in world-space coordinates) -inline const Matrix3x3& BallAndSocketJointComponents::getI1(Entity jointEntity) const { +RP3D_FORCE_INLINE const Matrix3x3& BallAndSocketJointComponents::getI1(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mI1[mMapEntityToComponentIndex[jointEntity]]; } // Set the inertia tensor of body 1 (in world-space coordinates) -inline void BallAndSocketJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) { +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mI1[mMapEntityToComponentIndex[jointEntity]] = i1; } // Return the inertia tensor of body 2 (in world-space coordinates) -inline const Matrix3x3& BallAndSocketJointComponents::getI2(Entity jointEntity) const { +RP3D_FORCE_INLINE const Matrix3x3& BallAndSocketJointComponents::getI2(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mI2[mMapEntityToComponentIndex[jointEntity]]; } // Set the inertia tensor of body 2 (in world-space coordinates) -inline void BallAndSocketJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) { +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mI2[mMapEntityToComponentIndex[jointEntity]] = i2; } // Return the bias vector for the constraint -inline Vector3 &BallAndSocketJointComponents::getBiasVector(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3 &BallAndSocketJointComponents::getBiasVector(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBiasVector[mMapEntityToComponentIndex[jointEntity]]; } // Set the bias vector for the constraint -inline void BallAndSocketJointComponents::setBiasVector(Entity jointEntity, const Vector3& biasVector) { +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setBiasVector(Entity jointEntity, const Vector3& biasVector) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBiasVector[mMapEntityToComponentIndex[jointEntity]] = biasVector; } // Return the inverse mass matrix K=JM^-1J^-t of the constraint -inline Matrix3x3& BallAndSocketJointComponents::getInverseMassMatrix(Entity jointEntity) { +RP3D_FORCE_INLINE Matrix3x3& BallAndSocketJointComponents::getInverseMassMatrix(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInverseMassMatrix[mMapEntityToComponentIndex[jointEntity]]; } // Set the inverse mass matrix K=JM^-1J^-t of the constraint -inline void BallAndSocketJointComponents::setInverseMassMatrix(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setInverseMassMatrix(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInverseMassMatrix[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; } // Return the accumulated impulse -inline Vector3 &BallAndSocketJointComponents::getImpulse(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& BallAndSocketJointComponents::getImpulse(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulse[mMapEntityToComponentIndex[jointEntity]]; } // Set the accumulated impulse -inline void BallAndSocketJointComponents::setImpulse(Entity jointEntity, const Vector3& impulse) { +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setImpulse(Entity jointEntity, const Vector3& impulse) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulse[mMapEntityToComponentIndex[jointEntity]] = impulse; } +// Return true if the cone limit is enabled +RP3D_FORCE_INLINE bool BallAndSocketJointComponents::getIsConeLimitEnabled(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mIsConeLimitEnabled[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set to true if the cone limit is enabled +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setIsConeLimitEnabled(Entity jointEntity, bool isLimitEnabled) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mIsConeLimitEnabled[mMapEntityToComponentIndex[jointEntity]] = isLimitEnabled; +} + +// Return the cone limit impulse +RP3D_FORCE_INLINE bool BallAndSocketJointComponents::getConeLimitImpulse(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mConeLimitImpulse[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the cone limit impulse +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setConeLimitImpulse(Entity jointEntity, decimal impulse) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mConeLimitImpulse[mMapEntityToComponentIndex[jointEntity]] = impulse; +} + +// Return the cone limit half angle +RP3D_FORCE_INLINE decimal BallAndSocketJointComponents::getConeLimitHalfAngle(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mConeLimitHalfAngle[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the cone limit half angle +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setConeLimitHalfAngle(Entity jointEntity, decimal halfAngle) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mConeLimitHalfAngle[mMapEntityToComponentIndex[jointEntity]] = halfAngle; +} + +// Return the inverse mass matrix cone limit +RP3D_FORCE_INLINE bool BallAndSocketJointComponents::getInverseMassMatrixConeLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInverseMassMatrixConeLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the inverse mass matrix cone limit +RP3D_FORCE_INLINE void BallAndSocketJointComponents::setInverseMassMatrixConeLimit(Entity jointEntity, decimal inverseMassMatrix) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInverseMassMatrixConeLimit[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; +} + } #endif diff --git a/include/reactphysics3d/components/ColliderComponents.h b/include/reactphysics3d/components/ColliderComponents.h index 86c6c5af0..32c013f87 100644 --- a/include/reactphysics3d/components/ColliderComponents.h +++ b/include/reactphysics3d/components/ColliderComponents.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -32,6 +32,7 @@ #include #include #include +#include // ReactPhysics3D namespace namespace reactphysics3d { @@ -89,8 +90,8 @@ class ColliderComponents : public Components { /// Array with the local-to-world transforms of the colliders Transform* mLocalToWorldTransforms; - /// Array with the list of involved overlapping pairs for each collider - List* mOverlappingPairs; + /// Array with the involved overlapping pairs for each collider + Array* mOverlappingPairs; /// True if the size of the collision shape associated with the collider /// has been changed by the user @@ -99,6 +100,9 @@ class ColliderComponents : public Components { /// True if the collider is a trigger bool* mIsTrigger; + /// Array with the material of each collider + Material* mMaterials; + // -------------------- Methods -------------------- // @@ -127,14 +131,15 @@ class ColliderComponents : public Components { unsigned short collisionCategoryBits; unsigned short collideWithMaskBits; const Transform& localToWorldTransform; + const Material& material; /// Constructor ColliderComponent(Entity bodyEntity, Collider* collider, AABB localBounds, const Transform& localToBodyTransform, CollisionShape* collisionShape, unsigned short collisionCategoryBits, - unsigned short collideWithMaskBits, const Transform& localToWorldTransform) + unsigned short collideWithMaskBits, const Transform& localToWorldTransform, const Material& material) :bodyEntity(bodyEntity), collider(collider), localBounds(localBounds), localToBodyTransform(localToBodyTransform), collisionShape(collisionShape), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits), - localToWorldTransform(localToWorldTransform) { + localToWorldTransform(localToWorldTransform), material(material) { } }; @@ -189,8 +194,8 @@ class ColliderComponents : public Components { /// Set the local-to-world transform of a collider void setLocalToWorldTransform(Entity colliderEntity, const Transform& transform); - /// Return a reference to the list of overlapping pairs for a given collider - List& getOverlappingPairs(Entity colliderEntity); + /// Return a reference to the array of overlapping pairs for a given collider + Array& getOverlappingPairs(Entity colliderEntity); /// Return true if the size of collision shape of the collider has been changed by the user bool getHasCollisionShapeChangedSize(Entity colliderEntity) const; @@ -204,16 +209,24 @@ class ColliderComponents : public Components { /// Set whether a collider is a trigger void setIsTrigger(Entity colliderEntity, bool isTrigger); + /// Return a reference to the material of a collider + Material& getMaterial(Entity colliderEntity); + + /// Set the material of a collider + void setMaterial(Entity colliderEntity, const Material& material); + // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; friend class CollisionDetectionSystem; + friend class ContactSolverSystem; friend class DynamicsSystem; friend class OverlappingPairs; + friend class RigidBody; }; // Return the body entity of a given collider -inline Entity ColliderComponents::getBody(Entity colliderEntity) const { +RP3D_FORCE_INLINE Entity ColliderComponents::getBody(Entity colliderEntity) const { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -221,7 +234,7 @@ inline Entity ColliderComponents::getBody(Entity colliderEntity) const { } // Return a pointer to a given collider -inline Collider *ColliderComponents::getCollider(Entity colliderEntity) const { +RP3D_FORCE_INLINE Collider *ColliderComponents::getCollider(Entity colliderEntity) const { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -229,7 +242,7 @@ inline Collider *ColliderComponents::getCollider(Entity colliderEntity) const { } // Return the local-to-body transform of a collider -inline const Transform& ColliderComponents::getLocalToBodyTransform(Entity colliderEntity) const { +RP3D_FORCE_INLINE const Transform& ColliderComponents::getLocalToBodyTransform(Entity colliderEntity) const { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -237,7 +250,7 @@ inline const Transform& ColliderComponents::getLocalToBodyTransform(Entity colli } // Set the local-to-body transform of a collider -inline void ColliderComponents::setLocalToBodyTransform(Entity colliderEntity, const Transform& transform) { +RP3D_FORCE_INLINE void ColliderComponents::setLocalToBodyTransform(Entity colliderEntity, const Transform& transform) { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -245,7 +258,7 @@ inline void ColliderComponents::setLocalToBodyTransform(Entity colliderEntity, c } // Return a pointer to the collision shape of a collider -inline CollisionShape* ColliderComponents::getCollisionShape(Entity colliderEntity) const { +RP3D_FORCE_INLINE CollisionShape* ColliderComponents::getCollisionShape(Entity colliderEntity) const { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -253,7 +266,7 @@ inline CollisionShape* ColliderComponents::getCollisionShape(Entity colliderEnti } // Return the broad-phase id of a given collider -inline int32 ColliderComponents::getBroadPhaseId(Entity colliderEntity) const { +RP3D_FORCE_INLINE int32 ColliderComponents::getBroadPhaseId(Entity colliderEntity) const { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -261,7 +274,7 @@ inline int32 ColliderComponents::getBroadPhaseId(Entity colliderEntity) const { } // Set the broad-phase id of a given collider -inline void ColliderComponents::setBroadPhaseId(Entity colliderEntity, int32 broadPhaseId) { +RP3D_FORCE_INLINE void ColliderComponents::setBroadPhaseId(Entity colliderEntity, int32 broadPhaseId) { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -269,7 +282,7 @@ inline void ColliderComponents::setBroadPhaseId(Entity colliderEntity, int32 bro } // Return the collision category bits of a given collider -inline unsigned short ColliderComponents::getCollisionCategoryBits(Entity colliderEntity) const { +RP3D_FORCE_INLINE unsigned short ColliderComponents::getCollisionCategoryBits(Entity colliderEntity) const { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -277,7 +290,7 @@ inline unsigned short ColliderComponents::getCollisionCategoryBits(Entity collid } // Return the "collide with" mask bits of a given collider -inline unsigned short ColliderComponents::getCollideWithMaskBits(Entity colliderEntity) const { +RP3D_FORCE_INLINE unsigned short ColliderComponents::getCollideWithMaskBits(Entity colliderEntity) const { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -285,7 +298,7 @@ inline unsigned short ColliderComponents::getCollideWithMaskBits(Entity collider } // Set the collision category bits of a given collider -inline void ColliderComponents::setCollisionCategoryBits(Entity colliderEntity, unsigned short collisionCategoryBits) { +RP3D_FORCE_INLINE void ColliderComponents::setCollisionCategoryBits(Entity colliderEntity, unsigned short collisionCategoryBits) { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -293,7 +306,7 @@ inline void ColliderComponents::setCollisionCategoryBits(Entity colliderEntity, } // Set the "collide with" mask bits of a given collider -inline void ColliderComponents::setCollideWithMaskBits(Entity colliderEntity, unsigned short collideWithMaskBits) { +RP3D_FORCE_INLINE void ColliderComponents::setCollideWithMaskBits(Entity colliderEntity, unsigned short collideWithMaskBits) { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -301,7 +314,7 @@ inline void ColliderComponents::setCollideWithMaskBits(Entity colliderEntity, un } // Return the local-to-world transform of a collider -inline const Transform& ColliderComponents::getLocalToWorldTransform(Entity colliderEntity) const { +RP3D_FORCE_INLINE const Transform& ColliderComponents::getLocalToWorldTransform(Entity colliderEntity) const { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -309,15 +322,15 @@ inline const Transform& ColliderComponents::getLocalToWorldTransform(Entity coll } // Set the local-to-world transform of a collider -inline void ColliderComponents::setLocalToWorldTransform(Entity colliderEntity, const Transform& transform) { +RP3D_FORCE_INLINE void ColliderComponents::setLocalToWorldTransform(Entity colliderEntity, const Transform& transform) { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); mLocalToWorldTransforms[mMapEntityToComponentIndex[colliderEntity]] = transform; } -// Return a reference to the list of overlapping pairs for a given collider -inline List& ColliderComponents::getOverlappingPairs(Entity colliderEntity) { +// Return a reference to the array of overlapping pairs for a given collider +RP3D_FORCE_INLINE Array& ColliderComponents::getOverlappingPairs(Entity colliderEntity) { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -325,7 +338,7 @@ inline List& ColliderComponents::getOverlappingPairs(Entity colliderEnti } // Return true if the size of collision shape of the collider has been changed by the user -inline bool ColliderComponents::getHasCollisionShapeChangedSize(Entity colliderEntity) const { +RP3D_FORCE_INLINE bool ColliderComponents::getHasCollisionShapeChangedSize(Entity colliderEntity) const { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -333,7 +346,7 @@ inline bool ColliderComponents::getHasCollisionShapeChangedSize(Entity colliderE } // Return true if the size of collision shape of the collider has been changed by the user -inline void ColliderComponents::setHasCollisionShapeChangedSize(Entity colliderEntity, bool hasCollisionShapeChangedSize) { +RP3D_FORCE_INLINE void ColliderComponents::setHasCollisionShapeChangedSize(Entity colliderEntity, bool hasCollisionShapeChangedSize) { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -342,7 +355,7 @@ inline void ColliderComponents::setHasCollisionShapeChangedSize(Entity colliderE // Return true if a collider is a trigger -inline bool ColliderComponents::getIsTrigger(Entity colliderEntity) const { +RP3D_FORCE_INLINE bool ColliderComponents::getIsTrigger(Entity colliderEntity) const { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -350,13 +363,29 @@ inline bool ColliderComponents::getIsTrigger(Entity colliderEntity) const { } // Set whether a collider is a trigger -inline void ColliderComponents::setIsTrigger(Entity colliderEntity, bool isTrigger) { +RP3D_FORCE_INLINE void ColliderComponents::setIsTrigger(Entity colliderEntity, bool isTrigger) { assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); mIsTrigger[mMapEntityToComponentIndex[colliderEntity]] = isTrigger; } +// Return a reference to the material of a collider +RP3D_FORCE_INLINE Material& ColliderComponents::getMaterial(Entity colliderEntity) { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mMaterials[mMapEntityToComponentIndex[colliderEntity]]; +} + +// Set the material of a collider +RP3D_FORCE_INLINE void ColliderComponents::setMaterial(Entity colliderEntity, const Material& material) { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + mMaterials[mMapEntityToComponentIndex[colliderEntity]] = material; +} + } #endif diff --git a/include/reactphysics3d/components/CollisionBodyComponents.h b/include/reactphysics3d/components/CollisionBodyComponents.h index c97414d53..282558c7e 100644 --- a/include/reactphysics3d/components/CollisionBodyComponents.h +++ b/include/reactphysics3d/components/CollisionBodyComponents.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -57,8 +57,8 @@ class CollisionBodyComponents : public Components { /// Array of pointers to the corresponding bodies CollisionBody** mBodies; - /// Array with the list of colliders of each body - List* mColliders; + /// Array with the colliders of each body + Array* mColliders; /// Array of boolean values to know if the body is active. bool* mIsActive; @@ -113,8 +113,8 @@ class CollisionBodyComponents : public Components { /// Return a pointer to a body CollisionBody* getBody(Entity bodyEntity); - /// Return the list of colliders of a body - const List& getColliders(Entity bodyEntity) const; + /// Return the array of colliders of a body + const Array& getColliders(Entity bodyEntity) const; /// Return true if the body is active bool getIsActive(Entity bodyEntity) const; @@ -130,7 +130,7 @@ class CollisionBodyComponents : public Components { }; // Add a collider to a body component -inline void CollisionBodyComponents::addColliderToBody(Entity bodyEntity, Entity colliderEntity) { +RP3D_FORCE_INLINE void CollisionBodyComponents::addColliderToBody(Entity bodyEntity, Entity colliderEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -138,7 +138,7 @@ inline void CollisionBodyComponents::addColliderToBody(Entity bodyEntity, Entity } // Remove a collider from a body component -inline void CollisionBodyComponents::removeColliderFromBody(Entity bodyEntity, Entity colliderEntity) { +RP3D_FORCE_INLINE void CollisionBodyComponents::removeColliderFromBody(Entity bodyEntity, Entity colliderEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -146,15 +146,15 @@ inline void CollisionBodyComponents::removeColliderFromBody(Entity bodyEntity, E } // Return a pointer to a body -inline CollisionBody *CollisionBodyComponents::getBody(Entity bodyEntity) { +RP3D_FORCE_INLINE CollisionBody *CollisionBodyComponents::getBody(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); return mBodies[mMapEntityToComponentIndex[bodyEntity]]; } -// Return the list of colliders of a body -inline const List& CollisionBodyComponents::getColliders(Entity bodyEntity) const { +// Return the array of colliders of a body +RP3D_FORCE_INLINE const Array& CollisionBodyComponents::getColliders(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -162,7 +162,7 @@ inline const List& CollisionBodyComponents::getColliders(Entity bodyEnti } // Return true if the body is active -inline bool CollisionBodyComponents::getIsActive(Entity bodyEntity) const { +RP3D_FORCE_INLINE bool CollisionBodyComponents::getIsActive(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -170,7 +170,7 @@ inline bool CollisionBodyComponents::getIsActive(Entity bodyEntity) const { } // Set the value to know if the body is active -inline void CollisionBodyComponents::setIsActive(Entity bodyEntity, bool isActive) const { +RP3D_FORCE_INLINE void CollisionBodyComponents::setIsActive(Entity bodyEntity, bool isActive) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -178,7 +178,7 @@ inline void CollisionBodyComponents::setIsActive(Entity bodyEntity, bool isActiv } // Return the user data associated with the body -inline void* CollisionBodyComponents::getUserData(Entity bodyEntity) const { +RP3D_FORCE_INLINE void* CollisionBodyComponents::getUserData(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -186,7 +186,7 @@ inline void* CollisionBodyComponents::getUserData(Entity bodyEntity) const { } // Set the user data associated with the body -inline void CollisionBodyComponents::setUserData(Entity bodyEntity, void* userData) const { +RP3D_FORCE_INLINE void CollisionBodyComponents::setUserData(Entity bodyEntity, void* userData) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); diff --git a/include/reactphysics3d/components/Components.h b/include/reactphysics3d/components/Components.h index 71785930f..17dfa0015 100644 --- a/include/reactphysics3d/components/Components.h +++ b/include/reactphysics3d/components/Components.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -113,6 +113,9 @@ class Components { /// Return true if there is a component for a given entity bool hasComponent(Entity entity) const; + /// Return true if there is a component for a given entiy and if so set the entity index + bool hasComponentGetIndex(Entity entity, uint32& entityIndex) const; + /// Return the number of components uint32 getNbComponents() const; @@ -124,28 +127,41 @@ class Components { }; // Return true if an entity is sleeping -inline bool Components::getIsEntityDisabled(Entity entity) const { +RP3D_FORCE_INLINE bool Components::getIsEntityDisabled(Entity entity) const { assert(hasComponent(entity)); return mMapEntityToComponentIndex[entity] >= mDisabledStartIndex; } // Return true if there is a component for a given entity -inline bool Components::hasComponent(Entity entity) const { +RP3D_FORCE_INLINE bool Components::hasComponent(Entity entity) const { return mMapEntityToComponentIndex.containsKey(entity); } +// Return true if there is a component for a given entity and if so set the entity index +RP3D_FORCE_INLINE bool Components::hasComponentGetIndex(Entity entity, uint32& entityIndex) const { + + auto it = mMapEntityToComponentIndex.find(entity); + + if (it != mMapEntityToComponentIndex.end()) { + entityIndex = it->second; + return true; + } + + return false; +} + // Return the number of components -inline uint32 Components::getNbComponents() const { +RP3D_FORCE_INLINE uint32 Components::getNbComponents() const { return mNbComponents; } // Return the number of enabled components -inline uint32 Components::getNbEnabledComponents() const { +RP3D_FORCE_INLINE uint32 Components::getNbEnabledComponents() const { return mDisabledStartIndex; } // Return the index in the arrays for a given entity -inline uint32 Components::getEntityIndex(Entity entity) const { +RP3D_FORCE_INLINE uint32 Components::getEntityIndex(Entity entity) const { assert(hasComponent(entity)); return mMapEntityToComponentIndex[entity]; } diff --git a/include/reactphysics3d/components/FixedJointComponents.h b/include/reactphysics3d/components/FixedJointComponents.h index 990a4ba03..eedbeda2a 100644 --- a/include/reactphysics3d/components/FixedJointComponents.h +++ b/include/reactphysics3d/components/FixedJointComponents.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -224,133 +224,133 @@ class FixedJointComponents : public Components { }; // Return a pointer to a given joint -inline FixedJoint* FixedJointComponents::getJoint(Entity jointEntity) const { +RP3D_FORCE_INLINE FixedJoint* FixedJointComponents::getJoint(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mJoints[mMapEntityToComponentIndex[jointEntity]]; } // Set the joint pointer to a given joint -inline void FixedJointComponents::setJoint(Entity jointEntity, FixedJoint* joint) const { +RP3D_FORCE_INLINE void FixedJointComponents::setJoint(Entity jointEntity, FixedJoint* joint) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mJoints[mMapEntityToComponentIndex[jointEntity]] = joint; } // Return the local anchor point of body 1 for a given joint -inline const Vector3& FixedJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& FixedJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]]; } // Set the local anchor point of body 1 for a given joint -inline void FixedJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchorPointBody1) { +RP3D_FORCE_INLINE void FixedJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchorPointBody1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchorPointBody1; } // Return the local anchor point of body 2 for a given joint -inline const Vector3& FixedJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& FixedJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]]; } // Set the local anchor point of body 2 for a given joint -inline void FixedJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchorPointBody2) { +RP3D_FORCE_INLINE void FixedJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchorPointBody2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchorPointBody2; } // Return the vector from center of body 1 to anchor point in world-space -inline const Vector3& FixedJointComponents::getR1World(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& FixedJointComponents::getR1World(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR1World[mMapEntityToComponentIndex[jointEntity]]; } // Set the vector from center of body 1 to anchor point in world-space -inline void FixedJointComponents::setR1World(Entity jointEntity, const Vector3& r1World) { +RP3D_FORCE_INLINE void FixedJointComponents::setR1World(Entity jointEntity, const Vector3& r1World) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR1World[mMapEntityToComponentIndex[jointEntity]] = r1World; } // Return the vector from center of body 2 to anchor point in world-space -inline const Vector3& FixedJointComponents::getR2World(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& FixedJointComponents::getR2World(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR2World[mMapEntityToComponentIndex[jointEntity]]; } // Set the vector from center of body 2 to anchor point in world-space -inline void FixedJointComponents::setR2World(Entity jointEntity, const Vector3& r2World) { +RP3D_FORCE_INLINE void FixedJointComponents::setR2World(Entity jointEntity, const Vector3& r2World) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR2World[mMapEntityToComponentIndex[jointEntity]] = r2World; } // Return the inertia tensor of body 1 (in world-space coordinates) -inline const Matrix3x3& FixedJointComponents::getI1(Entity jointEntity) const { +RP3D_FORCE_INLINE const Matrix3x3& FixedJointComponents::getI1(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mI1[mMapEntityToComponentIndex[jointEntity]]; } // Set the inertia tensor of body 1 (in world-space coordinates) -inline void FixedJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) { +RP3D_FORCE_INLINE void FixedJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mI1[mMapEntityToComponentIndex[jointEntity]] = i1; } // Return the inertia tensor of body 2 (in world-space coordinates) -inline const Matrix3x3& FixedJointComponents::getI2(Entity jointEntity) const { +RP3D_FORCE_INLINE const Matrix3x3& FixedJointComponents::getI2(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mI2[mMapEntityToComponentIndex[jointEntity]]; } // Set the inertia tensor of body 2 (in world-space coordinates) -inline void FixedJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) { +RP3D_FORCE_INLINE void FixedJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mI2[mMapEntityToComponentIndex[jointEntity]] = i2; } // Return the translation impulse -inline Vector3& FixedJointComponents::getImpulseTranslation(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& FixedJointComponents::getImpulseTranslation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]]; } // Set the translation impulse -inline void FixedJointComponents::setImpulseTranslation(Entity jointEntity, const Vector3& impulseTranslation) { +RP3D_FORCE_INLINE void FixedJointComponents::setImpulseTranslation(Entity jointEntity, const Vector3& impulseTranslation) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; } // Return the translation impulse -inline Vector3& FixedJointComponents::getImpulseRotation(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& FixedJointComponents::getImpulseRotation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseRotation[mMapEntityToComponentIndex[jointEntity]]; } // Set the translation impulse -inline void FixedJointComponents::setImpulseRotation(Entity jointEntity, const Vector3& impulseTranslation) { +RP3D_FORCE_INLINE void FixedJointComponents::setImpulseRotation(Entity jointEntity, const Vector3& impulseTranslation) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseRotation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; } // Return the translation inverse mass matrix of the constraint -inline Matrix3x3& FixedJointComponents::getInverseMassMatrixTranslation(Entity jointEntity) { +RP3D_FORCE_INLINE Matrix3x3& FixedJointComponents::getInverseMassMatrixTranslation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]]; @@ -358,63 +358,63 @@ inline Matrix3x3& FixedJointComponents::getInverseMassMatrixTranslation(Entity j // Set the translation inverse mass matrix of the constraint -inline void FixedJointComponents::setInverseMassMatrixTranslation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { +RP3D_FORCE_INLINE void FixedJointComponents::setInverseMassMatrixTranslation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; } // Return the rotation inverse mass matrix of the constraint -inline Matrix3x3& FixedJointComponents::getInverseMassMatrixRotation(Entity jointEntity) { +RP3D_FORCE_INLINE Matrix3x3& FixedJointComponents::getInverseMassMatrixRotation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]]; } // Set the rotation inverse mass matrix of the constraint -inline void FixedJointComponents::setInverseMassMatrixRotation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { +RP3D_FORCE_INLINE void FixedJointComponents::setInverseMassMatrixRotation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; } // Return the translation bias -inline Vector3& FixedJointComponents::getBiasTranslation(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& FixedJointComponents::getBiasTranslation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBiasTranslation[mMapEntityToComponentIndex[jointEntity]]; } // Set the translation impulse -inline void FixedJointComponents::setBiasTranslation(Entity jointEntity, const Vector3 &impulseTranslation) { +RP3D_FORCE_INLINE void FixedJointComponents::setBiasTranslation(Entity jointEntity, const Vector3 &impulseTranslation) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBiasTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; } // Return the rotation bias -inline Vector3& FixedJointComponents::getBiasRotation(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& FixedJointComponents::getBiasRotation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBiasRotation[mMapEntityToComponentIndex[jointEntity]]; } // Set the rotation impulse -inline void FixedJointComponents::setBiasRotation(Entity jointEntity, const Vector3& impulseRotation) { +RP3D_FORCE_INLINE void FixedJointComponents::setBiasRotation(Entity jointEntity, const Vector3& impulseRotation) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBiasRotation[mMapEntityToComponentIndex[jointEntity]] = impulseRotation; } // Return the initial orientation difference -inline Quaternion& FixedJointComponents::getInitOrientationDifferenceInv(Entity jointEntity) { +RP3D_FORCE_INLINE Quaternion& FixedJointComponents::getInitOrientationDifferenceInv(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]]; } // Set the rotation impulse -inline void FixedJointComponents::setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv) { +RP3D_FORCE_INLINE void FixedJointComponents::setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]] = initOrientationDifferenceInv; diff --git a/include/reactphysics3d/components/HingeJointComponents.h b/include/reactphysics3d/components/HingeJointComponents.h index d50db7076..b4ecbedbb 100644 --- a/include/reactphysics3d/components/HingeJointComponents.h +++ b/include/reactphysics3d/components/HingeJointComponents.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -140,10 +140,10 @@ class HingeJointComponents : public Components { /// True if the motor of the joint in enabled bool* mIsMotorEnabled; - /// Lower limit (minimum allowed rotation angle in radian) + /// Lower limit (minimum allowed rotation angle in radians) decimal* mLowerLimit; - /// Upper limit (maximum translation distance) + /// Upper limit (maximum allowed rotation angle in radians) decimal* mUpperLimit; /// True if the lower limit is violated @@ -412,136 +412,137 @@ class HingeJointComponents : public Components { friend class BroadPhaseSystem; friend class SolveHingeJointSystem; + friend class HingeJoint; }; // Return a pointer to a given joint -inline HingeJoint* HingeJointComponents::getJoint(Entity jointEntity) const { +RP3D_FORCE_INLINE HingeJoint* HingeJointComponents::getJoint(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mJoints[mMapEntityToComponentIndex[jointEntity]]; } // Set the joint pointer to a given joint -inline void HingeJointComponents::setJoint(Entity jointEntity, HingeJoint* joint) const { +RP3D_FORCE_INLINE void HingeJointComponents::setJoint(Entity jointEntity, HingeJoint* joint) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mJoints[mMapEntityToComponentIndex[jointEntity]] = joint; } // Return the local anchor point of body 1 for a given joint -inline const Vector3& HingeJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& HingeJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]]; } // Set the local anchor point of body 1 for a given joint -inline void HingeJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { +RP3D_FORCE_INLINE void HingeJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody1; } // Return the local anchor point of body 2 for a given joint -inline const Vector3& HingeJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& HingeJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]]; } // Set the local anchor point of body 2 for a given joint -inline void HingeJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { +RP3D_FORCE_INLINE void HingeJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody2; } // Return the vector from center of body 1 to anchor point in world-space -inline const Vector3& HingeJointComponents::getR1World(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& HingeJointComponents::getR1World(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR1World[mMapEntityToComponentIndex[jointEntity]]; } // Set the vector from center of body 1 to anchor point in world-space -inline void HingeJointComponents::setR1World(Entity jointEntity, const Vector3& r1World) { +RP3D_FORCE_INLINE void HingeJointComponents::setR1World(Entity jointEntity, const Vector3& r1World) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR1World[mMapEntityToComponentIndex[jointEntity]] = r1World; } // Return the vector from center of body 2 to anchor point in world-space -inline const Vector3& HingeJointComponents::getR2World(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& HingeJointComponents::getR2World(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR2World[mMapEntityToComponentIndex[jointEntity]]; } // Set the vector from center of body 2 to anchor point in world-space -inline void HingeJointComponents::setR2World(Entity jointEntity, const Vector3& r2World) { +RP3D_FORCE_INLINE void HingeJointComponents::setR2World(Entity jointEntity, const Vector3& r2World) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR2World[mMapEntityToComponentIndex[jointEntity]] = r2World; } // Return the inertia tensor of body 1 (in world-space coordinates) -inline const Matrix3x3& HingeJointComponents::getI1(Entity jointEntity) const { +RP3D_FORCE_INLINE const Matrix3x3& HingeJointComponents::getI1(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mI1[mMapEntityToComponentIndex[jointEntity]]; } // Set the inertia tensor of body 1 (in world-space coordinates) -inline void HingeJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) { +RP3D_FORCE_INLINE void HingeJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mI1[mMapEntityToComponentIndex[jointEntity]] = i1; } // Return the inertia tensor of body 2 (in world-space coordinates) -inline const Matrix3x3& HingeJointComponents::getI2(Entity jointEntity) const { +RP3D_FORCE_INLINE const Matrix3x3& HingeJointComponents::getI2(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mI2[mMapEntityToComponentIndex[jointEntity]]; } // Set the inertia tensor of body 2 (in world-space coordinates) -inline void HingeJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) { +RP3D_FORCE_INLINE void HingeJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mI2[mMapEntityToComponentIndex[jointEntity]] = i2; } // Return the translation impulse -inline Vector3& HingeJointComponents::getImpulseTranslation(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& HingeJointComponents::getImpulseTranslation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]]; } // Set the translation impulse -inline void HingeJointComponents::setImpulseTranslation(Entity jointEntity, const Vector3& impulseTranslation) { +RP3D_FORCE_INLINE void HingeJointComponents::setImpulseTranslation(Entity jointEntity, const Vector3& impulseTranslation) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; } // Return the translation impulse -inline Vector2& HingeJointComponents::getImpulseRotation(Entity jointEntity) { +RP3D_FORCE_INLINE Vector2& HingeJointComponents::getImpulseRotation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseRotation[mMapEntityToComponentIndex[jointEntity]]; } // Set the translation impulse -inline void HingeJointComponents::setImpulseRotation(Entity jointEntity, const Vector2& impulseTranslation) { +RP3D_FORCE_INLINE void HingeJointComponents::setImpulseRotation(Entity jointEntity, const Vector2& impulseTranslation) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseRotation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; } // Return the translation inverse mass matrix of the constraint -inline Matrix3x3& HingeJointComponents::getInverseMassMatrixTranslation(Entity jointEntity) { +RP3D_FORCE_INLINE Matrix3x3& HingeJointComponents::getInverseMassMatrixTranslation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]]; @@ -549,91 +550,91 @@ inline Matrix3x3& HingeJointComponents::getInverseMassMatrixTranslation(Entity j // Set the translation inverse mass matrix of the constraint -inline void HingeJointComponents::setInverseMassMatrixTranslation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { +RP3D_FORCE_INLINE void HingeJointComponents::setInverseMassMatrixTranslation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; } // Return the rotation inverse mass matrix of the constraint -inline Matrix2x2& HingeJointComponents::getInverseMassMatrixRotation(Entity jointEntity) { +RP3D_FORCE_INLINE Matrix2x2& HingeJointComponents::getInverseMassMatrixRotation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]]; } // Set the rotation inverse mass matrix of the constraint -inline void HingeJointComponents::setInverseMassMatrixRotation(Entity jointEntity, const Matrix2x2& inverseMassMatrix) { +RP3D_FORCE_INLINE void HingeJointComponents::setInverseMassMatrixRotation(Entity jointEntity, const Matrix2x2& inverseMassMatrix) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; } // Return the translation bias -inline Vector3& HingeJointComponents::getBiasTranslation(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& HingeJointComponents::getBiasTranslation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBiasTranslation[mMapEntityToComponentIndex[jointEntity]]; } // Set the translation impulse -inline void HingeJointComponents::setBiasTranslation(Entity jointEntity, const Vector3 &impulseTranslation) { +RP3D_FORCE_INLINE void HingeJointComponents::setBiasTranslation(Entity jointEntity, const Vector3 &impulseTranslation) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBiasTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; } // Return the rotation bias -inline Vector2 &HingeJointComponents::getBiasRotation(Entity jointEntity) { +RP3D_FORCE_INLINE Vector2 &HingeJointComponents::getBiasRotation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBiasRotation[mMapEntityToComponentIndex[jointEntity]]; } // Set the rotation impulse -inline void HingeJointComponents::setBiasRotation(Entity jointEntity, const Vector2& impulseRotation) { +RP3D_FORCE_INLINE void HingeJointComponents::setBiasRotation(Entity jointEntity, const Vector2& impulseRotation) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBiasRotation[mMapEntityToComponentIndex[jointEntity]] = impulseRotation; } // Return the initial orientation difference -inline Quaternion& HingeJointComponents::getInitOrientationDifferenceInv(Entity jointEntity) { +RP3D_FORCE_INLINE Quaternion& HingeJointComponents::getInitOrientationDifferenceInv(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]]; } // Set the rotation impulse -inline void HingeJointComponents::setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv) { +RP3D_FORCE_INLINE void HingeJointComponents::setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]] = initOrientationDifferenceInv; } // Return the hinge rotation axis (in local-space coordinates of body 1) -inline Vector3& HingeJointComponents::getHingeLocalAxisBody1(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& HingeJointComponents::getHingeLocalAxisBody1(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mHingeLocalAxisBody1[mMapEntityToComponentIndex[jointEntity]]; } // Set the hinge rotation axis (in local-space coordinates of body 1) -inline void HingeJointComponents::setHingeLocalAxisBody1(Entity jointEntity, const Vector3& hingeLocalAxisBody1) { +RP3D_FORCE_INLINE void HingeJointComponents::setHingeLocalAxisBody1(Entity jointEntity, const Vector3& hingeLocalAxisBody1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mHingeLocalAxisBody1[mMapEntityToComponentIndex[jointEntity]] = hingeLocalAxisBody1; } // Return the hinge rotation axis (in local-space coordiantes of body 2) -inline Vector3& HingeJointComponents::getHingeLocalAxisBody2(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& HingeJointComponents::getHingeLocalAxisBody2(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mHingeLocalAxisBody2[mMapEntityToComponentIndex[jointEntity]]; } // Set the hinge rotation axis (in local-space coordiantes of body 2) -inline void HingeJointComponents::setHingeLocalAxisBody2(Entity jointEntity, const Vector3& hingeLocalAxisBody2) { +RP3D_FORCE_INLINE void HingeJointComponents::setHingeLocalAxisBody2(Entity jointEntity, const Vector3& hingeLocalAxisBody2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mHingeLocalAxisBody2[mMapEntityToComponentIndex[jointEntity]] = hingeLocalAxisBody2; @@ -641,56 +642,56 @@ inline void HingeJointComponents::setHingeLocalAxisBody2(Entity jointEntity, con // Return the hinge rotation axis (in world-space coordinates) computed from body 1 -inline Vector3& HingeJointComponents::getA1(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& HingeJointComponents::getA1(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mA1[mMapEntityToComponentIndex[jointEntity]]; } // Set the hinge rotation axis (in world-space coordinates) computed from body 1 -inline void HingeJointComponents::setA1(Entity jointEntity, const Vector3& a1) { +RP3D_FORCE_INLINE void HingeJointComponents::setA1(Entity jointEntity, const Vector3& a1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mA1[mMapEntityToComponentIndex[jointEntity]] = a1; } // Return the cross product of vector b2 and a1 -inline Vector3& HingeJointComponents::getB2CrossA1(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& HingeJointComponents::getB2CrossA1(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mB2CrossA1[mMapEntityToComponentIndex[jointEntity]]; } // Set the cross product of vector b2 and a1 -inline void HingeJointComponents::setB2CrossA1(Entity jointEntity, const Vector3& b2CrossA1) { +RP3D_FORCE_INLINE void HingeJointComponents::setB2CrossA1(Entity jointEntity, const Vector3& b2CrossA1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mB2CrossA1[mMapEntityToComponentIndex[jointEntity]] = b2CrossA1; } // Return the cross product of vector c2 and a1; -inline Vector3& HingeJointComponents::getC2CrossA1(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& HingeJointComponents::getC2CrossA1(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mC2CrossA1[mMapEntityToComponentIndex[jointEntity]]; } // Set the cross product of vector c2 and a1; -inline void HingeJointComponents::setC2CrossA1(Entity jointEntity, const Vector3& c2CrossA1) { +RP3D_FORCE_INLINE void HingeJointComponents::setC2CrossA1(Entity jointEntity, const Vector3& c2CrossA1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mC2CrossA1[mMapEntityToComponentIndex[jointEntity]] = c2CrossA1; } // Return the accumulated impulse for the lower limit constraint -inline decimal HingeJointComponents::getImpulseLowerLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal HingeJointComponents::getImpulseLowerLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseLowerLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the accumulated impulse for the lower limit constraint -inline void HingeJointComponents::setImpulseLowerLimit(Entity jointEntity, decimal impulseLowerLimit) { +RP3D_FORCE_INLINE void HingeJointComponents::setImpulseLowerLimit(Entity jointEntity, decimal impulseLowerLimit) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseLowerLimit[mMapEntityToComponentIndex[jointEntity]] = impulseLowerLimit; @@ -698,14 +699,14 @@ inline void HingeJointComponents::setImpulseLowerLimit(Entity jointEntity, decim // Return the accumulated impulse for the upper limit constraint -inline decimal HingeJointComponents::getImpulseUpperLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal HingeJointComponents::getImpulseUpperLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseUpperLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the accumulated impulse for the upper limit constraint -inline void HingeJointComponents::setImpulseUpperLimit(Entity jointEntity, decimal impulseUpperLimit) const { +RP3D_FORCE_INLINE void HingeJointComponents::setImpulseUpperLimit(Entity jointEntity, decimal impulseUpperLimit) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseUpperLimit[mMapEntityToComponentIndex[jointEntity]] = impulseUpperLimit; @@ -713,182 +714,182 @@ inline void HingeJointComponents::setImpulseUpperLimit(Entity jointEntity, decim // Return the accumulated impulse for the motor constraint; -inline decimal HingeJointComponents::getImpulseMotor(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal HingeJointComponents::getImpulseMotor(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseMotor[mMapEntityToComponentIndex[jointEntity]]; } // Set the accumulated impulse for the motor constraint; -inline void HingeJointComponents::setImpulseMotor(Entity jointEntity, decimal impulseMotor) { +RP3D_FORCE_INLINE void HingeJointComponents::setImpulseMotor(Entity jointEntity, decimal impulseMotor) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseMotor[mMapEntityToComponentIndex[jointEntity]] = impulseMotor; } // Return the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) -inline decimal HingeJointComponents::getInverseMassMatrixLimitMotor(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal HingeJointComponents::getInverseMassMatrixLimitMotor(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInverseMassMatrixLimitMotor[mMapEntityToComponentIndex[jointEntity]]; } // Set the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) -inline void HingeJointComponents::setInverseMassMatrixLimitMotor(Entity jointEntity, decimal inverseMassMatrixLimitMotor) { +RP3D_FORCE_INLINE void HingeJointComponents::setInverseMassMatrixLimitMotor(Entity jointEntity, decimal inverseMassMatrixLimitMotor) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInverseMassMatrixLimitMotor[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixLimitMotor; } // Return the inverse of mass matrix K=JM^-1J^t for the motor -inline decimal HingeJointComponents::getInverseMassMatrixMotor(Entity jointEntity) { +RP3D_FORCE_INLINE decimal HingeJointComponents::getInverseMassMatrixMotor(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInverseMassMatrixMotor[mMapEntityToComponentIndex[jointEntity]]; } // Return the inverse of mass matrix K=JM^-1J^t for the motor -inline void HingeJointComponents::setInverseMassMatrixMotor(Entity jointEntity, decimal inverseMassMatrixMotor) { +RP3D_FORCE_INLINE void HingeJointComponents::setInverseMassMatrixMotor(Entity jointEntity, decimal inverseMassMatrixMotor) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInverseMassMatrixMotor[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixMotor; } // Return the bias of the lower limit constraint -inline decimal HingeJointComponents::getBLowerLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal HingeJointComponents::getBLowerLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBLowerLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the bias of the lower limit constraint -inline void HingeJointComponents::setBLowerLimit(Entity jointEntity, decimal bLowerLimit) const { +RP3D_FORCE_INLINE void HingeJointComponents::setBLowerLimit(Entity jointEntity, decimal bLowerLimit) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBLowerLimit[mMapEntityToComponentIndex[jointEntity]] = bLowerLimit; } // Return the bias of the upper limit constraint -inline decimal HingeJointComponents::getBUpperLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal HingeJointComponents::getBUpperLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBUpperLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the bias of the upper limit constraint -inline void HingeJointComponents::setBUpperLimit(Entity jointEntity, decimal bUpperLimit) { +RP3D_FORCE_INLINE void HingeJointComponents::setBUpperLimit(Entity jointEntity, decimal bUpperLimit) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBUpperLimit[mMapEntityToComponentIndex[jointEntity]] = bUpperLimit; } // Return true if the joint limits are enabled -inline bool HingeJointComponents::getIsLimitEnabled(Entity jointEntity) const { +RP3D_FORCE_INLINE bool HingeJointComponents::getIsLimitEnabled(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsLimitEnabled[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the joint limits are enabled -inline void HingeJointComponents::setIsLimitEnabled(Entity jointEntity, bool isLimitEnabled) { +RP3D_FORCE_INLINE void HingeJointComponents::setIsLimitEnabled(Entity jointEntity, bool isLimitEnabled) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsLimitEnabled[mMapEntityToComponentIndex[jointEntity]] = isLimitEnabled; } // Return true if the motor of the joint in enabled -inline bool HingeJointComponents::getIsMotorEnabled(Entity jointEntity) const { +RP3D_FORCE_INLINE bool HingeJointComponents::getIsMotorEnabled(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsMotorEnabled[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the motor of the joint in enabled -inline void HingeJointComponents::setIsMotorEnabled(Entity jointEntity, bool isMotorEnabled) const { +RP3D_FORCE_INLINE void HingeJointComponents::setIsMotorEnabled(Entity jointEntity, bool isMotorEnabled) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsMotorEnabled[mMapEntityToComponentIndex[jointEntity]] = isMotorEnabled; } // Return the Lower limit (minimum allowed rotation angle in radian) -inline decimal HingeJointComponents::getLowerLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal HingeJointComponents::getLowerLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLowerLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the Lower limit (minimum allowed rotation angle in radian) -inline void HingeJointComponents::setLowerLimit(Entity jointEntity, decimal lowerLimit) const { +RP3D_FORCE_INLINE void HingeJointComponents::setLowerLimit(Entity jointEntity, decimal lowerLimit) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLowerLimit[mMapEntityToComponentIndex[jointEntity]] = lowerLimit; } // Return the upper limit (maximum translation distance) -inline decimal HingeJointComponents::getUpperLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal HingeJointComponents::getUpperLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mUpperLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the upper limit (maximum translation distance) -inline void HingeJointComponents::setUpperLimit(Entity jointEntity, decimal upperLimit) { +RP3D_FORCE_INLINE void HingeJointComponents::setUpperLimit(Entity jointEntity, decimal upperLimit) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mUpperLimit[mMapEntityToComponentIndex[jointEntity]] = upperLimit; } // Return true if the lower limit is violated -inline bool HingeJointComponents::getIsLowerLimitViolated(Entity jointEntity) const { +RP3D_FORCE_INLINE bool HingeJointComponents::getIsLowerLimitViolated(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsLowerLimitViolated[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the lower limit is violated -inline void HingeJointComponents::setIsLowerLimitViolated(Entity jointEntity, bool isLowerLimitViolated) { +RP3D_FORCE_INLINE void HingeJointComponents::setIsLowerLimitViolated(Entity jointEntity, bool isLowerLimitViolated) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsLowerLimitViolated[mMapEntityToComponentIndex[jointEntity]] = isLowerLimitViolated; } // Return true if the upper limit is violated -inline bool HingeJointComponents::getIsUpperLimitViolated(Entity jointEntity) const { +RP3D_FORCE_INLINE bool HingeJointComponents::getIsUpperLimitViolated(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsUpperLimitViolated[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the upper limit is violated -inline void HingeJointComponents::setIsUpperLimitViolated(Entity jointEntity, bool isUpperLimitViolated) const { +RP3D_FORCE_INLINE void HingeJointComponents::setIsUpperLimitViolated(Entity jointEntity, bool isUpperLimitViolated) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsUpperLimitViolated[mMapEntityToComponentIndex[jointEntity]] = isUpperLimitViolated; } // Return the motor speed (in rad/s) -inline decimal HingeJointComponents::getMotorSpeed(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal HingeJointComponents::getMotorSpeed(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mMotorSpeed[mMapEntityToComponentIndex[jointEntity]]; } // Set the motor speed (in rad/s) -inline void HingeJointComponents::setMotorSpeed(Entity jointEntity, decimal motorSpeed) { +RP3D_FORCE_INLINE void HingeJointComponents::setMotorSpeed(Entity jointEntity, decimal motorSpeed) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mMotorSpeed[mMapEntityToComponentIndex[jointEntity]] = motorSpeed; } // Return the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed -inline decimal HingeJointComponents::getMaxMotorTorque(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal HingeJointComponents::getMaxMotorTorque(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mMaxMotorTorque[mMapEntityToComponentIndex[jointEntity]]; } // Set the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed -inline void HingeJointComponents::setMaxMotorTorque(Entity jointEntity, decimal maxMotorTorque) { +RP3D_FORCE_INLINE void HingeJointComponents::setMaxMotorTorque(Entity jointEntity, decimal maxMotorTorque) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mMaxMotorTorque[mMapEntityToComponentIndex[jointEntity]] = maxMotorTorque; diff --git a/include/reactphysics3d/components/JointComponents.h b/include/reactphysics3d/components/JointComponents.h index f82744c09..f593d2701 100644 --- a/include/reactphysics3d/components/JointComponents.h +++ b/include/reactphysics3d/components/JointComponents.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -138,7 +138,7 @@ class JointComponents : public Components { JointsPositionCorrectionTechnique getPositionCorrectionTechnique(Entity jointEntity) const; /// Set the position correction technique of a joint - void getPositionCorrectionTechnique(Entity jointEntity, JointsPositionCorrectionTechnique positionCorrectionTechnique); + void setPositionCorrectionTechnique(Entity jointEntity, JointsPositionCorrectionTechnique positionCorrectionTechnique); /// Return true if the collision is enabled between the two bodies of a joint bool getIsCollisionEnabled(Entity jointEntity) const; @@ -157,64 +157,69 @@ class JointComponents : public Components { friend class BroadPhaseSystem; friend class ConstraintSolverSystem; friend class PhysicsWorld; + friend class SolveBallAndSocketJointSystem; + friend class SolveFixedJointSystem; + friend class SolveHingeJointSystem; + friend class SolveSliderJointSystem; + }; // Return the entity of the first body of a joint -inline Entity JointComponents::getBody1Entity(Entity jointEntity) const { +RP3D_FORCE_INLINE Entity JointComponents::getBody1Entity(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBody1Entities[mMapEntityToComponentIndex[jointEntity]]; } // Return the entity of the second body of a joint -inline Entity JointComponents::getBody2Entity(Entity jointEntity) const { +RP3D_FORCE_INLINE Entity JointComponents::getBody2Entity(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBody2Entities[mMapEntityToComponentIndex[jointEntity]]; } // Return a pointer to the joint -inline Joint* JointComponents::getJoint(Entity jointEntity) const { +RP3D_FORCE_INLINE Joint* JointComponents::getJoint(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mJoints[mMapEntityToComponentIndex[jointEntity]]; } // Return the type of a joint -inline JointType JointComponents::getType(Entity jointEntity) const { +RP3D_FORCE_INLINE JointType JointComponents::getType(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mTypes[mMapEntityToComponentIndex[jointEntity]]; } // Return the position correction technique of a joint -inline JointsPositionCorrectionTechnique JointComponents::getPositionCorrectionTechnique(Entity jointEntity) const { +RP3D_FORCE_INLINE JointsPositionCorrectionTechnique JointComponents::getPositionCorrectionTechnique(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mPositionCorrectionTechniques[mMapEntityToComponentIndex[jointEntity]]; } // Set the position correction technique of a joint -inline void JointComponents::getPositionCorrectionTechnique(Entity jointEntity, JointsPositionCorrectionTechnique positionCorrectionTechnique) { +RP3D_FORCE_INLINE void JointComponents::setPositionCorrectionTechnique(Entity jointEntity, JointsPositionCorrectionTechnique positionCorrectionTechnique) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mPositionCorrectionTechniques[mMapEntityToComponentIndex[jointEntity]] = positionCorrectionTechnique; } // Return true if the collision is enabled between the two bodies of a joint -inline bool JointComponents::getIsCollisionEnabled(Entity jointEntity) const { +RP3D_FORCE_INLINE bool JointComponents::getIsCollisionEnabled(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsCollisionEnabled[mMapEntityToComponentIndex[jointEntity]]; } // Set whether the collision is enabled between the two bodies of a joint -inline void JointComponents::setIsCollisionEnabled(Entity jointEntity, bool isCollisionEnabled) { +RP3D_FORCE_INLINE void JointComponents::setIsCollisionEnabled(Entity jointEntity, bool isCollisionEnabled) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsCollisionEnabled[mMapEntityToComponentIndex[jointEntity]] = isCollisionEnabled; } // Return true if the joint has already been added into an island during island creation -inline bool JointComponents::getIsAlreadyInIsland(Entity jointEntity) const { +RP3D_FORCE_INLINE bool JointComponents::getIsAlreadyInIsland(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsAlreadyInIsland[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the joint has already been added into an island during island creation -inline void JointComponents::setIsAlreadyInIsland(Entity jointEntity, bool isAlreadyInIsland) { +RP3D_FORCE_INLINE void JointComponents::setIsAlreadyInIsland(Entity jointEntity, bool isAlreadyInIsland) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsAlreadyInIsland[mMapEntityToComponentIndex[jointEntity]] = isAlreadyInIsland; } diff --git a/include/reactphysics3d/components/RigidBodyComponents.h b/include/reactphysics3d/components/RigidBodyComponents.h index 1be18761c..afe114b63 100644 --- a/include/reactphysics3d/components/RigidBodyComponents.h +++ b/include/reactphysics3d/components/RigidBodyComponents.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -109,9 +109,12 @@ class RigidBodyComponents : public Components { /// Array with the inertia tensor of each component Vector3* mLocalInertiaTensors; - /// Array with the inverse of the inertia tensor of each component + /// Array with the inverse of the local inertia tensor of each component Vector3* mInverseInertiaTensorsLocal; + /// Array with the inverse of the world inertia tensor of each component + Matrix3x3* mInverseInertiaTensorsWorld; + /// Array with the constrained linear velocity of each component Vector3* mConstrainedLinearVelocities; @@ -142,8 +145,17 @@ class RigidBodyComponents : public Components { /// Array with the boolean value to know if the body has already been added into an island bool* mIsAlreadyInIsland; - /// For each body, the list of joints entities the body is part of - List* mJoints; + /// For each body, the array of joints entities the body is part of + Array* mJoints; + + /// For each body, the array of the indices of contact pairs in which the body is involved + Array* mContactPairs; + + /// For each body, the vector of lock translation vectors + Vector3* mLinearLockAxisFactors; + + /// For each body, the vector of lock rotation vectors + Vector3* mAngularLockAxisFactors; // -------------------- Methods -------------------- // @@ -258,6 +270,9 @@ class RigidBodyComponents : public Components { /// Return the inverse local inertia tensor of an entity const Vector3& getInertiaTensorLocalInverse(Entity bodyEntity); + /// Return the inverse world inertia tensor of an entity + const Matrix3x3& getInertiaTensorWorldInverse(Entity bodyEntity); + /// Set the external force of an entity void setExternalForce(Entity bodyEntity, const Vector3& externalForce); @@ -303,6 +318,12 @@ class RigidBodyComponents : public Components { /// Return true if the entity is already in an island bool getIsAlreadyInIsland(Entity bodyEntity) const; + /// Return the lock translation factor + const Vector3& getLinearLockAxisFactor(Entity bodyEntity) const; + + /// Return the lock rotation factor + const Vector3& getAngularLockAxisFactor(Entity bodyEntity) const; + /// Set the constrained linear velocity of an entity void setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity); @@ -333,8 +354,14 @@ class RigidBodyComponents : public Components { /// Set the value to know if the entity is already in an island void setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); - /// Return the list of joints of a body - const List& getJoints(Entity bodyEntity) const; + /// Set the linear lock axis factor + void setLinearLockAxisFactor(Entity bodyEntity, const Vector3& linearLockAxisFactor); + + /// Set the angular lock axis factor + void setAngularLockAxisFactor(Entity bodyEntity, const Vector3& rotationTranslationFactor); + + /// Return the array of joints of a body + const Array& getJoints(Entity bodyEntity) const; /// Add a joint to a body component void addJointToBody(Entity bodyEntity, Entity jointEntity); @@ -342,10 +369,14 @@ class RigidBodyComponents : public Components { /// Remove a joint from a body component void removeJointFromBody(Entity bodyEntity, Entity jointEntity); + /// A an associated contact pairs into the contact pairs array of the body + void addContacPair(Entity bodyEntity, uint32 contactPairIndex); + // -------------------- Friendship -------------------- // friend class PhysicsWorld; friend class ContactSolverSystem; + friend class CollisionDetectionSystem; friend class SolveBallAndSocketJointSystem; friend class SolveFixedJointSystem; friend class SolveHingeJointSystem; @@ -358,7 +389,7 @@ class RigidBodyComponents : public Components { }; // Return a pointer to a body rigid -inline RigidBody* RigidBodyComponents::getRigidBody(Entity bodyEntity) { +RP3D_FORCE_INLINE RigidBody* RigidBodyComponents::getRigidBody(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -366,7 +397,7 @@ inline RigidBody* RigidBodyComponents::getRigidBody(Entity bodyEntity) { } // Return true if the body is allowed to sleep -inline bool RigidBodyComponents::getIsAllowedToSleep(Entity bodyEntity) const { +RP3D_FORCE_INLINE bool RigidBodyComponents::getIsAllowedToSleep(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -374,7 +405,7 @@ inline bool RigidBodyComponents::getIsAllowedToSleep(Entity bodyEntity) const { } // Set the value to know if the body is allowed to sleep -inline void RigidBodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const { +RP3D_FORCE_INLINE void RigidBodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -382,7 +413,7 @@ inline void RigidBodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isA } // Return true if the body is sleeping -inline bool RigidBodyComponents::getIsSleeping(Entity bodyEntity) const { +RP3D_FORCE_INLINE bool RigidBodyComponents::getIsSleeping(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -390,7 +421,7 @@ inline bool RigidBodyComponents::getIsSleeping(Entity bodyEntity) const { } // Set the value to know if the body is sleeping -inline void RigidBodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) const { +RP3D_FORCE_INLINE void RigidBodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -398,7 +429,7 @@ inline void RigidBodyComponents::setIsSleeping(Entity bodyEntity, bool isSleepin } // Return the sleep time -inline decimal RigidBodyComponents::getSleepTime(Entity bodyEntity) const { +RP3D_FORCE_INLINE decimal RigidBodyComponents::getSleepTime(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -406,7 +437,7 @@ inline decimal RigidBodyComponents::getSleepTime(Entity bodyEntity) const { } // Set the sleep time -inline void RigidBodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) const { +RP3D_FORCE_INLINE void RigidBodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -414,7 +445,7 @@ inline void RigidBodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTi } // Return the body type of a body -inline BodyType RigidBodyComponents::getBodyType(Entity bodyEntity) { +RP3D_FORCE_INLINE BodyType RigidBodyComponents::getBodyType(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -422,7 +453,7 @@ inline BodyType RigidBodyComponents::getBodyType(Entity bodyEntity) { } // Set the body type of a body -inline void RigidBodyComponents::setBodyType(Entity bodyEntity, BodyType bodyType) { +RP3D_FORCE_INLINE void RigidBodyComponents::setBodyType(Entity bodyEntity, BodyType bodyType) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -430,7 +461,7 @@ inline void RigidBodyComponents::setBodyType(Entity bodyEntity, BodyType bodyTyp } // Return the linear velocity of an entity -inline const Vector3& RigidBodyComponents::getLinearVelocity(Entity bodyEntity) const { +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getLinearVelocity(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -438,7 +469,7 @@ inline const Vector3& RigidBodyComponents::getLinearVelocity(Entity bodyEntity) } // Return the angular velocity of an entity -inline const Vector3& RigidBodyComponents::getAngularVelocity(Entity bodyEntity) const { +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getAngularVelocity(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -446,7 +477,7 @@ inline const Vector3& RigidBodyComponents::getAngularVelocity(Entity bodyEntity) } // Set the linear velocity of an entity -inline void RigidBodyComponents::setLinearVelocity(Entity bodyEntity, const Vector3& linearVelocity) { +RP3D_FORCE_INLINE void RigidBodyComponents::setLinearVelocity(Entity bodyEntity, const Vector3& linearVelocity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -454,7 +485,7 @@ inline void RigidBodyComponents::setLinearVelocity(Entity bodyEntity, const Vect } // Set the angular velocity of an entity -inline void RigidBodyComponents::setAngularVelocity(Entity bodyEntity, const Vector3& angularVelocity) { +RP3D_FORCE_INLINE void RigidBodyComponents::setAngularVelocity(Entity bodyEntity, const Vector3& angularVelocity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -462,7 +493,7 @@ inline void RigidBodyComponents::setAngularVelocity(Entity bodyEntity, const Vec } // Return the external force of an entity -inline const Vector3& RigidBodyComponents::getExternalForce(Entity bodyEntity) const { +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getExternalForce(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -470,7 +501,7 @@ inline const Vector3& RigidBodyComponents::getExternalForce(Entity bodyEntity) c } // Return the external torque of an entity -inline const Vector3& RigidBodyComponents::getExternalTorque(Entity bodyEntity) const { +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getExternalTorque(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -478,7 +509,7 @@ inline const Vector3& RigidBodyComponents::getExternalTorque(Entity bodyEntity) } // Return the linear damping factor of an entity -inline decimal RigidBodyComponents::getLinearDamping(Entity bodyEntity) const { +RP3D_FORCE_INLINE decimal RigidBodyComponents::getLinearDamping(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -486,7 +517,7 @@ inline decimal RigidBodyComponents::getLinearDamping(Entity bodyEntity) const { } // Return the angular damping factor of an entity -inline decimal RigidBodyComponents::getAngularDamping(Entity bodyEntity) const { +RP3D_FORCE_INLINE decimal RigidBodyComponents::getAngularDamping(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -494,7 +525,7 @@ inline decimal RigidBodyComponents::getAngularDamping(Entity bodyEntity) const { } // Return the mass of an entity -inline decimal RigidBodyComponents::getMass(Entity bodyEntity) const { +RP3D_FORCE_INLINE decimal RigidBodyComponents::getMass(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -502,7 +533,7 @@ inline decimal RigidBodyComponents::getMass(Entity bodyEntity) const { } // Return the inverse mass of an entity -inline decimal RigidBodyComponents::getMassInverse(Entity bodyEntity) const { +RP3D_FORCE_INLINE decimal RigidBodyComponents::getMassInverse(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -510,15 +541,23 @@ inline decimal RigidBodyComponents::getMassInverse(Entity bodyEntity) const { } // Return the inverse local inertia tensor of an entity -inline const Vector3& RigidBodyComponents::getInertiaTensorLocalInverse(Entity bodyEntity) { +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getInertiaTensorLocalInverse(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); return mInverseInertiaTensorsLocal[mMapEntityToComponentIndex[bodyEntity]]; } +// Return the inverse world inertia tensor of an entity +RP3D_FORCE_INLINE const Matrix3x3& RigidBodyComponents::getInertiaTensorWorldInverse(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mInverseInertiaTensorsWorld[mMapEntityToComponentIndex[bodyEntity]]; +} + // Set the external force of an entity -inline void RigidBodyComponents::setExternalForce(Entity bodyEntity, const Vector3& externalForce) { +RP3D_FORCE_INLINE void RigidBodyComponents::setExternalForce(Entity bodyEntity, const Vector3& externalForce) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -526,7 +565,7 @@ inline void RigidBodyComponents::setExternalForce(Entity bodyEntity, const Vecto } // Set the external force of an entity -inline void RigidBodyComponents::setExternalTorque(Entity bodyEntity, const Vector3& externalTorque) { +RP3D_FORCE_INLINE void RigidBodyComponents::setExternalTorque(Entity bodyEntity, const Vector3& externalTorque) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -534,7 +573,7 @@ inline void RigidBodyComponents::setExternalTorque(Entity bodyEntity, const Vect } // Set the linear damping factor of an entity -inline void RigidBodyComponents::setLinearDamping(Entity bodyEntity, decimal linearDamping) { +RP3D_FORCE_INLINE void RigidBodyComponents::setLinearDamping(Entity bodyEntity, decimal linearDamping) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -542,7 +581,7 @@ inline void RigidBodyComponents::setLinearDamping(Entity bodyEntity, decimal lin } // Set the angular damping factor of an entity -inline void RigidBodyComponents::setAngularDamping(Entity bodyEntity, decimal angularDamping) { +RP3D_FORCE_INLINE void RigidBodyComponents::setAngularDamping(Entity bodyEntity, decimal angularDamping) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -550,7 +589,7 @@ inline void RigidBodyComponents::setAngularDamping(Entity bodyEntity, decimal an } // Set the mass of an entity -inline void RigidBodyComponents::setMass(Entity bodyEntity, decimal mass) { +RP3D_FORCE_INLINE void RigidBodyComponents::setMass(Entity bodyEntity, decimal mass) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -558,7 +597,7 @@ inline void RigidBodyComponents::setMass(Entity bodyEntity, decimal mass) { } // Set the mass inverse of an entity -inline void RigidBodyComponents::setMassInverse(Entity bodyEntity, decimal inverseMass) { +RP3D_FORCE_INLINE void RigidBodyComponents::setMassInverse(Entity bodyEntity, decimal inverseMass) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -566,7 +605,7 @@ inline void RigidBodyComponents::setMassInverse(Entity bodyEntity, decimal inver } // Return the local inertia tensor of an entity -inline const Vector3& RigidBodyComponents::getLocalInertiaTensor(Entity bodyEntity) { +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getLocalInertiaTensor(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -574,7 +613,7 @@ inline const Vector3& RigidBodyComponents::getLocalInertiaTensor(Entity bodyEnti } // Set the local inertia tensor of an entity -inline void RigidBodyComponents::setLocalInertiaTensor(Entity bodyEntity, const Vector3& inertiaTensorLocal) { +RP3D_FORCE_INLINE void RigidBodyComponents::setLocalInertiaTensor(Entity bodyEntity, const Vector3& inertiaTensorLocal) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -582,7 +621,7 @@ inline void RigidBodyComponents::setLocalInertiaTensor(Entity bodyEntity, const } // Set the inverse local inertia tensor of an entity -inline void RigidBodyComponents::setInverseInertiaTensorLocal(Entity bodyEntity, const Vector3& inertiaTensorLocalInverse) { +RP3D_FORCE_INLINE void RigidBodyComponents::setInverseInertiaTensorLocal(Entity bodyEntity, const Vector3& inertiaTensorLocalInverse) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -590,7 +629,7 @@ inline void RigidBodyComponents::setInverseInertiaTensorLocal(Entity bodyEntity, } // Return the constrained linear velocity of an entity -inline const Vector3& RigidBodyComponents::getConstrainedLinearVelocity(Entity bodyEntity) const { +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getConstrainedLinearVelocity(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -598,7 +637,7 @@ inline const Vector3& RigidBodyComponents::getConstrainedLinearVelocity(Entity b } // Return the constrained angular velocity of an entity -inline const Vector3& RigidBodyComponents::getConstrainedAngularVelocity(Entity bodyEntity) const { +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getConstrainedAngularVelocity(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -606,7 +645,7 @@ inline const Vector3& RigidBodyComponents::getConstrainedAngularVelocity(Entity } // Return the split linear velocity of an entity -inline const Vector3& RigidBodyComponents::getSplitLinearVelocity(Entity bodyEntity) const { +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getSplitLinearVelocity(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -614,7 +653,7 @@ inline const Vector3& RigidBodyComponents::getSplitLinearVelocity(Entity bodyEnt } // Return the split angular velocity of an entity -inline const Vector3& RigidBodyComponents::getSplitAngularVelocity(Entity bodyEntity) const { +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getSplitAngularVelocity(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -622,7 +661,7 @@ inline const Vector3& RigidBodyComponents::getSplitAngularVelocity(Entity bodyEn } // Return the constrained position of an entity -inline Vector3& RigidBodyComponents::getConstrainedPosition(Entity bodyEntity) { +RP3D_FORCE_INLINE Vector3& RigidBodyComponents::getConstrainedPosition(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -630,7 +669,7 @@ inline Vector3& RigidBodyComponents::getConstrainedPosition(Entity bodyEntity) { } // Return the constrained orientation of an entity -inline Quaternion& RigidBodyComponents::getConstrainedOrientation(Entity bodyEntity) { +RP3D_FORCE_INLINE Quaternion& RigidBodyComponents::getConstrainedOrientation(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -638,7 +677,7 @@ inline Quaternion& RigidBodyComponents::getConstrainedOrientation(Entity bodyEnt } // Return the local center of mass of an entity -inline const Vector3& RigidBodyComponents::getCenterOfMassLocal(Entity bodyEntity) { +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getCenterOfMassLocal(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -646,7 +685,7 @@ inline const Vector3& RigidBodyComponents::getCenterOfMassLocal(Entity bodyEntit } // Return the world center of mass of an entity -inline const Vector3& RigidBodyComponents::getCenterOfMassWorld(Entity bodyEntity) { +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getCenterOfMassWorld(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -654,7 +693,7 @@ inline const Vector3& RigidBodyComponents::getCenterOfMassWorld(Entity bodyEntit } // Set the constrained linear velocity of an entity -inline void RigidBodyComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) { +RP3D_FORCE_INLINE void RigidBodyComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -662,7 +701,7 @@ inline void RigidBodyComponents::setConstrainedLinearVelocity(Entity bodyEntity, } // Set the constrained angular velocity of an entity -inline void RigidBodyComponents::setConstrainedAngularVelocity(Entity bodyEntity, const Vector3& constrainedAngularVelocity) { +RP3D_FORCE_INLINE void RigidBodyComponents::setConstrainedAngularVelocity(Entity bodyEntity, const Vector3& constrainedAngularVelocity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -670,7 +709,7 @@ inline void RigidBodyComponents::setConstrainedAngularVelocity(Entity bodyEntity } // Set the split linear velocity of an entity -inline void RigidBodyComponents::setSplitLinearVelocity(Entity bodyEntity, const Vector3& splitLinearVelocity) { +RP3D_FORCE_INLINE void RigidBodyComponents::setSplitLinearVelocity(Entity bodyEntity, const Vector3& splitLinearVelocity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -678,7 +717,7 @@ inline void RigidBodyComponents::setSplitLinearVelocity(Entity bodyEntity, const } // Set the split angular velocity of an entity -inline void RigidBodyComponents::setSplitAngularVelocity(Entity bodyEntity, const Vector3& splitAngularVelocity) { +RP3D_FORCE_INLINE void RigidBodyComponents::setSplitAngularVelocity(Entity bodyEntity, const Vector3& splitAngularVelocity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -686,7 +725,7 @@ inline void RigidBodyComponents::setSplitAngularVelocity(Entity bodyEntity, cons } // Set the constrained position of an entity -inline void RigidBodyComponents::setConstrainedPosition(Entity bodyEntity, const Vector3& constrainedPosition) { +RP3D_FORCE_INLINE void RigidBodyComponents::setConstrainedPosition(Entity bodyEntity, const Vector3& constrainedPosition) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -694,7 +733,7 @@ inline void RigidBodyComponents::setConstrainedPosition(Entity bodyEntity, const } // Set the constrained orientation of an entity -inline void RigidBodyComponents::setConstrainedOrientation(Entity bodyEntity, const Quaternion& constrainedOrientation) { +RP3D_FORCE_INLINE void RigidBodyComponents::setConstrainedOrientation(Entity bodyEntity, const Quaternion& constrainedOrientation) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -702,7 +741,7 @@ inline void RigidBodyComponents::setConstrainedOrientation(Entity bodyEntity, co } // Set the local center of mass of an entity -inline void RigidBodyComponents::setCenterOfMassLocal(Entity bodyEntity, const Vector3& centerOfMassLocal) { +RP3D_FORCE_INLINE void RigidBodyComponents::setCenterOfMassLocal(Entity bodyEntity, const Vector3& centerOfMassLocal) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -710,7 +749,7 @@ inline void RigidBodyComponents::setCenterOfMassLocal(Entity bodyEntity, const V } // Set the world center of mass of an entity -inline void RigidBodyComponents::setCenterOfMassWorld(Entity bodyEntity, const Vector3& centerOfMassWorld) { +RP3D_FORCE_INLINE void RigidBodyComponents::setCenterOfMassWorld(Entity bodyEntity, const Vector3& centerOfMassWorld) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -718,7 +757,7 @@ inline void RigidBodyComponents::setCenterOfMassWorld(Entity bodyEntity, const V } // Return true if gravity is enabled for this entity -inline bool RigidBodyComponents::getIsGravityEnabled(Entity bodyEntity) const { +RP3D_FORCE_INLINE bool RigidBodyComponents::getIsGravityEnabled(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -726,15 +765,32 @@ inline bool RigidBodyComponents::getIsGravityEnabled(Entity bodyEntity) const { } // Return true if the entity is already in an island -inline bool RigidBodyComponents::getIsAlreadyInIsland(Entity bodyEntity) const { +RP3D_FORCE_INLINE bool RigidBodyComponents::getIsAlreadyInIsland(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); return mIsAlreadyInIsland[mMapEntityToComponentIndex[bodyEntity]]; } + +// Return the linear lock axis factor +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getLinearLockAxisFactor(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mLinearLockAxisFactors[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the angular lock axis factor +RP3D_FORCE_INLINE const Vector3& RigidBodyComponents::getAngularLockAxisFactor(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mAngularLockAxisFactors[mMapEntityToComponentIndex[bodyEntity]]; +} + // Set the value to know if the gravity is enabled for this entity -inline void RigidBodyComponents::setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled) { +RP3D_FORCE_INLINE void RigidBodyComponents::setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -742,33 +798,54 @@ inline void RigidBodyComponents::setIsGravityEnabled(Entity bodyEntity, bool isG } // Set the value to know if the entity is already in an island -inline void RigidBodyComponents::setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland) { +RP3D_FORCE_INLINE void RigidBodyComponents::setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); mIsAlreadyInIsland[mMapEntityToComponentIndex[bodyEntity]] = isAlreadyInIsland; } -// Return the list of joints of a body -inline const List& RigidBodyComponents::getJoints(Entity bodyEntity) const { +// Set the linear lock axis factor +RP3D_FORCE_INLINE void RigidBodyComponents::setLinearLockAxisFactor(Entity bodyEntity, const Vector3& linearLockAxisFactor) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + mLinearLockAxisFactors[mMapEntityToComponentIndex[bodyEntity]] = linearLockAxisFactor; +} + +// Set the angular lock axis factor +RP3D_FORCE_INLINE void RigidBodyComponents::setAngularLockAxisFactor(Entity bodyEntity, const Vector3& angularLockAxisFactor) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + mAngularLockAxisFactors[mMapEntityToComponentIndex[bodyEntity]] = angularLockAxisFactor; +} + +// Return the array of joints of a body +RP3D_FORCE_INLINE const Array& RigidBodyComponents::getJoints(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); return mJoints[mMapEntityToComponentIndex[bodyEntity]]; } // Add a joint to a body component -inline void RigidBodyComponents::addJointToBody(Entity bodyEntity, Entity jointEntity) { +RP3D_FORCE_INLINE void RigidBodyComponents::addJointToBody(Entity bodyEntity, Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); mJoints[mMapEntityToComponentIndex[bodyEntity]].add(jointEntity); } // Remove a joint from a body component -inline void RigidBodyComponents::removeJointFromBody(Entity bodyEntity, Entity jointEntity) { +RP3D_FORCE_INLINE void RigidBodyComponents::removeJointFromBody(Entity bodyEntity, Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); mJoints[mMapEntityToComponentIndex[bodyEntity]].remove(jointEntity); } +// A an associated contact pairs into the contact pairs array of the body +RP3D_FORCE_INLINE void RigidBodyComponents::addContacPair(Entity bodyEntity, uint32 contactPairIndex) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + mContactPairs[mMapEntityToComponentIndex[bodyEntity]].add(contactPairIndex); +} + } #endif diff --git a/include/reactphysics3d/components/SliderJointComponents.h b/include/reactphysics3d/components/SliderJointComponents.h index f15388ed9..ff6842600 100644 --- a/include/reactphysics3d/components/SliderJointComponents.h +++ b/include/reactphysics3d/components/SliderJointComponents.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -457,269 +457,270 @@ class SliderJointComponents : public Components { friend class BroadPhaseSystem; friend class SolveSliderJointSystem; + friend class SliderJoint; }; // Return a pointer to a given joint -inline SliderJoint* SliderJointComponents::getJoint(Entity jointEntity) const { +RP3D_FORCE_INLINE SliderJoint* SliderJointComponents::getJoint(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mJoints[mMapEntityToComponentIndex[jointEntity]]; } // Set the joint pointer to a given joint -inline void SliderJointComponents::setJoint(Entity jointEntity, SliderJoint* joint) const { +RP3D_FORCE_INLINE void SliderJointComponents::setJoint(Entity jointEntity, SliderJoint* joint) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mJoints[mMapEntityToComponentIndex[jointEntity]] = joint; } // Return the local anchor point of body 1 for a given joint -inline const Vector3& SliderJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& SliderJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]]; } // Set the local anchor point of body 1 for a given joint -inline void SliderJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { +RP3D_FORCE_INLINE void SliderJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody1; } // Return the local anchor point of body 2 for a given joint -inline const Vector3& SliderJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const { +RP3D_FORCE_INLINE const Vector3& SliderJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]]; } // Set the local anchor point of body 2 for a given joint -inline void SliderJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { +RP3D_FORCE_INLINE void SliderJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody2; } // Return the inertia tensor of body 1 (in world-space coordinates) -inline const Matrix3x3& SliderJointComponents::getI1(Entity jointEntity) const { +RP3D_FORCE_INLINE const Matrix3x3& SliderJointComponents::getI1(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mI1[mMapEntityToComponentIndex[jointEntity]]; } // Set the inertia tensor of body 1 (in world-space coordinates) -inline void SliderJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) { +RP3D_FORCE_INLINE void SliderJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mI1[mMapEntityToComponentIndex[jointEntity]] = i1; } // Return the inertia tensor of body 2 (in world-space coordinates) -inline const Matrix3x3& SliderJointComponents::getI2(Entity jointEntity) const { +RP3D_FORCE_INLINE const Matrix3x3& SliderJointComponents::getI2(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mI2[mMapEntityToComponentIndex[jointEntity]]; } // Set the inertia tensor of body 2 (in world-space coordinates) -inline void SliderJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) { +RP3D_FORCE_INLINE void SliderJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mI2[mMapEntityToComponentIndex[jointEntity]] = i2; } // Return the translation impulse -inline Vector2& SliderJointComponents::getImpulseTranslation(Entity jointEntity) { +RP3D_FORCE_INLINE Vector2& SliderJointComponents::getImpulseTranslation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]]; } // Set the translation impulse -inline void SliderJointComponents::setImpulseTranslation(Entity jointEntity, const Vector2& impulseTranslation) { +RP3D_FORCE_INLINE void SliderJointComponents::setImpulseTranslation(Entity jointEntity, const Vector2& impulseTranslation) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; } // Return the translation impulse -inline Vector3& SliderJointComponents::getImpulseRotation(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getImpulseRotation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseRotation[mMapEntityToComponentIndex[jointEntity]]; } // Set the translation impulse -inline void SliderJointComponents::setImpulseRotation(Entity jointEntity, const Vector3& impulseTranslation) { +RP3D_FORCE_INLINE void SliderJointComponents::setImpulseRotation(Entity jointEntity, const Vector3& impulseTranslation) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseRotation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; } // Return the translation inverse mass matrix of the constraint -inline Matrix2x2& SliderJointComponents::getInverseMassMatrixTranslation(Entity jointEntity) { +RP3D_FORCE_INLINE Matrix2x2& SliderJointComponents::getInverseMassMatrixTranslation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]]; } // Set the translation inverse mass matrix of the constraint -inline void SliderJointComponents::setInverseMassMatrixTranslation(Entity jointEntity, const Matrix2x2& inverseMassMatrix) { +RP3D_FORCE_INLINE void SliderJointComponents::setInverseMassMatrixTranslation(Entity jointEntity, const Matrix2x2& inverseMassMatrix) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; } // Return the rotation inverse mass matrix of the constraint -inline Matrix3x3& SliderJointComponents::getInverseMassMatrixRotation(Entity jointEntity) { +RP3D_FORCE_INLINE Matrix3x3& SliderJointComponents::getInverseMassMatrixRotation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]]; } // Set the rotation inverse mass matrix of the constraint -inline void SliderJointComponents::setInverseMassMatrixRotation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { +RP3D_FORCE_INLINE void SliderJointComponents::setInverseMassMatrixRotation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; } // Return the translation bias -inline Vector2& SliderJointComponents::getBiasTranslation(Entity jointEntity) { +RP3D_FORCE_INLINE Vector2& SliderJointComponents::getBiasTranslation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBiasTranslation[mMapEntityToComponentIndex[jointEntity]]; } // Set the translation impulse -inline void SliderJointComponents::setBiasTranslation(Entity jointEntity, const Vector2& impulseTranslation) { +RP3D_FORCE_INLINE void SliderJointComponents::setBiasTranslation(Entity jointEntity, const Vector2& impulseTranslation) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBiasTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; } // Return the rotation bias -inline Vector3& SliderJointComponents::getBiasRotation(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getBiasRotation(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBiasRotation[mMapEntityToComponentIndex[jointEntity]]; } // Set the rotation impulse -inline void SliderJointComponents::setBiasRotation(Entity jointEntity, const Vector3& impulseRotation) { +RP3D_FORCE_INLINE void SliderJointComponents::setBiasRotation(Entity jointEntity, const Vector3& impulseRotation) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBiasRotation[mMapEntityToComponentIndex[jointEntity]] = impulseRotation; } // Return the initial orientation difference -inline Quaternion& SliderJointComponents::getInitOrientationDifferenceInv(Entity jointEntity) { +RP3D_FORCE_INLINE Quaternion& SliderJointComponents::getInitOrientationDifferenceInv(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]]; } // Set the rotation impulse -inline void SliderJointComponents::setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv) { +RP3D_FORCE_INLINE void SliderJointComponents::setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]] = initOrientationDifferenceInv; } // Return the slider axis (in local-space coordinates of body 1) -inline Vector3& SliderJointComponents::getSliderAxisBody1(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getSliderAxisBody1(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mSliderAxisBody1[mMapEntityToComponentIndex[jointEntity]]; } // Set the slider axis (in local-space coordinates of body 1) -inline void SliderJointComponents::setSliderAxisBody1(Entity jointEntity, const Vector3& sliderAxisBody1) { +RP3D_FORCE_INLINE void SliderJointComponents::setSliderAxisBody1(Entity jointEntity, const Vector3& sliderAxisBody1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mSliderAxisBody1[mMapEntityToComponentIndex[jointEntity]] = sliderAxisBody1; } // Retunr the slider axis in world-space coordinates -inline Vector3& SliderJointComponents::getSliderAxisWorld(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getSliderAxisWorld(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mSliderAxisWorld[mMapEntityToComponentIndex[jointEntity]]; } // Set the slider axis in world-space coordinates -inline void SliderJointComponents::setSliderAxisWorld(Entity jointEntity, const Vector3& sliderAxisWorld) { +RP3D_FORCE_INLINE void SliderJointComponents::setSliderAxisWorld(Entity jointEntity, const Vector3& sliderAxisWorld) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mSliderAxisWorld[mMapEntityToComponentIndex[jointEntity]] = sliderAxisWorld; } // Return the vector r1 in world-space coordinates -inline Vector3& SliderJointComponents::getR1(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getR1(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR1[mMapEntityToComponentIndex[jointEntity]]; } // Set the vector r1 in world-space coordinates -inline void SliderJointComponents::setR1(Entity jointEntity, const Vector3& r1) { +RP3D_FORCE_INLINE void SliderJointComponents::setR1(Entity jointEntity, const Vector3& r1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR1[mMapEntityToComponentIndex[jointEntity]] = r1; } // Return the vector r2 in world-space coordinates -inline Vector3& SliderJointComponents::getR2(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getR2(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR2[mMapEntityToComponentIndex[jointEntity]]; } // Set the vector r2 in world-space coordinates -inline void SliderJointComponents::setR2(Entity jointEntity, const Vector3& r2) { +RP3D_FORCE_INLINE void SliderJointComponents::setR2(Entity jointEntity, const Vector3& r2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR2[mMapEntityToComponentIndex[jointEntity]] = r2; } // Return the first vector orthogonal to the slider axis local-space of body 1 -inline Vector3& SliderJointComponents::getN1(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getN1(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mN1[mMapEntityToComponentIndex[jointEntity]]; } // Set the first vector orthogonal to the slider axis local-space of body 1 -inline void SliderJointComponents::setN1(Entity jointEntity, const Vector3& n1) { +RP3D_FORCE_INLINE void SliderJointComponents::setN1(Entity jointEntity, const Vector3& n1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mN1[mMapEntityToComponentIndex[jointEntity]] = n1; } // Return the second vector orthogonal to the slider axis and mN1 in local-space of body 1 -inline Vector3& SliderJointComponents::getN2(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getN2(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mN2[mMapEntityToComponentIndex[jointEntity]]; } // Set the second vector orthogonal to the slider axis and mN1 in local-space of body 1 -inline void SliderJointComponents::setN2(Entity jointEntity, const Vector3& n2) { +RP3D_FORCE_INLINE void SliderJointComponents::setN2(Entity jointEntity, const Vector3& n2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mN2[mMapEntityToComponentIndex[jointEntity]] = n2; } // Return the accumulated impulse for the lower limit constraint -inline decimal SliderJointComponents::getImpulseLowerLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal SliderJointComponents::getImpulseLowerLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseLowerLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the accumulated impulse for the lower limit constraint -inline void SliderJointComponents::setImpulseLowerLimit(Entity jointEntity, decimal impulseLowerLimit) { +RP3D_FORCE_INLINE void SliderJointComponents::setImpulseLowerLimit(Entity jointEntity, decimal impulseLowerLimit) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseLowerLimit[mMapEntityToComponentIndex[jointEntity]] = impulseLowerLimit; @@ -727,14 +728,14 @@ inline void SliderJointComponents::setImpulseLowerLimit(Entity jointEntity, deci // Return the accumulated impulse for the upper limit constraint -inline decimal SliderJointComponents::getImpulseUpperLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal SliderJointComponents::getImpulseUpperLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseUpperLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the accumulated impulse for the upper limit constraint -inline void SliderJointComponents::setImpulseUpperLimit(Entity jointEntity, decimal impulseUpperLimit) const { +RP3D_FORCE_INLINE void SliderJointComponents::setImpulseUpperLimit(Entity jointEntity, decimal impulseUpperLimit) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseUpperLimit[mMapEntityToComponentIndex[jointEntity]] = impulseUpperLimit; @@ -742,266 +743,266 @@ inline void SliderJointComponents::setImpulseUpperLimit(Entity jointEntity, deci // Return the accumulated impulse for the motor constraint; -inline decimal SliderJointComponents::getImpulseMotor(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal SliderJointComponents::getImpulseMotor(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseMotor[mMapEntityToComponentIndex[jointEntity]]; } // Set the accumulated impulse for the motor constraint; -inline void SliderJointComponents::setImpulseMotor(Entity jointEntity, decimal impulseMotor) { +RP3D_FORCE_INLINE void SliderJointComponents::setImpulseMotor(Entity jointEntity, decimal impulseMotor) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseMotor[mMapEntityToComponentIndex[jointEntity]] = impulseMotor; } // Return the inverse of mass matrix K=JM^-1J^t for the limits (1x1 matrix) -inline decimal SliderJointComponents::getInverseMassMatrixLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal SliderJointComponents::getInverseMassMatrixLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInverseMassMatrixLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the inverse of mass matrix K=JM^-1J^t for the limits (1x1 matrix) -inline void SliderJointComponents::setInverseMassMatrixLimit(Entity jointEntity, decimal inverseMassMatrixLimitMotor) { +RP3D_FORCE_INLINE void SliderJointComponents::setInverseMassMatrixLimit(Entity jointEntity, decimal inverseMassMatrixLimitMotor) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInverseMassMatrixLimit[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixLimitMotor; } // Return the inverse of mass matrix K=JM^-1J^t for the motor -inline decimal SliderJointComponents::getInverseMassMatrixMotor(Entity jointEntity) { +RP3D_FORCE_INLINE decimal SliderJointComponents::getInverseMassMatrixMotor(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInverseMassMatrixMotor[mMapEntityToComponentIndex[jointEntity]]; } // Return the inverse of mass matrix K=JM^-1J^t for the motor -inline void SliderJointComponents::setInverseMassMatrixMotor(Entity jointEntity, decimal inverseMassMatrixMotor) { +RP3D_FORCE_INLINE void SliderJointComponents::setInverseMassMatrixMotor(Entity jointEntity, decimal inverseMassMatrixMotor) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInverseMassMatrixMotor[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixMotor; } // Return the bias of the lower limit constraint -inline decimal SliderJointComponents::getBLowerLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal SliderJointComponents::getBLowerLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBLowerLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the bias of the lower limit constraint -inline void SliderJointComponents::setBLowerLimit(Entity jointEntity, decimal bLowerLimit) const { +RP3D_FORCE_INLINE void SliderJointComponents::setBLowerLimit(Entity jointEntity, decimal bLowerLimit) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBLowerLimit[mMapEntityToComponentIndex[jointEntity]] = bLowerLimit; } // Return the bias of the upper limit constraint -inline decimal SliderJointComponents::getBUpperLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal SliderJointComponents::getBUpperLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBUpperLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the bias of the upper limit constraint -inline void SliderJointComponents::setBUpperLimit(Entity jointEntity, decimal bUpperLimit) { +RP3D_FORCE_INLINE void SliderJointComponents::setBUpperLimit(Entity jointEntity, decimal bUpperLimit) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBUpperLimit[mMapEntityToComponentIndex[jointEntity]] = bUpperLimit; } // Return true if the joint limits are enabled -inline bool SliderJointComponents::getIsLimitEnabled(Entity jointEntity) const { +RP3D_FORCE_INLINE bool SliderJointComponents::getIsLimitEnabled(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsLimitEnabled[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the joint limits are enabled -inline void SliderJointComponents::setIsLimitEnabled(Entity jointEntity, bool isLimitEnabled) { +RP3D_FORCE_INLINE void SliderJointComponents::setIsLimitEnabled(Entity jointEntity, bool isLimitEnabled) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsLimitEnabled[mMapEntityToComponentIndex[jointEntity]] = isLimitEnabled; } // Return true if the motor of the joint in enabled -inline bool SliderJointComponents::getIsMotorEnabled(Entity jointEntity) const { +RP3D_FORCE_INLINE bool SliderJointComponents::getIsMotorEnabled(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsMotorEnabled[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the motor of the joint in enabled -inline void SliderJointComponents::setIsMotorEnabled(Entity jointEntity, bool isMotorEnabled) const { +RP3D_FORCE_INLINE void SliderJointComponents::setIsMotorEnabled(Entity jointEntity, bool isMotorEnabled) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsMotorEnabled[mMapEntityToComponentIndex[jointEntity]] = isMotorEnabled; } // Return the Lower limit (minimum allowed rotation angle in radian) -inline decimal SliderJointComponents::getLowerLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal SliderJointComponents::getLowerLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLowerLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the Lower limit (minimum allowed rotation angle in radian) -inline void SliderJointComponents::setLowerLimit(Entity jointEntity, decimal lowerLimit) const { +RP3D_FORCE_INLINE void SliderJointComponents::setLowerLimit(Entity jointEntity, decimal lowerLimit) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLowerLimit[mMapEntityToComponentIndex[jointEntity]] = lowerLimit; } // Return the upper limit (maximum translation distance) -inline decimal SliderJointComponents::getUpperLimit(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal SliderJointComponents::getUpperLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mUpperLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the upper limit (maximum translation distance) -inline void SliderJointComponents::setUpperLimit(Entity jointEntity, decimal upperLimit) { +RP3D_FORCE_INLINE void SliderJointComponents::setUpperLimit(Entity jointEntity, decimal upperLimit) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mUpperLimit[mMapEntityToComponentIndex[jointEntity]] = upperLimit; } // Return true if the lower limit is violated -inline bool SliderJointComponents::getIsLowerLimitViolated(Entity jointEntity) const { +RP3D_FORCE_INLINE bool SliderJointComponents::getIsLowerLimitViolated(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsLowerLimitViolated[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the lower limit is violated -inline void SliderJointComponents::setIsLowerLimitViolated(Entity jointEntity, bool isLowerLimitViolated) { +RP3D_FORCE_INLINE void SliderJointComponents::setIsLowerLimitViolated(Entity jointEntity, bool isLowerLimitViolated) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsLowerLimitViolated[mMapEntityToComponentIndex[jointEntity]] = isLowerLimitViolated; } // Return true if the upper limit is violated -inline bool SliderJointComponents::getIsUpperLimitViolated(Entity jointEntity) const { +RP3D_FORCE_INLINE bool SliderJointComponents::getIsUpperLimitViolated(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsUpperLimitViolated[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the upper limit is violated -inline void SliderJointComponents::setIsUpperLimitViolated(Entity jointEntity, bool isUpperLimitViolated) const { +RP3D_FORCE_INLINE void SliderJointComponents::setIsUpperLimitViolated(Entity jointEntity, bool isUpperLimitViolated) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsUpperLimitViolated[mMapEntityToComponentIndex[jointEntity]] = isUpperLimitViolated; } // Return the motor speed (in rad/s) -inline decimal SliderJointComponents::getMotorSpeed(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal SliderJointComponents::getMotorSpeed(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mMotorSpeed[mMapEntityToComponentIndex[jointEntity]]; } // Set the motor speed (in rad/s) -inline void SliderJointComponents::setMotorSpeed(Entity jointEntity, decimal motorSpeed) { +RP3D_FORCE_INLINE void SliderJointComponents::setMotorSpeed(Entity jointEntity, decimal motorSpeed) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mMotorSpeed[mMapEntityToComponentIndex[jointEntity]] = motorSpeed; } // Return the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed -inline decimal SliderJointComponents::getMaxMotorForce(Entity jointEntity) const { +RP3D_FORCE_INLINE decimal SliderJointComponents::getMaxMotorForce(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mMaxMotorForce[mMapEntityToComponentIndex[jointEntity]]; } // Set the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed -inline void SliderJointComponents::setMaxMotorForce(Entity jointEntity, decimal maxMotorForce) { +RP3D_FORCE_INLINE void SliderJointComponents::setMaxMotorForce(Entity jointEntity, decimal maxMotorForce) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mMaxMotorForce[mMapEntityToComponentIndex[jointEntity]] = maxMotorForce; } // Return the cross product of r2 and n1 -inline Vector3& SliderJointComponents::getR2CrossN1(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getR2CrossN1(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR2CrossN1[mMapEntityToComponentIndex[jointEntity]]; } // Set the cross product of r2 and n1 -inline void SliderJointComponents::setR2CrossN1(Entity jointEntity, const Vector3& r2CrossN1) { +RP3D_FORCE_INLINE void SliderJointComponents::setR2CrossN1(Entity jointEntity, const Vector3& r2CrossN1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR2CrossN1[mMapEntityToComponentIndex[jointEntity]] = r2CrossN1; } // Return the cross product of r2 and n2 -inline Vector3& SliderJointComponents::getR2CrossN2(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getR2CrossN2(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR2CrossN2[mMapEntityToComponentIndex[jointEntity]]; } // Set the cross product of r2 and n2 -inline void SliderJointComponents::setR2CrossN2(Entity jointEntity, const Vector3& r2CrossN2) { +RP3D_FORCE_INLINE void SliderJointComponents::setR2CrossN2(Entity jointEntity, const Vector3& r2CrossN2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR2CrossN2[mMapEntityToComponentIndex[jointEntity]] = r2CrossN2; } // Return the cross product of r2 and the slider axis -inline Vector3& SliderJointComponents::getR2CrossSliderAxis(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getR2CrossSliderAxis(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR2CrossSliderAxis[mMapEntityToComponentIndex[jointEntity]]; } // Set the cross product of r2 and the slider axis -inline void SliderJointComponents::setR2CrossSliderAxis(Entity jointEntity, const Vector3& r2CrossSliderAxis) { +RP3D_FORCE_INLINE void SliderJointComponents::setR2CrossSliderAxis(Entity jointEntity, const Vector3& r2CrossSliderAxis) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR2CrossSliderAxis[mMapEntityToComponentIndex[jointEntity]] = r2CrossSliderAxis; } // Return the cross product of vector (r1 + u) and n1 -inline Vector3& SliderJointComponents::getR1PlusUCrossN1(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getR1PlusUCrossN1(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR1PlusUCrossN1[mMapEntityToComponentIndex[jointEntity]]; } // Set the cross product of vector (r1 + u) and n1 -inline void SliderJointComponents::setR1PlusUCrossN1(Entity jointEntity, const Vector3& r1PlusUCrossN1) { +RP3D_FORCE_INLINE void SliderJointComponents::setR1PlusUCrossN1(Entity jointEntity, const Vector3& r1PlusUCrossN1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR1PlusUCrossN1[mMapEntityToComponentIndex[jointEntity]] = r1PlusUCrossN1; } // Return the cross product of vector (r1 + u) and n2 -inline Vector3& SliderJointComponents::getR1PlusUCrossN2(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getR1PlusUCrossN2(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR1PlusUCrossN2[mMapEntityToComponentIndex[jointEntity]]; } // Set the cross product of vector (r1 + u) and n2 -inline void SliderJointComponents::setR1PlusUCrossN2(Entity jointEntity, const Vector3& r1PlusUCrossN2) { +RP3D_FORCE_INLINE void SliderJointComponents::setR1PlusUCrossN2(Entity jointEntity, const Vector3& r1PlusUCrossN2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR1PlusUCrossN2[mMapEntityToComponentIndex[jointEntity]] = r1PlusUCrossN2; } // Return the cross product of vector (r1 + u) and the slider axis -inline Vector3& SliderJointComponents::getR1PlusUCrossSliderAxis(Entity jointEntity) { +RP3D_FORCE_INLINE Vector3& SliderJointComponents::getR1PlusUCrossSliderAxis(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mR1PlusUCrossSliderAxis[mMapEntityToComponentIndex[jointEntity]]; } // Set the cross product of vector (r1 + u) and the slider axis -inline void SliderJointComponents::setR1PlusUCrossSliderAxis(Entity jointEntity, const Vector3& r1PlusUCrossSliderAxis) { +RP3D_FORCE_INLINE void SliderJointComponents::setR1PlusUCrossSliderAxis(Entity jointEntity, const Vector3& r1PlusUCrossSliderAxis) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mR1PlusUCrossSliderAxis[mMapEntityToComponentIndex[jointEntity]] = r1PlusUCrossSliderAxis; diff --git a/include/reactphysics3d/components/TransformComponents.h b/include/reactphysics3d/components/TransformComponents.h index a0d5878a5..d4dc576b2 100644 --- a/include/reactphysics3d/components/TransformComponents.h +++ b/include/reactphysics3d/components/TransformComponents.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -107,13 +107,13 @@ class TransformComponents : public Components { }; // Return the transform of an entity -inline Transform& TransformComponents::getTransform(Entity bodyEntity) const { +RP3D_FORCE_INLINE Transform& TransformComponents::getTransform(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); return mTransforms[mMapEntityToComponentIndex[bodyEntity]]; } // Set the transform of an entity -inline void TransformComponents::setTransform(Entity bodyEntity, const Transform& transform) { +RP3D_FORCE_INLINE void TransformComponents::setTransform(Entity bodyEntity, const Transform& transform) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); mTransforms[mMapEntityToComponentIndex[bodyEntity]] = transform; } diff --git a/include/reactphysics3d/configuration.h b/include/reactphysics3d/configuration.h index 8dc3bd90d..6f2de9588 100644 --- a/include/reactphysics3d/configuration.h +++ b/include/reactphysics3d/configuration.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -35,13 +35,24 @@ #include #include -// Windows platform -#if defined(WIN32) ||defined(_WIN32) || defined(_WIN64) ||defined(__WIN32__) || defined(__WINDOWS__) - #define WINDOWS_OS -#elif defined(__APPLE__) // Apple platform - #define APPLE_OS -#elif defined(__linux__) || defined(linux) || defined(__linux) // Linux platform - #define LINUX_OS +// Compilers +#if defined(_MSC_VER) + #define RP3D_COMPILER_VISUAL_STUDIO +#elif defined(__clang__) + #define RP3D_COMPILER_CLANG +#elif defined(__GNUC__) + #define RP3D_COMPILER_GCC +#else + #define RP3D_COMPILER_UNKNOWN +#endif + +// Force RP3D_FORCE_INLINE macro +#if defined(RP3D_COMPILER_VISUAL_STUDIO) + #define RP3D_FORCE_INLINE __forceinline +#elif defined(RP3D_COMPILER_GCC) || defined(RP3D_COMPILER_CLANG) + #define RP3D_FORCE_INLINE inline __attribute__((always_inline)) +#else + #define RP3D_FORCE_INLINE inline #endif /// Namespace reactphysics3d @@ -93,7 +104,7 @@ const decimal DECIMAL_LARGEST = std::numeric_limits::max(); const decimal MACHINE_EPSILON = std::numeric_limits::epsilon(); /// Pi constant -constexpr decimal PI = decimal(3.14159265); +constexpr decimal PI_RP3D = decimal(3.141592653589); /// 2*Pi constant constexpr decimal PI_TIMES_2 = decimal(6.28318530); @@ -103,8 +114,23 @@ constexpr decimal PI_TIMES_2 = decimal(6.28318530); /// without triggering a large modification of the tree each frame which can be costly constexpr decimal DYNAMIC_TREE_FAT_AABB_INFLATE_PERCENTAGE = decimal(0.08); +/// Maximum number of contact points in a narrow phase info object +constexpr uint8 NB_MAX_CONTACT_POINTS_IN_NARROWPHASE_INFO = 16; + +/// Maximum number of contact manifolds in an overlapping pair +constexpr uint8 NB_MAX_CONTACT_MANIFOLDS = 3; + +/// Maximum number of potential contact manifolds in an overlapping pair +constexpr uint8 NB_MAX_POTENTIAL_CONTACT_MANIFOLDS = 4 * NB_MAX_CONTACT_MANIFOLDS; + +/// Maximum number of contact points in potential contact manifold +constexpr uint16 NB_MAX_CONTACT_POINTS_IN_POTENTIAL_MANIFOLD = 256; + +/// Distance threshold to consider that two contact points in a manifold are the same +constexpr decimal SAME_CONTACT_POINT_DISTANCE_THRESHOLD = decimal(0.01); + /// Current version of ReactPhysics3D -const std::string RP3D_VERSION = std::string("0.8.0"); +const std::string RP3D_VERSION = std::string("0.9.0"); } diff --git a/include/reactphysics3d/constraint/BallAndSocketJoint.h b/include/reactphysics3d/constraint/BallAndSocketJoint.h index 2e6723445..9f37ef3e6 100644 --- a/include/reactphysics3d/constraint/BallAndSocketJoint.h +++ b/include/reactphysics3d/constraint/BallAndSocketJoint.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -43,9 +43,18 @@ struct BallAndSocketJointInfo : public JointInfo { // -------------------- Attributes -------------------- // + /// True if this object has been constructed using local-space anchors + bool isUsingLocalSpaceAnchors; + /// Anchor point (in world-space coordinates) Vector3 anchorPointWorldSpace; + /// Anchor point on body 1 (in local-space coordinates) + Vector3 anchorPointBody1LocalSpace; + + /// Anchor point on body 2 (in local-space coordinates) + Vector3 anchorPointBody2LocalSpace; + /// Constructor /** * @param rigidBody1 Pointer to the first body of the joint @@ -56,7 +65,23 @@ struct BallAndSocketJointInfo : public JointInfo { BallAndSocketJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, const Vector3& initAnchorPointWorldSpace) : JointInfo(rigidBody1, rigidBody2, JointType::BALLSOCKETJOINT), + isUsingLocalSpaceAnchors(false), anchorPointWorldSpace(initAnchorPointWorldSpace) {} + + /// Constructor + /** + * @param rigidBody1 Pointer to the first body of the joint + * @param rigidBody2 Pointer to the second body of the joint + * @param anchorPointBody1LocalSpace The anchor point on body 1 in local-space coordinates + * @param anchorPointBody2LocalSpace The anchor point on body 2 in local-space coordinates + */ + BallAndSocketJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, + const Vector3& anchorPointBody1LocalSpace, + const Vector3& anchorPointBody2LocalSpace) + : JointInfo(rigidBody1, rigidBody2, JointType::BALLSOCKETJOINT), + isUsingLocalSpaceAnchors(true), + anchorPointBody1LocalSpace(anchorPointBody1LocalSpace), + anchorPointBody2LocalSpace(anchorPointBody2LocalSpace) {} }; // Class BallAndSocketJoint @@ -82,6 +107,8 @@ class BallAndSocketJoint : public Joint { /// Return the number of bytes used by the joint virtual size_t getSizeInBytes() const override; + /// Reset the limits + void resetLimits(); public : @@ -96,6 +123,27 @@ class BallAndSocketJoint : public Joint { /// Deleted copy-constructor BallAndSocketJoint(const BallAndSocketJoint& constraint) = delete; + /// Enable/disable the cone limit of the joint + void enableConeLimit(bool isLimitEnabled); + + /// Return true if the cone limit or the joint is enabled + bool isConeLimitEnabled() const; + + /// Set the cone limit half angle + void setConeLimitHalfAngle(decimal coneHalfAngle); + + /// Return the cone limit half angle (in radians) + decimal getConeLimitHalfAngle() const; + + /// Return the current cone half angle (in radians) + decimal getConeHalfAngle() const; + + /// Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space + virtual Vector3 getReactionForce(decimal timeStep) const override; + + /// Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space + virtual Vector3 getReactionTorque(decimal timeStep) const override; + /// Return a string representation virtual std::string to_string() const override; @@ -104,7 +152,7 @@ class BallAndSocketJoint : public Joint { }; // Return the number of bytes used by the joint -inline size_t BallAndSocketJoint::getSizeInBytes() const { +RP3D_FORCE_INLINE size_t BallAndSocketJoint::getSizeInBytes() const { return sizeof(BallAndSocketJoint); } diff --git a/include/reactphysics3d/constraint/ContactPoint.h b/include/reactphysics3d/constraint/ContactPoint.h index 66d321a56..fcbcb1583 100644 --- a/include/reactphysics3d/constraint/ContactPoint.h +++ b/include/reactphysics3d/constraint/ContactPoint.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -144,7 +144,7 @@ class ContactPoint { /** * @return The contact normal */ -inline const Vector3& ContactPoint::getNormal() const { +RP3D_FORCE_INLINE const Vector3& ContactPoint::getNormal() const { return mNormal; } @@ -152,7 +152,7 @@ inline const Vector3& ContactPoint::getNormal() const { /** * @return The contact point on the first collider in the local-space of the collider */ -inline const Vector3& ContactPoint::getLocalPointOnShape1() const { +RP3D_FORCE_INLINE const Vector3& ContactPoint::getLocalPointOnShape1() const { return mLocalPointOnShape1; } @@ -160,7 +160,7 @@ inline const Vector3& ContactPoint::getLocalPointOnShape1() const { /** * @return The contact point on the second collider in the local-space of the collider */ -inline const Vector3& ContactPoint::getLocalPointOnShape2() const { +RP3D_FORCE_INLINE const Vector3& ContactPoint::getLocalPointOnShape2() const { return mLocalPointOnShape2; } @@ -168,12 +168,12 @@ inline const Vector3& ContactPoint::getLocalPointOnShape2() const { /** * @return The penetration impulse */ -inline decimal ContactPoint::getPenetrationImpulse() const { +RP3D_FORCE_INLINE decimal ContactPoint::getPenetrationImpulse() const { return mPenetrationImpulse; } // Return true if the contact point is similar (close enougth) to another given contact point -inline bool ContactPoint::isSimilarWithContactPoint(const ContactPointInfo* localContactPointBody1) const { +RP3D_FORCE_INLINE bool ContactPoint::isSimilarWithContactPoint(const ContactPointInfo* localContactPointBody1) const { return (localContactPointBody1->localPoint1 - mLocalPointOnShape1).lengthSquare() <= (mPersistentContactDistanceThreshold * mPersistentContactDistanceThreshold); } @@ -182,7 +182,7 @@ inline bool ContactPoint::isSimilarWithContactPoint(const ContactPointInfo* loca /** * @param impulse Penetration impulse */ -inline void ContactPoint::setPenetrationImpulse(decimal impulse) { +RP3D_FORCE_INLINE void ContactPoint::setPenetrationImpulse(decimal impulse) { mPenetrationImpulse = impulse; } @@ -190,7 +190,7 @@ inline void ContactPoint::setPenetrationImpulse(decimal impulse) { /** * @return True if it is a resting contact */ -inline bool ContactPoint::getIsRestingContact() const { +RP3D_FORCE_INLINE bool ContactPoint::getIsRestingContact() const { return mIsRestingContact; } @@ -198,7 +198,7 @@ inline bool ContactPoint::getIsRestingContact() const { /** * @param isRestingContact True if it is a resting contact */ -inline void ContactPoint::setIsRestingContact(bool isRestingContact) { +RP3D_FORCE_INLINE void ContactPoint::setIsRestingContact(bool isRestingContact) { mIsRestingContact = isRestingContact; } @@ -206,7 +206,7 @@ inline void ContactPoint::setIsRestingContact(bool isRestingContact) { /** * @return the penetration depth (in meters) */ -inline decimal ContactPoint::getPenetrationDepth() const { +RP3D_FORCE_INLINE decimal ContactPoint::getPenetrationDepth() const { return mPenetrationDepth; } @@ -214,7 +214,7 @@ inline decimal ContactPoint::getPenetrationDepth() const { /** * @return The size of the contact point in memory (in bytes) */ -inline size_t ContactPoint::getSizeInBytes() const { +RP3D_FORCE_INLINE size_t ContactPoint::getSizeInBytes() const { return sizeof(ContactPoint); } diff --git a/include/reactphysics3d/constraint/FixedJoint.h b/include/reactphysics3d/constraint/FixedJoint.h index 2e491e810..b020230e2 100644 --- a/include/reactphysics3d/constraint/FixedJoint.h +++ b/include/reactphysics3d/constraint/FixedJoint.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -43,9 +43,18 @@ struct FixedJointInfo : public JointInfo { // -------------------- Attributes -------------------- // + /// True if this object has been constructed using local-space anchors + bool isUsingLocalSpaceAnchors; + /// Anchor point (in world-space coordinates) Vector3 anchorPointWorldSpace; + /// Anchor point on body 1 (in local-space coordinates) + Vector3 anchorPointBody1LocalSpace; + + /// Anchor point on body 2 (in local-space coordinates) + Vector3 anchorPointBody2LocalSpace; + /// Constructor /** * @param rigidBody1 The first body of the joint @@ -56,7 +65,23 @@ struct FixedJointInfo : public JointInfo { FixedJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, const Vector3& initAnchorPointWorldSpace) : JointInfo(rigidBody1, rigidBody2, JointType::FIXEDJOINT), + isUsingLocalSpaceAnchors(false), anchorPointWorldSpace(initAnchorPointWorldSpace){} + + /// Constructor + /** + * @param rigidBody1 Pointer to the first body of the joint + * @param rigidBody2 Pointer to the second body of the joint + * @param anchorPointBody1LocalSpace The anchor point on body 1 in local-space coordinates + * @param anchorPointBody2LocalSpace The anchor point on body 2 in local-space coordinates + */ + FixedJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, + const Vector3& anchorPointBody1LocalSpace, + const Vector3& anchorPointBody2LocalSpace) + : JointInfo(rigidBody1, rigidBody2, JointType::FIXEDJOINT), + isUsingLocalSpaceAnchors(true), + anchorPointBody1LocalSpace(anchorPointBody1LocalSpace), + anchorPointBody2LocalSpace(anchorPointBody2LocalSpace) {} }; // Class FixedJoint @@ -86,6 +111,12 @@ class FixedJoint : public Joint { /// Deleted copy-constructor FixedJoint(const FixedJoint& constraint) = delete; + /// Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space + virtual Vector3 getReactionForce(decimal timeStep) const override; + + /// Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space + virtual Vector3 getReactionTorque(decimal timeStep) const override; + /// Return a string representation virtual std::string to_string() const override; @@ -94,7 +125,7 @@ class FixedJoint : public Joint { }; // Return the number of bytes used by the joint -inline size_t FixedJoint::getSizeInBytes() const { +RP3D_FORCE_INLINE size_t FixedJoint::getSizeInBytes() const { return sizeof(FixedJoint); } diff --git a/include/reactphysics3d/constraint/HingeJoint.h b/include/reactphysics3d/constraint/HingeJoint.h index 10b0c5908..8c1e8c452 100644 --- a/include/reactphysics3d/constraint/HingeJoint.h +++ b/include/reactphysics3d/constraint/HingeJoint.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -43,12 +43,27 @@ struct HingeJointInfo : public JointInfo { // -------------------- Attributes -------------------- // + /// True if this object has been constructed using local-space anchors + bool isUsingLocalSpaceAnchors; + /// Anchor point (in world-space coordinates) Vector3 anchorPointWorldSpace; + /// Anchor point on body 1 (in local-space coordinates) + Vector3 anchorPointBody1LocalSpace; + + /// Anchor point on body 2 (in local-space coordinates) + Vector3 anchorPointBody2LocalSpace; + /// Hinge rotation axis (in world-space coordinates) Vector3 rotationAxisWorld; + /// Hinge rotation axis of body 1 (in local-space coordinates) + Vector3 rotationAxisBody1Local; + + /// Hinge rotation axis of body 2 (in local-space coordinates) + Vector3 rotationAxisBody2Local; + /// True if the hinge joint limits are enabled bool isLimitEnabled; @@ -70,7 +85,7 @@ struct HingeJointInfo : public JointInfo { /// to desired motor speed decimal maxMotorTorque; - /// Constructor without limits and without motor + /// Constructor without limits and without motor with world-space anchor /** * @param rigidBody1 The first body of the joint * @param rigidBody2 The second body of the joint @@ -83,12 +98,13 @@ struct HingeJointInfo : public JointInfo { const Vector3& initAnchorPointWorldSpace, const Vector3& initRotationAxisWorld) : JointInfo(rigidBody1, rigidBody2, JointType::HINGEJOINT), + isUsingLocalSpaceAnchors(false), anchorPointWorldSpace(initAnchorPointWorldSpace), rotationAxisWorld(initRotationAxisWorld), isLimitEnabled(false), isMotorEnabled(false), minAngleLimit(-1), maxAngleLimit(1), motorSpeed(0), maxMotorTorque(0) {} - /// Constructor with limits but without motor + /// Constructor with limits but without motor with world-space anchor /** * @param rigidBody1 The first body of the joint * @param rigidBody2 The second body of the joint @@ -102,13 +118,14 @@ struct HingeJointInfo : public JointInfo { const Vector3& initRotationAxisWorld, decimal initMinAngleLimit, decimal initMaxAngleLimit) : JointInfo(rigidBody1, rigidBody2, JointType::HINGEJOINT), + isUsingLocalSpaceAnchors(false), anchorPointWorldSpace(initAnchorPointWorldSpace), rotationAxisWorld(initRotationAxisWorld), isLimitEnabled(true), isMotorEnabled(false), minAngleLimit(initMinAngleLimit), maxAngleLimit(initMaxAngleLimit), motorSpeed(0), maxMotorTorque(0) {} - /// Constructor with limits and motor + /// Constructor with limits and motor with world-space anchor /** * @param rigidBody1 The first body of the joint * @param rigidBody2 The second body of the joint @@ -125,11 +142,95 @@ struct HingeJointInfo : public JointInfo { decimal initMinAngleLimit, decimal initMaxAngleLimit, decimal initMotorSpeed, decimal initMaxMotorTorque) : JointInfo(rigidBody1, rigidBody2, JointType::HINGEJOINT), + isUsingLocalSpaceAnchors(false), anchorPointWorldSpace(initAnchorPointWorldSpace), rotationAxisWorld(initRotationAxisWorld), isLimitEnabled(true), isMotorEnabled(false), minAngleLimit(initMinAngleLimit), maxAngleLimit(initMaxAngleLimit), motorSpeed(initMotorSpeed), maxMotorTorque(initMaxMotorTorque) {} + + /// Constructor without limits and without motor with local-space anchors + /** + * @param rigidBody1 The first body of the joint + * @param rigidBody2 The second body of the joint + * @param anchorPointBody1Local The initial anchor point on body 1 in local-space + * @param anchorPointBody2Local The initial anchor point on body 2 in local-space + * @param rotationBody1AxisLocal The initial rotation axis on body 1 in local-space + * @param rotationBody2AxisLocal The initial rotation axis on body 2 in local-space + */ + HingeJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, + const Vector3& anchorPointBody1Local, + const Vector3& anchorPointBody2Local, + const Vector3& rotationBody1AxisLocal, + const Vector3& rotationBody2AxisLocal) + : JointInfo(rigidBody1, rigidBody2, JointType::HINGEJOINT), + isUsingLocalSpaceAnchors(true), + anchorPointBody1LocalSpace(anchorPointBody1Local), + anchorPointBody2LocalSpace(anchorPointBody2Local), + rotationAxisBody1Local(rotationBody1AxisLocal), + rotationAxisBody2Local(rotationBody2AxisLocal), + isLimitEnabled(false), + isMotorEnabled(false), minAngleLimit(-1), maxAngleLimit(1), + motorSpeed(0), maxMotorTorque(0) {} + + /// Constructor with limits but without motor with local-space anchors + /** + * @param rigidBody1 The first body of the joint + * @param rigidBody2 The second body of the joint + * @param anchorPointBody1Local The initial anchor point on body 1 in local-space + * @param anchorPointBody2Local The initial anchor point on body 2 in local-space + * @param rotationBody1AxisLocal The initial rotation axis on body 1 in local-space + * @param rotationBody2AxisLocal The initial rotation axis on body 2 in local-space + * @param initMinAngleLimit The initial minimum limit angle (in radian) + * @param initMaxAngleLimit The initial maximum limit angle (in radian) + */ + HingeJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, + const Vector3& anchorPointBody1Local, + const Vector3& anchorPointBody2Local, + const Vector3& rotationBody1AxisLocal, + const Vector3& rotationBody2AxisLocal, + decimal initMinAngleLimit, decimal initMaxAngleLimit) + : JointInfo(rigidBody1, rigidBody2, JointType::HINGEJOINT), + isUsingLocalSpaceAnchors(true), + anchorPointBody1LocalSpace(anchorPointBody1Local), + anchorPointBody2LocalSpace(anchorPointBody2Local), + rotationAxisBody1Local(rotationBody1AxisLocal), + rotationAxisBody2Local(rotationBody2AxisLocal), + isLimitEnabled(true), + isMotorEnabled(false), minAngleLimit(initMinAngleLimit), + maxAngleLimit(initMaxAngleLimit), motorSpeed(0), + maxMotorTorque(0) {} + + /// Constructor with limits and motor with local-space anchors + /** + * @param rigidBody1 The first body of the joint + * @param rigidBody2 The second body of the joint + * @param anchorPointBody1Local The initial anchor point on body 1 in local-space + * @param anchorPointBody2Local The initial anchor point on body 2 in local-space + * @param rotationBody1AxisLocal The initial rotation axis on body 1 in local-space + * @param rotationBody2AxisLocal The initial rotation axis on body 2 in local-space + * @param initMinAngleLimit The initial minimum limit angle (in radian) + * @param initMaxAngleLimit The initial maximum limit angle (in radian) + * @param initMotorSpeed The initial motor speed of the joint (in radian per second) + * @param initMaxMotorTorque The initial maximum motor torque (in Newtons) + */ + HingeJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, + const Vector3& anchorPointBody1Local, + const Vector3& anchorPointBody2Local, + const Vector3& rotationBody1AxisLocal, + const Vector3& rotationBody2AxisLocal, + decimal initMinAngleLimit, decimal initMaxAngleLimit, + decimal initMotorSpeed, decimal initMaxMotorTorque) + : JointInfo(rigidBody1, rigidBody2, JointType::HINGEJOINT), + isUsingLocalSpaceAnchors(true), + anchorPointBody1LocalSpace(anchorPointBody1Local), + anchorPointBody2LocalSpace(anchorPointBody2Local), + rotationAxisBody1Local(rotationBody1AxisLocal), + rotationAxisBody2Local(rotationBody2AxisLocal), + isLimitEnabled(true), + isMotorEnabled(false), minAngleLimit(initMinAngleLimit), + maxAngleLimit(initMaxAngleLimit), motorSpeed(initMotorSpeed), + maxMotorTorque(initMaxMotorTorque) {} }; // Class HingeJoint @@ -210,6 +311,15 @@ class HingeJoint : public Joint { /// Return the intensity of the current torque applied for the joint motor decimal getMotorTorque(decimal timeStep) const; + /// Return the current hinge angle (in radians) + decimal getAngle() const; + + /// Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space + virtual Vector3 getReactionForce(decimal timeStep) const override; + + /// Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space + virtual Vector3 getReactionTorque(decimal timeStep) const override; + /// Return a string representation virtual std::string to_string() const override; }; diff --git a/include/reactphysics3d/constraint/Joint.h b/include/reactphysics3d/constraint/Joint.h index 737f92e0f..0e2c62f10 100644 --- a/include/reactphysics3d/constraint/Joint.h +++ b/include/reactphysics3d/constraint/Joint.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -62,7 +62,7 @@ struct JointInfo { JointType type; /// Position correction technique used for the constraint (used for joints). - /// By default, the BAUMGARTE technique is used + /// By default, the NON_LINEAR_GAUSS_SEIDEL technique is used JointsPositionCorrectionTechnique positionCorrectionTechnique; /// True if the two bodies of the joint are allowed to collide with each other @@ -137,6 +137,12 @@ class Joint { /// Return the type of the constraint JointType getType() const; + /// Return the force (in Newtons) on body 2 required to satisfy the joint constraint + virtual Vector3 getReactionForce(decimal timeStep) const=0; + + /// Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint + virtual Vector3 getReactionTorque(decimal timeStep) const=0; + /// Return true if the collision between the two bodies of the joint is enabled bool isCollisionEnabled() const; @@ -157,7 +163,7 @@ class Joint { /** * @return The entity of the joint */ -inline Entity Joint::getEntity() const { +RP3D_FORCE_INLINE Entity Joint::getEntity() const { return mEntity; } diff --git a/include/reactphysics3d/constraint/SliderJoint.h b/include/reactphysics3d/constraint/SliderJoint.h index c624bbcd8..a0eb557bf 100644 --- a/include/reactphysics3d/constraint/SliderJoint.h +++ b/include/reactphysics3d/constraint/SliderJoint.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -47,12 +47,24 @@ struct SliderJointInfo : public JointInfo { // -------------------- Attributes -------------------- // + /// True if this object has been constructed using local-space anchors + bool isUsingLocalSpaceAnchors; + /// Anchor point (in world-space coordinates) Vector3 anchorPointWorldSpace; + /// Anchor point on body 1 (in local-space coordinates) + Vector3 anchorPointBody1LocalSpace; + + /// Anchor point on body 2 (in local-space coordinates) + Vector3 anchorPointBody2LocalSpace; + /// Slider axis (in world-space coordinates) Vector3 sliderAxisWorldSpace; + /// Hinge slider axis of body 1 (in local-space coordinates) + Vector3 sliderAxisBody1Local; + /// True if the slider limits are enabled bool isLimitEnabled; @@ -71,7 +83,7 @@ struct SliderJointInfo : public JointInfo { /// Maximum motor force (in Newtons) that can be applied to reach to desired motor speed decimal maxMotorForce; - /// Constructor without limits and without motor + /// Constructor without limits and without motor with world-space anchor /** * @param rigidBody1 The first body of the joint * @param rigidBody2 The second body of the joint @@ -82,12 +94,13 @@ struct SliderJointInfo : public JointInfo { const Vector3& initAnchorPointWorldSpace, const Vector3& initSliderAxisWorldSpace) : JointInfo(rigidBody1, rigidBody2, JointType::SLIDERJOINT), + isUsingLocalSpaceAnchors(false), anchorPointWorldSpace(initAnchorPointWorldSpace), sliderAxisWorldSpace(initSliderAxisWorldSpace), isLimitEnabled(false), isMotorEnabled(false), minTranslationLimit(-1.0), maxTranslationLimit(1.0), motorSpeed(0), maxMotorForce(0) {} - /// Constructor with limits and no motor + /// Constructor with limits and no motor with world-space anchor /** * @param rigidBody1 The first body of the joint * @param rigidBody2 The second body of the joint @@ -101,6 +114,7 @@ struct SliderJointInfo : public JointInfo { const Vector3& initSliderAxisWorldSpace, decimal initMinTranslationLimit, decimal initMaxTranslationLimit) : JointInfo(rigidBody1, rigidBody2, JointType::SLIDERJOINT), + isUsingLocalSpaceAnchors(false), anchorPointWorldSpace(initAnchorPointWorldSpace), sliderAxisWorldSpace(initSliderAxisWorldSpace), isLimitEnabled(true), isMotorEnabled(false), @@ -108,7 +122,7 @@ struct SliderJointInfo : public JointInfo { maxTranslationLimit(initMaxTranslationLimit), motorSpeed(0), maxMotorForce(0) {} - /// Constructor with limits and motor + /// Constructor with limits and motor with world-space anchor /** * @param rigidBody1 The first body of the joint * @param rigidBody2 The second body of the joint @@ -125,12 +139,86 @@ struct SliderJointInfo : public JointInfo { decimal initMinTranslationLimit, decimal initMaxTranslationLimit, decimal initMotorSpeed, decimal initMaxMotorForce) : JointInfo(rigidBody1, rigidBody2, JointType::SLIDERJOINT), + isUsingLocalSpaceAnchors(false), anchorPointWorldSpace(initAnchorPointWorldSpace), sliderAxisWorldSpace(initSliderAxisWorldSpace), isLimitEnabled(true), isMotorEnabled(true), minTranslationLimit(initMinTranslationLimit), maxTranslationLimit(initMaxTranslationLimit), motorSpeed(initMotorSpeed), maxMotorForce(initMaxMotorForce) {} + + /// Constructor without limits and without motor with local-space anchor + /** + * @param rigidBody1 The first body of the joint + * @param rigidBody2 The second body of the joint + * @param anchorPointBody1Local The initial anchor point on body 1 in local-space + * @param anchorPointBody2Local The initial anchor point on body 2 in local-space + * @param sliderAxisBody1Local The initial slider axis in body 1 local-space + */ + SliderJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, + const Vector3& anchorPointBody1Local, + const Vector3& anchorPointBody2Local, + const Vector3& sliderAxisBody1Local) + : JointInfo(rigidBody1, rigidBody2, JointType::SLIDERJOINT), + isUsingLocalSpaceAnchors(true), + anchorPointBody1LocalSpace(anchorPointBody1Local), + anchorPointBody2LocalSpace(anchorPointBody2Local), + sliderAxisBody1Local(sliderAxisBody1Local), + isLimitEnabled(false), isMotorEnabled(false), minTranslationLimit(-1.0), + maxTranslationLimit(1.0), motorSpeed(0), maxMotorForce(0) {} + + /// Constructor with limits and no motor with local-space anchor + /** + * @param rigidBody1 The first body of the joint + * @param rigidBody2 The second body of the joint + * @param anchorPointBody1Local The initial anchor point on body 1 in local-space + * @param anchorPointBody2Local The initial anchor point on body 2 in local-space + * @param sliderAxisBody1Local The initial slider axis in body 1 local-space + * @param initMinTranslationLimit The initial minimum translation limit (in meters) + * @param initMaxTranslationLimit The initial maximum translation limit (in meters) + */ + SliderJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, + const Vector3& anchorPointBody1Local, + const Vector3& anchorPointBody2Local, + const Vector3& sliderAxisBody1Local, + decimal initMinTranslationLimit, decimal initMaxTranslationLimit) + : JointInfo(rigidBody1, rigidBody2, JointType::SLIDERJOINT), + isUsingLocalSpaceAnchors(true), + anchorPointBody1LocalSpace(anchorPointBody1Local), + anchorPointBody2LocalSpace(anchorPointBody2Local), + sliderAxisBody1Local(sliderAxisBody1Local), + isLimitEnabled(true), isMotorEnabled(false), + minTranslationLimit(initMinTranslationLimit), + maxTranslationLimit(initMaxTranslationLimit), motorSpeed(0), + maxMotorForce(0) {} + + /// Constructor with limits and motor with local-space anchor + /** + * @param rigidBody1 The first body of the joint + * @param rigidBody2 The second body of the joint + * @param anchorPointBody1Local The initial anchor point on body 1 in local-space + * @param anchorPointBody2Local The initial anchor point on body 2 in local-space + * @param sliderAxisBody1Local The initial slider axis in body 1 local-space + * @param initMinTranslationLimit The initial minimum translation limit (in meters) + * @param initMaxTranslationLimit The initial maximum translation limit (in meters) + * @param initMotorSpeed The initial speed of the joint motor (in meters per second) + * @param initMaxMotorForce The initial maximum motor force of the joint (in Newtons x meters) + */ + SliderJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, + const Vector3& anchorPointBody1Local, + const Vector3& anchorPointBody2Local, + const Vector3& sliderAxisBody1Local, + decimal initMinTranslationLimit, decimal initMaxTranslationLimit, + decimal initMotorSpeed, decimal initMaxMotorForce) + : JointInfo(rigidBody1, rigidBody2, JointType::SLIDERJOINT), + isUsingLocalSpaceAnchors(true), + anchorPointBody1LocalSpace(anchorPointBody1Local), + anchorPointBody2LocalSpace(anchorPointBody2Local), + sliderAxisBody1Local(sliderAxisBody1Local), + isLimitEnabled(true), isMotorEnabled(true), + minTranslationLimit(initMinTranslationLimit), + maxTranslationLimit(initMaxTranslationLimit), motorSpeed(initMotorSpeed), + maxMotorForce(initMaxMotorForce) {} }; // Class SliderJoint @@ -216,12 +304,18 @@ class SliderJoint : public Joint { /// Return the intensity of the current force applied for the joint motor decimal getMotorForce(decimal timeStep) const; + /// Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space + virtual Vector3 getReactionForce(decimal timeStep) const override; + + /// Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space + virtual Vector3 getReactionTorque(decimal timeStep) const override; + /// Return a string representation virtual std::string to_string() const override; }; // Return the number of bytes used by the joint -inline size_t SliderJoint::getSizeInBytes() const { +RP3D_FORCE_INLINE size_t SliderJoint::getSizeInBytes() const { return sizeof(SliderJoint); } diff --git a/include/reactphysics3d/containers/List.h b/include/reactphysics3d/containers/Array.h similarity index 68% rename from include/reactphysics3d/containers/List.h rename to include/reactphysics3d/containers/Array.h index a85fb65a3..89801ca13 100755 --- a/include/reactphysics3d/containers/List.h +++ b/include/reactphysics3d/containers/Array.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -23,8 +23,8 @@ * * ********************************************************************************/ -#ifndef REACTPHYSICS3D_LIST_H -#define REACTPHYSICS3D_LIST_H +#ifndef REACTPHYSICS3D_ARRAY_H +#define REACTPHYSICS3D_ARRAY_H // Libraries #include @@ -36,25 +36,25 @@ namespace reactphysics3d { -// Class List +// Class Array /** - * This class represents a simple generic list with custom memory allocator. + * This class represents a simple dynamic array with custom memory allocator. */ template -class List { +class Array { private: // -------------------- Attributes -------------------- // - /// Buffer for the list elements - void* mBuffer; + /// Buffer for the array elements + T* mBuffer; - /// Number of elements in the list - size_t mSize; + /// Number of elements in the array + uint64 mSize; - /// Number of allocated elements in the list - size_t mCapacity; + /// Number of allocated elements in the array + uint64 mCapacity; /// Memory allocator MemoryAllocator& mAllocator; @@ -63,15 +63,15 @@ class List { /// Class Iterator /** - * This class represents an iterator for the List + * This class represents an iterator for the array */ class Iterator { private: - size_t mCurrentIndex; + uint64 mCurrentIndex; T* mBuffer; - size_t mSize; + uint64 mSize; public: @@ -88,17 +88,11 @@ class List { Iterator() = default; /// Constructor - Iterator(void* buffer, size_t index, size_t size) + Iterator(void* buffer, uint64 index, uint64 size) :mCurrentIndex(index), mBuffer(static_cast(buffer)), mSize(size) { } - /// Copy constructor - Iterator(const Iterator& it) - :mCurrentIndex(it.mCurrentIndex), mBuffer(it.mBuffer), mSize(it.mSize) { - - } - /// Deferencable reference operator*() { assert(mCurrentIndex >= 0 && mCurrentIndex < mSize); @@ -117,30 +111,30 @@ class List { return &(mBuffer[mCurrentIndex]); } - /// Post increment (it++) + /// Pre increment (++it) Iterator& operator++() { assert(mCurrentIndex < mSize); mCurrentIndex++; return *this; } - /// Pre increment (++it) - Iterator operator++(int number) { + /// Post increment (it++) + Iterator operator++(int) { assert(mCurrentIndex < mSize); Iterator tmp = *this; mCurrentIndex++; return tmp; } - /// Post decrement (it--) + /// Pre decrement (--it) Iterator& operator--() { assert(mCurrentIndex > 0); mCurrentIndex--; return *this; } - /// Pre decrement (--it) - Iterator operator--(int number) { + /// Post decrement (it--) + Iterator operator--(int) { assert(mCurrentIndex > 0); Iterator tmp = *this; mCurrentIndex--; @@ -198,7 +192,7 @@ class List { bool operator==(const Iterator& iterator) const { assert(mCurrentIndex >= 0 && mCurrentIndex <= mSize); - // If both iterators points to the end of the list + // If both iterators points to the end of the array if (mCurrentIndex == mSize && iterator.mCurrentIndex == iterator.mSize) { return true; } @@ -212,14 +206,14 @@ class List { } /// Frienship - friend class List; + friend class Array; }; // -------------------- Methods -------------------- // /// Constructor - List(MemoryAllocator& allocator, size_t capacity = 0) + Array(MemoryAllocator& allocator, uint64 capacity = 0) : mBuffer(nullptr), mSize(0), mCapacity(0), mAllocator(allocator) { if (capacity > 0) { @@ -230,43 +224,47 @@ class List { } /// Copy constructor - List(const List& list) : mBuffer(nullptr), mSize(0), mCapacity(0), mAllocator(list.mAllocator) { + Array(const Array& array) : mBuffer(nullptr), mSize(0), mCapacity(0), mAllocator(array.mAllocator) { - // All all the elements of the list to the current one - addRange(list); + // If we need to allocate more memory + if (array.mCapacity > 0) { + reserve(array.mCapacity); + } + + // All all the elements of the array to the current one + addRange(array); } /// Destructor - ~List() { + ~Array() { // If elements have been allocated if (mCapacity > 0) { - // Clear the list + // Clear the array clear(true); } } /// Allocate memory for a given number of elements - void reserve(size_t capacity) { + void reserve(uint64 capacity) { if (capacity <= mCapacity) return; // Allocate memory for the new array void* newMemory = mAllocator.allocate(capacity * sizeof(T)); + T* destination = static_cast(newMemory); if (mBuffer != nullptr) { if (mSize > 0) { // Copy the elements to the new allocated memory location - T* destination = static_cast(newMemory); - T* items = static_cast(mBuffer); - std::uninitialized_copy(items, items + mSize, destination); + std::uninitialized_copy(mBuffer, mBuffer + mSize, destination); // Destruct the previous items - for (size_t i=0; i(mBuffer) + mSize * sizeof(T)) T(element); + // Use the constructor to construct the element + new (reinterpret_cast(mBuffer + mSize)) T(element); mSize++; } - /// Add a given numbers of elements at the end of the list but do not init them - void addWithoutInit(uint nbElements) { + /// Add an element into the array by constructing it directly into the array (in order to avoid a copy) + template + void emplace(Ts&&... args) { // If we need to allocate more memory if (mSize == mCapacity) { + reserve(mCapacity == 0 ? 1 : mCapacity * 2); + } + + // Construct the element directly at its location in the array + new (reinterpret_cast(mBuffer + mSize)) T(std::forward(args)...); + + mSize++; + } + + /// Add a given numbers of elements at the end of the array but do not init them + void addWithoutInit(uint64 nbElements) { + + // If we need to allocate more memory + if ((mSize + nbElements) > mCapacity) { reserve(mCapacity == 0 ? nbElements : (mCapacity + nbElements) * 2); } mSize += nbElements; } - /// Try to find a given item of the list and return an iterator - /// pointing to that element if it exists in the list. Otherwise, + /// Try to find a given item of the array and return an iterator + /// pointing to that element if it exists in the array. Otherwise, /// this method returns the end() iterator Iterator find(const T& element) { - for (uint i=0; i(mBuffer)[i]) { + for (uint64 i=0; i= 0 && index < mSize); + assert(index < mSize); // Call the destructor - (static_cast(mBuffer)[index]).~T(); + mBuffer[index].~T(); mSize--; if (index != mSize) { // Move the elements to fill in the empty slot - char* dest = static_cast(mBuffer) + index * sizeof(T); - char* src = dest + sizeof(T); - std::memmove(static_cast(dest), static_cast(src), (mSize - index) * sizeof(T)); + void* dest = reinterpret_cast(mBuffer + index); + std::uintptr_t src = reinterpret_cast(dest) + sizeof(T); + std::memmove(dest, reinterpret_cast(src), (mSize - index) * sizeof(T)); } // Return an iterator pointing to the element after the removed one return Iterator(mBuffer, index, mSize); } - /// Append another list at the end of the current one - void addRange(const List& list) { + /// Remove an element from the list at a given index and replace it by the last one of the list (if any) + void removeAtAndReplaceByLast(uint64 index) { + + assert(index < mSize); + + mBuffer[index] = mBuffer[mSize - 1]; + + // Call the destructor of the last element + mBuffer[mSize - 1].~T(); + + mSize--; + } + + /// Remove an element from the array at a given index and replace it by the last one of the array (if any) + /// Append another array at the end of the current one + void addRange(const Array& array, uint64 startIndex = 0) { + + assert(startIndex <= array.size()); // If we need to allocate more memory - if (mSize + list.size() > mCapacity) { + if (mSize + (array.size() - startIndex) > mCapacity) { // Allocate memory - reserve(mSize + list.size()); + reserve(mSize + array.size() - startIndex); } - // Add the elements of the list to the current one - for(uint i=0; i(mBuffer) + mSize * sizeof(T)) T(list[i]); + new (reinterpret_cast(mBuffer + mSize)) T(array[i]); mSize++; } } - /// Clear the list + /// Clear the array void clear(bool releaseMemory = false) { // Call the destructor of each element - for (uint i=0; i < mSize; i++) { - (static_cast(mBuffer)[i]).~T(); + for (uint64 i=0; i < mSize; i++) { + mBuffer[i].~T(); } mSize = 0; @@ -392,36 +421,35 @@ class List { } } - /// Return the number of elements in the list - size_t size() const { + /// Return the number of elements in the array + uint64 size() const { return mSize; } - /// Return the capacity of the list - size_t capacity() const { + /// Return the capacity of the array + uint64 capacity() const { return mCapacity; } /// Overloaded index operator - T& operator[](const uint index) { + T& operator[](const uint64 index) { assert(index >= 0 && index < mSize); - return (static_cast(mBuffer)[index]); + return mBuffer[index]; } /// Overloaded const index operator - const T& operator[](const uint index) const { + const T& operator[](const uint64 index) const { assert(index >= 0 && index < mSize); - return (static_cast(mBuffer)[index]); + return mBuffer[index]; } /// Overloaded equality operator - bool operator==(const List& list) const { + bool operator==(const Array& array) const { - if (mSize != list.mSize) return false; + if (mSize != array.mSize) return false; - T* items = static_cast(mBuffer); - for (size_t i=0; i < mSize; i++) { - if (items[i] != list[i]) { + for (uint64 i=0; i < mSize; i++) { + if (mBuffer[i] != array[i]) { return false; } } @@ -430,21 +458,21 @@ class List { } /// Overloaded not equal operator - bool operator!=(const List& list) const { + bool operator!=(const Array& array) const { - return !((*this) == list); + return !((*this) == array); } /// Overloaded assignment operator - List& operator=(const List& list) { + Array& operator=(const Array& array) { - if (this != &list) { + if (this != &array) { // Clear all the elements clear(); - // Add all the elements of the list to the current one - addRange(list); + // Add all the elements of the array to the current one + addRange(array); } return *this; diff --git a/include/reactphysics3d/containers/Deque.h b/include/reactphysics3d/containers/Deque.h index ace6b5679..8c4f55e2c 100644 --- a/include/reactphysics3d/containers/Deque.h +++ b/include/reactphysics3d/containers/Deque.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -55,10 +55,10 @@ class Deque { // -------------------- Constants -------------------- // /// Number of items in a chunk - const uint CHUNK_NB_ITEMS = 17; + const uint8 CHUNK_NB_ITEMS = 17; /// First item index in a chunk - const uint CHUNK_FIRST_ITEM_INDEX = CHUNK_NB_ITEMS / 2; + const uint8 CHUNK_FIRST_ITEM_INDEX = CHUNK_NB_ITEMS / 2; // -------------------- Attributes -------------------- // @@ -66,16 +66,16 @@ class Deque { T** mChunks; /// Number of current elements in the deque - size_t mSize; + uint64 mSize; /// Number of chunks - size_t mNbChunks; + uint64 mNbChunks; /// Index of the chunk with the first element of the deque - size_t mFirstChunkIndex; + uint64 mFirstChunkIndex; /// Index of the chunk with the last element of the deque - size_t mLastChunkIndex; + uint64 mLastChunkIndex; /// Index of the first element in the first chunk uint8 mFirstItemIndex; @@ -89,15 +89,15 @@ class Deque { // -------------------- Methods -------------------- // /// Return a reference to an item at the given virtual index in range [0; mSize-1] - T& getItem(size_t virtualIndex) const { + T& getItem(uint64 virtualIndex) const { // If the virtual index is valid if (virtualIndex < mSize) { - size_t chunkIndex = mFirstChunkIndex; - size_t itemIndex = mFirstItemIndex; + uint64 chunkIndex = mFirstChunkIndex; + uint64 itemIndex = mFirstItemIndex; - const size_t nbItemsFirstChunk = CHUNK_NB_ITEMS - mFirstItemIndex; + const uint64 nbItemsFirstChunk = CHUNK_NB_ITEMS - mFirstItemIndex; if (virtualIndex < nbItemsFirstChunk) { itemIndex += virtualIndex; } @@ -118,18 +118,18 @@ class Deque { } /// Add more chunks - void expandChunks(size_t atLeastNbChunks = 0) { + void expandChunks(uint64 atLeastNbChunks = 0) { // If it is not necessary to expand the chunks if (atLeastNbChunks > 0 && atLeastNbChunks <= mNbChunks) { return; } - size_t newNbChunks = mNbChunks == 0 ? 3 : 2 * mNbChunks - 1; + uint64 newNbChunks = mNbChunks == 0 ? 3 : 2 * mNbChunks - 1; if (atLeastNbChunks > 0 && newNbChunks < atLeastNbChunks) { - newNbChunks = size_t(atLeastNbChunks / 2) * 2 + 1; + newNbChunks = uint64(atLeastNbChunks / 2) * 2 + 1; } - const size_t halfNbChunksToAdd = mNbChunks == 0 ? 1 : (mNbChunks - 1) / 2; + const uint64 halfNbChunksToAdd = mNbChunks == 0 ? 1 : (mNbChunks - 1) / 2; // Allocate memory for the new array of pointers to chunk void* newMemory = mAllocator.allocate(newNbChunks * sizeof(T*)); @@ -157,7 +157,7 @@ class Deque { mNbChunks = newNbChunks; // Allocate memory for each new chunk - for (size_t i=0; i < halfNbChunksToAdd; i++) { + for (uint64 i=0; i < halfNbChunksToAdd; i++) { // Allocate memory for the new chunk mChunks[i] = static_cast(mAllocator.allocate(sizeof(T) * CHUNK_NB_ITEMS)); @@ -182,7 +182,7 @@ class Deque { private: - size_t mVirtualIndex; + uint64 mVirtualIndex; const Deque* mDeque; public: @@ -197,15 +197,7 @@ class Deque { using iterator_category = std::random_access_iterator_tag; /// Constructor - Iterator() = default; - - /// Constructor - Iterator(const Deque* deque, size_t virtualIndex) : mVirtualIndex(virtualIndex), mDeque(deque) { - - } - - /// Copy constructor - Iterator(const Iterator& it) : mVirtualIndex(it.mVirtualIndex), mDeque(it.mDeque) { + Iterator(const Deque* deque, uint64 virtualIndex) : mVirtualIndex(virtualIndex), mDeque(deque) { } @@ -227,29 +219,29 @@ class Deque { return &(mDeque->getItem(mVirtualIndex)); } - /// Post increment (it++) + /// Pre increment (++it) Iterator& operator++() { assert(mVirtualIndex < mDeque->mSize); mVirtualIndex++; return *this; } - /// Pre increment (++it) - Iterator operator++(int number) { + /// Post increment (it++) + Iterator operator++(int /*number*/) { assert(mVirtualIndex < mDeque->mSize); Iterator tmp = *this; mVirtualIndex++; return tmp; } - /// Post decrement (it--) + /// Pre decrement (--it) Iterator& operator--() { mVirtualIndex--; return *this; } - /// Pre decrement (--it) - Iterator operator--(int number) { + /// Post decrement (it--) + Iterator operator--(int /*number*/) { Iterator tmp = *this; mVirtualIndex--; return tmp; @@ -345,14 +337,14 @@ class Deque { if (deque.mSize > 0) { - const size_t dequeHalfSize1 = std::ceil(deque.mSize / 2.0f); - const size_t dequeHalfSize2 = deque.mSize - dequeHalfSize1; + const uint64 dequeHalfSize1 = std::ceil(deque.mSize / 2.0f); + const uint64 dequeHalfSize2 = deque.mSize - dequeHalfSize1; // Add the items into the deque - for(size_t i=0; i < dequeHalfSize1; i++) { + for(uint64 i=0; i < dequeHalfSize1; i++) { addFront(deque[dequeHalfSize1 - 1 - i]); } - for(size_t i=0; i < dequeHalfSize2; i++) { + for(uint64 i=0; i < dequeHalfSize2; i++) { addBack(deque[dequeHalfSize1 + i]); } } @@ -364,7 +356,7 @@ class Deque { clear(); // Release each chunk - for (size_t i=0; i < mNbChunks; i++) { + for (uint64 i=0; i < mNbChunks; i++) { mAllocator.release(mChunks[i], sizeof(T) * CHUNK_NB_ITEMS); } @@ -499,18 +491,14 @@ class Deque { /// Return a reference to the first item of the deque const T& getFront() const { - if (mSize > 0) { - return mChunks[mFirstChunkIndex][mFirstItemIndex]; - } - assert(false); + assert(mSize > 0); + return mChunks[mFirstChunkIndex][mFirstItemIndex]; } /// Return a reference to the last item of the deque const T& getBack() const { - if (mSize > 0) { - return mChunks[mLastChunkIndex][mLastItemIndex]; - } - assert(false); + assert(mSize > 0); + return mChunks[mLastChunkIndex][mLastItemIndex]; } /// Clear the elements of the deque @@ -519,7 +507,7 @@ class Deque { if (mSize > 0) { // Call the destructor of every items - for (size_t i=0; i < mSize; i++) { + for (uint64 i=0; i < mSize; i++) { getItem(i).~T(); } @@ -533,18 +521,18 @@ class Deque { } /// Return the number of elements in the deque - size_t size() const { + uint64 size() const { return mSize; } /// Overloaded index operator - T& operator[](const uint index) { + T& operator[](const uint64 index) { assert(index < mSize); return getItem(index); } /// Overloaded const index operator - const T& operator[](const uint index) const { + const T& operator[](const uint64 index) const { assert(index < mSize); return getItem(index); } @@ -554,7 +542,7 @@ class Deque { if (mSize != deque.mSize) return false; - for (size_t i=0; i < mSize; i++) { + for (uint64 i=0; i < mSize; i++) { if (getItem(i) != deque.getItem(i)) { return false; } @@ -580,19 +568,19 @@ class Deque { if (deque.mSize > 0) { // Number of used chunks - const size_t nbUsedChunks = deque.mLastChunkIndex - deque.mFirstChunkIndex + 1; + const uint64 nbUsedChunks = deque.mLastChunkIndex - deque.mFirstChunkIndex + 1; // Expand the chunk if necessary expandChunks(nbUsedChunks); - const size_t dequeHalfSize1 = std::ceil(deque.mSize / 2.0f); - const size_t dequeHalfSize2 = deque.mSize - dequeHalfSize1; + const uint64 dequeHalfSize1 = std::ceil(deque.mSize / 2.0f); + const uint64 dequeHalfSize2 = deque.mSize - dequeHalfSize1; // Add the items into the deque - for(size_t i=0; i < dequeHalfSize1; i++) { + for(uint64 i=0; i < dequeHalfSize1; i++) { addFront(deque[dequeHalfSize1 - 1 - i]); } - for(size_t i=0; i < dequeHalfSize2; i++) { + for(uint64 i=0; i < dequeHalfSize2; i++) { addBack(deque[dequeHalfSize1 + i]); } } diff --git a/include/reactphysics3d/containers/LinkedList.h b/include/reactphysics3d/containers/LinkedList.h index c2221d4f1..bf6a3066a 100644 --- a/include/reactphysics3d/containers/LinkedList.h +++ b/include/reactphysics3d/containers/LinkedList.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -93,20 +93,20 @@ class LinkedList { // Return the first element of the list template -inline typename LinkedList::ListElement* LinkedList::getListHead() const { +RP3D_FORCE_INLINE typename LinkedList::ListElement* LinkedList::getListHead() const { return mListHead; } // Insert an element at the beginning of the linked list template -inline void LinkedList::insert(const T& data) { +RP3D_FORCE_INLINE void LinkedList::insert(const T& data) { ListElement* element = new (mAllocator.allocate(sizeof(ListElement))) ListElement(data, mListHead); mListHead = element; } // Remove all the elements of the list template -inline void LinkedList::reset() { +RP3D_FORCE_INLINE void LinkedList::reset() { // Release all the list elements ListElement* element = mListHead; diff --git a/include/reactphysics3d/containers/Map.h b/include/reactphysics3d/containers/Map.h index 437b6e140..cb25556de 100755 --- a/include/reactphysics3d/containers/Map.h +++ b/include/reactphysics3d/containers/Map.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -47,244 +47,102 @@ class Map { private: - /// An entry of the map - struct Entry { - - size_t hashCode; // Hash code of the entry - int next; // Index of the next entry - Pair* keyValue; // Pointer to the pair with key and value - - /// Constructor - Entry() { - next = -1; - keyValue = nullptr; - } - - /// Constructor - Entry(size_t hashcode, int nextEntry) { - hashCode = hashcode; - next = nextEntry; - keyValue = nullptr; - } - - /// Copy-constructor - Entry(const Entry& entry) { - hashCode = entry.hashCode; - next = entry.next; - keyValue = entry.keyValue; - } - - /// Destructor - ~Entry() { - - } - - }; - // -------------------- Constants -------------------- // - /// Number of prime numbers in array - static constexpr int NB_PRIMES = 70; - - /// Array of prime numbers for the size of the map - static const int PRIMES[NB_PRIMES]; + /// Default load factor + static constexpr float DEFAULT_LOAD_FACTOR = 0.75; - /// Largest prime number - static int LARGEST_PRIME; + /// Invalid index in the array + static constexpr uint64 INVALID_INDEX = -1; // -------------------- Attributes -------------------- // - /// Current number of used entries in the map - int mNbUsedEntries; + /// Total number of allocated entries + uint64 mNbAllocatedEntries; - /// Number of free entries among the used ones - int mNbFreeEntries; + /// Number of items in the set + uint64 mNbEntries; - /// Current capacity of the map - int mCapacity; + /// Number of buckets and size of the hash table (nbEntries = loadFactor * mHashSize) + uint64 mHashSize ; /// Array with all the buckets - int* mBuckets; + uint64* mBuckets; /// Array with all the entries - Entry* mEntries; + Pair* mEntries; + + /// For each entry, index of the next entry at the same bucket + uint64* mNextEntries; /// Memory allocator MemoryAllocator& mAllocator; /// Index to the fist free entry - int mFreeIndex; + uint64 mFreeIndex; // -------------------- Methods -------------------- // - /// Initialize the map - void initialize(int capacity) { - - // Compute the next larger prime size - mCapacity = getPrimeSize(capacity); - assert(mCapacity >= 0); - - // Allocate memory for the buckets - mBuckets = static_cast(mAllocator.allocate(mCapacity * sizeof(int))); - - // Allocate memory for the entries - mEntries = static_cast(mAllocator.allocate(mCapacity * sizeof(Entry))); - - // Initialize the buckets and entries - for (int i=0; i= 0); - } - - /// Expand the capacity of the map - void expand(int newCapacity) { - - assert(newCapacity > mCapacity); - assert(isPrimeNumber(newCapacity)); - - // Allocate memory for the buckets - int* newBuckets = static_cast(mAllocator.allocate(newCapacity * sizeof(int))); - - // Allocate memory for the entries - Entry* newEntries = static_cast(mAllocator.allocate(newCapacity * sizeof(Entry))); - - // Initialize the new buckets - for (int i=0; i 0) { - - // Copy the old entries to the new allocated memory location - std::uninitialized_copy(mEntries, mEntries + mNbUsedEntries, newEntries); - - // Destruct the old entries in the previous location - for (int i=0; i < mNbUsedEntries; i++) { - mEntries[i].~Entry(); - } - } - - // Construct the new entries - for (int i=mNbUsedEntries; i(&newEntries[i])) Entry(); - } + /// Return the index of the entry with a given key or INVALID_INDEX if there is no entry with this key + uint64 findEntry(const K& key) const { - // For each used entry - for (int i=0; i= 0); - } - - /// Return the index of the entry with a given key or -1 if there is no entry with this key - int findEntry(const K& key) const { - - if (mCapacity > 0) { + if (mHashSize > 0) { const size_t hashCode = Hash()(key); - int bucket = hashCode % mCapacity; + const size_t divider = mHashSize - 1; + const uint64 bucket = static_cast(hashCode & divider); auto keyEqual = KeyEqual(); - for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { - if (mEntries[i].hashCode == hashCode && keyEqual(mEntries[i].keyValue->first, key)) { + for (uint64 i = mBuckets[bucket]; i != INVALID_INDEX; i = mNextEntries[i]) { + if (Hash()(mEntries[i].first) == hashCode && keyEqual(mEntries[i].first, key)) { return i; } } } - return -1; - } - - /// Return the prime number that is larger or equal to the number in parameter - /// for the size of the map - static int getPrimeSize(int number) { - - // Check if the next larger prime number is in the precomputed array of primes - for (int i = 0; i < NB_PRIMES; i++) { - if (PRIMES[i] >= number) return PRIMES[i]; - } - - // Manually compute the next larger prime number - for (int i = (number | 1); i < std::numeric_limits::max(); i+=2) { - - if (isPrimeNumber(i)) { - return i; - } - } - - return number; + return INVALID_INDEX; } public: /// Class Iterator /** - * This class represents an iterator for the Map + * This class represents an iterator for the Map. */ class Iterator { private: - /// Array of entries - const Entry* mEntries; - - /// Capacity of the map - int mCapacity; + /// Pointer to the map + const Map* mMap; - /// Number of used entries in the map - int mNbUsedEntries; + /// Index of the current bucket + uint64 mCurrentBucketIndex; /// Index of the current entry - int mCurrentEntry; + uint64 mCurrentEntryIndex; /// Advance the iterator void advance() { - // If we are trying to move past the end - assert(mCurrentEntry < mNbUsedEntries); - - for (mCurrentEntry += 1; mCurrentEntry < mNbUsedEntries; mCurrentEntry++) { + assert(mCurrentBucketIndex < mMap->mHashSize); + assert(mCurrentEntryIndex < mMap->mNbAllocatedEntries); - // If the entry is not empty - if (mEntries[mCurrentEntry].keyValue != nullptr) { - - // We have found the next non empty entry - return; - } + // Try the next entry + if (mMap->mNextEntries[mCurrentEntryIndex] != INVALID_INDEX) { + mCurrentEntryIndex = mMap->mNextEntries[mCurrentEntryIndex]; + return; } - // We have not find a non empty entry, we return an iterator to the end - mCurrentEntry = mCapacity; + // Try to move to the next bucket + mCurrentEntryIndex = 0; + mCurrentBucketIndex++; + while(mCurrentBucketIndex < mMap->mHashSize && mMap->mBuckets[mCurrentBucketIndex] == INVALID_INDEX) { + mCurrentBucketIndex++; + } + if (mCurrentBucketIndex < mMap->mHashSize) { + mCurrentEntryIndex = mMap->mBuckets[mCurrentBucketIndex]; + } } public: @@ -300,39 +158,33 @@ class Map { Iterator() = default; /// Constructor - Iterator(const Entry* entries, int capacity, int nbUsedEntries, int currentEntry) - :mEntries(entries), mCapacity(capacity), mNbUsedEntries(nbUsedEntries), mCurrentEntry(currentEntry) { - - } - - /// Copy constructor - Iterator(const Iterator& it) - :mEntries(it.mEntries), mCapacity(it.mCapacity), mNbUsedEntries(it.mNbUsedEntries), mCurrentEntry(it.mCurrentEntry) { + Iterator(const Map* map, uint64 bucketIndex, uint64 entryIndex) + :mMap(map), mCurrentBucketIndex(bucketIndex), mCurrentEntryIndex(entryIndex) { } /// Deferencable reference operator*() const { - assert(mCurrentEntry >= 0 && mCurrentEntry < mNbUsedEntries); - assert(mEntries[mCurrentEntry].keyValue != nullptr); - return *(mEntries[mCurrentEntry].keyValue); + assert(mCurrentEntryIndex < mMap->mNbAllocatedEntries); + assert(mCurrentEntryIndex != INVALID_INDEX); + return mMap->mEntries[mCurrentEntryIndex]; } /// Deferencable pointer operator->() const { - assert(mCurrentEntry >= 0 && mCurrentEntry < mNbUsedEntries); - assert(mEntries[mCurrentEntry].keyValue != nullptr); - return mEntries[mCurrentEntry].keyValue; + assert(mCurrentEntryIndex < mMap->mNbAllocatedEntries); + assert(mCurrentEntryIndex != INVALID_INDEX); + return &(mMap->mEntries[mCurrentEntryIndex]); } - /// Post increment (it++) + /// Pre increment (++it) Iterator& operator++() { advance(); return *this; } - /// Pre increment (++it) - Iterator operator++(int number) { + /// Post increment (it++) + Iterator operator++(int) { Iterator tmp = *this; advance(); return tmp; @@ -340,7 +192,7 @@ class Map { /// Equality operator (it == end()) bool operator==(const Iterator& iterator) const { - return mCurrentEntry == iterator.mCurrentEntry && mEntries == iterator.mEntries; + return mCurrentBucketIndex == iterator.mCurrentBucketIndex && mCurrentEntryIndex == iterator.mCurrentEntryIndex && mMap == iterator.mMap; } /// Inequality operator (it != end()) @@ -353,56 +205,49 @@ class Map { // -------------------- Methods -------------------- // /// Constructor - Map(MemoryAllocator& allocator, size_t capacity = 0) - : mNbUsedEntries(0), mNbFreeEntries(0), mCapacity(0), mBuckets(nullptr), - mEntries(nullptr), mAllocator(allocator), mFreeIndex(-1) { - - // If the largest prime has not been computed yet - if (LARGEST_PRIME == -1) { - - // Compute the largest prime number (largest map capacity) - LARGEST_PRIME = getPrimeSize(PRIMES[NB_PRIMES - 1] + 2); - } + Map(MemoryAllocator& allocator, uint64 capacity = 0) + : mNbAllocatedEntries(0), mNbEntries(0), mHashSize(0), mBuckets(nullptr), + mEntries(nullptr), mNextEntries(nullptr), mAllocator(allocator), mFreeIndex(INVALID_INDEX) { if (capacity > 0) { - initialize(capacity); + reserve(capacity); } } /// Copy constructor Map(const Map& map) - :mNbUsedEntries(map.mNbUsedEntries), mNbFreeEntries(map.mNbFreeEntries), mCapacity(map.mCapacity), - mBuckets(nullptr), mEntries(nullptr), mAllocator(map.mAllocator), mFreeIndex(map.mFreeIndex) { - - assert(capacity() >= 0); + :mNbAllocatedEntries(map.mNbAllocatedEntries), mNbEntries(map.mNbEntries), mHashSize(map.mHashSize), + mBuckets(nullptr), mEntries(nullptr), mNextEntries(nullptr), mAllocator(map.mAllocator), mFreeIndex(map.mFreeIndex) { - if (mCapacity > 0) { + if (mHashSize > 0) { // Allocate memory for the buckets - mBuckets = static_cast(mAllocator.allocate(mCapacity * sizeof(int))); + mBuckets = static_cast(mAllocator.allocate(mHashSize * sizeof(uint64))); // Allocate memory for the entries - mEntries = static_cast(mAllocator.allocate(mCapacity * sizeof(Entry))); + mEntries = static_cast*>(mAllocator.allocate(mNbAllocatedEntries * sizeof(Pair))); + mNextEntries = static_cast(mAllocator.allocate(mNbAllocatedEntries * sizeof(uint64))); - // Copy the buckets - std::uninitialized_copy(map.mBuckets, map.mBuckets + mCapacity, mBuckets); + // Copy the buckets array + std::memcpy(mBuckets, map.mBuckets, mHashSize * sizeof(uint64)); + + // Copy the next entries indices + std::memcpy(mNextEntries, map.mNextEntries, mNbAllocatedEntries * sizeof(uint64)); // Copy the entries - for (int i=0; i < mCapacity; i++) { + for (uint64 i=0; i(map.mEntries[entryIndex]); - if (map.mEntries[i].keyValue != nullptr) { - mEntries[i].keyValue = static_cast*>(mAllocator.allocate(sizeof(Pair))); - new (mEntries[i].keyValue) Pair(*(map.mEntries[i].keyValue)); + entryIndex = mNextEntries[entryIndex]; } } - } - - assert(size() >= 0); - assert((*this) == map); } /// Destructor @@ -412,97 +257,168 @@ class Map { } /// Allocate memory for a given number of elements - void reserve(int capacity) { + void reserve(uint64 capacity) { + + if (capacity <= mHashSize) return; + + if (capacity < 16) capacity = 16; + + // Make sure we have a power of two size + if (!isPowerOfTwo(capacity)) { + capacity = nextPowerOfTwo64Bits(capacity); + } + + assert(capacity < INVALID_INDEX); + + assert(capacity > mHashSize); + + // Allocate memory for the buckets + uint64* newBuckets = static_cast(mAllocator.allocate(capacity * sizeof(uint64))); + + // Allocate memory for the entries + const uint64 nbAllocatedEntries = static_cast(capacity * double(DEFAULT_LOAD_FACTOR)); + assert(nbAllocatedEntries > 0); + Pair* newEntries = static_cast*>(mAllocator.allocate(nbAllocatedEntries * sizeof(Pair))); + uint64* newNextEntries = static_cast(mAllocator.allocate(nbAllocatedEntries * sizeof(uint64))); + + assert(newEntries != nullptr); + assert(newNextEntries != nullptr); + + // Initialize the new buckets + for (uint64 i=0; i 0) { - if (capacity <= mCapacity) return; + assert(mNextEntries != nullptr); - if (capacity > LARGEST_PRIME && LARGEST_PRIME > mCapacity) { - capacity = LARGEST_PRIME; - } - else { - capacity = getPrimeSize(capacity); - } + // Copy the free nodes indices in the nextEntries array + std::memcpy(newNextEntries, mNextEntries, mNbAllocatedEntries * sizeof(uint64)); + } + + // Recompute the buckets (hash) with the new hash size + for (uint64 i=0; i(hashCode & divider); - expand(capacity); + newNextEntries[entryIndex] = newBuckets[bucketIndex]; + newBuckets[bucketIndex] = entryIndex; + + // Copy the entry to the new location and destroy the previous one + new (newEntries + entryIndex) Pair(mEntries[entryIndex]); + mEntries[entryIndex].~Pair(); + + entryIndex = mNextEntries[entryIndex]; + } + } + + if (mNbAllocatedEntries > 0) { + + // Release previously allocated memory + mAllocator.release(mBuckets, mHashSize * sizeof(uint64)); + mAllocator.release(mEntries, mNbAllocatedEntries * sizeof(Pair)); + mAllocator.release(mNextEntries, mNbAllocatedEntries * sizeof(uint64)); + } + + // Add the new entries to the free list + for (uint64 i=mNbAllocatedEntries; i < nbAllocatedEntries-1; i++) { + newNextEntries[i] = i + 1; + } + newNextEntries[nbAllocatedEntries - 1] = mFreeIndex; + mFreeIndex = mNbAllocatedEntries; + + mHashSize = capacity; + mNbAllocatedEntries = nbAllocatedEntries; + mBuckets = newBuckets; + mEntries = newEntries; + mNextEntries = newNextEntries; + + assert(mFreeIndex != INVALID_INDEX); } /// Return true if the map contains an item with the given key bool containsKey(const K& key) const { - return findEntry(key) != -1; + return findEntry(key) != INVALID_INDEX; } /// Add an element into the map - void add(const Pair& keyValue, bool insertIfAlreadyPresent = false) { + /// Returns true if the item has been inserted and false otherwise. + bool add(const Pair& keyValue, bool insertIfAlreadyPresent = false) { - if (mCapacity == 0) { - initialize(0); - } + uint64 bucket = INVALID_INDEX; - // Compute the hash code of the key + // Compute the hash code of the value const size_t hashCode = Hash()(keyValue.first); - // Compute the corresponding bucket index - int bucket = hashCode % mCapacity; + if (mHashSize > 0) { - auto keyEqual = KeyEqual(); + // Compute the corresponding bucket index + const size_t divider = mHashSize - 1; + bucket = static_cast(hashCode & divider); - // Check if the item is already in the map - for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { + auto keyEqual = KeyEqual(); - // If there is already an item with the same key in the map - if (mEntries[i].hashCode == hashCode && keyEqual(mEntries[i].keyValue->first, keyValue.first)) { + // Check if the item is already in the set + for (uint64 i = mBuckets[bucket]; i != INVALID_INDEX; i = mNextEntries[i]) { - if (insertIfAlreadyPresent) { + // If there is already an item with the same value in the set + if (Hash()(mEntries[i].first) == hashCode && keyEqual(mEntries[i].first, keyValue.first)) { - // Destruct the previous key/value - mEntries[i].keyValue->~Pair(); + if (insertIfAlreadyPresent) { - // Copy construct the new key/value - new (mEntries[i].keyValue) Pair(keyValue); + // Destruct the previous key/value + mEntries[i].~Pair(); - return; - } - else { + // Copy construct the new key/value + new (mEntries + i) Pair(keyValue); + + return true; + } + else { #ifndef _NO_THROW - throw std::runtime_error("The key and value pair already exists in the map"); + assert(false); + throw std::runtime_error("The key and value pair already exists in the map"); #endif + } } } } - size_t entryIndex; + uint64 entryIndex; - // If there are free entries to use - if (mNbFreeEntries > 0) { - assert(mFreeIndex >= 0); - entryIndex = mFreeIndex; - mFreeIndex = mEntries[entryIndex].next; - mNbFreeEntries--; - } - else { + // If there are no more free entries to use + if (mFreeIndex == INVALID_INDEX) { - // If we need to allocator more entries - if (mNbUsedEntries == mCapacity) { + // Allocate more memory + reserve(mHashSize == 0 ? 16 : mHashSize * 2); - // Allocate more memory - reserve(mCapacity * 2); + // Recompute the bucket index + const size_t divider = mHashSize - 1; + bucket = static_cast(hashCode & divider); + } - // Recompute the bucket index - bucket = hashCode % mCapacity; - } + assert(mNbEntries < mNbAllocatedEntries); + assert(mFreeIndex != INVALID_INDEX); - entryIndex = mNbUsedEntries; - mNbUsedEntries++; - } + // Get the next free entry + entryIndex = mFreeIndex; + mFreeIndex = mNextEntries[entryIndex]; + + mNbEntries++; - assert(size() >= 0); - assert(mEntries[entryIndex].keyValue == nullptr); - mEntries[entryIndex].hashCode = hashCode; - mEntries[entryIndex].next = mBuckets[bucket]; - mEntries[entryIndex].keyValue = static_cast*>(mAllocator.allocate(sizeof(Pair))); - assert(mEntries[entryIndex].keyValue != nullptr); - new (mEntries[entryIndex].keyValue) Pair(keyValue); + assert(bucket != INVALID_INDEX); + mNextEntries[entryIndex] = mBuckets[bucket]; + new (mEntries + entryIndex) Pair(keyValue); mBuckets[bucket] = entryIndex; + + return true; } /// Remove the element pointed by some iterator @@ -519,110 +435,103 @@ class Map { /// the one that has been removed Iterator remove(const K& key) { - if (mCapacity > 0) { + if (mHashSize > 0) { const size_t hashcode = Hash()(key); - int bucket = hashcode % mCapacity; - int last = -1; auto keyEqual = KeyEqual(); + const size_t divider = mHashSize - 1; + const uint64 bucket = static_cast(hashcode & divider); + uint64 last = INVALID_INDEX; + for (uint64 i = mBuckets[bucket]; i != INVALID_INDEX; last = i, i = mNextEntries[i]) { - for (int i = mBuckets[bucket]; i >= 0; last = i, i = mEntries[i].next) { - - if (mEntries[i].hashCode == hashcode && keyEqual(mEntries[i].keyValue->first, key)) { + // If we have found the item + if (Hash()(mEntries[i].first) == hashcode && keyEqual(mEntries[i].first, key)) { - if (last < 0 ) { - mBuckets[bucket] = mEntries[i].next; + if (last == INVALID_INDEX) { + mBuckets[bucket] = mNextEntries[i]; } else { - mEntries[last].next = mEntries[i].next; + mNextEntries[last] = mNextEntries[i]; } - // Release memory for the key/value pair if any - if (mEntries[i].keyValue != nullptr) { - mEntries[i].keyValue->~Pair(); - mAllocator.release(mEntries[i].keyValue, sizeof(Pair)); - mEntries[i].keyValue = nullptr; - } - assert(mEntries[i].keyValue == nullptr); - mEntries[i].next = mFreeIndex; - mFreeIndex = i; - mNbFreeEntries++; - - // Find the next entry to return the iterator - for (i += 1; i < mNbUsedEntries; i++) { + uint64 nextEntryIndex = mNextEntries[i]; + uint64 nextBucketIndex = bucket; - // If the entry is not empty - if (mEntries[i].keyValue != nullptr) { - - // We have found the next non empty entry - return Iterator(mEntries, mCapacity, mNbUsedEntries, i); + mEntries[i].~Pair(); + mNextEntries[i] = mFreeIndex; + mFreeIndex = i; + mNbEntries--; + + // Find the next entry to return an iterator + if (nextEntryIndex == INVALID_INDEX) { + nextEntryIndex = 0; + nextBucketIndex++; + while(nextBucketIndex < mHashSize && mBuckets[nextBucketIndex] == INVALID_INDEX) { + nextBucketIndex++; + } + if (nextBucketIndex < mHashSize) { + nextEntryIndex = mBuckets[nextBucketIndex]; } } - return end(); + // We have found the next non empty entry + return Iterator(this, nextBucketIndex, nextEntryIndex); } } } - assert(size() >= 0); - - // Return the end iterator return end(); } /// Clear the map void clear(bool releaseMemory = false) { - if (mNbUsedEntries > 0) { + for (uint64 i=0; i~Pair(); - mAllocator.release(mEntries[i].keyValue, sizeof(Pair)); - mEntries[i].keyValue = nullptr; - } - } + // Destroy the entry + mEntries[entryIndex].~Pair(); - mFreeIndex = -1; - mNbUsedEntries = 0; - mNbFreeEntries = 0; + uint64 nextEntryIndex = mNextEntries[entryIndex]; - assert(size() >= 0); - } - - // If elements have been allocated - if (releaseMemory && mCapacity > 0) { + // Add entry to the free list + mNextEntries[entryIndex] = mFreeIndex; + mFreeIndex = entryIndex; - // Destroy the entries - for (int i=0; i < mCapacity; i++) { - mEntries[i].~Entry(); + entryIndex = nextEntryIndex; } - // Release memory - mAllocator.release(mBuckets, mCapacity * sizeof(int)); - mAllocator.release(mEntries, mCapacity * sizeof(Entry)); + mBuckets[i] = INVALID_INDEX; + } + + if (releaseMemory && mNbAllocatedEntries > 0) { + + // Release previously allocated memory + mAllocator.release(mBuckets, mHashSize * sizeof(uint64)); + mAllocator.release(mEntries, mNbAllocatedEntries * sizeof(Pair)); + mAllocator.release(mNextEntries, mNbAllocatedEntries * sizeof(uint64)); - mCapacity = 0; mBuckets = nullptr; mEntries = nullptr; + mNextEntries = nullptr; + + mNbAllocatedEntries = 0; + mHashSize = 0; } - assert(size() == 0); - } + mNbEntries = 0; + } /// Return the number of elements in the map - int size() const { - assert(mNbUsedEntries - mNbFreeEntries >= 0); - return mNbUsedEntries - mNbFreeEntries; + uint64 size() const { + return mNbEntries; } /// Return the capacity of the map - int capacity() const { - return mCapacity; + uint64 capacity() const { + return mHashSize; } /// Try to find an item of the map given a key. @@ -630,72 +539,59 @@ class Map { /// an iterator pointing to the end if not found Iterator find(const K& key) const { - int bucket; - int entry = -1; + uint64 bucket; + uint64 entry = INVALID_INDEX; - if (mCapacity > 0) { + if (mHashSize > 0) { const size_t hashCode = Hash()(key); - bucket = hashCode % mCapacity; - + const size_t divider = mHashSize - 1; + bucket = static_cast(hashCode & divider); auto keyEqual = KeyEqual(); - for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { - if (mEntries[i].hashCode == hashCode && keyEqual(mEntries[i].keyValue->first, key)) { + for (uint64 i = mBuckets[bucket]; i != INVALID_INDEX; i = mNextEntries[i]) { + if (Hash()(mEntries[i].first) == hashCode && keyEqual(mEntries[i].first, key)) { entry = i; break; } } } - if (entry == -1) { + if (entry == INVALID_INDEX) { return end(); } - assert(mEntries[entry].keyValue != nullptr); - - return Iterator(mEntries, mCapacity, mNbUsedEntries, entry); + return Iterator(this, bucket, entry); } /// Overloaded index operator V& operator[](const K& key) { - int entry = -1; - - if (mCapacity > 0) { - entry = findEntry(key); - } + const uint64 entry = findEntry(key); - if (entry == -1) { + if (entry == INVALID_INDEX) { #ifndef _NO_THROW assert(false); throw std::runtime_error("No item with given key has been found in the map"); #endif } - assert(mEntries[entry].keyValue != nullptr); - - return mEntries[entry].keyValue->second; + return mEntries[entry].second; } /// Overloaded index operator const V& operator[](const K& key) const { - int entry = -1; - - if (mCapacity > 0) { - entry = findEntry(key); - } + const uint64 entry = findEntry(key); - if (entry == -1) { + if (entry == INVALID_INDEX) { #ifndef _NO_THROW + assert(false); throw std::runtime_error("No item with given key has been found in the map"); #endif } - assert(mEntries[entry].keyValue != nullptr); - - return mEntries[entry].keyValue->second; + return mEntries[entry].second; } /// Overloaded equality operator @@ -735,40 +631,41 @@ class Map { // Clear the map clear(true); - if (map.mCapacity > 0) { + mNbAllocatedEntries = map.mNbAllocatedEntries; + mNbEntries = map.mNbEntries; + mHashSize = map.mHashSize; + mFreeIndex = map.mFreeIndex; - // Compute the next larger prime size - mCapacity = getPrimeSize(map.mCapacity); - assert(mCapacity >= 0); + if (mHashSize > 0) { // Allocate memory for the buckets - mBuckets = static_cast(mAllocator.allocate(mCapacity * sizeof(int))); + mBuckets = static_cast(mAllocator.allocate(mHashSize * sizeof(uint64))); // Allocate memory for the entries - mEntries = static_cast(mAllocator.allocate(mCapacity * sizeof(Entry))); + mEntries = static_cast*>(mAllocator.allocate(mNbAllocatedEntries * sizeof(Pair))); + mNextEntries = static_cast(mAllocator.allocate(mNbAllocatedEntries * sizeof(uint64))); - // Copy the buckets - std::uninitialized_copy(map.mBuckets, map.mBuckets + mCapacity, mBuckets); + // Copy the buckets array + std::memcpy(mBuckets, map.mBuckets, mHashSize * sizeof(uint64)); + + // Copy the next entries indices + std::memcpy(mNextEntries, map.mNextEntries, mNbAllocatedEntries * sizeof(uint64)); // Copy the entries - for (int i=0; i < mCapacity; i++) { + for (uint64 i=0; i(map.mEntries[entryIndex]); - if (map.mEntries[i].keyValue != nullptr) { - mEntries[i].keyValue = static_cast*>(mAllocator.allocate(sizeof(Pair))); - new (mEntries[i].keyValue) Pair(*(map.mEntries[i].keyValue)); + entryIndex = mNextEntries[entryIndex]; } } - - mNbUsedEntries = map.mNbUsedEntries; - mNbFreeEntries = map.mNbFreeEntries; - mFreeIndex = map.mFreeIndex; } } - assert(size() >= 0); - return *this; } @@ -783,32 +680,27 @@ class Map { } // Find the first used entry - int entry; - for (entry=0; entry < mNbUsedEntries; entry++) { - if (mEntries[entry].keyValue != nullptr) { - return Iterator(mEntries, mCapacity, mNbUsedEntries, entry); - } + uint64 bucketIndex = 0; + while (mBuckets[bucketIndex] == INVALID_INDEX) { + + bucketIndex++; } - assert(false); - return end(); + assert(bucketIndex < mHashSize); + assert(mBuckets[bucketIndex] != INVALID_INDEX); + + return Iterator(this, bucketIndex, mBuckets[bucketIndex]); } /// Return a end iterator Iterator end() const { - return Iterator(mEntries, mCapacity, mNbUsedEntries, mCapacity); + return Iterator(this, mHashSize, 0); } -}; -template -const int Map::PRIMES[NB_PRIMES] = {3, 7, 11, 17, 23, 29, 37, 47, 59, 71, 89, 107, 131, 163, 197, 239, 293, 353, 431, 521, 631, 761, 919, - 1103, 1327, 1597, 1931, 2333, 2801, 3371, 4049, 4861, 5839, 7013, 8419, 10103, 12143, 14591, - 17519, 21023, 25229, 30293, 36353, 43627, 52361, 62851, 75431, 90523, 108631, 130363, 156437, - 187751, 225307, 270371, 324449, 389357, 467237, 560689, 672827, 807403, 968897, 1162687, 1395263, - 1674319, 2009191, 2411033, 2893249, 3471899, 4166287, 4999559}; + // ---------- Friendship ---------- // -template -int Map::LARGEST_PRIME = -1; + friend class Iterator; +}; } diff --git a/include/reactphysics3d/containers/Pair.h b/include/reactphysics3d/containers/Pair.h index e07c070e1..b69f465d9 100644 --- a/include/reactphysics3d/containers/Pair.h +++ b/include/reactphysics3d/containers/Pair.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -59,14 +59,6 @@ class Pair { } - /// Copy constructor - Pair(const Pair& pair) : first(pair.first), second(pair.second) { - - } - - /// Destructor - ~Pair() = default; - /// Overloaded equality operator bool operator==(const Pair& pair) const { return first == pair.first && second == pair.second; @@ -76,13 +68,6 @@ class Pair { bool operator!=(const Pair& pair) const { return !((*this) == pair); } - - /// Overloaded assignment operator - Pair& operator=(const Pair& pair) { - first = pair.first; - second = pair.second; - return *this; - } }; } diff --git a/include/reactphysics3d/containers/Set.h b/include/reactphysics3d/containers/Set.h index 17088fe3b..34129ffb5 100755 --- a/include/reactphysics3d/containers/Set.h +++ b/include/reactphysics3d/containers/Set.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,7 +34,6 @@ #include #include - namespace reactphysics3d { // Class Set @@ -47,197 +46,60 @@ class Set { private: - /// An entry of the set - struct Entry { - - size_t hashCode; // Hash code of the entry - int next; // Index of the next entry - V* value; // Pointer to the value stored in the entry - - /// Constructor - Entry() { - next = -1; - value = nullptr; - } - - /// Constructor - Entry(size_t hashcode, int nextEntry) { - hashCode = hashcode; - next = nextEntry; - value = nullptr; - } - - /// Copy-constructor - Entry(const Entry& entry) { - hashCode = entry.hashCode; - next = entry.next; - value = entry.value; - } - - /// Destructor - ~Entry() { - - } - - }; - // -------------------- Constants -------------------- // - /// Number of prime numbers in array - static constexpr int NB_PRIMES = 70; - - /// Array of prime numbers for the size of the set - static const int PRIMES[NB_PRIMES]; + /// Default load factor + static constexpr float DEFAULT_LOAD_FACTOR = 0.75; - /// Largest prime number - static int LARGEST_PRIME; + /// Invalid index in the array + static constexpr uint64 INVALID_INDEX = -1; // -------------------- Attributes -------------------- // - /// Current number of used entries in the set - int mNbUsedEntries; + /// Total number of allocated entries + uint64 mNbAllocatedEntries; - /// Number of free entries among the used ones - int mNbFreeEntries; + /// Number of items in the set + uint64 mNbEntries; - /// Current capacity of the set - int mCapacity; + /// Number of buckets and size of the hash table (nbEntries = loadFactor * mHashSize) + uint64 mHashSize ; /// Array with all the buckets - int* mBuckets; + uint64* mBuckets; - /// Array with all the entries - Entry* mEntries; + /// Array with all the entries (nbEntries = loadFactor * mHashSize) + V* mEntries; + + /// For each entry, index of the next entry at the same bucket + uint64* mNextEntries; /// Memory allocator MemoryAllocator& mAllocator; /// Index to the fist free entry - int mFreeIndex; + uint64 mFreeIndex; // -------------------- Methods -------------------- // - /// Initialize the set - void initialize(int capacity) { - - // Compute the next larger prime size - mCapacity = getPrimeSize(capacity); - - // Allocate memory for the buckets - mBuckets = static_cast(mAllocator.allocate(mCapacity * sizeof(int))); - - // Allocate memory for the entries - mEntries = static_cast(mAllocator.allocate(mCapacity * sizeof(Entry))); - - // Initialize the buckets and entries - for (int i=0; i mCapacity); - assert(isPrimeNumber(newCapacity)); - - // Allocate memory for the buckets - int* newBuckets = static_cast(mAllocator.allocate(newCapacity * sizeof(int))); - - // Allocate memory for the entries - Entry* newEntries = static_cast(mAllocator.allocate(newCapacity * sizeof(Entry))); - - // Initialize the new buckets - for (int i=0; i 0) { - - // Copy the old entries to the new allocated memory location - std::uninitialized_copy(mEntries, mEntries + mNbUsedEntries, newEntries); - - // Destruct the old entries at previous location - for (int i=0; i(&newEntries[i])) Entry(); - } - - // For each used entry - for (int i=0; i 0) { + if (mHashSize > 0) { - size_t hashCode = Hash()(value); - int bucket = hashCode % mCapacity; - auto keyEqual = KeyEqual(); + const size_t hashCode = Hash()(value); + const size_t divider = mHashSize - 1; + const uint64 bucket = static_cast(hashCode & divider); + auto keyEqual = KeyEqual(); - for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { - if (mEntries[i].hashCode == hashCode && keyEqual(*mEntries[i].value, value)) { + for (uint64 i = mBuckets[bucket]; i != INVALID_INDEX; i = mNextEntries[i]) { + if (Hash()(mEntries[i]) == hashCode && keyEqual(mEntries[i], value)) { return i; } } } - return -1; - } - - /// Return the prime number that is larger or equal to the number in parameter - /// for the size of the set - static int getPrimeSize(int number) { - - // Check if the next larger prime number is in the precomputed array of primes - for (int i = 0; i < NB_PRIMES; i++) { - if (PRIMES[i] >= number) return PRIMES[i]; - } - - // Manually compute the next larger prime number - for (int i = (number | 1); i < std::numeric_limits::max(); i+=2) { - - if (isPrimeNumber(i)) { - return i; - } - } - - return number; + return INVALID_INDEX; } public: @@ -250,36 +112,36 @@ class Set { private: - /// Array of entries - const Entry* mEntries; + /// Pointer to the set + const Set* mSet; - /// Capacity of the map - int mCapacity; - - /// Number of used entries in the map - int mNbUsedEntries; + /// Index of the current bucket + uint64 mCurrentBucketIndex; /// Index of the current entry - int mCurrentEntry; + uint64 mCurrentEntryIndex; /// Advance the iterator void advance() { - // If we are trying to move past the end - assert(mCurrentEntry < mNbUsedEntries); - - for (mCurrentEntry += 1; mCurrentEntry < mNbUsedEntries; mCurrentEntry++) { + assert(mCurrentBucketIndex < mSet->mHashSize); + assert(mCurrentEntryIndex < mSet->mNbAllocatedEntries); - // If the entry is not empty - if (mEntries[mCurrentEntry].value != nullptr) { - - // We have found the next non empty entry - return; - } + // Try the next entry + if (mSet->mNextEntries[mCurrentEntryIndex] != INVALID_INDEX) { + mCurrentEntryIndex = mSet->mNextEntries[mCurrentEntryIndex]; + return; } - // We have not find a non empty entry, we return an iterator to the end - mCurrentEntry = mCapacity; + // Try to move to the next bucket + mCurrentEntryIndex = 0; + mCurrentBucketIndex++; + while(mCurrentBucketIndex < mSet->mHashSize && mSet->mBuckets[mCurrentBucketIndex] == INVALID_INDEX) { + mCurrentBucketIndex++; + } + if (mCurrentBucketIndex < mSet->mHashSize) { + mCurrentEntryIndex = mSet->mBuckets[mCurrentBucketIndex]; + } } public: @@ -295,38 +157,32 @@ class Set { Iterator() = default; /// Constructor - Iterator(const Entry* entries, int capacity, int nbUsedEntries, int currentEntry) - :mEntries(entries), mCapacity(capacity), mNbUsedEntries(nbUsedEntries), mCurrentEntry(currentEntry) { - - } - - /// Copy constructor - Iterator(const Iterator& it) - :mEntries(it.mEntries), mCapacity(it.mCapacity), mNbUsedEntries(it.mNbUsedEntries), mCurrentEntry(it.mCurrentEntry) { + Iterator(const Set* set, uint64 bucketIndex, uint64 entryIndex) + :mSet(set), mCurrentBucketIndex(bucketIndex), mCurrentEntryIndex(entryIndex) { } /// Deferencable reference operator*() const { - assert(mCurrentEntry >= 0 && mCurrentEntry < mNbUsedEntries); - assert(mEntries[mCurrentEntry].value != nullptr); - return *(mEntries[mCurrentEntry].value); + assert(mCurrentEntryIndex < mSet->mNbAllocatedEntries); + assert(mCurrentEntryIndex != INVALID_INDEX); + return mSet->mEntries[mCurrentEntryIndex]; } /// Deferencable pointer operator->() const { - assert(mCurrentEntry >= 0 && mCurrentEntry < mNbUsedEntries); - assert(mEntries[mCurrentEntry].value != nullptr); - return mEntries[mCurrentEntry].value; + assert(mCurrentEntryIndex < mSet->mNbAllocatedEntries); + assert(mCurrentEntryIndex != INVALID_INDEX); + return &(mSet->mEntries[mCurrentEntryIndex]); } - /// Post increment (it++) + /// Pre increment (++it) Iterator& operator++() { advance(); return *this; } - /// Pre increment (++it) + /// Post increment (it++) Iterator operator++(int) { Iterator tmp = *this; advance(); @@ -335,7 +191,7 @@ class Set { /// Equality operator (it == end()) bool operator==(const Iterator& iterator) const { - return mCurrentEntry == iterator.mCurrentEntry && mEntries == iterator.mEntries; + return mCurrentBucketIndex == iterator.mCurrentBucketIndex && mCurrentEntryIndex == iterator.mCurrentEntryIndex && mSet == iterator.mSet; } /// Inequality operator (it != end()) @@ -348,47 +204,46 @@ class Set { // -------------------- Methods -------------------- // /// Constructor - Set(MemoryAllocator& allocator, size_t capacity = 0) - : mNbUsedEntries(0), mNbFreeEntries(0), mCapacity(0), mBuckets(nullptr), - mEntries(nullptr), mAllocator(allocator), mFreeIndex(-1) { - - // If the largest prime has not been computed yet - if (LARGEST_PRIME == -1) { - - // Compute the largest prime number (largest map capacity) - LARGEST_PRIME = getPrimeSize(PRIMES[NB_PRIMES - 1] + 2); - } + Set(MemoryAllocator& allocator, uint64 capacity = 0) + : mNbAllocatedEntries(0), mNbEntries(0), mHashSize(0), mBuckets(nullptr), + mEntries(nullptr), mNextEntries(nullptr), mAllocator(allocator), mFreeIndex(INVALID_INDEX) { if (capacity > 0) { - initialize(capacity); + reserve(capacity); } } /// Copy constructor Set(const Set& set) - :mNbUsedEntries(set.mNbUsedEntries), mNbFreeEntries(set.mNbFreeEntries), mCapacity(set.mCapacity), - mBuckets(nullptr), mEntries(nullptr), mAllocator(set.mAllocator), mFreeIndex(set.mFreeIndex) { + :mNbAllocatedEntries(set.mNbAllocatedEntries), mNbEntries(set.mNbEntries), mHashSize(set.mHashSize), + mBuckets(nullptr), mEntries(nullptr), mNextEntries(nullptr), mAllocator(set.mAllocator), mFreeIndex(set.mFreeIndex) { - if (mCapacity > 0) { + if (mHashSize > 0) { // Allocate memory for the buckets - mBuckets = static_cast(mAllocator.allocate(mCapacity * sizeof(int))); + mBuckets = static_cast(mAllocator.allocate(mHashSize * sizeof(uint64))); // Allocate memory for the entries - mEntries = static_cast(mAllocator.allocate(mCapacity * sizeof(Entry))); + mEntries = static_cast(mAllocator.allocate(mNbAllocatedEntries * sizeof(V))); + mNextEntries = static_cast(mAllocator.allocate(mNbAllocatedEntries * sizeof(uint64))); - // Copy the buckets - std::uninitialized_copy(set.mBuckets, set.mBuckets + mCapacity, mBuckets); + // Copy the buckets array + std::memcpy(mBuckets, set.mBuckets, mHashSize * sizeof(uint64)); + + // Copy the next entries indices + std::memcpy(mNextEntries, set.mNextEntries, mNbAllocatedEntries * sizeof(uint64)); // Copy the entries - for (int i=0; i < mCapacity; i++) { + for (uint64 i=0; i(mAllocator.allocate(sizeof(V))); - new (mEntries[i].value) V(*(set.mEntries[i].value)); + entryIndex = mNextEntries[entryIndex]; } } } @@ -401,82 +256,151 @@ class Set { } /// Allocate memory for a given number of elements - void reserve(int capacity) { + void reserve(uint64 capacity) { + + if (capacity <= mHashSize) return; + + if (capacity < 16) capacity = 16; + + // Make sure we have a power of two size + if (!isPowerOfTwo(capacity)) { + capacity = nextPowerOfTwo64Bits(capacity); + } + + assert(capacity < INVALID_INDEX); + + assert(capacity > mHashSize); + + // Allocate memory for the buckets + uint64* newBuckets = static_cast(mAllocator.allocate(capacity * sizeof(uint64))); - if (capacity <= mCapacity) return; + // Allocate memory for the entries + const uint64 nbAllocatedEntries = static_cast(capacity * double(DEFAULT_LOAD_FACTOR)); + assert(nbAllocatedEntries > 0); + V* newEntries = static_cast(mAllocator.allocate(nbAllocatedEntries * sizeof(V))); + uint64* newNextEntries = static_cast(mAllocator.allocate(nbAllocatedEntries * sizeof(uint64))); + + assert(newEntries != nullptr); + assert(newNextEntries != nullptr); + + // Initialize the new buckets + for (uint64 i=0; i LARGEST_PRIME && LARGEST_PRIME > mCapacity) { - capacity = LARGEST_PRIME; - } - else { - capacity = getPrimeSize(capacity); - } + if (mNbAllocatedEntries > 0) { - expand(capacity); + assert(mNextEntries != nullptr); + + // Copy the free nodes indices in the nextEntries array + std::memcpy(newNextEntries, mNextEntries, mNbAllocatedEntries * sizeof(uint64)); + } + + // Recompute the buckets (hash) with the new hash size + for (uint64 i=0; i(hashCode & divider); + + newNextEntries[entryIndex] = newBuckets[bucketIndex]; + newBuckets[bucketIndex] = entryIndex; + + // Copy the entry to the new location and destroy the previous one + new (newEntries + entryIndex) V(mEntries[entryIndex]); + mEntries[entryIndex].~V(); + + entryIndex = mNextEntries[entryIndex]; + } + } + + if (mNbAllocatedEntries > 0) { + + // Release previously allocated memory + mAllocator.release(mBuckets, mHashSize * sizeof(uint64)); + mAllocator.release(mEntries, mNbAllocatedEntries * sizeof(V)); + mAllocator.release(mNextEntries, mNbAllocatedEntries * sizeof(uint64)); + } + + // Add the new entries to the free list + for (uint64 i=mNbAllocatedEntries; i < nbAllocatedEntries-1; i++) { + newNextEntries[i] = i + 1; + } + newNextEntries[nbAllocatedEntries - 1] = mFreeIndex; + mFreeIndex = mNbAllocatedEntries; + + mHashSize = capacity; + mNbAllocatedEntries = nbAllocatedEntries; + mBuckets = newBuckets; + mEntries = newEntries; + mNextEntries = newNextEntries; + + assert(mFreeIndex != INVALID_INDEX); } /// Return true if the set contains a given value bool contains(const V& value) const { - return findEntry(value) != -1; + return findEntry(value) != INVALID_INDEX; } /// Add a value into the set. /// Returns true if the item has been inserted and false otherwise. bool add(const V& value) { - if (mCapacity == 0) { - initialize(0); - } + uint64 bucket = INVALID_INDEX; // Compute the hash code of the value - size_t hashCode = Hash()(value); + const size_t hashCode = Hash()(value); - // Compute the corresponding bucket index - int bucket = hashCode % mCapacity; + if (mHashSize > 0) { - auto keyEqual = KeyEqual(); + // Compute the corresponding bucket index + const size_t divider = mHashSize - 1; + bucket = static_cast(hashCode & divider); - // Check if the item is already in the set - for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { + auto keyEqual = KeyEqual(); - // If there is already an item with the same value in the set - if (mEntries[i].hashCode == hashCode && keyEqual(*mEntries[i].value, value)) { + // Check if the item is already in the set + for (uint64 i = mBuckets[bucket]; i != INVALID_INDEX; i = mNextEntries[i]) { - return false; + // If there is already an item with the same value in the set + if (Hash()(mEntries[i]) == hashCode && keyEqual(mEntries[i], value)) { + + return false; + } } } - size_t entryIndex; + uint64 entryIndex; + + // If there are no more free entries to use + if (mFreeIndex == INVALID_INDEX) { + + // Allocate more memory + reserve(mHashSize == 0 ? 16 : mHashSize * 2); - // If there are free entries to use - if (mNbFreeEntries > 0) { - assert(mFreeIndex >= 0); - entryIndex = mFreeIndex; - mFreeIndex = mEntries[entryIndex].next; - mNbFreeEntries--; + // Recompute the bucket index + const size_t divider = mHashSize - 1; + bucket = static_cast(hashCode & divider); } - else { - // If we need to allocator more entries - if (mNbUsedEntries == mCapacity) { + assert(mNbEntries < mNbAllocatedEntries); + assert(mFreeIndex != INVALID_INDEX); - // Allocate more memory - reserve(mCapacity * 2); + // Get the next free entry + entryIndex = mFreeIndex; + mFreeIndex = mNextEntries[entryIndex]; - // Recompute the bucket index - bucket = hashCode % mCapacity; - } + mNbEntries++; - entryIndex = mNbUsedEntries; - mNbUsedEntries++; - } + assert(bucket != INVALID_INDEX); - assert(mEntries[entryIndex].value == nullptr); - mEntries[entryIndex].hashCode = hashCode; - mEntries[entryIndex].next = mBuckets[bucket]; - mEntries[entryIndex].value = static_cast(mAllocator.allocate(sizeof(V))); - assert(mEntries[entryIndex].value != nullptr); - new (mEntries[entryIndex].value) V(value); + mNextEntries[entryIndex] = mBuckets[bucket]; + new (mEntries + entryIndex) V(value); mBuckets[bucket] = entryIndex; return true; @@ -495,46 +419,47 @@ class Set { /// element after the one that has been removed Iterator remove(const V& value) { - if (mCapacity > 0) { + if (mHashSize > 0) { - size_t hashcode = Hash()(value); - auto keyEqual = KeyEqual(); - int bucket = hashcode % mCapacity; - int last = -1; - for (int i = mBuckets[bucket]; i >= 0; last = i, i = mEntries[i].next) { + const size_t hashcode = Hash()(value); + auto keyEqual = KeyEqual(); + const size_t divider = mHashSize - 1; + const size_t bucket = hashcode & divider; + uint64 last = INVALID_INDEX; + for (uint64 i = mBuckets[bucket]; i != INVALID_INDEX; last = i, i = mNextEntries[i]) { - if (mEntries[i].hashCode == hashcode && keyEqual(*mEntries[i].value, value)) { + // If we have found the item + if (Hash()(mEntries[i]) == hashcode && keyEqual(mEntries[i], value)) { - if (last < 0 ) { - mBuckets[bucket] = mEntries[i].next; + if (last == INVALID_INDEX) { + mBuckets[bucket] = mNextEntries[i]; } else { - mEntries[last].next = mEntries[i].next; - } - - // Release memory for the value if any - if (mEntries[i].value != nullptr) { - mEntries[i].value->~V(); - mAllocator.release(mEntries[i].value, sizeof(V)); - mEntries[i].value = nullptr; + mNextEntries[last] = mNextEntries[i]; } - assert(mEntries[i].value == nullptr); - mEntries[i].next = mFreeIndex; - mFreeIndex = i; - mNbFreeEntries++; - - // Find the next valid entry to return an iterator - for (i += 1; i < mNbUsedEntries; i++) { - // If the entry is not empty - if (mEntries[i].value != nullptr) { + uint64 nextEntryIndex = mNextEntries[i]; + uint64 nextBucketIndex = bucket; - // We have found the next non empty entry - return Iterator(mEntries, mCapacity, mNbUsedEntries, i); + mEntries[i].~V(); + mNextEntries[i] = mFreeIndex; + mFreeIndex = i; + mNbEntries--; + + // Find the next entry to return an iterator + if (nextEntryIndex == INVALID_INDEX) { + nextEntryIndex = 0; + nextBucketIndex++; + while(nextBucketIndex < mHashSize && mBuckets[nextBucketIndex] == INVALID_INDEX) { + nextBucketIndex++; + } + if (nextBucketIndex < mHashSize) { + nextEntryIndex = mBuckets[nextBucketIndex]; } } - return end(); + // We have found the next non empty entry + return Iterator(this, nextBucketIndex, nextEntryIndex); } } } @@ -542,67 +467,67 @@ class Set { return end(); } - /// Return a list with all the values of the set - List toList(MemoryAllocator& listAllocator) const { + /// Return an array with all the values of the set + Array toArray(MemoryAllocator& arrayAllocator) const { - List list(listAllocator); + Array array(arrayAllocator); - for (int i=0; i < mCapacity; i++) { - if (mEntries[i].value != nullptr) { - list.add(*(mEntries[i].value)); - } + for (auto it = begin(); it != end(); ++it) { + array.add(*it); } - return list; + return array; } /// Clear the set void clear(bool releaseMemory = false) { - if (mNbUsedEntries > 0) { + for (uint64 i=0; i~V(); - mAllocator.release(mEntries[i].value, sizeof(V)); - mEntries[i].value = nullptr; - } - } + uint64 entryIndex = mBuckets[i]; + while(entryIndex != INVALID_INDEX) { - mFreeIndex = -1; - mNbUsedEntries = 0; - mNbFreeEntries = 0; - } + // Destroy the entry + mEntries[entryIndex].~V(); - // If elements have been allocated - if (releaseMemory && mCapacity > 0) { + uint64 nextEntryIndex = mNextEntries[entryIndex]; - // Destroy the entries - for (int i=0; i < mCapacity; i++) { - mEntries[i].~Entry(); + // Add entry to the free list + mNextEntries[entryIndex] = mFreeIndex; + mFreeIndex = entryIndex; + + entryIndex = nextEntryIndex; } - mAllocator.release(mBuckets, mCapacity * sizeof(int)); - mAllocator.release(mEntries, mCapacity * sizeof(Entry)); + mBuckets[i] = INVALID_INDEX; + } + + if (releaseMemory && mNbAllocatedEntries > 0) { + + // Release previously allocated memory + mAllocator.release(mBuckets, mHashSize * sizeof(uint64)); + mAllocator.release(mEntries, mNbAllocatedEntries * sizeof(V)); + mAllocator.release(mNextEntries, mNbAllocatedEntries * sizeof(uint64)); - mCapacity = 0; mBuckets = nullptr; mEntries = nullptr; + mNextEntries = nullptr; + + mNbAllocatedEntries = 0; + mHashSize = 0; } - assert(size() == 0); + mNbEntries = 0; } /// Return the number of elements in the set - int size() const { - return mNbUsedEntries - mNbFreeEntries; + uint64 size() const { + return mNbEntries; } /// Return the capacity of the set - int capacity() const { - return mCapacity; + uint64 capacity() const { + return mHashSize; } /// Try to find an item of the set given a key. @@ -610,30 +535,29 @@ class Set { /// an iterator pointing to the end if not found Iterator find(const V& value) const { - int bucket; - int entry = -1; + uint64 bucket; + uint64 entry = INVALID_INDEX; - if (mCapacity > 0) { + if (mHashSize > 0) { - size_t hashCode = Hash()(value); - bucket = hashCode % mCapacity; - auto keyEqual = KeyEqual(); + const size_t hashCode = Hash()(value); + const size_t divider = mHashSize - 1; + bucket = static_cast(hashCode & divider); + auto keyEqual = KeyEqual(); - for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { - if (mEntries[i].hashCode == hashCode && keyEqual(*(mEntries[i].value), value)) { + for (uint64 i = mBuckets[bucket]; i != INVALID_INDEX; i = mNextEntries[i]) { + if (Hash()(mEntries[i]) == hashCode && keyEqual(mEntries[i], value)) { entry = i; break; } } } - if (entry == -1) { + if (entry == INVALID_INDEX) { return end(); } - assert(mEntries[entry].value != nullptr); - - return Iterator(mEntries, mCapacity, mNbUsedEntries, entry); + return Iterator(this, bucket, entry); } /// Overloaded equality operator @@ -665,34 +589,38 @@ class Set { // Clear the set clear(true); - if (set.mCapacity > 0) { + mNbAllocatedEntries = set.mNbAllocatedEntries; + mNbEntries = set.mNbEntries; + mHashSize = set.mHashSize; + mFreeIndex = set.mFreeIndex; - // Compute the next larger prime size - mCapacity = getPrimeSize(set.mCapacity); + if (mHashSize > 0) { // Allocate memory for the buckets - mBuckets = static_cast(mAllocator.allocate(mCapacity * sizeof(int))); + mBuckets = static_cast(mAllocator.allocate(mHashSize * sizeof(uint64))); // Allocate memory for the entries - mEntries = static_cast(mAllocator.allocate(mCapacity * sizeof(Entry))); + mEntries = static_cast(mAllocator.allocate(mNbAllocatedEntries * sizeof(V))); + mNextEntries = static_cast(mAllocator.allocate(mNbAllocatedEntries * sizeof(uint64))); + + // Copy the buckets array + std::memcpy(mBuckets, set.mBuckets, mHashSize * sizeof(uint64)); - // Copy the buckets - std::uninitialized_copy(set.mBuckets, set.mBuckets + mCapacity, mBuckets); + // Copy the next entries indices + std::memcpy(mNextEntries, set.mNextEntries, mNbAllocatedEntries * sizeof(uint64)); // Copy the entries - for (int i=0; i < mCapacity; i++) { + for (uint64 i=0; i(mAllocator.allocate(sizeof(V))); - new (mEntries[i].value) V(*(set.mEntries[i].value)); + // Copy the entry to the new location and destroy the previous one + new (mEntries + entryIndex) V(set.mEntries[entryIndex]); + + entryIndex = mNextEntries[entryIndex]; } } - - mNbUsedEntries = set.mNbUsedEntries; - mNbFreeEntries = set.mNbFreeEntries; - mFreeIndex = set.mFreeIndex; } } @@ -702,7 +630,7 @@ class Set { /// Return a begin iterator Iterator begin() const { - // If the map is empty + // If the set is empty if (size() == 0) { // Return an iterator to the end @@ -710,32 +638,28 @@ class Set { } // Find the first used entry - int entry; - for (entry=0; entry < mNbUsedEntries; entry++) { - if (mEntries[entry].value != nullptr) { - return Iterator(mEntries, mCapacity, mNbUsedEntries, entry); - } + uint64 bucketIndex = 0; + while (mBuckets[bucketIndex] == INVALID_INDEX) { + + bucketIndex++; } - assert(false); - return end(); + assert(bucketIndex < mHashSize); + assert(mBuckets[bucketIndex] != INVALID_INDEX); + + return Iterator(this, bucketIndex, mBuckets[bucketIndex]); } /// Return a end iterator Iterator end() const { - return Iterator(mEntries, mCapacity, mNbUsedEntries, mCapacity); + + return Iterator(this, mHashSize, 0); } -}; -template -const int Set::PRIMES[NB_PRIMES] = {3, 7, 11, 17, 23, 29, 37, 47, 59, 71, 89, 107, 131, 163, 197, 239, 293, 353, 431, 521, 631, 761, 919, - 1103, 1327, 1597, 1931, 2333, 2801, 3371, 4049, 4861, 5839, 7013, 8419, 10103, 12143, 14591, - 17519, 21023, 25229, 30293, 36353, 43627, 52361, 62851, 75431, 90523, 108631, 130363, 156437, - 187751, 225307, 270371, 324449, 389357, 467237, 560689, 672827, 807403, 968897, 1162687, 1395263, - 1674319, 2009191, 2411033, 2893249, 3471899, 4166287, 4999559}; + // ---------- Friendship ---------- // -template -int Set::LARGEST_PRIME = -1; + friend class Iterator; +}; } diff --git a/include/reactphysics3d/containers/Stack.h b/include/reactphysics3d/containers/Stack.h index ed6972625..2919a7b0e 100644 --- a/include/reactphysics3d/containers/Stack.h +++ b/include/reactphysics3d/containers/Stack.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -51,15 +51,15 @@ class Stack { T* mArray; /// Number of elements in the stack - uint mNbElements; + uint64 mNbElements; /// Number of allocated elements in the stack - uint mCapacity; + uint64 mCapacity; // -------------------- Methods -------------------- // /// Allocate more memory - void allocate(size_t capacity) { + void allocate(uint64 capacity) { T* newArray = static_cast(mAllocator.allocate(capacity * sizeof(T))); assert(newArray != nullptr); @@ -87,7 +87,7 @@ class Stack { // -------------------- Methods -------------------- // /// Constructor - Stack(MemoryAllocator& allocator, size_t capacity = 0) + Stack(MemoryAllocator& allocator, uint64 capacity = 0) :mAllocator(allocator), mArray(nullptr), mNbElements(0), mCapacity(0) { if (capacity > 0) { @@ -130,7 +130,7 @@ class Stack { void clear() { // Destruct the items - for (size_t i = 0; i < mNbElements; i++) { + for (uint64 i = 0; i < mNbElements; i++) { mArray[i].~T(); } @@ -169,12 +169,12 @@ class Stack { } /// Return the number of items in the stack - size_t size() const { + uint64 size() const { return mNbElements; } /// Return the capacity of the stack - size_t capacity() const { + uint64 capacity() const { return mCapacity; } }; diff --git a/include/reactphysics3d/containers/containers_common.h b/include/reactphysics3d/containers/containers_common.h index 84854f905..74da7cf12 100644 --- a/include/reactphysics3d/containers/containers_common.h +++ b/include/reactphysics3d/containers/containers_common.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -29,6 +29,7 @@ // Libraries #include #include +#include namespace reactphysics3d { diff --git a/include/reactphysics3d/decimal.h b/include/reactphysics3d/decimal.h index 17695d601..c501fc3fb 100644 --- a/include/reactphysics3d/decimal.h +++ b/include/reactphysics3d/decimal.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/include/reactphysics3d/engine/Entity.h b/include/reactphysics3d/engine/Entity.h index 0b6713498..9b4181c4e 100644 --- a/include/reactphysics3d/engine/Entity.h +++ b/include/reactphysics3d/engine/Entity.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -91,9 +91,6 @@ struct Entity { /// Return the generation number of the entity uint32 getGeneration() const; - /// Assignment operator - Entity& operator=(const Entity& entity); - /// Equality operator bool operator==(const Entity& entity) const; @@ -103,27 +100,26 @@ struct Entity { // -------------------- Friendship -------------------- // friend class EntityManager; - }; // Return the lookup index of the entity in a array -inline uint32 Entity::getIndex() const { +RP3D_FORCE_INLINE uint32 Entity::getIndex() const { return id & ENTITY_INDEX_MASK; } // Return the generation number of the entity -inline uint32 Entity::getGeneration() const { +RP3D_FORCE_INLINE uint32 Entity::getGeneration() const { return (id >> ENTITY_INDEX_BITS) & ENTITY_GENERATION_MASK; } // Equality operator -inline bool Entity::operator==(const Entity& entity) const { +RP3D_FORCE_INLINE bool Entity::operator==(const Entity& entity) const { return entity.id == id; } // Inequality operator -inline bool Entity::operator!=(const Entity& entity) const { +RP3D_FORCE_INLINE bool Entity::operator!=(const Entity& entity) const { return entity.id != id; } diff --git a/include/reactphysics3d/engine/EntityManager.h b/include/reactphysics3d/engine/EntityManager.h index f29ca09d1..35a13fcd2 100644 --- a/include/reactphysics3d/engine/EntityManager.h +++ b/include/reactphysics3d/engine/EntityManager.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -28,7 +28,7 @@ // Libraries #include -#include +#include #include #include @@ -45,8 +45,8 @@ class EntityManager { // -------------------- Attributes -------------------- // - /// List storing the generations of the created entities - List mGenerations; + /// Array storing the generations of the created entities + Array mGenerations; /// Deque with the indices of destroyed entities that can be reused Deque mFreeIndices; @@ -71,7 +71,7 @@ class EntityManager { }; // Return true if the entity is still valid (not destroyed) -inline bool EntityManager::isValid(Entity entity) const { +RP3D_FORCE_INLINE bool EntityManager::isValid(Entity entity) const { return mGenerations[entity.getIndex()] == entity.getGeneration(); } diff --git a/include/reactphysics3d/engine/EventListener.h b/include/reactphysics3d/engine/EventListener.h index 005867722..7802e892b 100644 --- a/include/reactphysics3d/engine/EventListener.h +++ b/include/reactphysics3d/engine/EventListener.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -55,13 +55,13 @@ class EventListener : public CollisionCallback { /** * @param callbackData Contains information about all the contacts */ - virtual void onContact(const CollisionCallback::CallbackData& callbackData) override {} + virtual void onContact(const CollisionCallback::CallbackData& /*callbackData*/) override {} /// Called when some trigger events occur /** * @param callbackData Contains information about all the triggers that are colliding */ - virtual void onTrigger(const OverlapCallback::CallbackData& callbackData) {} + virtual void onTrigger(const OverlapCallback::CallbackData& /*callbackData*/) {} }; } diff --git a/include/reactphysics3d/engine/Island.h b/include/reactphysics3d/engine/Island.h index f1b245755..dd145f93e 100644 --- a/include/reactphysics3d/engine/Island.h +++ b/include/reactphysics3d/engine/Island.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -54,17 +54,17 @@ class Island { ContactManifold** mContactManifolds; /// Current number of bodies in the island - uint mNbBodies; + uint32 mNbBodies; /// Current number of contact manifold in the island - uint mNbContactManifolds; + uint32 mNbContactManifolds; public: // -------------------- Methods -------------------- // /// Constructor - Island(uint nbMaxBodies, uint nbMaxContactManifolds, MemoryManager& memoryManager); + Island(uint32 nbMaxBodies, uint32 nbMaxContactManifolds, MemoryManager& memoryManager); /// Destructor ~Island(); @@ -85,13 +85,13 @@ class Island { void addJoint(Joint* joint); /// Return the number of bodies in the island - uint getNbBodies() const; + uint32 getNbBodies() const; /// Return the number of contact manifolds in the island - uint getNbContactManifolds() const; + uint32 getNbContactManifolds() const; /// Return the number of joints in the island - uint getNbJoints() const; + uint32 getNbJoints() const; /// Return a pointer to the array of bodies RigidBody** getBodies(); @@ -105,35 +105,35 @@ class Island { }; // Add a body into the island -inline void Island::addBody(RigidBody* body) { +RP3D_FORCE_INLINE void Island::addBody(RigidBody* body) { assert(!body->isSleeping()); mBodies[mNbBodies] = body; mNbBodies++; } // Add a contact manifold into the island -inline void Island::addContactManifold(ContactManifold* contactManifold) { +RP3D_FORCE_INLINE void Island::addContactManifold(ContactManifold* contactManifold) { mContactManifolds[mNbContactManifolds] = contactManifold; mNbContactManifolds++; } // Return the number of bodies in the island -inline uint Island::getNbBodies() const { +RP3D_FORCE_INLINE uint32 Island::getNbBodies() const { return mNbBodies; } // Return the number of contact manifolds in the island -inline uint Island::getNbContactManifolds() const { +RP3D_FORCE_INLINE uint32 Island::getNbContactManifolds() const { return mNbContactManifolds; } // Return a pointer to the array of bodies -inline RigidBody** Island::getBodies() { +RP3D_FORCE_INLINE RigidBody** Island::getBodies() { return mBodies; } // Return a pointer to the array of contact manifolds -inline ContactManifold** Island::getContactManifolds() { +RP3D_FORCE_INLINE ContactManifold** Island::getContactManifolds() { return mContactManifolds; } diff --git a/include/reactphysics3d/engine/Islands.h b/include/reactphysics3d/engine/Islands.h index 2ffc26a5d..560e90aec 100644 --- a/include/reactphysics3d/engine/Islands.h +++ b/include/reactphysics3d/engine/Islands.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -28,7 +28,7 @@ // Libraries #include -#include +#include #include #include @@ -46,10 +46,17 @@ struct Islands { private: - // -------------------- Attributes -------------------- // + /// Number of islands in the previous frame + uint32 mNbIslandsPreviousFrame; + + /// Number of items in the bodyEntities array in the previous frame + uint32 mNbBodyEntitiesPreviousFrame; + + /// Maximum number of bodies in a single island in the previous frame + uint32 mNbMaxBodiesInIslandPreviousFrame; - /// Reference to the memory allocator - MemoryAllocator& memoryAllocator; + /// Maximum number of bodies in a single island in the current frame + uint32 mNbMaxBodiesInIslandCurrentFrame; public: @@ -57,20 +64,27 @@ struct Islands { /// For each island, index of the first contact manifold of the island in the array of contact manifolds - List contactManifoldsIndices; + Array contactManifoldsIndices; /// For each island, number of contact manifolds in the island - List nbContactManifolds; + Array nbContactManifolds; + + /// Array of all the entities of the bodies in the islands (stored sequentially) + Array bodyEntities; + + /// For each island we store the starting index of the bodies of that island in the "bodyEntities" array + Array startBodyEntitiesIndex; - /// For each island, list of all the entities of the bodies in the island - List> bodyEntities; + /// For each island, total number of bodies in the island + Array nbBodiesInIsland; // -------------------- Methods -------------------- // /// Constructor Islands(MemoryAllocator& allocator) - :memoryAllocator(allocator), contactManifoldsIndices(allocator), nbContactManifolds(allocator), - bodyEntities(allocator) { + :mNbIslandsPreviousFrame(16), mNbBodyEntitiesPreviousFrame(32), mNbMaxBodiesInIslandPreviousFrame(0), mNbMaxBodiesInIslandCurrentFrame(0), + contactManifoldsIndices(allocator), nbContactManifolds(allocator), + bodyEntities(allocator), startBodyEntitiesIndex(allocator), nbBodiesInIsland(allocator) { } @@ -78,7 +92,7 @@ struct Islands { ~Islands() = default; /// Assignment operator - Islands& operator=(const Islands& island) = default; + Islands& operator=(const Islands& island) = delete; /// Copy-constructor Islands(const Islands& island) = default; @@ -91,21 +105,63 @@ struct Islands { /// Add an island and return its index uint32 addIsland(uint32 contactManifoldStartIndex) { - uint32 islandIndex = contactManifoldsIndices.size(); + const uint32 islandIndex = static_cast(contactManifoldsIndices.size()); contactManifoldsIndices.add(contactManifoldStartIndex); nbContactManifolds.add(0); - bodyEntities.add(List(memoryAllocator)); + startBodyEntitiesIndex.add(static_cast(bodyEntities.size())); + nbBodiesInIsland.add(0); + + if (islandIndex > 0 && nbBodiesInIsland[islandIndex-1] > mNbMaxBodiesInIslandCurrentFrame) { + mNbMaxBodiesInIslandCurrentFrame = nbBodiesInIsland[islandIndex-1]; + } return islandIndex; } + void addBodyToIsland(Entity bodyEntity) { + + const uint32 islandIndex = static_cast(contactManifoldsIndices.size()); + assert(islandIndex > 0); + + bodyEntities.add(bodyEntity); + nbBodiesInIsland[islandIndex - 1]++; + } + + /// Reserve memory for the current frame + void reserveMemory() { + + contactManifoldsIndices.reserve(mNbIslandsPreviousFrame); + nbContactManifolds.reserve(mNbIslandsPreviousFrame); + startBodyEntitiesIndex.reserve(mNbIslandsPreviousFrame); + nbBodiesInIsland.reserve(mNbIslandsPreviousFrame); + + bodyEntities.reserve(mNbBodyEntitiesPreviousFrame); + } + /// Clear all the islands void clear() { + const uint32 nbIslands = static_cast(nbContactManifolds.size()); + + if (nbIslands > 0 && nbBodiesInIsland[nbIslands-1] > mNbMaxBodiesInIslandCurrentFrame) { + mNbMaxBodiesInIslandCurrentFrame = nbBodiesInIsland[nbIslands-1]; + } + + mNbMaxBodiesInIslandPreviousFrame = mNbMaxBodiesInIslandCurrentFrame; + mNbIslandsPreviousFrame = nbIslands; + mNbMaxBodiesInIslandCurrentFrame = 0; + mNbBodyEntitiesPreviousFrame = static_cast(bodyEntities.size()); + contactManifoldsIndices.clear(true); nbContactManifolds.clear(true); bodyEntities.clear(true); + startBodyEntitiesIndex.clear(true); + nbBodiesInIsland.clear(true); + } + + uint32 getNbMaxBodiesInIslandPreviousFrame() const { + return mNbMaxBodiesInIslandPreviousFrame; } }; diff --git a/include/reactphysics3d/engine/Material.h b/include/reactphysics3d/engine/Material.h index 0882e5b2f..5a2a998f3 100644 --- a/include/reactphysics3d/engine/Material.h +++ b/include/reactphysics3d/engine/Material.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -28,6 +28,7 @@ // Libraries #include +#include #include namespace reactphysics3d { @@ -44,11 +45,8 @@ class Material { // -------------------- Attributes -------------------- // - /// Friction coefficient (positive value) - decimal mFrictionCoefficient; - - /// Rolling resistance factor (positive value) - decimal mRollingResistance; + /// Square root of the friction coefficient + decimal mFrictionCoefficientSqrt; /// Bounciness during collisions (between 0 and 1) where 1 is for a very bouncy body decimal mBounciness; @@ -59,14 +57,7 @@ class Material { // -------------------- Methods -------------------- // /// Constructor - Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness, - decimal massDensity = decimal(1.0)); - - /// Copy-constructor - Material(const Material& material); - - /// Destructor - ~Material() = default; + Material(decimal frictionCoefficient, decimal bounciness, decimal massDensity = decimal(1.0)); public : @@ -84,11 +75,8 @@ class Material { /// Set the friction coefficient. void setFrictionCoefficient(decimal frictionCoefficient); - /// Return the rolling resistance factor - decimal getRollingResistance() const; - - /// Set the rolling resistance factor - void setRollingResistance(decimal rollingResistance); + /// Return the square root friction coefficient + decimal getFrictionCoefficientSqrt() const; /// Return the mass density of the collider decimal getMassDensity() const; @@ -99,19 +87,18 @@ class Material { /// Return a string representation for the material std::string to_string() const; - /// Overloaded assignment operator - Material& operator=(const Material& material); - // ---------- Friendship ---------- // friend class Collider; + friend class CollisionBody; + friend class RigidBody; }; // Return the bounciness /** * @return Bounciness factor (between 0 and 1) where 1 is very bouncy */ -inline decimal Material::getBounciness() const { +RP3D_FORCE_INLINE decimal Material::getBounciness() const { return mBounciness; } @@ -121,7 +108,7 @@ inline decimal Material::getBounciness() const { /** * @param bounciness Bounciness factor (between 0 and 1) where 1 is very bouncy */ -inline void Material::setBounciness(decimal bounciness) { +RP3D_FORCE_INLINE void Material::setBounciness(decimal bounciness) { assert(bounciness >= decimal(0.0) && bounciness <= decimal(1.0)); mBounciness = bounciness; } @@ -130,8 +117,8 @@ inline void Material::setBounciness(decimal bounciness) { /** * @return Friction coefficient (positive value) */ -inline decimal Material::getFrictionCoefficient() const { - return mFrictionCoefficient; +RP3D_FORCE_INLINE decimal Material::getFrictionCoefficient() const { + return mFrictionCoefficientSqrt * mFrictionCoefficientSqrt; } // Set the friction coefficient. @@ -140,34 +127,18 @@ inline decimal Material::getFrictionCoefficient() const { /** * @param frictionCoefficient Friction coefficient (positive value) */ -inline void Material::setFrictionCoefficient(decimal frictionCoefficient) { +RP3D_FORCE_INLINE void Material::setFrictionCoefficient(decimal frictionCoefficient) { assert(frictionCoefficient >= decimal(0.0)); - mFrictionCoefficient = frictionCoefficient; + mFrictionCoefficientSqrt = std::sqrt(frictionCoefficient); } -// Return the rolling resistance factor. If this value is larger than zero, -// it will be used to slow down the body when it is rolling -// against another body. -/** - * @return The rolling resistance factor (positive value) - */ -inline decimal Material::getRollingResistance() const { - return mRollingResistance; -} - -// Set the rolling resistance factor. If this value is larger than zero, -// it will be used to slow down the body when it is rolling -// against another body. -/** - * @param rollingResistance The rolling resistance factor - */ -inline void Material::setRollingResistance(decimal rollingResistance) { - assert(rollingResistance >= 0); - mRollingResistance = rollingResistance; +// Return the square root friction coefficient +RP3D_FORCE_INLINE decimal Material::getFrictionCoefficientSqrt() const { + return mFrictionCoefficientSqrt; } // Return the mass density of the collider -inline decimal Material::getMassDensity() const { +RP3D_FORCE_INLINE decimal Material::getMassDensity() const { return mMassDensity; } @@ -175,36 +146,21 @@ inline decimal Material::getMassDensity() const { /** * @param massDensity The mass density of the collider */ -inline void Material::setMassDensity(decimal massDensity) { +RP3D_FORCE_INLINE void Material::setMassDensity(decimal massDensity) { mMassDensity = massDensity; } // Return a string representation for the material -inline std::string Material::to_string() const { +RP3D_FORCE_INLINE std::string Material::to_string() const { std::stringstream ss; - ss << "frictionCoefficient=" << mFrictionCoefficient << std::endl; - ss << "rollingResistance=" << mRollingResistance << std::endl; + ss << "frictionCoefficient=" << (mFrictionCoefficientSqrt * mFrictionCoefficientSqrt) << std::endl; ss << "bounciness=" << mBounciness << std::endl; return ss.str(); } -// Overloaded assignment operator -inline Material& Material::operator=(const Material& material) { - - // Check for self-assignment - if (this != &material) { - mFrictionCoefficient = material.mFrictionCoefficient; - mBounciness = material.mBounciness; - mRollingResistance = material.mRollingResistance; - } - - // Return this material - return *this; -} - } #endif diff --git a/include/reactphysics3d/engine/OverlappingPairs.h b/include/reactphysics3d/engine/OverlappingPairs.h index 13dfad0c1..03b728403 100644 --- a/include/reactphysics3d/engine/OverlappingPairs.h +++ b/include/reactphysics3d/engine/OverlappingPairs.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -54,6 +54,8 @@ class CollisionDispatch; */ struct LastFrameCollisionInfo { + // TODO OPTI : Use bit flags instead of bools here + /// True if we have information about the previous frame bool isValid; @@ -77,20 +79,16 @@ struct LastFrameCollisionInfo { // SAT Algorithm bool satIsAxisFacePolyhedron1; bool satIsAxisFacePolyhedron2; - uint satMinAxisFaceIndex; - uint satMinEdge1Index; - uint satMinEdge2Index; + uint8 satMinAxisFaceIndex; + uint8 satMinEdge1Index; + uint8 satMinEdge2Index; /// Constructor - LastFrameCollisionInfo() { - - isValid = false; - isObsolete = false; - wasColliding = false; - wasUsingSAT = false; - wasUsingGJK = false; + LastFrameCollisionInfo() + :isValid(false), isObsolete(false), wasColliding(false), wasUsingGJK(false), gjkSeparatingAxis(Vector3(0, 1, 0)), + satIsAxisFacePolyhedron1(false), satIsAxisFacePolyhedron2(false), satMinAxisFaceIndex(0), + satMinEdge1Index(0), satMinEdge2Index(0) { - gjkSeparatingAxis = Vector3(0, 1, 0); } }; @@ -104,80 +102,194 @@ struct LastFrameCollisionInfo { */ class OverlappingPairs { - private: + public: - // -------------------- Constants -------------------- // + struct OverlappingPair { + /// Ids of the convex vs convex pairs + uint64 pairID; - /// Number of pairs to allocated at the beginning - const uint32 INIT_NB_ALLOCATED_PAIRS = 10; + /// Broad-phase Id of the first shape + // TODO OPTI : Is this used ? + int32 broadPhaseId1; - // -------------------- Attributes -------------------- // + /// Broad-phase Id of the second shape + // TODO OPTI : Is this used ? + int32 broadPhaseId2; - /// Persistent memory allocator - MemoryAllocator& mPersistentAllocator; + /// Entity of the first collider of the convex vs convex pairs + Entity collider1; - /// Memory allocator used to allocated memory for the ContactManifoldInfo and ContactPointInfo - // TODO : Do we need to keep this ? - MemoryAllocator& mTempMemoryAllocator; + /// Entity of the second collider of the convex vs convex pairs + Entity collider2; - /// Current number of components - uint64 mNbPairs; + /// True if we need to test if the convex vs convex overlapping pairs of shapes still overlap + bool needToTestOverlap; - /// Index in the array of the first convex vs concave pair - uint64 mConcavePairsStartIndex; + /// Pointer to the narrow-phase algorithm + NarrowPhaseAlgorithmType narrowPhaseAlgorithmType; - /// Size (in bytes) of a single pair - size_t mPairDataSize; + /// True if the colliders of the overlapping pair were colliding in the previous frame + bool collidingInPreviousFrame; - /// Number of allocated pairs - uint64 mNbAllocatedPairs; + /// True if the colliders of the overlapping pair are colliding in the current frame + bool collidingInCurrentFrame; - /// Allocated memory for all the data of the pairs - void* mBuffer; + /// Constructor + OverlappingPair(uint64 pairId, int32 broadPhaseId1, int32 broadPhaseId2, Entity collider1, Entity collider2, + NarrowPhaseAlgorithmType narrowPhaseAlgorithmType) + : pairID(pairId), broadPhaseId1(broadPhaseId1), broadPhaseId2(broadPhaseId2), collider1(collider1) , collider2(collider2), + needToTestOverlap(false), narrowPhaseAlgorithmType(narrowPhaseAlgorithmType), collidingInPreviousFrame(false), + collidingInCurrentFrame(false) { - /// Map a pair id to the internal array index - Map mMapPairIdToPairIndex; + } + + /// Destructor + virtual ~OverlappingPair() = default; + }; + + // Overlapping pair between two convex colliders + struct ConvexOverlappingPair : public OverlappingPair { + + /// Temporal coherence collision data for each overlapping collision shapes of this pair. + /// Temporal coherence data store collision information about the last frame. + /// If two convex shapes overlap, we have a single collision data but if one shape is concave, + /// we might have collision data for several overlapping triangles. + LastFrameCollisionInfo lastFrameCollisionInfo; + + /// Constructor + ConvexOverlappingPair(uint64 pairId, int32 broadPhaseId1, int32 broadPhaseId2, Entity collider1, Entity collider2, + NarrowPhaseAlgorithmType narrowPhaseAlgorithmType) + : OverlappingPair(pairId, broadPhaseId1, broadPhaseId2, collider1, collider2, narrowPhaseAlgorithmType) { + + } + }; + + // Overlapping pair between two a convex collider and a concave collider + struct ConcaveOverlappingPair : public OverlappingPair { + + private: + + MemoryAllocator* mPoolAllocator; + + public: + + /// True if the first shape of the pair is convex + bool isShape1Convex; + + /// Temporal coherence collision data for each overlapping collision shapes of this pair. + /// Temporal coherence data store collision information about the last frame. + /// If two convex shapes overlap, we have a single collision data but if one shape is concave, + /// we might have collision data for several overlapping triangles. The key in the map is the + /// shape Ids of the two collision shapes. + Map lastFrameCollisionInfos; + + /// Constructor + ConcaveOverlappingPair(uint64 pairId, int32 broadPhaseId1, int32 broadPhaseId2, Entity collider1, Entity collider2, + NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, + bool isShape1Convex, MemoryAllocator& poolAllocator, MemoryAllocator& heapAllocator) + : OverlappingPair(pairId, broadPhaseId1, broadPhaseId2, collider1, collider2, narrowPhaseAlgorithmType), mPoolAllocator(&poolAllocator), + isShape1Convex(isShape1Convex), lastFrameCollisionInfos(heapAllocator, 16) { + + } + + // Destroy all the LastFrameCollisionInfo objects + void destroyLastFrameCollisionInfos() { + + for (auto it = lastFrameCollisionInfos.begin(); it != lastFrameCollisionInfos.end(); ++it) { + + // Call the destructor + it->second->LastFrameCollisionInfo::~LastFrameCollisionInfo(); - /// Ids of the convex vs convex pairs - uint64* mPairIds; + // Release memory + mPoolAllocator->release(it->second, sizeof(LastFrameCollisionInfo)); + } - /// Array with the broad-phase Ids of the first shape - int32* mPairBroadPhaseId1; + lastFrameCollisionInfos.clear(); + } - /// Array with the broad-phase Ids of the second shape - int32* mPairBroadPhaseId2; + // Add a new last frame collision info if it does not exist for the given shapes already + LastFrameCollisionInfo* addLastFrameInfoIfNecessary(uint32 shapeId1, uint32 shapeId2) { - /// Array of Entity of the first collider of the convex vs convex pairs - Entity* mColliders1; + uint32 maxShapeId = shapeId1; + uint32 minShapeId = shapeId2; + if (shapeId1 < shapeId2) { + maxShapeId = shapeId2; + minShapeId = shapeId1; + } - /// Array of Entity of the second collider of the convex vs convex pairs - Entity* mColliders2; + // Try to get the corresponding last frame collision info + const uint64 shapesId = pairNumbers(maxShapeId, minShapeId); - /// Temporal coherence collision data for each overlapping collision shapes of this pair. - /// Temporal coherence data store collision information about the last frame. - /// If two convex shapes overlap, we have a single collision data but if one shape is concave, - /// we might have collision data for several overlapping triangles. The key in the map is the - /// shape Ids of the two collision shapes. - Map* mLastFrameCollisionInfos; + // If there is no collision info for those two shapes already + auto it = lastFrameCollisionInfos.find(shapesId); + if (it == lastFrameCollisionInfos.end()) { - /// True if we need to test if the convex vs convex overlapping pairs of shapes still overlap - bool* mNeedToTestOverlap; + LastFrameCollisionInfo* lastFrameInfo = new (mPoolAllocator->allocate(sizeof(LastFrameCollisionInfo))) LastFrameCollisionInfo(); - /// True if the overlapping pair is active (at least one body of the pair is active and not static) - bool* mIsActive; + // Add it into the map of collision infos + lastFrameCollisionInfos.add(Pair(shapesId, lastFrameInfo)); - /// Array with the pointer to the narrow-phase algorithm for each overlapping pair - NarrowPhaseAlgorithmType* mNarrowPhaseAlgorithmType; + return lastFrameInfo; + } + else { - /// True if the first shape of the pair is convex - bool* mIsShape1Convex; + // The existing collision info is not obsolete + it->second->isObsolete = false; - /// True if the colliders of the overlapping pair were colliding in the previous frame - bool* mCollidingInPreviousFrame; + return it->second; + } + } - /// True if the colliders of the overlapping pair are colliding in the current frame - bool* mCollidingInCurrentFrame; + /// Clear the obsolete LastFrameCollisionInfo objects + void clearObsoleteLastFrameInfos() { + + // For each last frame collision info + for (auto it = lastFrameCollisionInfos.begin(); it != lastFrameCollisionInfos.end(); ) { + + // If the collision info is obsolete + if (it->second->isObsolete) { + + // Call the destructor + it->second->LastFrameCollisionInfo::~LastFrameCollisionInfo(); + + // Release memory + mPoolAllocator->release(it->second, sizeof(LastFrameCollisionInfo)); + + it = lastFrameCollisionInfos.remove(it); + } + else { // If the collision info is not obsolete + + // Do not delete it but mark it as obsolete + it->second->isObsolete = true; + + ++it; + } + } + } + }; + + private: + + // -------------------- Attributes -------------------- // + + /// Pool memory allocator + MemoryAllocator& mPoolAllocator; + + /// Heap memory allocator + MemoryAllocator& mHeapAllocator; + + /// Array of convex vs convex overlapping pairs + Array mConvexPairs; + + /// Array of convex vs concave overlapping pairs + Array mConcavePairs; + + /// Map a pair id to the internal array index + Map mMapConvexPairIdToPairIndex; + + /// Map a pair id to the internal array index + Map mMapConcavePairIdToPairIndex; /// Reference to the colliders components ColliderComponents& mColliderComponents; @@ -203,15 +315,6 @@ class OverlappingPairs { // -------------------- Methods -------------------- // - /// Allocate memory for a given number of pairs - void allocate(uint64 nbPairsToAllocate); - - /// Compute the index where we need to insert the new pair - uint64 prepareAddPair(bool isConvexVsConvex); - - /// Destroy a pair at a given index - void destroyPair(uint64 index); - // Move a pair from a source to a destination index in the pairs array void movePairToIndex(uint64 srcIndex, uint64 destIndex); @@ -223,8 +326,8 @@ class OverlappingPairs { // -------------------- Methods -------------------- // /// Constructor - OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, - ColliderComponents& colliderComponents, CollisionBodyComponents& collisionBodyComponents, + OverlappingPairs(MemoryManager& memoryManager, ColliderComponents& colliderComponents, + CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, Set& noCollisionPairs, CollisionDispatch& collisionDispatch); @@ -238,46 +341,13 @@ class OverlappingPairs { OverlappingPairs& operator=(const OverlappingPairs& pair) = delete; /// Add an overlapping pair - uint64 addPair(Collider* shape1, Collider* shape2); + uint64 addPair(uint32 collider1Index, uint32 collider2Index, bool isConvexVsConvex); /// Remove a component at a given index void removePair(uint64 pairId); - /// Return the number of pairs - uint64 getNbPairs() const; - - /// Return the number of convex vs convex pairs - uint64 getNbConvexVsConvexPairs() const; - - /// Return the number of convex vs concave pairs - uint64 getNbConvexVsConcavePairs() const; - - /// Return the starting index of the convex vs concave pairs - uint64 getConvexVsConcavePairsStartIndex() const; - - /// Return the entity of the first collider - Entity getCollider1(uint64 pairId) const; - - /// Return the entity of the second collider - Entity getCollider2(uint64 pairId) const; - - /// Notify if a given pair is active or not - void setIsPairActive(uint64 pairId, bool isActive); - - /// Return the index of a given overlapping pair in the internal array - uint64 getPairIndex(uint64 pairId) const; - - /// Return the last frame collision info - LastFrameCollisionInfo* getLastFrameCollisionInfo(uint64, uint64 shapesId); - - /// Return a reference to the temporary memory allocator - MemoryAllocator& getTemporaryAllocator(); - - /// Add a new last frame collision info if it does not exist for the given shapes already - LastFrameCollisionInfo* addLastFrameInfoIfNecessary(uint64 pairIndex, uint32 shapeId1, uint32 shapeId2); - - /// Update whether a given overlapping pair is active or not - void updateOverlappingPairIsActive(uint64 pairId); + /// Remove a pair + void removePair(uint64 pairIndex, bool isConvexVsConvex); /// Delete all the obsolete last frame collision info void clearObsoleteLastFrameCollisionInfos(); @@ -291,11 +361,8 @@ class OverlappingPairs { /// Set if we need to test a given pair for overlap void setNeedToTestOverlap(uint64 pairId, bool needToTestOverlap); - /// Return true if the two colliders of the pair were already colliding the previous frame - bool getCollidingInPreviousFrame(uint64 pairId) const; - - /// Set to true if the two colliders of the pair were already colliding the previous frame - void setCollidingInPreviousFrame(uint64 pairId, bool wereCollidingInPreviousFrame); + /// Return a reference to an overlapping pair + OverlappingPair* getOverlappingPair(uint64 pairId); #ifdef IS_RP3D_PROFILING_ENABLED @@ -310,51 +377,8 @@ class OverlappingPairs { friend class CollisionDetectionSystem; }; -// Return the entity of the first collider -inline Entity OverlappingPairs::getCollider1(uint64 pairId) const { - assert(mMapPairIdToPairIndex.containsKey(pairId)); - assert(mMapPairIdToPairIndex[pairId] < mNbPairs); - return mColliders1[mMapPairIdToPairIndex[pairId]]; -} - -// Return the entity of the second collider -inline Entity OverlappingPairs::getCollider2(uint64 pairId) const { - assert(mMapPairIdToPairIndex.containsKey(pairId)); - assert(mMapPairIdToPairIndex[pairId] < mNbPairs); - return mColliders2[mMapPairIdToPairIndex[pairId]]; -} - -// Notify if a given pair is active or not -inline void OverlappingPairs::setIsPairActive(uint64 pairId, bool isActive) { - - assert(mMapPairIdToPairIndex.containsKey(pairId)); - assert(mMapPairIdToPairIndex[pairId] < mNbPairs); - mIsActive[mMapPairIdToPairIndex[pairId]] = isActive; -} - -// Return the index of a given overlapping pair in the internal array -inline uint64 OverlappingPairs::getPairIndex(uint64 pairId) const { - assert(mMapPairIdToPairIndex.containsKey(pairId)); - return mMapPairIdToPairIndex[pairId]; -} - -// Return the last frame collision info for a given shape id or nullptr if none is found -inline LastFrameCollisionInfo* OverlappingPairs::getLastFrameCollisionInfo(uint64 pairId, uint64 shapesId) { - - assert(mMapPairIdToPairIndex.containsKey(pairId)); - const uint64 index = mMapPairIdToPairIndex[pairId]; - assert(index < mNbPairs); - - Map::Iterator it = mLastFrameCollisionInfos[index].find(shapesId); - if (it != mLastFrameCollisionInfos[index].end()) { - return it->second; - } - - return nullptr; -} - // Return the pair of bodies index -inline bodypair OverlappingPairs::computeBodiesIndexPair(Entity body1Entity, Entity body2Entity) { +RP3D_FORCE_INLINE bodypair OverlappingPairs::computeBodiesIndexPair(Entity body1Entity, Entity body2Entity) { // Construct the pair of body index bodypair indexPair = body1Entity.id < body2Entity.id ? @@ -364,53 +388,39 @@ inline bodypair OverlappingPairs::computeBodiesIndexPair(Entity body1Entity, Ent return indexPair; } -// Return the number of pairs -inline uint64 OverlappingPairs::getNbPairs() const { - return mNbPairs; -} - -// Return the number of convex vs convex pairs -inline uint64 OverlappingPairs::getNbConvexVsConvexPairs() const { - return mConcavePairsStartIndex; -} - -// Return the number of convex vs concave pairs -inline uint64 OverlappingPairs::getNbConvexVsConcavePairs() const { - return mNbPairs - mConcavePairsStartIndex; -} +// Set if we need to test a given pair for overlap +RP3D_FORCE_INLINE void OverlappingPairs::setNeedToTestOverlap(uint64 pairId, bool needToTestOverlap) { -// Return the starting index of the convex vs concave pairs -inline uint64 OverlappingPairs::getConvexVsConcavePairsStartIndex() const { - return mConcavePairsStartIndex; -} + assert(mMapConvexPairIdToPairIndex.containsKey(pairId) || mMapConcavePairIdToPairIndex.containsKey(pairId)); -// Return a reference to the temporary memory allocator -inline MemoryAllocator& OverlappingPairs::getTemporaryAllocator() { - return mTempMemoryAllocator; + auto it = mMapConvexPairIdToPairIndex.find(pairId); + if (it != mMapConvexPairIdToPairIndex.end()) { + mConvexPairs[static_cast(it->second)].needToTestOverlap = needToTestOverlap; + } + else { + mConcavePairs[static_cast(mMapConcavePairIdToPairIndex[pairId])].needToTestOverlap = needToTestOverlap; + } } -// Set if we need to test a given pair for overlap -inline void OverlappingPairs::setNeedToTestOverlap(uint64 pairId, bool needToTestOverlap) { - assert(mMapPairIdToPairIndex.containsKey(pairId)); - mNeedToTestOverlap[mMapPairIdToPairIndex[pairId]] = needToTestOverlap; -} +// Return a reference to an overlapping pair +RP3D_FORCE_INLINE OverlappingPairs::OverlappingPair* OverlappingPairs::getOverlappingPair(uint64 pairId) { -// Return true if the two colliders of the pair were already colliding the previous frame -inline bool OverlappingPairs::getCollidingInPreviousFrame(uint64 pairId) const { - assert(mMapPairIdToPairIndex.containsKey(pairId)); - return mCollidingInPreviousFrame[mMapPairIdToPairIndex[pairId]]; -} + auto it = mMapConvexPairIdToPairIndex.find(pairId); + if (it != mMapConvexPairIdToPairIndex.end()) { + return &(mConvexPairs[static_cast(it->second)]); + } + it = mMapConcavePairIdToPairIndex.find(pairId); + if (it != mMapConcavePairIdToPairIndex.end()) { + return &(mConcavePairs[static_cast(it->second)]); + } -// Set to true if the two colliders of the pair were already colliding the previous frame -inline void OverlappingPairs::setCollidingInPreviousFrame(uint64 pairId, bool wereCollidingInPreviousFrame) { - assert(mMapPairIdToPairIndex.containsKey(pairId)); - mCollidingInPreviousFrame[mMapPairIdToPairIndex[pairId]] = wereCollidingInPreviousFrame; + return nullptr; } #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void OverlappingPairs::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void OverlappingPairs::setProfiler(Profiler* profiler) { mProfiler = profiler; } diff --git a/include/reactphysics3d/engine/PhysicsCommon.h b/include/reactphysics3d/engine/PhysicsCommon.h index 68574f7fd..2505fb7d0 100644 --- a/include/reactphysics3d/engine/PhysicsCommon.h +++ b/include/reactphysics3d/engine/PhysicsCommon.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -92,11 +92,56 @@ class PhysicsCommon { /// Set of default loggers Set mDefaultLoggers; + /// Half-edge structure of a box polyhedron + HalfEdgeStructure mBoxShapeHalfEdgeStructure; + + /// Half-edge structure of a triangle shape + HalfEdgeStructure mTriangleShapeHalfEdgeStructure; + // -------------------- Methods -------------------- // + /// Initialization + void init(); + /// Destroy and release everything that has been allocated void release(); + /// Delete an instance of PhysicsWorld + void deletePhysicsWorld(PhysicsWorld* world); + + /// Delete a sphere collision shape + void deleteSphereShape(SphereShape* sphereShape); + + /// Delete a box collision shape + void deleteBoxShape(BoxShape* boxShape); + + /// Delete a capsule collision shape + void deleteCapsuleShape(CapsuleShape* capsuleShape); + + /// Delete a convex mesh shape + void deleteConvexMeshShape(ConvexMeshShape* convexMeshShape); + + /// Delete a height-field shape + void deleteHeightFieldShape(HeightFieldShape* heightFieldShape); + + /// Delete a concave mesh shape + void deleteConcaveMeshShape(ConcaveMeshShape* concaveMeshShape); + + /// Delete a polyhedron mesh + void deletePolyhedronMesh(PolyhedronMesh* polyhedronMesh); + + /// Delete a triangle mesh + void deleteTriangleMesh(TriangleMesh* triangleMesh); + + /// Delete a default logger + void deleteDefaultLogger(DefaultLogger* logger); + + /// Initialize the half-edge structure of a BoxShape + void initBoxShapeHalfEdgeStructure(); + + /// Initialize the static half-edge structure of a TriangleShape + void initTriangleShapeHalfEdgeStructure(); + // If profiling is enabled #ifdef IS_RP3D_PROFILING_ENABLED @@ -106,6 +151,9 @@ class PhysicsCommon { /// Destroy a profiler void destroyProfiler(Profiler* profiler); + /// Delete a profiler + void deleteProfiler(Profiler* profiler); + #endif public : @@ -187,13 +235,19 @@ class PhysicsCommon { /// Set the logger static void setLogger(Logger* logger); + + // ---------- Friendship ---------- // + + friend class BoxShape; + friend class TriangleShape; + friend class PhysicsWorld; }; // Return the current logger /** * @return A pointer to the current logger */ -inline Logger* PhysicsCommon::getLogger() { +RP3D_FORCE_INLINE Logger* PhysicsCommon::getLogger() { return mLogger; } @@ -201,7 +255,7 @@ inline Logger* PhysicsCommon::getLogger() { /** * @param logger A pointer to the logger to use */ -inline void PhysicsCommon::setLogger(Logger* logger) { +RP3D_FORCE_INLINE void PhysicsCommon::setLogger(Logger* logger) { mLogger = logger; } diff --git a/include/reactphysics3d/engine/PhysicsWorld.h b/include/reactphysics3d/engine/PhysicsWorld.h index 907bf7b55..3462506d9 100644 --- a/include/reactphysics3d/engine/PhysicsWorld.h +++ b/include/reactphysics3d/engine/PhysicsWorld.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -28,7 +28,7 @@ // Libraries #include -#include +#include #include #include #include @@ -59,6 +59,7 @@ namespace reactphysics3d { // Declarations class Island; class RigidBody; +class PhysicsCommon; struct JointInfo; // Class PhysicsWorld @@ -93,17 +94,14 @@ class PhysicsWorld { /// Velocity threshold for contact velocity restitution decimal restitutionVelocityThreshold; - /// Default rolling resistance - decimal defaultRollingRestistance; - /// True if the sleeping technique is enabled bool isSleepingEnabled; /// Number of iterations when solving the velocity constraints of the Sequential Impulse technique - uint defaultVelocitySolverNbIterations; + uint16 defaultVelocitySolverNbIterations; /// Number of iterations when solving the position constraints of the Sequential Impulse technique - uint defaultPositionSolverNbIterations; + uint16 defaultPositionSolverNbIterations; /// Time (in seconds) that a body must stay still to be considered sleeping float defaultTimeBeforeSleep; @@ -116,9 +114,6 @@ class PhysicsWorld { /// might enter sleeping mode decimal defaultSleepAngularVelocity; - /// Maximum number of contact manifolds in an overlapping pair - uint nbMaxContactManifolds; - /// This is used to test if two contact manifold are similar (same contact normal) in order to /// merge them. If the cosine of the angle between the normals of the two manifold are larger /// than the value bellow, the manifold are considered to be similar. @@ -132,16 +127,13 @@ class PhysicsWorld { defaultFrictionCoefficient = decimal(0.3); defaultBounciness = decimal(0.5); restitutionVelocityThreshold = decimal(0.5); - defaultRollingRestistance = decimal(0.0); isSleepingEnabled = true; - defaultVelocitySolverNbIterations = 10; - defaultPositionSolverNbIterations = 5; + defaultVelocitySolverNbIterations = 6; + defaultPositionSolverNbIterations = 3; defaultTimeBeforeSleep = 1.0f; defaultSleepLinearVelocity = decimal(0.02); - defaultSleepAngularVelocity = decimal(3.0) * (PI / decimal(180.0)); - nbMaxContactManifolds = 3; + defaultSleepAngularVelocity = decimal(3.0) * (PI_RP3D / decimal(180.0)); cosAngleSimilarContactManifold = decimal(0.95); - } ~WorldSettings() = default; @@ -157,14 +149,12 @@ class PhysicsWorld { ss << "defaultFrictionCoefficient=" << defaultFrictionCoefficient << std::endl; ss << "defaultBounciness=" << defaultBounciness << std::endl; ss << "restitutionVelocityThreshold=" << restitutionVelocityThreshold << std::endl; - ss << "defaultRollingRestistance=" << defaultRollingRestistance << std::endl; ss << "isSleepingEnabled=" << isSleepingEnabled << std::endl; ss << "defaultVelocitySolverNbIterations=" << defaultVelocitySolverNbIterations << std::endl; ss << "defaultPositionSolverNbIterations=" << defaultPositionSolverNbIterations << std::endl; ss << "defaultTimeBeforeSleep=" << defaultTimeBeforeSleep << std::endl; ss << "defaultSleepLinearVelocity=" << defaultSleepLinearVelocity << std::endl; ss << "defaultSleepAngularVelocity=" << defaultSleepAngularVelocity << std::endl; - ss << "nbMaxContactManifolds=" << nbMaxContactManifolds << std::endl; ss << "cosAngleSimilarContactManifold=" << cosAngleSimilarContactManifold << std::endl; return ss.str(); @@ -221,7 +211,7 @@ class PhysicsWorld { CollisionDetectionSystem mCollisionDetection; /// All the collision bodies of the world - List mCollisionBodies; + Array mCollisionBodies; /// Pointer to an event listener object EventListener* mEventListener; @@ -236,7 +226,7 @@ class PhysicsWorld { #endif /// Total number of worlds - static uint mNbWorlds; + static uint32 mNbWorlds; /// All the islands of bodies of the current frame Islands mIslands; @@ -244,7 +234,7 @@ class PhysicsWorld { /// Order in which to process the ContactPairs for contact creation such that /// all the contact manifolds and contact points of a given island are packed together /// This array contains the indices of the ContactPairs. - List mProcessContactPairsOrderIslands; + Array mProcessContactPairsOrderIslands; /// Contact solver system ContactSolverSystem mContactSolverSystem; @@ -256,16 +246,16 @@ class PhysicsWorld { DynamicsSystem mDynamicsSystem; /// Number of iterations for the velocity solver of the Sequential Impulses technique - uint mNbVelocitySolverIterations; + uint16 mNbVelocitySolverIterations; /// Number of iterations for the position solver of the Sequential Impulses technique - uint mNbPositionSolverIterations; + uint16 mNbPositionSolverIterations; /// True if the spleeping technique for inactive bodies is enabled bool mIsSleepingEnabled; /// All the rigid bodies of the physics world - List mRigidBodies; + Array mRigidBodies; /// True if the gravity force is on bool mIsGravityEnabled; @@ -280,13 +270,10 @@ class PhysicsWorld { /// becomes smaller than the sleep velocity. decimal mTimeBeforeSleep; - /// Current joint id - uint mCurrentJointId; - // -------------------- Methods -------------------- // /// Constructor - PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(), Profiler* profiler = nullptr); + PhysicsWorld(MemoryManager& memoryManager, PhysicsCommon& physicsCommon, const WorldSettings& worldSettings = WorldSettings(), Profiler* profiler = nullptr); /// Notify the world if a body is disabled (slepping or inactive) or not void setBodyDisabled(Entity entity, bool isDisabled); @@ -309,9 +296,12 @@ class PhysicsWorld { /// Put bodies to sleep if needed. void updateSleepingBodies(decimal timeStep); - /// Add the joint to the list of joints of the two bodies involved in the joint + /// Add the joint to the array of joints of the two bodies involved in the joint void addJointToBodies(Entity body1, Entity body2, Entity joint); + /// Update the world inverse inertia tensors of rigid bodies + void updateBodiesInverseWorldInertiaTensors(); + /// Destructor ~PhysicsWorld(); @@ -368,28 +358,25 @@ class PhysicsWorld { void update(decimal timeStep); /// Get the number of iterations for the velocity constraint solver - uint getNbIterationsVelocitySolver() const; + uint16 getNbIterationsVelocitySolver() const; /// Set the number of iterations for the velocity constraint solver - void setNbIterationsVelocitySolver(uint nbIterations); + void setNbIterationsVelocitySolver(uint16 nbIterations); /// Get the number of iterations for the position constraint solver - uint getNbIterationsPositionSolver() const; + uint16 getNbIterationsPositionSolver() const; /// Set the number of iterations for the position constraint solver - void setNbIterationsPositionSolver(uint nbIterations); + void setNbIterationsPositionSolver(uint32 nbIterations); /// Set the position correction technique used for contacts void setContactsPositionCorrectionTechnique(ContactsPositionCorrectionTechnique technique); - /// Set the position correction technique used for joints - void setJointsPositionCorrectionTechnique(JointsPositionCorrectionTechnique technique); - /// Create a rigid body into the physics world. RigidBody* createRigidBody(const Transform& transform); /// Disable the joints for pair of sleeping bodies - void disableJointsOfSleepingBodies(); + void enableDisableJoints(); /// Destroy a rigid body and all the joints which it belongs void destroyRigidBody(RigidBody* rigidBody); @@ -440,22 +427,22 @@ class PhysicsWorld { void setEventListener(EventListener* eventListener); /// Return the number of CollisionBody in the physics world - uint getNbCollisionBodies() const; + uint32 getNbCollisionBodies() const; /// Return a constant pointer to a given CollisionBody of the world - const CollisionBody* getCollisionBody(uint index) const; + const CollisionBody* getCollisionBody(uint32 index) const; /// Return a pointer to a given CollisionBody of the world - CollisionBody* getCollisionBody(uint index) ; + CollisionBody* getCollisionBody(uint32 index) ; /// Return the number of RigidBody in the physics world - uint getNbRigidBodies() const; + uint32 getNbRigidBodies() const; /// Return a constant pointer to a given RigidBody of the world - const RigidBody* getRigidBody(uint index) const; + const RigidBody* getRigidBody(uint32 index) const; /// Return a pointer to a given RigidBody of the world - RigidBody* getRigidBody(uint index) ; + RigidBody* getRigidBody(uint32 index) ; /// Return true if the debug rendering is enabled bool getIsDebugRenderingEnabled() const; @@ -500,7 +487,7 @@ class PhysicsWorld { * @param CollisionDispatch Pointer to a collision dispatch object describing * which collision detection algorithm to use for two given collision shapes */ -inline CollisionDispatch& PhysicsWorld::getCollisionDispatch() { +RP3D_FORCE_INLINE CollisionDispatch& PhysicsWorld::getCollisionDispatch() { return mCollisionDetection.getCollisionDispatch(); } @@ -511,7 +498,7 @@ inline CollisionDispatch& PhysicsWorld::getCollisionDispatch() { * @param raycastWithCategoryMaskBits Bits mask corresponding to the category of * bodies to be raycasted */ -inline void PhysicsWorld::raycast(const Ray& ray, +RP3D_FORCE_INLINE void PhysicsWorld::raycast(const Ray& ray, RaycastCallback* raycastCallback, unsigned short raycastWithCategoryMaskBits) const { mCollisionDetection.raycast(raycastCallback, ray, raycastWithCategoryMaskBits); @@ -527,7 +514,7 @@ inline void PhysicsWorld::raycast(const Ray& ray, * @param body2 Pointer to the second body to test * @param callback Pointer to the object with the callback method */ -inline void PhysicsWorld::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback) { +RP3D_FORCE_INLINE void PhysicsWorld::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback) { mCollisionDetection.testCollision(body1, body2, callback); } @@ -540,7 +527,7 @@ inline void PhysicsWorld::testCollision(CollisionBody* body1, CollisionBody* bod * @param body Pointer to the body against which we need to test collision * @param callback Pointer to the object with the callback method to report contacts */ -inline void PhysicsWorld::testCollision(CollisionBody* body, CollisionCallback& callback) { +RP3D_FORCE_INLINE void PhysicsWorld::testCollision(CollisionBody* body, CollisionCallback& callback) { mCollisionDetection.testCollision(body, callback); } @@ -552,7 +539,7 @@ inline void PhysicsWorld::testCollision(CollisionBody* body, CollisionCallback& /** * @param callback Pointer to the object with the callback method to report contacts */ -inline void PhysicsWorld::testCollision(CollisionCallback& callback) { +RP3D_FORCE_INLINE void PhysicsWorld::testCollision(CollisionCallback& callback) { mCollisionDetection.testCollision(callback); } @@ -564,7 +551,7 @@ inline void PhysicsWorld::testCollision(CollisionCallback& callback) { * @param body Pointer to the collision body to test overlap with * @param overlapCallback Pointer to the callback class to report overlap */ -inline void PhysicsWorld::testOverlap(CollisionBody* body, OverlapCallback& overlapCallback) { +RP3D_FORCE_INLINE void PhysicsWorld::testOverlap(CollisionBody* body, OverlapCallback& overlapCallback) { mCollisionDetection.testOverlap(body, overlapCallback); } @@ -575,12 +562,12 @@ inline void PhysicsWorld::testOverlap(CollisionBody* body, OverlapCallback& over /** * @param overlapCallback Pointer to the callback class to report overlap */ -inline void PhysicsWorld::testOverlap(OverlapCallback& overlapCallback) { +RP3D_FORCE_INLINE void PhysicsWorld::testOverlap(OverlapCallback& overlapCallback) { mCollisionDetection.testOverlap(overlapCallback); } // Return a reference to the memory manager of the world -inline MemoryManager& PhysicsWorld::getMemoryManager() { +RP3D_FORCE_INLINE MemoryManager& PhysicsWorld::getMemoryManager() { return mMemoryManager; } @@ -588,7 +575,7 @@ inline MemoryManager& PhysicsWorld::getMemoryManager() { /** * @return Name of the world */ -inline const std::string& PhysicsWorld::getName() const { +RP3D_FORCE_INLINE const std::string& PhysicsWorld::getName() const { return mName; } @@ -598,7 +585,7 @@ inline const std::string& PhysicsWorld::getName() const { /** * @return A pointer to the profiler */ -inline Profiler* PhysicsWorld::getProfiler() { +RP3D_FORCE_INLINE Profiler* PhysicsWorld::getProfiler() { return mProfiler; } @@ -608,7 +595,7 @@ inline Profiler* PhysicsWorld::getProfiler() { /** * @return The number of iterations of the velocity constraint solver */ -inline uint PhysicsWorld::getNbIterationsVelocitySolver() const { +RP3D_FORCE_INLINE uint16 PhysicsWorld::getNbIterationsVelocitySolver() const { return mNbVelocitySolverIterations; } @@ -616,7 +603,7 @@ inline uint PhysicsWorld::getNbIterationsVelocitySolver() const { /** * @return The number of iterations of the position constraint solver */ -inline uint PhysicsWorld::getNbIterationsPositionSolver() const { +RP3D_FORCE_INLINE uint16 PhysicsWorld::getNbIterationsPositionSolver() const { return mNbPositionSolverIterations; } @@ -624,7 +611,7 @@ inline uint PhysicsWorld::getNbIterationsPositionSolver() const { /** * @param technique Technique used for the position correction (Baumgarte or Split Impulses) */ -inline void PhysicsWorld::setContactsPositionCorrectionTechnique( +RP3D_FORCE_INLINE void PhysicsWorld::setContactsPositionCorrectionTechnique( ContactsPositionCorrectionTechnique technique) { if (technique == ContactsPositionCorrectionTechnique::BAUMGARTE_CONTACTS) { mContactSolverSystem.setIsSplitImpulseActive(false); @@ -634,25 +621,11 @@ inline void PhysicsWorld::setContactsPositionCorrectionTechnique( } } -// Set the position correction technique used for joints -/** - * @param technique Technique used for the joins position correction (Baumgarte or Non Linear Gauss Seidel) - */ -inline void PhysicsWorld::setJointsPositionCorrectionTechnique( - JointsPositionCorrectionTechnique technique) { - if (technique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mConstraintSolverSystem.setIsNonLinearGaussSeidelPositionCorrectionActive(false); - } - else { - mConstraintSolverSystem.setIsNonLinearGaussSeidelPositionCorrectionActive(true); - } -} - // Return the gravity vector of the world /** * @return The current gravity vector (in meter per seconds squared) */ -inline Vector3 PhysicsWorld::getGravity() const { +RP3D_FORCE_INLINE Vector3 PhysicsWorld::getGravity() const { return mConfig.gravity; } @@ -660,7 +633,7 @@ inline Vector3 PhysicsWorld::getGravity() const { /** * @return True if the gravity is enabled in the world */ -inline bool PhysicsWorld::isGravityEnabled() const { +RP3D_FORCE_INLINE bool PhysicsWorld::isGravityEnabled() const { return mIsGravityEnabled; } @@ -668,7 +641,7 @@ inline bool PhysicsWorld::isGravityEnabled() const { /** * @return True if the sleeping technique is enabled and false otherwise */ -inline bool PhysicsWorld::isSleepingEnabled() const { +RP3D_FORCE_INLINE bool PhysicsWorld::isSleepingEnabled() const { return mIsSleepingEnabled; } @@ -676,7 +649,7 @@ inline bool PhysicsWorld::isSleepingEnabled() const { /** * @return The sleep linear velocity (in meters per second) */ -inline decimal PhysicsWorld::getSleepLinearVelocity() const { +RP3D_FORCE_INLINE decimal PhysicsWorld::getSleepLinearVelocity() const { return mSleepLinearVelocity; } @@ -684,7 +657,7 @@ inline decimal PhysicsWorld::getSleepLinearVelocity() const { /** * @return The sleep angular velocity (in radian per second) */ -inline decimal PhysicsWorld::getSleepAngularVelocity() const { +RP3D_FORCE_INLINE decimal PhysicsWorld::getSleepAngularVelocity() const { return mSleepAngularVelocity; } @@ -692,7 +665,7 @@ inline decimal PhysicsWorld::getSleepAngularVelocity() const { /** * @return Time a body is required to stay still before sleeping (in seconds) */ -inline decimal PhysicsWorld::getTimeBeforeSleep() const { +RP3D_FORCE_INLINE decimal PhysicsWorld::getTimeBeforeSleep() const { return mTimeBeforeSleep; } @@ -702,7 +675,7 @@ inline decimal PhysicsWorld::getTimeBeforeSleep() const { * @param eventListener Pointer to the event listener object that will receive * event callbacks during the simulation */ -inline void PhysicsWorld::setEventListener(EventListener* eventListener) { +RP3D_FORCE_INLINE void PhysicsWorld::setEventListener(EventListener* eventListener) { mEventListener = eventListener; } @@ -711,23 +684,23 @@ inline void PhysicsWorld::setEventListener(EventListener* eventListener) { /** * @return The number of collision bodies in the physics world */ -inline uint PhysicsWorld::getNbCollisionBodies() const { - return mCollisionBodies.size(); +RP3D_FORCE_INLINE uint32 PhysicsWorld::getNbCollisionBodies() const { + return static_cast(mCollisionBodies.size()); } // Return the number of RigidBody in the physics world /** * @return The number of rigid bodies in the physics world */ -inline uint PhysicsWorld::getNbRigidBodies() const { - return mRigidBodies.size(); +RP3D_FORCE_INLINE uint32 PhysicsWorld::getNbRigidBodies() const { + return static_cast(mRigidBodies.size()); } // Return true if the debug rendering is enabled /** * @return True if the debug rendering is enabled and false otherwise */ -inline bool PhysicsWorld::getIsDebugRenderingEnabled() const { +RP3D_FORCE_INLINE bool PhysicsWorld::getIsDebugRenderingEnabled() const { return mIsDebugRenderingEnabled; } @@ -735,7 +708,7 @@ inline bool PhysicsWorld::getIsDebugRenderingEnabled() const { /** * @param isEnabled True if you want to enable the debug rendering and false otherwise */ -inline void PhysicsWorld::setIsDebugRenderingEnabled(bool isEnabled) { +RP3D_FORCE_INLINE void PhysicsWorld::setIsDebugRenderingEnabled(bool isEnabled) { mIsDebugRenderingEnabled = isEnabled; } @@ -743,7 +716,7 @@ inline void PhysicsWorld::setIsDebugRenderingEnabled(bool isEnabled) { /** * @return A reference to the DebugRenderer object of the world */ -inline DebugRenderer& PhysicsWorld::getDebugRenderer() { +RP3D_FORCE_INLINE DebugRenderer& PhysicsWorld::getDebugRenderer() { return mDebugRenderer; } diff --git a/include/reactphysics3d/engine/Timer.h b/include/reactphysics3d/engine/Timer.h deleted file mode 100644 index 8db663604..000000000 --- a/include/reactphysics3d/engine/Timer.h +++ /dev/null @@ -1,196 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_TIMER_H -#define REACTPHYSICS3D_TIMER_H - -// Libraries -#include -#include -#include - -#if defined(WINDOWS_OS) // For Windows platform - #define NOMINMAX // This is used to avoid definition of max() and min() macros - #include -#else // For Mac OS or Linux platform - #include -#endif - - -/// Namespace ReactPhysics3D -namespace reactphysics3d { - -// Class Timer -/** - * This class will take care of the time in the physics engine. It - * uses functions that depend on the current platform to get the - * current time. - */ -class Timer { - - private : - - // -------------------- Attributes -------------------- // - - /// Timestep dt of the physics engine (timestep > 0.0) - double mTimeStep; - - /// Last time the timer has been updated - long double mLastUpdateTime; - - /// Time difference between the two last timer update() calls - long double mDeltaTime; - - /// Used to fix the time step and avoid strange time effects - double mAccumulator; - - /// True if the timer is running - bool mIsRunning; - - public : - - // -------------------- Methods -------------------- // - - /// Constructor - Timer(double timeStep); - - /// Destructor - ~Timer() = default; - - /// Deleted copy-constructor - Timer(const Timer& timer) = delete; - - /// Deleted assignment operator - Timer& operator=(const Timer& timer) = delete; - - /// Return the timestep of the physics engine - double getTimeStep() const; - - /// Set the timestep of the physics engine - void setTimeStep(double timeStep); - - /// Return the current time of the physics engine - long double getPhysicsTime() const; - - /// Start the timer - void start(); - - /// Stop the timer - void stop(); - - /// Return true if the timer is running - bool getIsRunning() const; - - /// True if it's possible to take a new step - bool isPossibleToTakeStep() const; - - /// Compute the time since the last update() call and add it to the accumulator - void update(); - - /// Take a new step => update the timer by adding the timeStep value to the current time - void nextStep(); - - /// Compute the interpolation factor - decimal computeInterpolationFactor(); - - /// Return the current time of the system in seconds - static long double getCurrentSystemTime(); -}; - -// Return the timestep of the physics engine -inline double Timer::getTimeStep() const { - return mTimeStep; -} - -// Set the timestep of the physics engine -inline void Timer::setTimeStep(double timeStep) { - assert(timeStep > 0.0f); - mTimeStep = timeStep; -} - -// Return the current time -inline long double Timer::getPhysicsTime() const { - return mLastUpdateTime; -} - -// Return if the timer is running -inline bool Timer::getIsRunning() const { - return mIsRunning; -} - -// Start the timer -inline void Timer::start() { - if (!mIsRunning) { - - // Get the current system time - mLastUpdateTime = getCurrentSystemTime(); - - mAccumulator = 0.0; - mIsRunning = true; - } -} - -// Stop the timer -inline void Timer::stop() { - mIsRunning = false; -} - -// True if it's possible to take a new step -inline bool Timer::isPossibleToTakeStep() const { - return (mAccumulator >= mTimeStep); -} - -// Take a new step => update the timer by adding the timeStep value to the current time -inline void Timer::nextStep() { - assert(mIsRunning); - - // Update the accumulator value - mAccumulator -= mTimeStep; -} - -// Compute the interpolation factor -inline decimal Timer::computeInterpolationFactor() { - return (decimal(mAccumulator / mTimeStep)); -} - -// Compute the time since the last update() call and add it to the accumulator -inline void Timer::update() { - - // Get the current system time - long double currentTime = getCurrentSystemTime(); - - // Compute the delta display time between two display frames - mDeltaTime = currentTime - mLastUpdateTime; - - // Update the current display time - mLastUpdateTime = currentTime; - - // Update the accumulator value - mAccumulator += mDeltaTime; -} - -} - - #endif diff --git a/include/reactphysics3d/mathematics/Matrix2x2.h b/include/reactphysics3d/mathematics/Matrix2x2.h index 29e2a54d7..a736d2a1c 100644 --- a/include/reactphysics3d/mathematics/Matrix2x2.h +++ b/include/reactphysics3d/mathematics/Matrix2x2.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -59,15 +59,6 @@ class Matrix2x2 { /// Constructor Matrix2x2(decimal a1, decimal a2, decimal b1, decimal b2); - /// Destructor - ~Matrix2x2() = default; - - /// Copy-constructor - Matrix2x2(const Matrix2x2& matrix); - - /// Assignment operator - Matrix2x2& operator=(const Matrix2x2& matrix); - /// Set all the values in the matrix void setAllValues(decimal a1, decimal a2, decimal b1, decimal b2); @@ -92,6 +83,9 @@ class Matrix2x2 { /// Return the inverse matrix Matrix2x2 getInverse() const; + /// Return the inverse matrix + Matrix2x2 getInverse(decimal determinant) const; + /// Return the matrix with absolute values Matrix2x2 getAbsoluteMatrix() const; @@ -151,57 +145,51 @@ class Matrix2x2 { }; // Constructor of the class Matrix2x2 -inline Matrix2x2::Matrix2x2() { +RP3D_FORCE_INLINE Matrix2x2::Matrix2x2() { // Initialize all values in the matrix to zero setAllValues(0.0, 0.0, 0.0, 0.0); } // Constructor -inline Matrix2x2::Matrix2x2(decimal value) { +RP3D_FORCE_INLINE Matrix2x2::Matrix2x2(decimal value) { setAllValues(value, value, value, value); } // Constructor with arguments -inline Matrix2x2::Matrix2x2(decimal a1, decimal a2, decimal b1, decimal b2) { +RP3D_FORCE_INLINE Matrix2x2::Matrix2x2(decimal a1, decimal a2, decimal b1, decimal b2) { // Initialize the matrix with the values setAllValues(a1, a2, b1, b2); } -// Copy-constructor -inline Matrix2x2::Matrix2x2(const Matrix2x2& matrix) { - setAllValues(matrix.mRows[0][0], matrix.mRows[0][1], - matrix.mRows[1][0], matrix.mRows[1][1]); -} - // Method to set all the values in the matrix -inline void Matrix2x2::setAllValues(decimal a1, decimal a2, +RP3D_FORCE_INLINE void Matrix2x2::setAllValues(decimal a1, decimal a2, decimal b1, decimal b2) { mRows[0][0] = a1; mRows[0][1] = a2; mRows[1][0] = b1; mRows[1][1] = b2; } // Set the matrix to zero -inline void Matrix2x2::setToZero() { +RP3D_FORCE_INLINE void Matrix2x2::setToZero() { mRows[0].setToZero(); mRows[1].setToZero(); } // Return a column -inline Vector2 Matrix2x2::getColumn(int i) const { +RP3D_FORCE_INLINE Vector2 Matrix2x2::getColumn(int i) const { assert(i>= 0 && i<2); return Vector2(mRows[0][i], mRows[1][i]); } // Return a row -inline Vector2 Matrix2x2::getRow(int i) const { +RP3D_FORCE_INLINE Vector2 Matrix2x2::getRow(int i) const { assert(i>= 0 && i<2); return mRows[i]; } // Return the transpose matrix -inline Matrix2x2 Matrix2x2::getTranspose() const { +RP3D_FORCE_INLINE Matrix2x2 Matrix2x2::getTranspose() const { // Return the transpose matrix return Matrix2x2(mRows[0][0], mRows[1][0], @@ -209,45 +197,51 @@ inline Matrix2x2 Matrix2x2::getTranspose() const { } // Return the determinant of the matrix -inline decimal Matrix2x2::getDeterminant() const { +RP3D_FORCE_INLINE decimal Matrix2x2::getDeterminant() const { // Compute and return the determinant of the matrix return mRows[0][0] * mRows[1][1] - mRows[1][0] * mRows[0][1]; } // Return the trace of the matrix -inline decimal Matrix2x2::getTrace() const { +RP3D_FORCE_INLINE decimal Matrix2x2::getTrace() const { // Compute and return the trace return (mRows[0][0] + mRows[1][1]); } // Set the matrix to the identity matrix -inline void Matrix2x2::setToIdentity() { +RP3D_FORCE_INLINE void Matrix2x2::setToIdentity() { mRows[0][0] = 1.0; mRows[0][1] = 0.0; mRows[1][0] = 0.0; mRows[1][1] = 1.0; } // Return the 2x2 identity matrix -inline Matrix2x2 Matrix2x2::identity() { +RP3D_FORCE_INLINE Matrix2x2 Matrix2x2::identity() { // Return the isdentity matrix return Matrix2x2(1.0, 0.0, 0.0, 1.0); } // Return the 2x2 zero matrix -inline Matrix2x2 Matrix2x2::zero() { +RP3D_FORCE_INLINE Matrix2x2 Matrix2x2::zero() { return Matrix2x2(0.0, 0.0, 0.0, 0.0); } +// Return the inverse matrix +RP3D_FORCE_INLINE Matrix2x2 Matrix2x2::getInverse() const { + + return getInverse(getDeterminant()); +} + // Return the matrix with absolute values -inline Matrix2x2 Matrix2x2::getAbsoluteMatrix() const { - return Matrix2x2(fabs(mRows[0][0]), fabs(mRows[0][1]), - fabs(mRows[1][0]), fabs(mRows[1][1])); +RP3D_FORCE_INLINE Matrix2x2 Matrix2x2::getAbsoluteMatrix() const { + return Matrix2x2(std::abs(mRows[0][0]), std::abs(mRows[0][1]), + std::abs(mRows[1][0]), std::abs(mRows[1][1])); } // Overloaded operator for addition -inline Matrix2x2 operator+(const Matrix2x2& matrix1, const Matrix2x2& matrix2) { +RP3D_FORCE_INLINE Matrix2x2 operator+(const Matrix2x2& matrix1, const Matrix2x2& matrix2) { return Matrix2x2(matrix1.mRows[0][0] + matrix2.mRows[0][0], matrix1.mRows[0][1] + matrix2.mRows[0][1], matrix1.mRows[1][0] + matrix2.mRows[1][0], @@ -255,7 +249,7 @@ inline Matrix2x2 operator+(const Matrix2x2& matrix1, const Matrix2x2& matrix2) { } // Overloaded operator for substraction -inline Matrix2x2 operator-(const Matrix2x2& matrix1, const Matrix2x2& matrix2) { +RP3D_FORCE_INLINE Matrix2x2 operator-(const Matrix2x2& matrix1, const Matrix2x2& matrix2) { return Matrix2x2(matrix1.mRows[0][0] - matrix2.mRows[0][0], matrix1.mRows[0][1] - matrix2.mRows[0][1], matrix1.mRows[1][0] - matrix2.mRows[1][0], @@ -263,24 +257,24 @@ inline Matrix2x2 operator-(const Matrix2x2& matrix1, const Matrix2x2& matrix2) { } // Overloaded operator for the negative of the matrix -inline Matrix2x2 operator-(const Matrix2x2& matrix) { +RP3D_FORCE_INLINE Matrix2x2 operator-(const Matrix2x2& matrix) { return Matrix2x2(-matrix.mRows[0][0], -matrix.mRows[0][1], -matrix.mRows[1][0], -matrix.mRows[1][1]); } // Overloaded operator for multiplication with a number -inline Matrix2x2 operator*(decimal nb, const Matrix2x2& matrix) { +RP3D_FORCE_INLINE Matrix2x2 operator*(decimal nb, const Matrix2x2& matrix) { return Matrix2x2(matrix.mRows[0][0] * nb, matrix.mRows[0][1] * nb, matrix.mRows[1][0] * nb, matrix.mRows[1][1] * nb); } // Overloaded operator for multiplication with a matrix -inline Matrix2x2 operator*(const Matrix2x2& matrix, decimal nb) { +RP3D_FORCE_INLINE Matrix2x2 operator*(const Matrix2x2& matrix, decimal nb) { return nb * matrix; } // Overloaded operator for matrix multiplication -inline Matrix2x2 operator*(const Matrix2x2& matrix1, const Matrix2x2& matrix2) { +RP3D_FORCE_INLINE Matrix2x2 operator*(const Matrix2x2& matrix1, const Matrix2x2& matrix2) { return Matrix2x2(matrix1.mRows[0][0] * matrix2.mRows[0][0] + matrix1.mRows[0][1] * matrix2.mRows[1][0], matrix1.mRows[0][0] * matrix2.mRows[0][1] + matrix1.mRows[0][1] * @@ -292,38 +286,38 @@ inline Matrix2x2 operator*(const Matrix2x2& matrix1, const Matrix2x2& matrix2) { } // Overloaded operator for multiplication with a vector -inline Vector2 operator*(const Matrix2x2& matrix, const Vector2& vector) { +RP3D_FORCE_INLINE Vector2 operator*(const Matrix2x2& matrix, const Vector2& vector) { return Vector2(matrix.mRows[0][0]*vector.x + matrix.mRows[0][1]*vector.y, matrix.mRows[1][0]*vector.x + matrix.mRows[1][1]*vector.y); } // Overloaded operator for equality condition -inline bool Matrix2x2::operator==(const Matrix2x2& matrix) const { +RP3D_FORCE_INLINE bool Matrix2x2::operator==(const Matrix2x2& matrix) const { return (mRows[0][0] == matrix.mRows[0][0] && mRows[0][1] == matrix.mRows[0][1] && mRows[1][0] == matrix.mRows[1][0] && mRows[1][1] == matrix.mRows[1][1]); } // Overloaded operator for the is different condition -inline bool Matrix2x2::operator!= (const Matrix2x2& matrix) const { +RP3D_FORCE_INLINE bool Matrix2x2::operator!= (const Matrix2x2& matrix) const { return !(*this == matrix); } // Overloaded operator for addition with assignment -inline Matrix2x2& Matrix2x2::operator+=(const Matrix2x2& matrix) { +RP3D_FORCE_INLINE Matrix2x2& Matrix2x2::operator+=(const Matrix2x2& matrix) { mRows[0][0] += matrix.mRows[0][0]; mRows[0][1] += matrix.mRows[0][1]; mRows[1][0] += matrix.mRows[1][0]; mRows[1][1] += matrix.mRows[1][1]; return *this; } // Overloaded operator for substraction with assignment -inline Matrix2x2& Matrix2x2::operator-=(const Matrix2x2& matrix) { +RP3D_FORCE_INLINE Matrix2x2& Matrix2x2::operator-=(const Matrix2x2& matrix) { mRows[0][0] -= matrix.mRows[0][0]; mRows[0][1] -= matrix.mRows[0][1]; mRows[1][0] -= matrix.mRows[1][0]; mRows[1][1] -= matrix.mRows[1][1]; return *this; } // Overloaded operator for multiplication with a number with assignment -inline Matrix2x2& Matrix2x2::operator*=(decimal nb) { +RP3D_FORCE_INLINE Matrix2x2& Matrix2x2::operator*=(decimal nb) { mRows[0][0] *= nb; mRows[0][1] *= nb; mRows[1][0] *= nb; mRows[1][1] *= nb; return *this; @@ -332,19 +326,19 @@ inline Matrix2x2& Matrix2x2::operator*=(decimal nb) { // Overloaded operator to return a row of the matrix. /// This operator is also used to access a matrix value using the syntax /// matrix[row][col]. -inline const Vector2& Matrix2x2::operator[](int row) const { +RP3D_FORCE_INLINE const Vector2& Matrix2x2::operator[](int row) const { return mRows[row]; } // Overloaded operator to return a row of the matrix. /// This operator is also used to access a matrix value using the syntax /// matrix[row][col]. -inline Vector2& Matrix2x2::operator[](int row) { +RP3D_FORCE_INLINE Vector2& Matrix2x2::operator[](int row) { return mRows[row]; } // Get the string representation -inline std::string Matrix2x2::to_string() const { +RP3D_FORCE_INLINE std::string Matrix2x2::to_string() const { return "Matrix2x2(" + std::to_string(mRows[0][0]) + "," + std::to_string(mRows[0][1]) + "," + std::to_string(mRows[1][0]) + "," + std::to_string(mRows[1][1]) + ")"; } diff --git a/include/reactphysics3d/mathematics/Matrix3x3.h b/include/reactphysics3d/mathematics/Matrix3x3.h index 267a3ebb8..607bd996d 100644 --- a/include/reactphysics3d/mathematics/Matrix3x3.h +++ b/include/reactphysics3d/mathematics/Matrix3x3.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -61,15 +61,6 @@ class Matrix3x3 { Matrix3x3(decimal a1, decimal a2, decimal a3, decimal b1, decimal b2, decimal b3, decimal c1, decimal c2, decimal c3); - /// Destructor - ~Matrix3x3() = default; - - /// Copy-constructor - Matrix3x3(const Matrix3x3& matrix); - - /// Assignment operator - Matrix3x3& operator=(const Matrix3x3& matrix); - /// Set all the values in the matrix void setAllValues(decimal a1, decimal a2, decimal a3, decimal b1, decimal b2, decimal b3, decimal c1, decimal c2, decimal c3); @@ -95,6 +86,9 @@ class Matrix3x3 { /// Return the inverse matrix Matrix3x3 getInverse() const; + /// Return the inverse matrix + Matrix3x3 getInverse(decimal determinant) const; + /// Return the matrix with absolute values Matrix3x3 getAbsoluteMatrix() const; @@ -158,33 +152,26 @@ class Matrix3x3 { }; // Constructor of the class Matrix3x3 -inline Matrix3x3::Matrix3x3() { +RP3D_FORCE_INLINE Matrix3x3::Matrix3x3() { // Initialize all values in the matrix to zero setAllValues(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0); } // Constructor -inline Matrix3x3::Matrix3x3(decimal value) { +RP3D_FORCE_INLINE Matrix3x3::Matrix3x3(decimal value) { setAllValues(value, value, value, value, value, value, value, value, value); } // Constructor with arguments -inline Matrix3x3::Matrix3x3(decimal a1, decimal a2, decimal a3, +RP3D_FORCE_INLINE Matrix3x3::Matrix3x3(decimal a1, decimal a2, decimal a3, decimal b1, decimal b2, decimal b3, decimal c1, decimal c2, decimal c3) { // Initialize the matrix with the values setAllValues(a1, a2, a3, b1, b2, b3, c1, c2, c3); } -// Copy-constructor -inline Matrix3x3::Matrix3x3(const Matrix3x3& matrix) { - setAllValues(matrix.mRows[0][0], matrix.mRows[0][1], matrix.mRows[0][2], - matrix.mRows[1][0], matrix.mRows[1][1], matrix.mRows[1][2], - matrix.mRows[2][0], matrix.mRows[2][1], matrix.mRows[2][2]); -} - // Method to set all the values in the matrix -inline void Matrix3x3::setAllValues(decimal a1, decimal a2, decimal a3, +RP3D_FORCE_INLINE void Matrix3x3::setAllValues(decimal a1, decimal a2, decimal a3, decimal b1, decimal b2, decimal b3, decimal c1, decimal c2, decimal c3) { mRows[0][0] = a1; mRows[0][1] = a2; mRows[0][2] = a3; @@ -193,26 +180,26 @@ inline void Matrix3x3::setAllValues(decimal a1, decimal a2, decimal a3, } // Set the matrix to zero -inline void Matrix3x3::setToZero() { +RP3D_FORCE_INLINE void Matrix3x3::setToZero() { mRows[0].setToZero(); mRows[1].setToZero(); mRows[2].setToZero(); } // Return a column -inline Vector3 Matrix3x3::getColumn(int i) const { +RP3D_FORCE_INLINE Vector3 Matrix3x3::getColumn(int i) const { assert(i>= 0 && i<3); return Vector3(mRows[0][i], mRows[1][i], mRows[2][i]); } // Return a row -inline Vector3 Matrix3x3::getRow(int i) const { +RP3D_FORCE_INLINE Vector3 Matrix3x3::getRow(int i) const { assert(i>= 0 && i<3); return mRows[i]; } // Return the transpose matrix -inline Matrix3x3 Matrix3x3::getTranspose() const { +RP3D_FORCE_INLINE Matrix3x3 Matrix3x3::getTranspose() const { // Return the transpose matrix return Matrix3x3(mRows[0][0], mRows[1][0], mRows[2][0], @@ -221,7 +208,7 @@ inline Matrix3x3 Matrix3x3::getTranspose() const { } // Return the determinant of the matrix -inline decimal Matrix3x3::getDeterminant() const { +RP3D_FORCE_INLINE decimal Matrix3x3::getDeterminant() const { // Compute and return the determinant of the matrix return (mRows[0][0]*(mRows[1][1]*mRows[2][2]-mRows[2][1]*mRows[1][2]) - @@ -230,44 +217,50 @@ inline decimal Matrix3x3::getDeterminant() const { } // Return the trace of the matrix -inline decimal Matrix3x3::getTrace() const { +RP3D_FORCE_INLINE decimal Matrix3x3::getTrace() const { // Compute and return the trace return (mRows[0][0] + mRows[1][1] + mRows[2][2]); } // Set the matrix to the identity matrix -inline void Matrix3x3::setToIdentity() { +RP3D_FORCE_INLINE void Matrix3x3::setToIdentity() { mRows[0][0] = 1.0; mRows[0][1] = 0.0; mRows[0][2] = 0.0; mRows[1][0] = 0.0; mRows[1][1] = 1.0; mRows[1][2] = 0.0; mRows[2][0] = 0.0; mRows[2][1] = 0.0; mRows[2][2] = 1.0; } // Return the 3x3 identity matrix -inline Matrix3x3 Matrix3x3::identity() { +RP3D_FORCE_INLINE Matrix3x3 Matrix3x3::identity() { return Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); } // Return the 3x3 zero matrix -inline Matrix3x3 Matrix3x3::zero() { +RP3D_FORCE_INLINE Matrix3x3 Matrix3x3::zero() { return Matrix3x3(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0); } +// Return the inverse matrix +RP3D_FORCE_INLINE Matrix3x3 Matrix3x3::getInverse() const { + + return getInverse(getDeterminant()); +} + // Return a skew-symmetric matrix using a given vector that can be used // to compute cross product with another vector using matrix multiplication -inline Matrix3x3 Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(const Vector3& vector) { +RP3D_FORCE_INLINE Matrix3x3 Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(const Vector3& vector) { return Matrix3x3(0, -vector.z, vector.y, vector.z, 0, -vector.x, -vector.y, vector.x, 0); } // Return the matrix with absolute values -inline Matrix3x3 Matrix3x3::getAbsoluteMatrix() const { - return Matrix3x3(std::fabs(mRows[0][0]), std::fabs(mRows[0][1]), std::fabs(mRows[0][2]), - std::fabs(mRows[1][0]), std::fabs(mRows[1][1]), std::fabs(mRows[1][2]), - std::fabs(mRows[2][0]), std::fabs(mRows[2][1]), std::fabs(mRows[2][2])); +RP3D_FORCE_INLINE Matrix3x3 Matrix3x3::getAbsoluteMatrix() const { + return Matrix3x3(std::abs(mRows[0][0]), std::abs(mRows[0][1]), std::abs(mRows[0][2]), + std::abs(mRows[1][0]), std::abs(mRows[1][1]), std::abs(mRows[1][2]), + std::abs(mRows[2][0]), std::abs(mRows[2][1]), std::abs(mRows[2][2])); } // Overloaded operator for addition -inline Matrix3x3 operator+(const Matrix3x3& matrix1, const Matrix3x3& matrix2) { +RP3D_FORCE_INLINE Matrix3x3 operator+(const Matrix3x3& matrix1, const Matrix3x3& matrix2) { return Matrix3x3(matrix1.mRows[0][0] + matrix2.mRows[0][0], matrix1.mRows[0][1] + matrix2.mRows[0][1], matrix1.mRows[0][2] + matrix2.mRows[0][2], matrix1.mRows[1][0] + matrix2.mRows[1][0], matrix1.mRows[1][1] + @@ -277,7 +270,7 @@ inline Matrix3x3 operator+(const Matrix3x3& matrix1, const Matrix3x3& matrix2) { } // Overloaded operator for substraction -inline Matrix3x3 operator-(const Matrix3x3& matrix1, const Matrix3x3& matrix2) { +RP3D_FORCE_INLINE Matrix3x3 operator-(const Matrix3x3& matrix1, const Matrix3x3& matrix2) { return Matrix3x3(matrix1.mRows[0][0] - matrix2.mRows[0][0], matrix1.mRows[0][1] - matrix2.mRows[0][1], matrix1.mRows[0][2] - matrix2.mRows[0][2], matrix1.mRows[1][0] - matrix2.mRows[1][0], matrix1.mRows[1][1] - @@ -287,26 +280,26 @@ inline Matrix3x3 operator-(const Matrix3x3& matrix1, const Matrix3x3& matrix2) { } // Overloaded operator for the negative of the matrix -inline Matrix3x3 operator-(const Matrix3x3& matrix) { +RP3D_FORCE_INLINE Matrix3x3 operator-(const Matrix3x3& matrix) { return Matrix3x3(-matrix.mRows[0][0], -matrix.mRows[0][1], -matrix.mRows[0][2], -matrix.mRows[1][0], -matrix.mRows[1][1], -matrix.mRows[1][2], -matrix.mRows[2][0], -matrix.mRows[2][1], -matrix.mRows[2][2]); } // Overloaded operator for multiplication with a number -inline Matrix3x3 operator*(decimal nb, const Matrix3x3& matrix) { +RP3D_FORCE_INLINE Matrix3x3 operator*(decimal nb, const Matrix3x3& matrix) { return Matrix3x3(matrix.mRows[0][0] * nb, matrix.mRows[0][1] * nb, matrix.mRows[0][2] * nb, matrix.mRows[1][0] * nb, matrix.mRows[1][1] * nb, matrix.mRows[1][2] * nb, matrix.mRows[2][0] * nb, matrix.mRows[2][1] * nb, matrix.mRows[2][2] * nb); } // Overloaded operator for multiplication with a matrix -inline Matrix3x3 operator*(const Matrix3x3& matrix, decimal nb) { +RP3D_FORCE_INLINE Matrix3x3 operator*(const Matrix3x3& matrix, decimal nb) { return nb * matrix; } // Overloaded operator for matrix multiplication -inline Matrix3x3 operator*(const Matrix3x3& matrix1, const Matrix3x3& matrix2) { +RP3D_FORCE_INLINE Matrix3x3 operator*(const Matrix3x3& matrix1, const Matrix3x3& matrix2) { return Matrix3x3(matrix1.mRows[0][0]*matrix2.mRows[0][0] + matrix1.mRows[0][1] * matrix2.mRows[1][0] + matrix1.mRows[0][2]*matrix2.mRows[2][0], matrix1.mRows[0][0]*matrix2.mRows[0][1] + matrix1.mRows[0][1] * @@ -328,7 +321,7 @@ inline Matrix3x3 operator*(const Matrix3x3& matrix1, const Matrix3x3& matrix2) { } // Overloaded operator for multiplication with a vector -inline Vector3 operator*(const Matrix3x3& matrix, const Vector3& vector) { +RP3D_FORCE_INLINE Vector3 operator*(const Matrix3x3& matrix, const Vector3& vector) { return Vector3(matrix.mRows[0][0]*vector.x + matrix.mRows[0][1]*vector.y + matrix.mRows[0][2]*vector.z, matrix.mRows[1][0]*vector.x + matrix.mRows[1][1]*vector.y + @@ -338,7 +331,7 @@ inline Vector3 operator*(const Matrix3x3& matrix, const Vector3& vector) { } // Overloaded operator for equality condition -inline bool Matrix3x3::operator==(const Matrix3x3& matrix) const { +RP3D_FORCE_INLINE bool Matrix3x3::operator==(const Matrix3x3& matrix) const { return (mRows[0][0] == matrix.mRows[0][0] && mRows[0][1] == matrix.mRows[0][1] && mRows[0][2] == matrix.mRows[0][2] && mRows[1][0] == matrix.mRows[1][0] && mRows[1][1] == matrix.mRows[1][1] && @@ -348,12 +341,12 @@ inline bool Matrix3x3::operator==(const Matrix3x3& matrix) const { } // Overloaded operator for the is different condition -inline bool Matrix3x3::operator!= (const Matrix3x3& matrix) const { +RP3D_FORCE_INLINE bool Matrix3x3::operator!= (const Matrix3x3& matrix) const { return !(*this == matrix); } // Overloaded operator for addition with assignment -inline Matrix3x3& Matrix3x3::operator+=(const Matrix3x3& matrix) { +RP3D_FORCE_INLINE Matrix3x3& Matrix3x3::operator+=(const Matrix3x3& matrix) { mRows[0][0] += matrix.mRows[0][0]; mRows[0][1] += matrix.mRows[0][1]; mRows[0][2] += matrix.mRows[0][2]; mRows[1][0] += matrix.mRows[1][0]; mRows[1][1] += matrix.mRows[1][1]; mRows[1][2] += matrix.mRows[1][2]; @@ -363,7 +356,7 @@ inline Matrix3x3& Matrix3x3::operator+=(const Matrix3x3& matrix) { } // Overloaded operator for substraction with assignment -inline Matrix3x3& Matrix3x3::operator-=(const Matrix3x3& matrix) { +RP3D_FORCE_INLINE Matrix3x3& Matrix3x3::operator-=(const Matrix3x3& matrix) { mRows[0][0] -= matrix.mRows[0][0]; mRows[0][1] -= matrix.mRows[0][1]; mRows[0][2] -= matrix.mRows[0][2]; mRows[1][0] -= matrix.mRows[1][0]; mRows[1][1] -= matrix.mRows[1][1]; mRows[1][2] -= matrix.mRows[1][2]; @@ -373,7 +366,7 @@ inline Matrix3x3& Matrix3x3::operator-=(const Matrix3x3& matrix) { } // Overloaded operator for multiplication with a number with assignment -inline Matrix3x3& Matrix3x3::operator*=(decimal nb) { +RP3D_FORCE_INLINE Matrix3x3& Matrix3x3::operator*=(decimal nb) { mRows[0][0] *= nb; mRows[0][1] *= nb; mRows[0][2] *= nb; mRows[1][0] *= nb; mRows[1][1] *= nb; mRows[1][2] *= nb; mRows[2][0] *= nb; mRows[2][1] *= nb; mRows[2][2] *= nb; @@ -383,19 +376,19 @@ inline Matrix3x3& Matrix3x3::operator*=(decimal nb) { // Overloaded operator to return a row of the matrix. /// This operator is also used to access a matrix value using the syntax /// matrix[row][col]. -inline const Vector3& Matrix3x3::operator[](int row) const { +RP3D_FORCE_INLINE const Vector3& Matrix3x3::operator[](int row) const { return mRows[row]; } // Overloaded operator to return a row of the matrix. /// This operator is also used to access a matrix value using the syntax /// matrix[row][col]. -inline Vector3& Matrix3x3::operator[](int row) { +RP3D_FORCE_INLINE Vector3& Matrix3x3::operator[](int row) { return mRows[row]; } // Get the string representation -inline std::string Matrix3x3::to_string() const { +RP3D_FORCE_INLINE std::string Matrix3x3::to_string() const { return "Matrix3x3(" + std::to_string(mRows[0][0]) + "," + std::to_string(mRows[0][1]) + "," + std::to_string(mRows[0][2]) + "," + std::to_string(mRows[1][0]) + "," + std::to_string(mRows[1][1]) + "," + std::to_string(mRows[1][2]) + "," + std::to_string(mRows[2][0]) + "," + std::to_string(mRows[2][1]) + "," + std::to_string(mRows[2][2]) + ")"; diff --git a/include/reactphysics3d/mathematics/Quaternion.h b/include/reactphysics3d/mathematics/Quaternion.h index 8db5682dd..5526d1680 100644 --- a/include/reactphysics3d/mathematics/Quaternion.h +++ b/include/reactphysics3d/mathematics/Quaternion.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -73,15 +73,9 @@ struct Quaternion { /// Constructor with the component w and the vector v=(x y z) Quaternion(const Vector3& v, decimal newW); - /// Copy-constructor - Quaternion(const Quaternion& quaternion); - /// Create a unit quaternion from a rotation matrix Quaternion(const Matrix3x3& matrix); - /// Destructor - ~Quaternion() = default; - /// Set all the values void setAllValues(decimal newX, decimal newY, decimal newZ, decimal newW); @@ -166,9 +160,6 @@ struct Quaternion { /// Overloaded operator for the multiplication with a vector Vector3 operator*(const Vector3& point) const; - /// Overloaded operator for assignment - Quaternion& operator=(const Quaternion& quaternion); - /// Overloaded operator for equality condition bool operator==(const Quaternion& quaternion) const; @@ -182,28 +173,28 @@ struct Quaternion { }; // Constructor of the class -inline Quaternion::Quaternion() : x(0.0), y(0.0), z(0.0), w(0.0) { +RP3D_FORCE_INLINE Quaternion::Quaternion() : x(0.0), y(0.0), z(0.0), w(0.0) { } // Constructor with arguments -inline Quaternion::Quaternion(decimal newX, decimal newY, decimal newZ, decimal newW) +RP3D_FORCE_INLINE Quaternion::Quaternion(decimal newX, decimal newY, decimal newZ, decimal newW) :x(newX), y(newY), z(newZ), w(newW) { } // Constructor with the component w and the vector v=(x y z) -inline Quaternion::Quaternion(decimal newW, const Vector3& v) : x(v.x), y(v.y), z(v.z), w(newW) { +RP3D_FORCE_INLINE Quaternion::Quaternion(decimal newW, const Vector3& v) : x(v.x), y(v.y), z(v.z), w(newW) { } // Constructor with the component w and the vector v=(x y z) -inline Quaternion::Quaternion(const Vector3& v, decimal newW) : x(v.x), y(v.y), z(v.z), w(newW) { +RP3D_FORCE_INLINE Quaternion::Quaternion(const Vector3& v, decimal newW) : x(v.x), y(v.y), z(v.z), w(newW) { } // Set all the values -inline void Quaternion::setAllValues(decimal newX, decimal newY, decimal newZ, decimal newW) { +RP3D_FORCE_INLINE void Quaternion::setAllValues(decimal newX, decimal newY, decimal newZ, decimal newW) { x = newX; y = newY; z = newZ; @@ -211,7 +202,7 @@ inline void Quaternion::setAllValues(decimal newX, decimal newY, decimal newZ, d } // Set the quaternion to zero -inline void Quaternion::setToZero() { +RP3D_FORCE_INLINE void Quaternion::setToZero() { x = 0; y = 0; z = 0; @@ -219,7 +210,7 @@ inline void Quaternion::setToZero() { } // Set to the identity quaternion -inline void Quaternion::setToIdentity() { +RP3D_FORCE_INLINE void Quaternion::setToIdentity() { x = 0; y = 0; z = 0; @@ -227,24 +218,24 @@ inline void Quaternion::setToIdentity() { } // Return the vector v=(x y z) of the quaternion -inline Vector3 Quaternion::getVectorV() const { +RP3D_FORCE_INLINE Vector3 Quaternion::getVectorV() const { // Return the vector v return Vector3(x, y, z); } -// Return the length of the quaternion (inline) -inline decimal Quaternion::length() const { +// Return the length of the quaternion (RP3D_FORCE_INLINE) +RP3D_FORCE_INLINE decimal Quaternion::length() const { return std::sqrt(x*x + y*y + z*z + w*w); } // Return the square of the length of the quaternion -inline decimal Quaternion::lengthSquare() const { +RP3D_FORCE_INLINE decimal Quaternion::lengthSquare() const { return x*x + y*y + z*z + w*w; } // Normalize the quaternion -inline void Quaternion::normalize() { +RP3D_FORCE_INLINE void Quaternion::normalize() { decimal l = length(); @@ -258,7 +249,7 @@ inline void Quaternion::normalize() { } // Inverse the quaternion -inline void Quaternion::inverse() { +RP3D_FORCE_INLINE void Quaternion::inverse() { // Use the conjugate of the current quaternion x = -x; @@ -267,7 +258,7 @@ inline void Quaternion::inverse() { } // Return the unit quaternion -inline Quaternion Quaternion::getUnit() const { +RP3D_FORCE_INLINE Quaternion Quaternion::getUnit() const { decimal lengthQuaternion = length(); // Check if the length is not equal to zero @@ -279,60 +270,60 @@ inline Quaternion Quaternion::getUnit() const { } // Return the identity quaternion -inline Quaternion Quaternion::identity() { +RP3D_FORCE_INLINE Quaternion Quaternion::identity() { return Quaternion(0.0, 0.0, 0.0, 1.0); } -// Return the conjugate of the quaternion (inline) -inline Quaternion Quaternion::getConjugate() const { +// Return the conjugate of the quaternion (RP3D_FORCE_INLINE) +RP3D_FORCE_INLINE Quaternion Quaternion::getConjugate() const { return Quaternion(-x, -y, -z, w); } -// Return the inverse of the quaternion (inline) -inline Quaternion Quaternion::getInverse() const { +// Return the inverse of the quaternion (RP3D_FORCE_INLINE) +RP3D_FORCE_INLINE Quaternion Quaternion::getInverse() const { // Return the conjugate quaternion return Quaternion(-x, -y, -z, w); } // Scalar product between two quaternions -inline decimal Quaternion::dot(const Quaternion& quaternion) const { +RP3D_FORCE_INLINE decimal Quaternion::dot(const Quaternion& quaternion) const { return (x*quaternion.x + y*quaternion.y + z*quaternion.z + w*quaternion.w); } // Return true if the values are not NAN OR INF -inline bool Quaternion::isFinite() const { +RP3D_FORCE_INLINE bool Quaternion::isFinite() const { return std::isfinite(x) && std::isfinite(y) && std::isfinite(z) && std::isfinite(w); } // Return true if it is a unit quaternion -inline bool Quaternion::isUnit() const { +RP3D_FORCE_INLINE bool Quaternion::isUnit() const { const decimal length = std::sqrt(x*x + y*y + z*z + w*w); const decimal tolerance = 1e-5f; return std::abs(length - decimal(1.0)) < tolerance; } // Return true if it is a valid quaternion -inline bool Quaternion::isValid() const { +RP3D_FORCE_INLINE bool Quaternion::isValid() const { return isFinite() && isUnit(); } // Overloaded operator for the addition of two quaternions -inline Quaternion Quaternion::operator+(const Quaternion& quaternion) const { +RP3D_FORCE_INLINE Quaternion Quaternion::operator+(const Quaternion& quaternion) const { // Return the result quaternion return Quaternion(x + quaternion.x, y + quaternion.y, z + quaternion.z, w + quaternion.w); } // Overloaded operator for the substraction of two quaternions -inline Quaternion Quaternion::operator-(const Quaternion& quaternion) const { +RP3D_FORCE_INLINE Quaternion Quaternion::operator-(const Quaternion& quaternion) const { // Return the result of the substraction return Quaternion(x - quaternion.x, y - quaternion.y, z - quaternion.z, w - quaternion.w); } // Overloaded operator for addition with assignment -inline Quaternion& Quaternion::operator+=(const Quaternion& quaternion) { +RP3D_FORCE_INLINE Quaternion& Quaternion::operator+=(const Quaternion& quaternion) { x += quaternion.x; y += quaternion.y; z += quaternion.z; @@ -341,7 +332,7 @@ inline Quaternion& Quaternion::operator+=(const Quaternion& quaternion) { } // Overloaded operator for substraction with assignment -inline Quaternion& Quaternion::operator-=(const Quaternion& quaternion) { +RP3D_FORCE_INLINE Quaternion& Quaternion::operator-=(const Quaternion& quaternion) { x -= quaternion.x; y -= quaternion.y; z -= quaternion.z; @@ -350,12 +341,12 @@ inline Quaternion& Quaternion::operator-=(const Quaternion& quaternion) { } // Overloaded operator for the multiplication with a constant -inline Quaternion Quaternion::operator*(decimal nb) const { +RP3D_FORCE_INLINE Quaternion Quaternion::operator*(decimal nb) const { return Quaternion(nb * x, nb * y, nb * z, nb * w); } // Overloaded operator for the multiplication of two quaternions -inline Quaternion Quaternion::operator*(const Quaternion& quaternion) const { +RP3D_FORCE_INLINE Quaternion Quaternion::operator*(const Quaternion& quaternion) const { /* The followin code is equivalent to this return Quaternion(w * quaternion.w - getVectorV().dot(quaternion.getVectorV()), @@ -371,7 +362,7 @@ inline Quaternion Quaternion::operator*(const Quaternion& quaternion) const { // Overloaded operator for the multiplication with a vector. /// This methods rotates a point given the rotation of a quaternion. -inline Vector3 Quaternion::operator*(const Vector3& point) const { +RP3D_FORCE_INLINE Vector3 Quaternion::operator*(const Vector3& point) const { /* The following code is equivalent to this * Quaternion p(point.x, point.y, point.z, 0.0); @@ -387,29 +378,14 @@ inline Vector3 Quaternion::operator*(const Vector3& point) const { w * prodZ - prodX * y + prodY * x - prodW * z); } -// Overloaded operator for the assignment -inline Quaternion& Quaternion::operator=(const Quaternion& quaternion) { - - // Check for self-assignment - if (this != &quaternion) { - x = quaternion.x; - y = quaternion.y; - z = quaternion.z; - w = quaternion.w; - } - - // Return this quaternion - return *this; -} - // Overloaded operator for equality condition -inline bool Quaternion::operator==(const Quaternion& quaternion) const { +RP3D_FORCE_INLINE bool Quaternion::operator==(const Quaternion& quaternion) const { return (x == quaternion.x && y == quaternion.y && z == quaternion.z && w == quaternion.w); } // Get the string representation -inline std::string Quaternion::to_string() const { +RP3D_FORCE_INLINE std::string Quaternion::to_string() const { return "Quaternion(" + std::to_string(x) + "," + std::to_string(y) + "," + std::to_string(z) + "," + std::to_string(w) + ")"; } diff --git a/include/reactphysics3d/mathematics/Ray.h b/include/reactphysics3d/mathematics/Ray.h index 52356c1c9..262fd3644 100644 --- a/include/reactphysics3d/mathematics/Ray.h +++ b/include/reactphysics3d/mathematics/Ray.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -60,24 +60,6 @@ struct Ray { : point1(p1), point2(p2), maxFraction(maxFrac) { } - - /// Copy-constructor - Ray(const Ray& ray) : point1(ray.point1), point2(ray.point2), maxFraction(ray.maxFraction) { - - } - - /// Destructor - ~Ray() = default; - - /// Overloaded assignment operator - Ray& operator=(const Ray& ray) { - if (&ray != this) { - point1 = ray.point1; - point2 = ray.point2; - maxFraction = ray.maxFraction; - } - return *this; - } }; } diff --git a/include/reactphysics3d/mathematics/Transform.h b/include/reactphysics3d/mathematics/Transform.h index aca59848f..78fcbfc53 100644 --- a/include/reactphysics3d/mathematics/Transform.h +++ b/include/reactphysics3d/mathematics/Transform.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -63,12 +63,6 @@ class Transform { /// Constructor Transform(const Vector3& position, const Quaternion& orientation); - /// Destructor - ~Transform() = default; - - /// Copy-constructor - Transform(const Transform& transform); - /// Return the origin of the transform const Vector3& getPosition() const; @@ -116,71 +110,62 @@ class Transform { /// Return true if the two transforms are different bool operator!=(const Transform& transform2) const; - /// Assignment operator - Transform& operator=(const Transform& transform); - /// Return the string representation std::string to_string() const; }; // Constructor -inline Transform::Transform() : mPosition(Vector3(0.0, 0.0, 0.0)), mOrientation(Quaternion::identity()) { +RP3D_FORCE_INLINE Transform::Transform() : mPosition(Vector3(0.0, 0.0, 0.0)), mOrientation(Quaternion::identity()) { } // Constructor -inline Transform::Transform(const Vector3& position, const Matrix3x3& orientation) +RP3D_FORCE_INLINE Transform::Transform(const Vector3& position, const Matrix3x3& orientation) : mPosition(position), mOrientation(Quaternion(orientation)) { } // Constructor -inline Transform::Transform(const Vector3& position, const Quaternion& orientation) +RP3D_FORCE_INLINE Transform::Transform(const Vector3& position, const Quaternion& orientation) : mPosition(position), mOrientation(orientation) { } -// Copy-constructor -inline Transform::Transform(const Transform& transform) - : mPosition(transform.mPosition), mOrientation(transform.mOrientation) { - -} - // Return the position of the transform -inline const Vector3& Transform::getPosition() const { +RP3D_FORCE_INLINE const Vector3& Transform::getPosition() const { return mPosition; } // Set the origin of the transform -inline void Transform::setPosition(const Vector3& position) { +RP3D_FORCE_INLINE void Transform::setPosition(const Vector3& position) { mPosition = position; } // Return the rotation matrix -inline const Quaternion& Transform::getOrientation() const { +RP3D_FORCE_INLINE const Quaternion& Transform::getOrientation() const { return mOrientation; } // Set the rotation matrix of the transform -inline void Transform::setOrientation(const Quaternion& orientation) { +RP3D_FORCE_INLINE void Transform::setOrientation(const Quaternion& orientation) { mOrientation = orientation; } // Set the transform to the identity transform -inline void Transform::setToIdentity() { +RP3D_FORCE_INLINE void Transform::setToIdentity() { mPosition = Vector3(0.0, 0.0, 0.0); mOrientation = Quaternion::identity(); } // Return the inverse of the transform -inline Transform Transform::getInverse() const { +RP3D_FORCE_INLINE Transform Transform::getInverse() const { const Quaternion& invQuaternion = mOrientation.getInverse(); return Transform(invQuaternion * (-mPosition), invQuaternion); } // Return an interpolated transform -inline Transform Transform::interpolateTransforms(const Transform& oldTransform, +RP3D_FORCE_INLINE Transform Transform::interpolateTransforms(const Transform& oldTransform, const Transform& newTransform, decimal interpolationFactor) { @@ -195,22 +180,22 @@ inline Transform Transform::interpolateTransforms(const Transform& oldTransform, } // Return the identity transform -inline Transform Transform::identity() { +RP3D_FORCE_INLINE Transform Transform::identity() { return Transform(Vector3(0, 0, 0), Quaternion::identity()); } // Return true if it is a valid transform -inline bool Transform::isValid() const { +RP3D_FORCE_INLINE bool Transform::isValid() const { return mPosition.isFinite() && mOrientation.isValid(); } // Return the transformed vector -inline Vector3 Transform::operator*(const Vector3& vector) const { +RP3D_FORCE_INLINE Vector3 Transform::operator*(const Vector3& vector) const { return (mOrientation * vector) + mPosition; } // Operator of multiplication of a transform with another one -inline Transform Transform::operator*(const Transform& transform2) const { +RP3D_FORCE_INLINE Transform Transform::operator*(const Transform& transform2) const { // The following code is equivalent to this //return Transform(mPosition + mOrientation * transform2.mPosition, @@ -239,26 +224,17 @@ inline Transform Transform::operator*(const Transform& transform2) const { } // Return true if the two transforms are equal -inline bool Transform::operator==(const Transform& transform2) const { +RP3D_FORCE_INLINE bool Transform::operator==(const Transform& transform2) const { return (mPosition == transform2.mPosition) && (mOrientation == transform2.mOrientation); } // Return true if the two transforms are different -inline bool Transform::operator!=(const Transform& transform2) const { +RP3D_FORCE_INLINE bool Transform::operator!=(const Transform& transform2) const { return !(*this == transform2); } -// Assignment operator -inline Transform& Transform::operator=(const Transform& transform) { - if (&transform != this) { - mPosition = transform.mPosition; - mOrientation = transform.mOrientation; - } - return *this; -} - // Get the string representation -inline std::string Transform::to_string() const { +RP3D_FORCE_INLINE std::string Transform::to_string() const { return "Transform(" + mPosition.to_string() + "," + mOrientation.to_string() + ")"; } diff --git a/include/reactphysics3d/mathematics/Vector2.h b/include/reactphysics3d/mathematics/Vector2.h index 7a0883984..93fb00feb 100644 --- a/include/reactphysics3d/mathematics/Vector2.h +++ b/include/reactphysics3d/mathematics/Vector2.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -58,12 +58,6 @@ struct Vector2 { /// Constructor with arguments Vector2(decimal newX, decimal newY); - /// Copy-constructor - Vector2(const Vector2& vector); - - /// Destructor - ~Vector2() = default; - /// Set all the values of the vector void setAllValues(decimal newX, decimal newY); @@ -130,9 +124,6 @@ struct Vector2 { /// Overloaded operator for value access const decimal& operator[] (int index) const; - /// Overloaded operator - Vector2& operator=(const Vector2& vector); - /// Overloaded less than operator for ordering to be used inside std::set for instance bool operator<(const Vector2& vector) const; @@ -161,50 +152,44 @@ struct Vector2 { }; // Constructor -inline Vector2::Vector2() : x(0.0), y(0.0) { +RP3D_FORCE_INLINE Vector2::Vector2() : x(0.0), y(0.0) { } // Constructor with arguments -inline Vector2::Vector2(decimal newX, decimal newY) : x(newX), y(newY) { +RP3D_FORCE_INLINE Vector2::Vector2(decimal newX, decimal newY) : x(newX), y(newY) { } -// Copy-constructor -inline Vector2::Vector2(const Vector2& vector) : x(vector.x), y(vector.y) { - -} - - // Set the vector to zero -inline void Vector2::setToZero() { +RP3D_FORCE_INLINE void Vector2::setToZero() { x = 0; y = 0; } // Set all the values of the vector -inline void Vector2::setAllValues(decimal newX, decimal newY) { +RP3D_FORCE_INLINE void Vector2::setAllValues(decimal newX, decimal newY) { x = newX; y = newY; } // Return the length of the vector -inline decimal Vector2::length() const { +RP3D_FORCE_INLINE decimal Vector2::length() const { return std::sqrt(x*x + y*y); } // Return the square of the length of the vector -inline decimal Vector2::lengthSquare() const { +RP3D_FORCE_INLINE decimal Vector2::lengthSquare() const { return x*x + y*y; } -// Scalar product of two vectors (inline) -inline decimal Vector2::dot(const Vector2& vector) const { +// Scalar product of two vectors (RP3D_FORCE_INLINE) +RP3D_FORCE_INLINE decimal Vector2::dot(const Vector2& vector) const { return (x*vector.x + y*vector.y); } // Normalize the vector -inline void Vector2::normalize() { +RP3D_FORCE_INLINE void Vector2::normalize() { decimal l = length(); if (l < MACHINE_EPSILON) { return; @@ -214,68 +199,68 @@ inline void Vector2::normalize() { } // Return the corresponding absolute value vector -inline Vector2 Vector2::getAbsoluteVector() const { +RP3D_FORCE_INLINE Vector2 Vector2::getAbsoluteVector() const { return Vector2(std::abs(x), std::abs(y)); } // Return the axis with the minimal value -inline int Vector2::getMinAxis() const { +RP3D_FORCE_INLINE int Vector2::getMinAxis() const { return (x < y ? 0 : 1); } // Return the axis with the maximal value -inline int Vector2::getMaxAxis() const { +RP3D_FORCE_INLINE int Vector2::getMaxAxis() const { return (x < y ? 1 : 0); } // Return true if the vector is unit and false otherwise -inline bool Vector2::isUnit() const { - return approxEqual(lengthSquare(), 1.0); +RP3D_FORCE_INLINE bool Vector2::isUnit() const { + return reactphysics3d::approxEqual(lengthSquare(), decimal(1.0)); } // Return true if the values are not NAN OR INF -inline bool Vector2::isFinite() const { +RP3D_FORCE_INLINE bool Vector2::isFinite() const { return std::isfinite(x) && std::isfinite(y); } // Return true if the vector is the zero vector -inline bool Vector2::isZero() const { - return approxEqual(lengthSquare(), 0.0); +RP3D_FORCE_INLINE bool Vector2::isZero() const { + return reactphysics3d::approxEqual(lengthSquare(), decimal(0.0)); } // Overloaded operator for the equality condition -inline bool Vector2::operator== (const Vector2& vector) const { +RP3D_FORCE_INLINE bool Vector2::operator== (const Vector2& vector) const { return (x == vector.x && y == vector.y); } // Overloaded operator for the is different condition -inline bool Vector2::operator!= (const Vector2& vector) const { +RP3D_FORCE_INLINE bool Vector2::operator!= (const Vector2& vector) const { return !(*this == vector); } // Overloaded operator for addition with assignment -inline Vector2& Vector2::operator+=(const Vector2& vector) { +RP3D_FORCE_INLINE Vector2& Vector2::operator+=(const Vector2& vector) { x += vector.x; y += vector.y; return *this; } // Overloaded operator for substraction with assignment -inline Vector2& Vector2::operator-=(const Vector2& vector) { +RP3D_FORCE_INLINE Vector2& Vector2::operator-=(const Vector2& vector) { x -= vector.x; y -= vector.y; return *this; } // Overloaded operator for multiplication with a number with assignment -inline Vector2& Vector2::operator*=(decimal number) { +RP3D_FORCE_INLINE Vector2& Vector2::operator*=(decimal number) { x *= number; y *= number; return *this; } // Overloaded operator for division by a number with assignment -inline Vector2& Vector2::operator/=(decimal number) { +RP3D_FORCE_INLINE Vector2& Vector2::operator/=(decimal number) { assert(number > std::numeric_limits::epsilon()); x /= number; y /= number; @@ -283,94 +268,90 @@ inline Vector2& Vector2::operator/=(decimal number) { } // Overloaded operator for value access -inline decimal& Vector2::operator[] (int index) { +RP3D_FORCE_INLINE decimal& Vector2::operator[] (int index) { return (&x)[index]; } // Overloaded operator for value access -inline const decimal& Vector2::operator[] (int index) const { +RP3D_FORCE_INLINE const decimal& Vector2::operator[] (int index) const { return (&x)[index]; } // Overloaded operator for addition -inline Vector2 operator+(const Vector2& vector1, const Vector2& vector2) { +RP3D_FORCE_INLINE Vector2 operator+(const Vector2& vector1, const Vector2& vector2) { return Vector2(vector1.x + vector2.x, vector1.y + vector2.y); } // Overloaded operator for substraction -inline Vector2 operator-(const Vector2& vector1, const Vector2& vector2) { +RP3D_FORCE_INLINE Vector2 operator-(const Vector2& vector1, const Vector2& vector2) { return Vector2(vector1.x - vector2.x, vector1.y - vector2.y); } // Overloaded operator for the negative of a vector -inline Vector2 operator-(const Vector2& vector) { +RP3D_FORCE_INLINE Vector2 operator-(const Vector2& vector) { return Vector2(-vector.x, -vector.y); } // Overloaded operator for multiplication with a number -inline Vector2 operator*(const Vector2& vector, decimal number) { +RP3D_FORCE_INLINE Vector2 operator*(const Vector2& vector, decimal number) { return Vector2(number * vector.x, number * vector.y); } // Overloaded operator for multiplication of two vectors -inline Vector2 operator*(const Vector2& vector1, const Vector2& vector2) { +RP3D_FORCE_INLINE Vector2 operator*(const Vector2& vector1, const Vector2& vector2) { return Vector2(vector1.x * vector2.x, vector1.y * vector2.y); } // Overloaded operator for division by a number -inline Vector2 operator/(const Vector2& vector, decimal number) { +RP3D_FORCE_INLINE Vector2 operator/(const Vector2& vector, decimal number) { assert(number > MACHINE_EPSILON); return Vector2(vector.x / number, vector.y / number); } // Overload operator for division between two vectors -inline Vector2 operator/(const Vector2& vector1, const Vector2& vector2) { +RP3D_FORCE_INLINE Vector2 operator/(const Vector2& vector1, const Vector2& vector2) { assert(vector2.x > MACHINE_EPSILON); assert(vector2.y > MACHINE_EPSILON); return Vector2(vector1.x / vector2.x, vector1.y / vector2.y); } // Overloaded operator for multiplication with a number -inline Vector2 operator*(decimal number, const Vector2& vector) { +RP3D_FORCE_INLINE Vector2 operator*(decimal number, const Vector2& vector) { return vector * number; } -// Assignment operator -inline Vector2& Vector2::operator=(const Vector2& vector) { - if (&vector != this) { - x = vector.x; - y = vector.y; - } - return *this; -} - // Overloaded less than operator for ordering to be used inside std::set for instance -inline bool Vector2::operator<(const Vector2& vector) const { +RP3D_FORCE_INLINE bool Vector2::operator<(const Vector2& vector) const { return (x == vector.x ? y < vector.y : x < vector.x); } // Return a vector taking the minimum components of two vectors -inline Vector2 Vector2::min(const Vector2& vector1, const Vector2& vector2) { +RP3D_FORCE_INLINE Vector2 Vector2::min(const Vector2& vector1, const Vector2& vector2) { return Vector2(std::min(vector1.x, vector2.x), std::min(vector1.y, vector2.y)); } // Return a vector taking the maximum components of two vectors -inline Vector2 Vector2::max(const Vector2& vector1, const Vector2& vector2) { +RP3D_FORCE_INLINE Vector2 Vector2::max(const Vector2& vector1, const Vector2& vector2) { return Vector2(std::max(vector1.x, vector2.x), std::max(vector1.y, vector2.y)); } // Get the string representation -inline std::string Vector2::to_string() const { +RP3D_FORCE_INLINE std::string Vector2::to_string() const { return "Vector2(" + std::to_string(x) + "," + std::to_string(y) + ")"; } // Return the zero vector -inline Vector2 Vector2::zero() { +RP3D_FORCE_INLINE Vector2 Vector2::zero() { return Vector2(0, 0); } +// Function to test if two vectors are (almost) equal +RP3D_FORCE_INLINE bool approxEqual(const Vector2& vec1, const Vector2& vec2, decimal epsilon = MACHINE_EPSILON) { + return approxEqual(vec1.x, vec2.x, epsilon) && approxEqual(vec1.y, vec2.y, epsilon); +} + } #endif diff --git a/include/reactphysics3d/mathematics/Vector3.h b/include/reactphysics3d/mathematics/Vector3.h index ffec1b56d..61ed30cd7 100644 --- a/include/reactphysics3d/mathematics/Vector3.h +++ b/include/reactphysics3d/mathematics/Vector3.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -28,8 +28,11 @@ // Libraries #include -#include +#include +#include #include +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -61,12 +64,6 @@ struct Vector3 { /// Constructor with arguments Vector3(decimal newX, decimal newY, decimal newZ); - /// Copy-constructor - Vector3(const Vector3& vector); - - /// Destructor - ~Vector3() = default; - /// Set all the values of the vector void setAllValues(decimal newX, decimal newY, decimal newZ); @@ -142,9 +139,6 @@ struct Vector3 { /// Overloaded operator for value access const decimal& operator[] (int index) const; - /// Overloaded operator - Vector3& operator=(const Vector3& vector); - /// Overloaded less than operator for ordering to be used inside std::set for instance bool operator<(const Vector3& vector) const; @@ -173,58 +167,53 @@ struct Vector3 { }; // Constructor of the struct Vector3 -inline Vector3::Vector3() : x(0.0), y(0.0), z(0.0) { +RP3D_FORCE_INLINE Vector3::Vector3() : x(0.0), y(0.0), z(0.0) { } // Constructor with arguments -inline Vector3::Vector3(decimal newX, decimal newY, decimal newZ) : x(newX), y(newY), z(newZ) { - -} - -// Copy-constructor -inline Vector3::Vector3(const Vector3& vector) : x(vector.x), y(vector.y), z(vector.z) { +RP3D_FORCE_INLINE Vector3::Vector3(decimal newX, decimal newY, decimal newZ) : x(newX), y(newY), z(newZ) { } // Set the vector to zero -inline void Vector3::setToZero() { +RP3D_FORCE_INLINE void Vector3::setToZero() { x = 0; y = 0; z = 0; } // Set all the values of the vector -inline void Vector3::setAllValues(decimal newX, decimal newY, decimal newZ) { +RP3D_FORCE_INLINE void Vector3::setAllValues(decimal newX, decimal newY, decimal newZ) { x = newX; y = newY; z = newZ; } // Return the length of the vector -inline decimal Vector3::length() const { +RP3D_FORCE_INLINE decimal Vector3::length() const { return std::sqrt(x*x + y*y + z*z); } // Return the square of the length of the vector -inline decimal Vector3::lengthSquare() const { +RP3D_FORCE_INLINE decimal Vector3::lengthSquare() const { return x*x + y*y + z*z; } -// Scalar product of two vectors (inline) -inline decimal Vector3::dot(const Vector3& vector) const { +// Scalar product of two vectors (RP3D_FORCE_INLINE) +RP3D_FORCE_INLINE decimal Vector3::dot(const Vector3& vector) const { return (x*vector.x + y*vector.y + z*vector.z); } -// Cross product of two vectors (inline) -inline Vector3 Vector3::cross(const Vector3& vector) const { +// Cross product of two vectors (RP3D_FORCE_INLINE) +RP3D_FORCE_INLINE Vector3 Vector3::cross(const Vector3& vector) const { return Vector3(y * vector.z - z * vector.y, z * vector.x - x * vector.z, x * vector.y - y * vector.x); } // Normalize the vector -inline void Vector3::normalize() { +RP3D_FORCE_INLINE void Vector3::normalize() { decimal l = length(); if (l < MACHINE_EPSILON) { return; @@ -235,47 +224,47 @@ inline void Vector3::normalize() { } // Return the corresponding absolute value vector -inline Vector3 Vector3::getAbsoluteVector() const { +RP3D_FORCE_INLINE Vector3 Vector3::getAbsoluteVector() const { return Vector3(std::abs(x), std::abs(y), std::abs(z)); } // Return the axis with the minimal value -inline int Vector3::getMinAxis() const { +RP3D_FORCE_INLINE int Vector3::getMinAxis() const { return (x < y ? (x < z ? 0 : 2) : (y < z ? 1 : 2)); } // Return the axis with the maximal value -inline int Vector3::getMaxAxis() const { +RP3D_FORCE_INLINE int Vector3::getMaxAxis() const { return (x < y ? (y < z ? 2 : 1) : (x < z ? 2 : 0)); } // Return true if the vector is unit and false otherwise -inline bool Vector3::isUnit() const { - return approxEqual(lengthSquare(), 1.0); +RP3D_FORCE_INLINE bool Vector3::isUnit() const { + return reactphysics3d::approxEqual(lengthSquare(), decimal(1.0)); } // Return true if the values are not NAN OR INF -inline bool Vector3::isFinite() const { +RP3D_FORCE_INLINE bool Vector3::isFinite() const { return std::isfinite(x) && std::isfinite(y) && std::isfinite(z); } // Return true if the vector is the zero vector -inline bool Vector3::isZero() const { - return approxEqual(lengthSquare(), 0.0); +RP3D_FORCE_INLINE bool Vector3::isZero() const { + return reactphysics3d::approxEqual(lengthSquare(), decimal(0.0)); } // Overloaded operator for the equality condition -inline bool Vector3::operator== (const Vector3& vector) const { +RP3D_FORCE_INLINE bool Vector3::operator== (const Vector3& vector) const { return (x == vector.x && y == vector.y && z == vector.z); } // Overloaded operator for the is different condition -inline bool Vector3::operator!= (const Vector3& vector) const { +RP3D_FORCE_INLINE bool Vector3::operator!= (const Vector3& vector) const { return !(*this == vector); } // Overloaded operator for addition with assignment -inline Vector3& Vector3::operator+=(const Vector3& vector) { +RP3D_FORCE_INLINE Vector3& Vector3::operator+=(const Vector3& vector) { x += vector.x; y += vector.y; z += vector.z; @@ -283,7 +272,7 @@ inline Vector3& Vector3::operator+=(const Vector3& vector) { } // Overloaded operator for substraction with assignment -inline Vector3& Vector3::operator-=(const Vector3& vector) { +RP3D_FORCE_INLINE Vector3& Vector3::operator-=(const Vector3& vector) { x -= vector.x; y -= vector.y; z -= vector.z; @@ -291,7 +280,7 @@ inline Vector3& Vector3::operator-=(const Vector3& vector) { } // Overloaded operator for multiplication with a number with assignment -inline Vector3& Vector3::operator*=(decimal number) { +RP3D_FORCE_INLINE Vector3& Vector3::operator*=(decimal number) { x *= number; y *= number; z *= number; @@ -299,7 +288,7 @@ inline Vector3& Vector3::operator*=(decimal number) { } // Overloaded operator for division by a number with assignment -inline Vector3& Vector3::operator/=(decimal number) { +RP3D_FORCE_INLINE Vector3& Vector3::operator/=(decimal number) { assert(number > std::numeric_limits::epsilon()); x /= number; y /= number; @@ -308,43 +297,43 @@ inline Vector3& Vector3::operator/=(decimal number) { } // Overloaded operator for value access -inline decimal& Vector3::operator[] (int index) { +RP3D_FORCE_INLINE decimal& Vector3::operator[] (int index) { return (&x)[index]; } // Overloaded operator for value access -inline const decimal& Vector3::operator[] (int index) const { +RP3D_FORCE_INLINE const decimal& Vector3::operator[] (int index) const { return (&x)[index]; } // Overloaded operator for addition -inline Vector3 operator+(const Vector3& vector1, const Vector3& vector2) { +RP3D_FORCE_INLINE Vector3 operator+(const Vector3& vector1, const Vector3& vector2) { return Vector3(vector1.x + vector2.x, vector1.y + vector2.y, vector1.z + vector2.z); } // Overloaded operator for substraction -inline Vector3 operator-(const Vector3& vector1, const Vector3& vector2) { +RP3D_FORCE_INLINE Vector3 operator-(const Vector3& vector1, const Vector3& vector2) { return Vector3(vector1.x - vector2.x, vector1.y - vector2.y, vector1.z - vector2.z); } // Overloaded operator for the negative of a vector -inline Vector3 operator-(const Vector3& vector) { +RP3D_FORCE_INLINE Vector3 operator-(const Vector3& vector) { return Vector3(-vector.x, -vector.y, -vector.z); } // Overloaded operator for multiplication with a number -inline Vector3 operator*(const Vector3& vector, decimal number) { +RP3D_FORCE_INLINE Vector3 operator*(const Vector3& vector, decimal number) { return Vector3(number * vector.x, number * vector.y, number * vector.z); } // Overloaded operator for division by a number -inline Vector3 operator/(const Vector3& vector, decimal number) { +RP3D_FORCE_INLINE Vector3 operator/(const Vector3& vector, decimal number) { assert(number > MACHINE_EPSILON); return Vector3(vector.x / number, vector.y / number, vector.z / number); } // Overload operator for division between two vectors -inline Vector3 operator/(const Vector3& vector1, const Vector3& vector2) { +RP3D_FORCE_INLINE Vector3 operator/(const Vector3& vector1, const Vector3& vector2) { assert(vector2.x > MACHINE_EPSILON); assert(vector2.y > MACHINE_EPSILON); assert(vector2.z > MACHINE_EPSILON); @@ -352,64 +341,60 @@ inline Vector3 operator/(const Vector3& vector1, const Vector3& vector2) { } // Overloaded operator for multiplication with a number -inline Vector3 operator*(decimal number, const Vector3& vector) { +RP3D_FORCE_INLINE Vector3 operator*(decimal number, const Vector3& vector) { return vector * number; } // Overload operator for multiplication between two vectors -inline Vector3 operator*(const Vector3& vector1, const Vector3& vector2) { +RP3D_FORCE_INLINE Vector3 operator*(const Vector3& vector1, const Vector3& vector2) { return Vector3(vector1.x * vector2.x, vector1.y * vector2.y, vector1.z * vector2.z); } -// Assignment operator -inline Vector3& Vector3::operator=(const Vector3& vector) { - if (&vector != this) { - x = vector.x; - y = vector.y; - z = vector.z; - } - return *this; -} - // Overloaded less than operator for ordering to be used inside std::set for instance -inline bool Vector3::operator<(const Vector3& vector) const { +RP3D_FORCE_INLINE bool Vector3::operator<(const Vector3& vector) const { return (x == vector.x ? (y == vector.y ? z < vector.z : y < vector.y) : x < vector.x); } // Return a vector taking the minimum components of two vectors -inline Vector3 Vector3::min(const Vector3& vector1, const Vector3& vector2) { +RP3D_FORCE_INLINE Vector3 Vector3::min(const Vector3& vector1, const Vector3& vector2) { return Vector3(std::min(vector1.x, vector2.x), std::min(vector1.y, vector2.y), std::min(vector1.z, vector2.z)); } // Return a vector taking the maximum components of two vectors -inline Vector3 Vector3::max(const Vector3& vector1, const Vector3& vector2) { +RP3D_FORCE_INLINE Vector3 Vector3::max(const Vector3& vector1, const Vector3& vector2) { return Vector3(std::max(vector1.x, vector2.x), std::max(vector1.y, vector2.y), std::max(vector1.z, vector2.z)); } // Return the minimum value among the three components of a vector -inline decimal Vector3::getMinValue() const { +RP3D_FORCE_INLINE decimal Vector3::getMinValue() const { return std::min(std::min(x, y), z); } // Return the maximum value among the three components of a vector -inline decimal Vector3::getMaxValue() const { +RP3D_FORCE_INLINE decimal Vector3::getMaxValue() const { return std::max(std::max(x, y), z); } // Get the string representation -inline std::string Vector3::to_string() const { +RP3D_FORCE_INLINE std::string Vector3::to_string() const { return "Vector3(" + std::to_string(x) + "," + std::to_string(y) + "," + std::to_string(z) + ")"; } // Return the zero vector -inline Vector3 Vector3::zero() { +RP3D_FORCE_INLINE Vector3 Vector3::zero() { return Vector3(0, 0, 0); } +// Function to test if two vectors are (almost) equal +RP3D_FORCE_INLINE bool approxEqual(const Vector3& vec1, const Vector3& vec2, decimal epsilon = MACHINE_EPSILON) { + return approxEqual(vec1.x, vec2.x, epsilon) && approxEqual(vec1.y, vec2.y, epsilon) && + approxEqual(vec1.z, vec2.z, epsilon); +} + } #endif diff --git a/include/reactphysics3d/mathematics/mathematics.h b/include/reactphysics3d/mathematics/mathematics.h index d54a0d0a9..289e91ef4 100644 --- a/include/reactphysics3d/mathematics/mathematics.h +++ b/include/reactphysics3d/mathematics/mathematics.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/testbed/src/Timer.cpp b/include/reactphysics3d/mathematics/mathematics_common.h similarity index 69% rename from testbed/src/Timer.cpp rename to include/reactphysics3d/mathematics/mathematics_common.h index 5c3e964fc..8f7419f06 100644 --- a/testbed/src/Timer.cpp +++ b/include/reactphysics3d/mathematics/mathematics_common.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2016 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -23,42 +23,28 @@ * * ********************************************************************************/ -// Libraries -#include "Timer.h" - +#ifndef REACTPHYSICS3D_MATHEMATICS_COMMON_H +#define REACTPHYSICS3D_MATHEMATICS_COMMON_H -// Constructor -Timer::Timer() : mLastUpdateTime(0), mDeltaTime(0), mAccumulator(0), mIsRunning(false) { +// Libraries +#include +#include +#include +#include -} +/// ReactPhysics3D namespace +namespace reactphysics3d { -// Destructor -Timer::~Timer() { +// ---------- Mathematics functions ---------- // +/// Function to test if two real numbers are (almost) equal +/// We test if two numbers a and b are such that (a-b) are in [-EPSILON; EPSILON] +RP3D_FORCE_INLINE bool approxEqual(decimal a, decimal b, decimal epsilon = MACHINE_EPSILON) { + return (std::abs(a - b) < epsilon); } -// Return the current time of the system in seconds -long double Timer::getCurrentSystemTime() { - #if defined(WINDOWS_OS) - LARGE_INTEGER ticksPerSecond; - LARGE_INTEGER ticks; - QueryPerformanceFrequency(&ticksPerSecond); - QueryPerformanceCounter(&ticks); - return (long double(ticks.QuadPart) / long double(ticksPerSecond.QuadPart)); - #else - // Initialize the lastUpdateTime with the current time in seconds - timeval timeValue; - gettimeofday(&timeValue, NULL); - return (timeValue.tv_sec + (timeValue.tv_usec / 1000000.0)); - #endif } - - - - - - - +#endif diff --git a/include/reactphysics3d/mathematics/mathematics_functions.h b/include/reactphysics3d/mathematics/mathematics_functions.h index 9ef9ff3ac..d6f73c3cd 100755 --- a/include/reactphysics3d/mathematics/mathematics_functions.h +++ b/include/reactphysics3d/mathematics/mathematics_functions.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -29,10 +29,11 @@ // Libraries #include #include +#include #include #include #include -#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -42,98 +43,395 @@ struct Vector2; // ---------- Mathematics functions ---------- // -/// Function to test if two real numbers are (almost) equal -/// We test if two numbers a and b are such that (a-b) are in [-EPSILON; EPSILON] -inline bool approxEqual(decimal a, decimal b, decimal epsilon = MACHINE_EPSILON) { - return (std::fabs(a - b) < epsilon); -} - -/// Function to test if two vectors are (almost) equal -bool approxEqual(const Vector3& vec1, const Vector3& vec2, decimal epsilon = MACHINE_EPSILON); - -/// Function to test if two vectors are (almost) equal -bool approxEqual(const Vector2& vec1, const Vector2& vec2, decimal epsilon = MACHINE_EPSILON); - /// Function that returns the result of the "value" clamped by /// two others values "lowerLimit" and "upperLimit" -inline int clamp(int value, int lowerLimit, int upperLimit) { +RP3D_FORCE_INLINE int clamp(int value, int lowerLimit, int upperLimit) { assert(lowerLimit <= upperLimit); return std::min(std::max(value, lowerLimit), upperLimit); } /// Function that returns the result of the "value" clamped by /// two others values "lowerLimit" and "upperLimit" -inline decimal clamp(decimal value, decimal lowerLimit, decimal upperLimit) { +RP3D_FORCE_INLINE decimal clamp(decimal value, decimal lowerLimit, decimal upperLimit) { assert(lowerLimit <= upperLimit); return std::min(std::max(value, lowerLimit), upperLimit); } /// Return the minimum value among three values -inline decimal min3(decimal a, decimal b, decimal c) { +RP3D_FORCE_INLINE decimal min3(decimal a, decimal b, decimal c) { return std::min(std::min(a, b), c); } /// Return the maximum value among three values -inline decimal max3(decimal a, decimal b, decimal c) { +RP3D_FORCE_INLINE decimal max3(decimal a, decimal b, decimal c) { return std::max(std::max(a, b), c); } /// Return true if two values have the same sign -inline bool sameSign(decimal a, decimal b) { +RP3D_FORCE_INLINE bool sameSign(decimal a, decimal b) { return a * b >= decimal(0.0); } -/// Return true if two vectors are parallel -bool areParallelVectors(const Vector3& vector1, const Vector3& vector2); +// Return true if two vectors are parallel +RP3D_FORCE_INLINE bool areParallelVectors(const Vector3& vector1, const Vector3& vector2) { + return vector1.cross(vector2).lengthSquare() < decimal(0.00001); +} + + +// Return true if two vectors are orthogonal +RP3D_FORCE_INLINE bool areOrthogonalVectors(const Vector3& vector1, const Vector3& vector2) { + return std::abs(vector1.dot(vector2)) < decimal(0.001); +} -/// Return true if two vectors are orthogonal -bool areOrthogonalVectors(const Vector3& vector1, const Vector3& vector2); -/// Clamp a vector such that it is no longer than a given maximum length -Vector3 clamp(const Vector3& vector, decimal maxLength); +// Clamp a vector such that it is no longer than a given maximum length +RP3D_FORCE_INLINE Vector3 clamp(const Vector3& vector, decimal maxLength) { + if (vector.lengthSquare() > maxLength * maxLength) { + return vector.getUnit() * maxLength; + } + return vector; +} // Compute and return a point on segment from "segPointA" and "segPointB" that is closest to point "pointC" -Vector3 computeClosestPointOnSegment(const Vector3& segPointA, const Vector3& segPointB, const Vector3& pointC); +RP3D_FORCE_INLINE Vector3 computeClosestPointOnSegment(const Vector3& segPointA, const Vector3& segPointB, const Vector3& pointC) { + + const Vector3 ab = segPointB - segPointA; + + decimal abLengthSquare = ab.lengthSquare(); + + // If the segment has almost zero length + if (abLengthSquare < MACHINE_EPSILON) { + + // Return one end-point of the segment as the closest point + return segPointA; + } + + // Project point C onto "AB" line + decimal t = (pointC - segPointA).dot(ab) / abLengthSquare; + + // If projected point onto the line is outside the segment, clamp it to the segment + if (t < decimal(0.0)) t = decimal(0.0); + if (t > decimal(1.0)) t = decimal(1.0); + + // Return the closest point on the segment + return segPointA + t * ab; +} // Compute the closest points between two segments -void computeClosestPointBetweenTwoSegments(const Vector3& seg1PointA, const Vector3& seg1PointB, - const Vector3& seg2PointA, const Vector3& seg2PointB, - Vector3& closestPointSeg1, Vector3& closestPointSeg2); +// This method uses the technique described in the book Real-Time +// collision detection by Christer Ericson. +RP3D_FORCE_INLINE void computeClosestPointBetweenTwoSegments(const Vector3& seg1PointA, const Vector3& seg1PointB, + const Vector3& seg2PointA, const Vector3& seg2PointB, + Vector3& closestPointSeg1, Vector3& closestPointSeg2) { + + const Vector3 d1 = seg1PointB - seg1PointA; + const Vector3 d2 = seg2PointB - seg2PointA; + const Vector3 r = seg1PointA - seg2PointA; + decimal a = d1.lengthSquare(); + decimal e = d2.lengthSquare(); + decimal f = d2.dot(r); + decimal s, t; + + // If both segments degenerate into points + if (a <= MACHINE_EPSILON && e <= MACHINE_EPSILON) { + + closestPointSeg1 = seg1PointA; + closestPointSeg2 = seg2PointA; + return; + } + if (a <= MACHINE_EPSILON) { // If first segment degenerates into a point + + s = decimal(0.0); + + // Compute the closest point on second segment + t = clamp(f / e, decimal(0.0), decimal(1.0)); + } + else { + + decimal c = d1.dot(r); -/// Compute the barycentric coordinates u, v, w of a point p inside the triangle (a, b, c) -void computeBarycentricCoordinatesInTriangle(const Vector3& a, const Vector3& b, const Vector3& c, - const Vector3& p, decimal& u, decimal& v, decimal& w); + // If the second segment degenerates into a point + if (e <= MACHINE_EPSILON) { -/// Compute the intersection between a plane and a segment -decimal computePlaneSegmentIntersection(const Vector3& segA, const Vector3& segB, const decimal planeD, const Vector3& planeNormal); + t = decimal(0.0); + s = clamp(-c / a, decimal(0.0), decimal(1.0)); + } + else { + + decimal b = d1.dot(d2); + decimal denom = a * e - b * b; + + // If the segments are not parallel + if (denom != decimal(0.0)) { + + // Compute the closest point on line 1 to line 2 and + // clamp to first segment. + s = clamp((b * f - c * e) / denom, decimal(0.0), decimal(1.0)); + } + else { + + // Pick an arbitrary point on first segment + s = decimal(0.0); + } + + // Compute the point on line 2 closest to the closest point + // we have just found + t = (b * s + f) / e; + + // If this closest point is inside second segment (t in [0, 1]), we are done. + // Otherwise, we clamp the point to the second segment and compute again the + // closest point on segment 1 + if (t < decimal(0.0)) { + t = decimal(0.0); + s = clamp(-c / a, decimal(0.0), decimal(1.0)); + } + else if (t > decimal(1.0)) { + t = decimal(1.0); + s = clamp((b - c) / a, decimal(0.0), decimal(1.0)); + } + } + } + + // Compute the closest points on both segments + closestPointSeg1 = seg1PointA + d1 * s; + closestPointSeg2 = seg2PointA + d2 * t; +} + +// Compute the barycentric coordinates u, v, w of a point p inside the triangle (a, b, c) +// This method uses the technique described in the book Real-Time collision detection by +// Christer Ericson. +RP3D_FORCE_INLINE void computeBarycentricCoordinatesInTriangle(const Vector3& a, const Vector3& b, const Vector3& c, + const Vector3& p, decimal& u, decimal& v, decimal& w) { + const Vector3 v0 = b - a; + const Vector3 v1 = c - a; + const Vector3 v2 = p - a; + + const decimal d00 = v0.dot(v0); + const decimal d01 = v0.dot(v1); + const decimal d11 = v1.dot(v1); + const decimal d20 = v2.dot(v0); + const decimal d21 = v2.dot(v1); + + const decimal denom = d00 * d11 - d01 * d01; + v = (d11 * d20 - d01 * d21) / denom; + w = (d00 * d21 - d01 * d20) / denom; + u = decimal(1.0) - v - w; +} + +// Compute the intersection between a plane and a segment +// Let the plane define by the equation planeNormal.dot(X) = planeD with X a point on the plane and "planeNormal" the plane normal. This method +// computes the intersection P between the plane and the segment (segA, segB). The method returns the value "t" such +// that P = segA + t * (segB - segA). Note that it only returns a value in [0, 1] if there is an intersection. Otherwise, +// there is no intersection between the plane and the segment. +RP3D_FORCE_INLINE decimal computePlaneSegmentIntersection(const Vector3& segA, const Vector3& segB, const decimal planeD, const Vector3& planeNormal) { + + const decimal parallelEpsilon = decimal(0.0001); + decimal t = decimal(-1); + + const decimal nDotAB = planeNormal.dot(segB - segA); + + // If the segment is not parallel to the plane + if (std::abs(nDotAB) > parallelEpsilon) { + t = (planeD - planeNormal.dot(segA)) / nDotAB; + } + + return t; +} + +// Compute the distance between a point "point" and a line given by the points "linePointA" and "linePointB" +RP3D_FORCE_INLINE decimal computePointToLineDistance(const Vector3& linePointA, const Vector3& linePointB, const Vector3& point) { + + decimal distAB = (linePointB - linePointA).length(); + + if (distAB < MACHINE_EPSILON) { + return (point - linePointA).length(); + } + + return ((point - linePointA).cross(point - linePointB)).length() / distAB; +} -/// Compute the distance between a point and a line -decimal computePointToLineDistance(const Vector3& linePointA, const Vector3& linePointB, const Vector3& point); -/// Clip a segment against multiple planes and return the clipped segment vertices -List clipSegmentWithPlanes(const Vector3& segA, const Vector3& segB, - const List& planesPoints, - const List& planesNormals, - MemoryAllocator& allocator); +// Clip a segment against multiple planes and return the clipped segment vertices +// This method implements the Sutherland–Hodgman clipping algorithm +RP3D_FORCE_INLINE Array clipSegmentWithPlanes(const Vector3& segA, const Vector3& segB, + const Array& planesPoints, + const Array& planesNormals, + MemoryAllocator& allocator) { + assert(planesPoints.size() == planesNormals.size()); -/// Clip a polygon against multiple planes and return the clipped polygon vertices -List clipPolygonWithPlanes(const List& polygonVertices, const List& planesPoints, - const List& planesNormals, MemoryAllocator& allocator); + Array inputVertices(allocator, 2); + Array outputVertices(allocator, 2); -/// Project a point onto a plane that is given by a point and its unit length normal -Vector3 projectPointOntoPlane(const Vector3& point, const Vector3& planeNormal, const Vector3& planePoint); + inputVertices.add(segA); + inputVertices.add(segB); -/// Return the distance between a point and a plane (the plane normal must be normalized) -decimal computePointToPlaneDistance(const Vector3& point, const Vector3& planeNormal, const Vector3& planePoint); + // For each clipping plane + const uint32 nbPlanesPoints = static_cast(planesPoints.size()); + for (uint32 p=0; p < nbPlanesPoints; p++) { -/// Return true if the given number is prime -bool isPrimeNumber(int number); + // If there is no more vertices, stop + if (inputVertices.size() == 0) return inputVertices; + + assert(inputVertices.size() == 2); + + outputVertices.clear(); + + Vector3& v1 = inputVertices[0]; + Vector3& v2 = inputVertices[1]; + + decimal v1DotN = (v1 - planesPoints[p]).dot(planesNormals[p]); + decimal v2DotN = (v2 - planesPoints[p]).dot(planesNormals[p]); + + // If the second vertex is in front of the clippling plane + if (v2DotN >= decimal(0.0)) { + + // If the first vertex is not in front of the clippling plane + if (v1DotN < decimal(0.0)) { + + // The second point we keep is the intersection between the segment v1, v2 and the clipping plane + decimal t = computePlaneSegmentIntersection(v1, v2, planesNormals[p].dot(planesPoints[p]), planesNormals[p]); + + if (t >= decimal(0) && t <= decimal(1.0)) { + outputVertices.add(v1 + t * (v2 - v1)); + } + else { + outputVertices.add(v2); + } + } + else { + outputVertices.add(v1); + } + + // Add the second vertex + outputVertices.add(v2); + } + else { // If the second vertex is behind the clipping plane + + // If the first vertex is in front of the clippling plane + if (v1DotN >= decimal(0.0)) { + + outputVertices.add(v1); + + // The first point we keep is the intersection between the segment v1, v2 and the clipping plane + decimal t = computePlaneSegmentIntersection(v1, v2, -planesNormals[p].dot(planesPoints[p]), -planesNormals[p]); + + if (t >= decimal(0.0) && t <= decimal(1.0)) { + outputVertices.add(v1 + t * (v2 - v1)); + } + } + } + + inputVertices = outputVertices; + } + + return outputVertices; +} + +// Clip a polygon against a single plane and return the clipped polygon vertices +// This method implements the Sutherland–Hodgman polygon clipping algorithm +RP3D_FORCE_INLINE void clipPolygonWithPlane(const Array& polygonVertices, const Vector3& planePoint, + const Vector3& planeNormal, Array& outClippedPolygonVertices) { + + uint32 nbInputVertices = static_cast(polygonVertices.size()); + + assert(outClippedPolygonVertices.size() == 0); + + uint32 vStartIndex = nbInputVertices - 1; + + const decimal planeNormalDotPlanePoint = planeNormal.dot(planePoint); + + decimal vStartDotN = (polygonVertices[vStartIndex] - planePoint).dot(planeNormal); + + // For each edge of the polygon + for (uint vEndIndex = 0; vEndIndex < nbInputVertices; vEndIndex++) { + + const Vector3& vStart = polygonVertices[vStartIndex]; + const Vector3& vEnd = polygonVertices[vEndIndex]; + + const decimal vEndDotN = (vEnd - planePoint).dot(planeNormal); + + // If the second vertex is in front of the clippling plane + if (vEndDotN >= decimal(0.0)) { + + // If the first vertex is not in front of the clippling plane + if (vStartDotN < decimal(0.0)) { + + // The second point we keep is the intersection between the segment v1, v2 and the clipping plane + const decimal t = computePlaneSegmentIntersection(vStart, vEnd, planeNormalDotPlanePoint, planeNormal); + + if (t >= decimal(0) && t <= decimal(1.0)) { + outClippedPolygonVertices.add(vStart + t * (vEnd - vStart)); + } + else { + outClippedPolygonVertices.add(vEnd); + } + } + + // Add the second vertex + outClippedPolygonVertices.add(vEnd); + } + else { // If the second vertex is behind the clipping plane + + // If the first vertex is in front of the clippling plane + if (vStartDotN >= decimal(0.0)) { + + // The first point we keep is the intersection between the segment v1, v2 and the clipping plane + const decimal t = computePlaneSegmentIntersection(vStart, vEnd, -planeNormalDotPlanePoint, -planeNormal); + + if (t >= decimal(0.0) && t <= decimal(1.0)) { + outClippedPolygonVertices.add(vStart + t * (vEnd - vStart)); + } + else { + outClippedPolygonVertices.add(vStart); + } + } + } + + vStartIndex = vEndIndex; + vStartDotN = vEndDotN; + } +} + +// Project a point onto a plane that is given by a point and its unit length normal +RP3D_FORCE_INLINE Vector3 projectPointOntoPlane(const Vector3& point, const Vector3& unitPlaneNormal, const Vector3& planePoint) { + return point - unitPlaneNormal.dot(point - planePoint) * unitPlaneNormal; +} + +// Return the distance between a point and a plane (the plane normal must be normalized) +RP3D_FORCE_INLINE decimal computePointToPlaneDistance(const Vector3& point, const Vector3& planeNormal, const Vector3& planePoint) { + return planeNormal.dot(point - planePoint); +} + +/// Return true if a number is a power of two +RP3D_FORCE_INLINE bool isPowerOfTwo(uint64 number) { + return number != 0 && !(number & (number -1)); +} + +/// Return the next power of two larger than the number in parameter +RP3D_FORCE_INLINE uint64 nextPowerOfTwo64Bits(uint64 number) { + number--; + number |= number >> 1; + number |= number >> 2; + number |= number >> 4; + number |= number >> 8; + number |= number >> 16; + number |= number >> 32; + number++; + number += (number == 0); + return number; +} /// Return an unique integer from two integer numbers (pairing function) /// Here we assume that the two parameter numbers are sorted such that /// number1 = max(number1, number2) /// http://szudzik.com/ElegantPairing.pdf -uint64 pairNumbers(uint32 number1, uint32 number2); +RP3D_FORCE_INLINE uint64 pairNumbers(uint32 number1, uint32 number2) { + assert(number1 == std::max(number1, number2)); + uint64 nb1 = number1; + uint64 nb2 = number2; + return nb1 * nb1 + nb1 + nb2; +} + } diff --git a/include/reactphysics3d/memory/DefaultAllocator.h b/include/reactphysics3d/memory/DefaultAllocator.h index fbfb28ecb..ec2ef0aef 100644 --- a/include/reactphysics3d/memory/DefaultAllocator.h +++ b/include/reactphysics3d/memory/DefaultAllocator.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -56,7 +56,7 @@ class DefaultAllocator : public MemoryAllocator { } /// Release previously allocated memory. - virtual void release(void* pointer, size_t size) override { + virtual void release(void* pointer, size_t /*size*/) override { std::free(pointer); } }; diff --git a/include/reactphysics3d/memory/HeapAllocator.h b/include/reactphysics3d/memory/HeapAllocator.h index b6444484d..940853fdb 100644 --- a/include/reactphysics3d/memory/HeapAllocator.h +++ b/include/reactphysics3d/memory/HeapAllocator.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/include/reactphysics3d/memory/MemoryAllocator.h b/include/reactphysics3d/memory/MemoryAllocator.h index 36b8d2c29..9111f3d7e 100644 --- a/include/reactphysics3d/memory/MemoryAllocator.h +++ b/include/reactphysics3d/memory/MemoryAllocator.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/include/reactphysics3d/memory/MemoryManager.h b/include/reactphysics3d/memory/MemoryManager.h index 55388e00e..cf6505bbb 100644 --- a/include/reactphysics3d/memory/MemoryManager.h +++ b/include/reactphysics3d/memory/MemoryManager.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -102,7 +102,7 @@ class MemoryManager { }; // Allocate memory of a given type -inline void* MemoryManager::allocate(AllocationType allocationType, size_t size) { +RP3D_FORCE_INLINE void* MemoryManager::allocate(AllocationType allocationType, size_t size) { switch (allocationType) { case AllocationType::Base: return mBaseAllocator->allocate(size); @@ -115,7 +115,7 @@ inline void* MemoryManager::allocate(AllocationType allocationType, size_t size) } // Release previously allocated memory. -inline void MemoryManager::release(AllocationType allocationType, void* pointer, size_t size) { +RP3D_FORCE_INLINE void MemoryManager::release(AllocationType allocationType, void* pointer, size_t size) { switch (allocationType) { case AllocationType::Base: mBaseAllocator->release(pointer, size); break; @@ -126,22 +126,22 @@ inline void MemoryManager::release(AllocationType allocationType, void* pointer, } // Return the pool allocator -inline PoolAllocator& MemoryManager::getPoolAllocator() { +RP3D_FORCE_INLINE PoolAllocator& MemoryManager::getPoolAllocator() { return mPoolAllocator; } // Return the single frame stack allocator -inline SingleFrameAllocator& MemoryManager::getSingleFrameAllocator() { +RP3D_FORCE_INLINE SingleFrameAllocator& MemoryManager::getSingleFrameAllocator() { return mSingleFrameAllocator; } // Return the heap allocator -inline HeapAllocator& MemoryManager::getHeapAllocator() { +RP3D_FORCE_INLINE HeapAllocator& MemoryManager::getHeapAllocator() { return mHeapAllocator; } // Reset the single frame allocator -inline void MemoryManager::resetFrameAllocator() { +RP3D_FORCE_INLINE void MemoryManager::resetFrameAllocator() { mSingleFrameAllocator.reset(); } diff --git a/include/reactphysics3d/memory/PoolAllocator.h b/include/reactphysics3d/memory/PoolAllocator.h index 5d0db5a62..95f56a1fd 100644 --- a/include/reactphysics3d/memory/PoolAllocator.h +++ b/include/reactphysics3d/memory/PoolAllocator.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/include/reactphysics3d/memory/SingleFrameAllocator.h b/include/reactphysics3d/memory/SingleFrameAllocator.h index cfed92c8f..b53b8a4a0 100644 --- a/include/reactphysics3d/memory/SingleFrameAllocator.h +++ b/include/reactphysics3d/memory/SingleFrameAllocator.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/include/reactphysics3d/reactphysics3d.h b/include/reactphysics3d/reactphysics3d.h index 2b32999c5..3fe4a8fa8 100644 --- a/include/reactphysics3d/reactphysics3d.h +++ b/include/reactphysics3d/reactphysics3d.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -26,7 +26,7 @@ /******************************************************************************** * ReactPhysics3D * -* Version 0.8.0 * +* Version 0.9.0 * * http://www.reactphysics3d.com * * Daniel Chappuis * ********************************************************************************/ @@ -64,7 +64,7 @@ #include #include #include -#include +#include /// Alias to the ReactPhysics3D namespace namespace rp3d = reactphysics3d; diff --git a/include/reactphysics3d/systems/BroadPhaseSystem.h b/include/reactphysics3d/systems/BroadPhaseSystem.h index e399619fd..d06b5cb3b 100644 --- a/include/reactphysics3d/systems/BroadPhaseSystem.h +++ b/include/reactphysics3d/systems/BroadPhaseSystem.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -51,10 +51,10 @@ class AABBOverlapCallback : public DynamicAABBTreeOverlapCallback { public: - List& mOverlappingNodes; + Array& mOverlappingNodes; // Constructor - AABBOverlapCallback(List& overlappingNodes) : mOverlappingNodes(overlappingNodes) { + AABBOverlapCallback(Array& overlappingNodes) : mOverlappingNodes(overlappingNodes) { } @@ -144,7 +144,7 @@ class BroadPhaseSystem { bool forceReInsert); /// Update the broad-phase state of some colliders components - void updateCollidersComponents(uint32 startIndex, uint32 nbItems, decimal timeStep); + void updateCollidersComponents(uint32 startIndex, uint32 nbItems); public : @@ -170,10 +170,10 @@ class BroadPhaseSystem { void removeCollider(Collider* collider); /// Update the broad-phase state of a single collider - void updateCollider(Entity colliderEntity, decimal timeStep); + void updateCollider(Entity colliderEntity); /// Update the broad-phase state of all the enabled colliders - void updateColliders(decimal timeStep); + void updateColliders(); /// Add a collider in the array of colliders that have moved in the last simulation step /// and that need to be tested again for broad-phase overlapping. @@ -184,7 +184,7 @@ class BroadPhaseSystem { void removeMovedCollider(int broadPhaseID); /// Compute all the overlapping pairs of collision shapes - void computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes); + void computeOverlappingPairs(MemoryManager& memoryManager, Array>& overlappingNodes); /// Return the collider corresponding to the broad-phase node id in parameter Collider* getColliderForBroadPhaseId(int broadPhaseId) const; @@ -208,27 +208,27 @@ class BroadPhaseSystem { }; // Return the fat AABB of a given broad-phase shape -inline const AABB& BroadPhaseSystem::getFatAABB(int broadPhaseId) const { +RP3D_FORCE_INLINE const AABB& BroadPhaseSystem::getFatAABB(int broadPhaseId) const { return mDynamicAABBTree.getFatAABB(broadPhaseId); } // Remove a collider from the array of colliders that have moved in the last simulation step // and that need to be tested again for broad-phase overlapping. -inline void BroadPhaseSystem::removeMovedCollider(int broadPhaseID) { +RP3D_FORCE_INLINE void BroadPhaseSystem::removeMovedCollider(int broadPhaseID) { // Remove the broad-phase ID from the set mMovedShapes.remove(broadPhaseID); } // Return the collider corresponding to the broad-phase node id in parameter -inline Collider* BroadPhaseSystem::getColliderForBroadPhaseId(int broadPhaseId) const { +RP3D_FORCE_INLINE Collider* BroadPhaseSystem::getColliderForBroadPhaseId(int broadPhaseId) const { return static_cast(mDynamicAABBTree.getNodeDataPointer(broadPhaseId)); } #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void BroadPhaseSystem::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void BroadPhaseSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; mDynamicAABBTree.setProfiler(profiler); } diff --git a/include/reactphysics3d/systems/CollisionDetectionSystem.h b/include/reactphysics3d/systems/CollisionDetectionSystem.h index 4909aca51..7e17e28b2 100644 --- a/include/reactphysics3d/systems/CollisionDetectionSystem.h +++ b/include/reactphysics3d/systems/CollisionDetectionSystem.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -43,6 +43,7 @@ #include #include #include +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -83,6 +84,9 @@ class CollisionDetectionSystem { /// Reference the collider components ColliderComponents& mCollidersComponents; + /// Reference to the rigid bodies components + RigidBodyComponents& mRigidBodyComponents; + /// Collision Detection Dispatch configuration CollisionDispatch mCollisionDispatch; @@ -95,6 +99,9 @@ class CollisionDetectionSystem { /// Broad-phase overlapping pairs OverlappingPairs mOverlappingPairs; + /// Overlapping nodes during broad-phase computation + Array> mBroadPhaseOverlappingNodes; + /// Broad-phase system BroadPhaseSystem mBroadPhaseSystem; @@ -104,67 +111,66 @@ class CollisionDetectionSystem { /// Narrow-phase collision detection input NarrowPhaseInput mNarrowPhaseInput; - /// List of the potential contact points - List mPotentialContactPoints; - - /// List of the potential contact manifolds - List mPotentialContactManifolds; + /// Array of the potential contact points + Array mPotentialContactPoints; - /// First list of narrow-phase pair contacts - List mContactPairs1; + /// Array of the potential contact manifolds + Array mPotentialContactManifolds; - /// Second list of narrow-phase pair contacts - List mContactPairs2; + /// First array of narrow-phase pair contacts + Array mContactPairs1; - /// Pointer to the list of contact pairs of the previous frame (either mContactPairs1 or mContactPairs2) - List* mPreviousContactPairs; + /// Second array of narrow-phase pair contacts + Array mContactPairs2; - /// Pointer to the list of contact pairs of the current frame (either mContactPairs1 or mContactPairs2) - List* mCurrentContactPairs; + /// Pointer to the array of contact pairs of the previous frame (either mContactPairs1 or mContactPairs2) + Array* mPreviousContactPairs; - /// List of lost contact pairs (contact pairs in contact in previous frame but not in the current one) - List mLostContactPairs; + /// Pointer to the array of contact pairs of the current frame (either mContactPairs1 or mContactPairs2) + Array* mCurrentContactPairs; - /// First map of overlapping pair id to the index of the corresponding pair contact - Map mMapPairIdToContactPairIndex1; - - /// Second map of overlapping pair id to the index of the corresponding pair contact - Map mMapPairIdToContactPairIndex2; + /// Array of lost contact pairs (contact pairs in contact in previous frame but not in the current one) + Array mLostContactPairs; /// Pointer to the map of overlappingPairId to the index of contact pair of the previous frame /// (either mMapPairIdToContactPairIndex1 or mMapPairIdToContactPairIndex2) - Map* mPreviousMapPairIdToContactPairIndex; - - /// Pointer to the map of overlappingPairId to the index of contact pair of the current frame - /// (either mMapPairIdToContactPairIndex1 or mMapPairIdToContactPairIndex2) - Map* mCurrentMapPairIdToContactPairIndex; + Map mPreviousMapPairIdToContactPairIndex; - /// First list with the contact manifolds - List mContactManifolds1; + /// First array with the contact manifolds + Array mContactManifolds1; - /// Second list with the contact manifolds - List mContactManifolds2; + /// Second array with the contact manifolds + Array mContactManifolds2; - /// Pointer to the list of contact manifolds from the previous frame (either mContactManifolds1 or mContactManifolds2) - List* mPreviousContactManifolds; + /// Pointer to the array of contact manifolds from the previous frame (either mContactManifolds1 or mContactManifolds2) + Array* mPreviousContactManifolds; - /// Pointer to the list of contact manifolds from the current frame (either mContactManifolds1 or mContactManifolds2) - List* mCurrentContactManifolds; + /// Pointer to the array of contact manifolds from the current frame (either mContactManifolds1 or mContactManifolds2) + Array* mCurrentContactManifolds; - /// Second list of contact points (contact points from either the current frame of the previous frame) - List mContactPoints1; + /// Second array of contact points (contact points from either the current frame of the previous frame) + Array mContactPoints1; - /// Second list of contact points (contact points from either the current frame of the previous frame) - List mContactPoints2; + /// Second array of contact points (contact points from either the current frame of the previous frame) + Array mContactPoints2; /// Pointer to the contact points of the previous frame (either mContactPoints1 or mContactPoints2) - List* mPreviousContactPoints; + Array* mPreviousContactPoints; /// Pointer to the contact points of the current frame (either mContactPoints1 or mContactPoints2) - List* mCurrentContactPoints; + Array* mCurrentContactPoints; + + /// Array with the indices of all the contact pairs that have at least one CollisionBody + Array mCollisionBodyContactPairsIndices; + + /// Number of potential contact manifolds in the previous frame + uint32 mNbPreviousPotentialContactManifolds; - /// Map a body entity to the list of contact pairs in which it is involved - Map> mMapBodyToContactPairs; + /// Number of potential contact points in the previous frame + uint32 mNbPreviousPotentialContactPoints; + + /// Reference to the half-edge structure of the triangle polyhedron + HalfEdgeStructure& mTriangleHalfEdgeStructure; #ifdef IS_RP3D_PROFILING_ENABLED @@ -182,7 +188,7 @@ class CollisionDetectionSystem { void computeMiddlePhase(NarrowPhaseInput& narrowPhaseInput, bool needToReportContacts); // Compute the middle-phase collision detection - void computeMiddlePhaseCollisionSnapshot(List& convexPairs, List& concavePairs, NarrowPhaseInput& narrowPhaseInput, + void computeMiddlePhaseCollisionSnapshot(Array& convexPairs, Array& concavePairs, NarrowPhaseInput& narrowPhaseInput, bool reportContacts); /// Compute the narrow-phase collision detection @@ -195,89 +201,98 @@ class CollisionDetectionSystem { bool computeNarrowPhaseCollisionSnapshot(NarrowPhaseInput& narrowPhaseInput, CollisionCallback& callback); /// Process the potential contacts after narrow-phase collision detection - void computeOverlapSnapshotContactPairs(NarrowPhaseInput& narrowPhaseInput, List& contactPairs) const; + void computeOverlapSnapshotContactPairs(NarrowPhaseInput& narrowPhaseInput, Array& contactPairs) const; /// Convert the potential contact into actual contacts - void computeOverlapSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List& contactPairs, + void computeOverlapSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, Array& contactPairs, Set& setOverlapContactPairId) const; - /// Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary - void updateOverlappingPairs(const List >& overlappingNodes); + /// Take an array of overlapping nodes in the broad-phase and create new overlapping pairs if necessary + void updateOverlappingPairs(const Array >& overlappingNodes); /// Remove pairs that are not overlapping anymore void removeNonOverlappingPairs(); /// Add a lost contact pair (pair of colliders that are not in contact anymore) - void addLostContactPair(uint64 overlappingPairIndex); + void addLostContactPair(OverlappingPairs::OverlappingPair& overlappingPair); /// Execute the narrow-phase collision detection algorithm on batches bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& allocator); /// Compute the concave vs convex middle-phase algorithm for a given pair of bodies - void computeConvexVsConcaveMiddlePhase(uint64 pairIndex, MemoryAllocator& allocator, - NarrowPhaseInput& narrowPhaseInput); + void computeConvexVsConcaveMiddlePhase(OverlappingPairs::ConcaveOverlappingPair& overlappingPair, MemoryAllocator& allocator, + NarrowPhaseInput& narrowPhaseInput, bool reportContacts); - /// Swap the previous and current contacts lists + /// Swap the previous and current contacts arrays void swapPreviousAndCurrentContacts(); /// Convert the potential contact into actual contacts void processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, - bool updateLastFrameInfo, List& potentialContactPoints, - Map* mapPairIdToContactPairIndex, - List& potentialContactManifolds, List* contactPairs, - Map>& mapBodyToContactPairs); + bool updateLastFrameInfo, Array& potentialContactPoints, + Array& potentialContactManifolds, + Map& mapPairIdToContactPairIndex, Array* contactPairs); /// Process the potential contacts after narrow-phase collision detection - void processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo, List& potentialContactPoints, - Map* mapPairIdToContactPairIndex, - List& potentialContactManifolds, List* contactPairs, - Map>& mapBodyToContactPairs); + void processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo, Array& potentialContactPoints, + Array& potentialContactManifolds, Array* contactPairs); /// Reduce the potential contact manifolds and contact points of the overlapping pair contacts - void reducePotentialContactManifolds(List* contactPairs, List& potentialContactManifolds, - const List& potentialContactPoints) const; + void reducePotentialContactManifolds(Array* contactPairs, Array& potentialContactManifolds, + const Array& potentialContactPoints) const; + + /// Create the actual contact manifolds and contacts points (from potential contacts) for a given contact pair + void createContacts(); + + /// Add the contact pairs to the corresponding bodies + void addContactPairsToBodies(); + + /// Compute the map from contact pairs ids to contact pair for the next frame + void computeMapPreviousContactPairs(); /// Compute the lost contact pairs (contact pairs in contact in the previous frame but not in the current one) void computeLostContactPairs(); /// Create the actual contact manifolds and contacts points for testCollision() methods - void createSnapshotContacts(List& contactPairs, List &contactManifolds, - List& contactPoints, - List& potentialContactManifolds, - List& potentialContactPoints); + void createSnapshotContacts(Array& contactPairs, Array &contactManifolds, + Array& contactPoints, + Array& potentialContactManifolds, + Array& potentialContactPoints); /// Initialize the current contacts with the contacts from the previous frame (for warmstarting) void initContactsWithPreviousOnes(); /// Reduce the number of contact points of a potential contact manifold void reduceContactPoints(ContactManifoldInfo& manifold, const Transform& shape1ToWorldTransform, - const List& potentialContactPoints) const; + const Array& potentialContactPoints) const; /// Report contacts - void reportContacts(CollisionCallback& callback, List* contactPairs, - List* manifolds, List* contactPoints, List& lostContactPairs); + void reportContacts(CollisionCallback& callback, Array* contactPairs, + Array* manifolds, Array* contactPoints, Array& lostContactPairs); /// Report all triggers - void reportTriggers(EventListener& eventListener, List* contactPairs, List& lostContactPairs); + void reportTriggers(EventListener& eventListener, Array* contactPairs, Array& lostContactPairs); /// Report all contacts for debug rendering - void reportDebugRenderingContacts(List* contactPairs, List* manifolds, List* contactPoints, List& lostContactPairs); + void reportDebugRenderingContacts(Array* contactPairs, Array* manifolds, Array* contactPoints, Array& lostContactPairs); /// Return the largest depth of all the contact points of a potential manifold decimal computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold, - const List& potentialContactPoints) const; + const Array& potentialContactPoints) const; /// Process the potential contacts where one collion is a concave shape void processSmoothMeshContacts(OverlappingPair* pair); /// Filter the overlapping pairs to keep only the pairs where a given body is involved - void filterOverlappingPairs(Entity bodyEntity, List& convexPairs, List& concavePairs) const; + void filterOverlappingPairs(Entity bodyEntity, Array& convexPairs, Array& concavePairs) const; /// Filter the overlapping pairs to keep only the pairs where two given bodies are involved - void filterOverlappingPairs(Entity body1Entity, Entity body2Entity, List& convexPairs, List& concavePairs) const; + void filterOverlappingPairs(Entity body1Entity, Entity body2Entity, Array& convexPairs, Array& concavePairs) const; - /// Create the actual contact manifolds and contacts points (from potential contacts) for a given contact pair - void createContacts(); + /// Remove an element in an array (and replace it by the last one in the array) + void removeItemAtInArray(uint array[], uint8 index, uint8& arraySize) const; + + /// Remove the duplicated contact points in a given contact manifold + void removeDuplicatedContactPointsInManifold(ContactManifoldInfo& manifold, const Array& potentialContactPoints) const; public : @@ -286,7 +301,7 @@ class CollisionDetectionSystem { /// Constructor CollisionDetectionSystem(PhysicsWorld* world, ColliderComponents& collidersComponents, TransformComponents& transformComponents, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, - MemoryManager& memoryManager); + MemoryManager& memoryManager, HalfEdgeStructure& triangleHalfEdgeStructure); /// Destructor ~CollisionDetectionSystem() = default; @@ -307,10 +322,10 @@ class CollisionDetectionSystem { void removeCollider(Collider* collider); /// Update a collider (that has moved for instance) - void updateCollider(Entity colliderEntity, decimal timeStep); + void updateCollider(Entity colliderEntity); /// Update all the enabled colliders - void updateColliders(decimal timeStep); + void updateColliders(); /// Add a pair of bodies that cannot collide with each other void addNoCollisionPair(Entity body1Entity, Entity body2Entity); @@ -380,12 +395,12 @@ class CollisionDetectionSystem { }; // Return a reference to the collision dispatch configuration -inline CollisionDispatch& CollisionDetectionSystem::getCollisionDispatch() { +RP3D_FORCE_INLINE CollisionDispatch& CollisionDetectionSystem::getCollisionDispatch() { return mCollisionDispatch; } // Add a body to the collision detection -inline void CollisionDetectionSystem::addCollider(Collider* collider, const AABB& aabb) { +RP3D_FORCE_INLINE void CollisionDetectionSystem::addCollider(Collider* collider, const AABB& aabb) { // Add the body to the broad-phase mBroadPhaseSystem.addCollider(collider, aabb); @@ -398,20 +413,15 @@ inline void CollisionDetectionSystem::addCollider(Collider* collider, const AABB mMapBroadPhaseIdToColliderEntity.add(Pair(broadPhaseId, collider->getEntity())); } -// Add a pair of bodies that cannot collide with each other -inline void CollisionDetectionSystem::addNoCollisionPair(Entity body1Entity, Entity body2Entity) { - mNoCollisionPairs.add(OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity)); -} - // Remove a pair of bodies that cannot collide with each other -inline void CollisionDetectionSystem::removeNoCollisionPair(Entity body1Entity, Entity body2Entity) { +RP3D_FORCE_INLINE void CollisionDetectionSystem::removeNoCollisionPair(Entity body1Entity, Entity body2Entity) { mNoCollisionPairs.remove(OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity)); } // Ask for a collision shape to be tested again during broad-phase. -/// We simply put the shape in the list of collision shape that have moved in the +/// We simply put the shape in the array of collision shape that have moved in the /// previous frame so that it is tested for collision again in the broad-phase. -inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(Collider* collider) { +RP3D_FORCE_INLINE void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(Collider* collider) { if (collider->getBroadPhaseId() != -1) { mBroadPhaseSystem.addMovedCollider(collider->getBroadPhaseId(), collider); @@ -419,31 +429,31 @@ inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(Collider* c } // Return a pointer to the world -inline PhysicsWorld* CollisionDetectionSystem::getWorld() { +RP3D_FORCE_INLINE PhysicsWorld* CollisionDetectionSystem::getWorld() { return mWorld; } // Return a reference to the memory manager -inline MemoryManager& CollisionDetectionSystem::getMemoryManager() const { +RP3D_FORCE_INLINE MemoryManager& CollisionDetectionSystem::getMemoryManager() const { return mMemoryManager; } // Update a collider (that has moved for instance) -inline void CollisionDetectionSystem::updateCollider(Entity colliderEntity, decimal timeStep) { +RP3D_FORCE_INLINE void CollisionDetectionSystem::updateCollider(Entity colliderEntity) { // Update the collider component - mBroadPhaseSystem.updateCollider(colliderEntity, timeStep); + mBroadPhaseSystem.updateCollider(colliderEntity); } // Update all the enabled colliders -inline void CollisionDetectionSystem::updateColliders(decimal timeStep) { - mBroadPhaseSystem.updateColliders(timeStep); +RP3D_FORCE_INLINE void CollisionDetectionSystem::updateColliders() { + mBroadPhaseSystem.updateColliders(); } #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void CollisionDetectionSystem::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void CollisionDetectionSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; mBroadPhaseSystem.setProfiler(profiler); mCollisionDispatch.setProfiler(profiler); diff --git a/include/reactphysics3d/systems/ConstraintSolverSystem.h b/include/reactphysics3d/systems/ConstraintSolverSystem.h index 54021aaa8..11b6cbc74 100644 --- a/include/reactphysics3d/systems/ConstraintSolverSystem.h +++ b/include/reactphysics3d/systems/ConstraintSolverSystem.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -68,7 +68,7 @@ struct ConstraintSolverData { /// Constructor ConstraintSolverData(RigidBodyComponents& rigidBodyComponents, JointComponents& jointComponents) - :rigidBodyComponents(rigidBodyComponents), jointComponents(jointComponents) { + :timeStep(0), isWarmStartingActive(true), rigidBodyComponents(rigidBodyComponents), jointComponents(jointComponents) { } @@ -203,12 +203,6 @@ class ConstraintSolverSystem { /// Solve the position constraints void solvePositionConstraints(); - /// Return true if the Non-Linear-Gauss-Seidel position correction technique is active - bool getIsNonLinearGaussSeidelPositionCorrectionActive() const; - - /// Enable/Disable the Non-Linear-Gauss-Seidel position correction technique. - void setIsNonLinearGaussSeidelPositionCorrectionActive(bool isActive); - #ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler @@ -216,12 +210,15 @@ class ConstraintSolverSystem { #endif + // ---------- Friendship ---------- + + friend class HingeJoint; }; #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void ConstraintSolverSystem::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void ConstraintSolverSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; mSolveBallAndSocketJointSystem.setProfiler(profiler); mSolveFixedJointSystem.setProfiler(profiler); diff --git a/include/reactphysics3d/systems/ContactSolverSystem.h b/include/reactphysics3d/systems/ContactSolverSystem.h index 11c4aa31b..46b1f22d4 100644 --- a/include/reactphysics3d/systems/ContactSolverSystem.h +++ b/include/reactphysics3d/systems/ContactSolverSystem.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -30,6 +30,8 @@ #include #include #include +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -186,9 +188,21 @@ class ContactSolverSystem { /// Inverse of the mass of body 1 decimal massInverseBody1; - // Inverse of the mass of body 2 + /// Inverse of the mass of body 2 decimal massInverseBody2; + /// Linear lock axis factor of body 1 + Vector3 linearLockAxisFactorBody1; + + /// Linear lock axis factor of body 2 + Vector3 linearLockAxisFactorBody2; + + /// Angular lock axis factor of body 1 + Vector3 angularLockAxisFactorBody1; + + /// Angular lock axis factor of body 2 + Vector3 angularLockAxisFactorBody2; + /// Inverse inertia tensor of body 1 Matrix3x3 inverseInertiaTensorBody1; @@ -198,9 +212,6 @@ class ContactSolverSystem { /// Mix friction coefficient for the two bodies decimal frictionCoefficient; - /// Rolling resistance factor between the two bodies - decimal rollingResistanceFactor; - // - Variables used when friction constraints are apply at the center of the manifold-// /// Average normal vector of the contact manifold @@ -239,9 +250,6 @@ class ContactSolverSystem { /// Matrix K for the twist friction constraint decimal inverseTwistFrictionMass; - /// Matrix K for the rolling resistance constraint - Matrix3x3 inverseRollingResistance; - /// First friction direction at contact manifold center Vector3 frictionVector1; @@ -263,9 +271,6 @@ class ContactSolverSystem { /// Twist friction impulse at contact manifold center decimal frictionTwistImpulse; - /// Rolling resistance impulse - Vector3 rollingResistanceImpulse; - /// Number of contact points int8 nbContacts; }; @@ -302,19 +307,19 @@ class ContactSolverSystem { ContactPointSolver* mContactPoints; /// Number of contact point constraints - uint mNbContactPoints; + uint32 mNbContactPoints; /// Number of contact constraints - uint mNbContactManifolds; + uint32 mNbContactManifolds; /// Reference to the islands Islands& mIslands; - /// Pointer to the list of contact manifolds from narrow-phase - List* mAllContactManifolds; + /// Pointer to the array of contact manifolds from narrow-phase + Array* mAllContactManifolds; - /// Pointer to the list of contact points from narrow-phase - List* mAllContactPoints; + /// Pointer to the array of contact points from narrow-phase + Array* mAllContactPoints; /// Reference to the body components CollisionBodyComponents& mBodyComponents; @@ -338,14 +343,10 @@ class ContactSolverSystem { // -------------------- Methods -------------------- // /// Compute the collision restitution factor from the restitution factor of each collider - decimal computeMixedRestitutionFactor(Collider* collider1, - Collider* collider2) const; + decimal computeMixedRestitutionFactor(const Material& material1, const Material& material2) const; /// Compute the mixed friction coefficient from the friction coefficient of each collider - decimal computeMixedFrictionCoefficient(Collider* collider1, Collider* collider2) const; - - /// Compute th mixed rolling resistance factor between two colliders - decimal computeMixedRollingResistance(Collider* collider1, Collider* collider2) const; + decimal computeMixedFrictionCoefficient(const Material &material1, const Material &material2) const; /// Compute the two unit orthogonal vectors "t1" and "t2" that span the tangential friction /// plane for a contact manifold. The two vectors have to be @@ -368,10 +369,10 @@ class ContactSolverSystem { ~ContactSolverSystem() = default; /// Initialize the contact constraints - void init(List* contactManifolds, List* contactPoints, decimal timeStep); + void init(Array* contactManifolds, Array* contactPoints, decimal timeStep); /// Initialize the constraint solver for a given island - void initializeForIsland(uint islandIndex); + void initializeForIsland(uint32 islandIndex); /// Store the computed impulses to use them to /// warm start the solver at the next iteration @@ -398,19 +399,36 @@ class ContactSolverSystem { }; // Return true if the split impulses position correction technique is used for contacts -inline bool ContactSolverSystem::isSplitImpulseActive() const { +RP3D_FORCE_INLINE bool ContactSolverSystem::isSplitImpulseActive() const { return mIsSplitImpulseActive; } // Activate or Deactivate the split impulses for contacts -inline void ContactSolverSystem::setIsSplitImpulseActive(bool isActive) { +RP3D_FORCE_INLINE void ContactSolverSystem::setIsSplitImpulseActive(bool isActive) { mIsSplitImpulseActive = isActive; } +// Compute the collision restitution factor from the restitution factor of each collider +RP3D_FORCE_INLINE decimal ContactSolverSystem::computeMixedRestitutionFactor(const Material& material1, const Material& material2) const { + + const decimal restitution1 = material1.getBounciness(); + const decimal restitution2 = material2.getBounciness(); + + // Return the largest restitution factor + return (restitution1 > restitution2) ? restitution1 : restitution2; +} + +// Compute the mixed friction coefficient from the friction coefficient of each collider +RP3D_FORCE_INLINE decimal ContactSolverSystem::computeMixedFrictionCoefficient(const Material& material1, const Material& material2) const { + + // Use the geometric mean to compute the mixed friction coefficient + return material1.getFrictionCoefficientSqrt() * material2.getFrictionCoefficientSqrt(); +} + #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void ContactSolverSystem::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void ContactSolverSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } diff --git a/include/reactphysics3d/systems/DynamicsSystem.h b/include/reactphysics3d/systems/DynamicsSystem.h index 76723ae11..f82c51204 100644 --- a/include/reactphysics3d/systems/DynamicsSystem.h +++ b/include/reactphysics3d/systems/DynamicsSystem.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -114,7 +114,7 @@ class DynamicsSystem { #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void DynamicsSystem::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void DynamicsSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } diff --git a/include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h b/include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h index bd0737810..aa1bf9b98 100644 --- a/include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h +++ b/include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -111,6 +111,9 @@ class SolveBallAndSocketJointSystem { /// Set to true to enable warm starting void setIsWarmStartingActive(bool isWarmStartingActive); + /// Return the current cone angle (for the cone limit) + static decimal computeCurrentConeHalfAngle(const Vector3& coneLimitWorldAxisBody1, const Vector3& coneLimitWorldAxisBody2); + #ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler @@ -123,23 +126,32 @@ class SolveBallAndSocketJointSystem { #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void SolveBallAndSocketJointSystem::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void SolveBallAndSocketJointSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } #endif // Set the time step -inline void SolveBallAndSocketJointSystem::setTimeStep(decimal timeStep) { +RP3D_FORCE_INLINE void SolveBallAndSocketJointSystem::setTimeStep(decimal timeStep) { assert(timeStep > decimal(0.0)); mTimeStep = timeStep; } // Set to true to enable warm starting -inline void SolveBallAndSocketJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) { +RP3D_FORCE_INLINE void SolveBallAndSocketJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) { mIsWarmStartingActive = isWarmStartingActive; } +// Return the current cone angle (for the cone limit) +/** + * @return The positive cone angle in radian in range [0, PI] + */ +RP3D_FORCE_INLINE decimal SolveBallAndSocketJointSystem::computeCurrentConeHalfAngle(const Vector3& coneLimitWorldAxisBody1, + const Vector3& coneLimitWorldAxisBody2) { + + return std::acos(coneLimitWorldAxisBody1.dot(coneLimitWorldAxisBody2)); +} } diff --git a/include/reactphysics3d/systems/SolveFixedJointSystem.h b/include/reactphysics3d/systems/SolveFixedJointSystem.h index 84d776857..b897404ff 100644 --- a/include/reactphysics3d/systems/SolveFixedJointSystem.h +++ b/include/reactphysics3d/systems/SolveFixedJointSystem.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -120,20 +120,20 @@ class SolveFixedJointSystem { #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void SolveFixedJointSystem::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void SolveFixedJointSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } #endif // Set the time step -inline void SolveFixedJointSystem::setTimeStep(decimal timeStep) { +RP3D_FORCE_INLINE void SolveFixedJointSystem::setTimeStep(decimal timeStep) { assert(timeStep > decimal(0.0)); mTimeStep = timeStep; } // Set to true to enable warm starting -inline void SolveFixedJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) { +RP3D_FORCE_INLINE void SolveFixedJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) { mIsWarmStartingActive = isWarmStartingActive; } diff --git a/include/reactphysics3d/systems/SolveHingeJointSystem.h b/include/reactphysics3d/systems/SolveHingeJointSystem.h index 05e5f0590..6fcb84b15 100644 --- a/include/reactphysics3d/systems/SolveHingeJointSystem.h +++ b/include/reactphysics3d/systems/SolveHingeJointSystem.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -92,8 +92,7 @@ class SolveHingeJointSystem { decimal upperLimitAngle) const; /// Compute the current angle around the hinge axis - decimal computeCurrentHingeAngle(Entity jointEntity, const Quaternion& orientationBody1, - const Quaternion& orientationBody2); + decimal computeCurrentHingeAngle(Entity jointEntity, const Quaternion& orientationBody1, const Quaternion& orientationBody2); public : @@ -133,25 +132,29 @@ class SolveHingeJointSystem { #endif + // ---------- Friendship ---------- + + friend class HingeJoint; + }; #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void SolveHingeJointSystem::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void SolveHingeJointSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } #endif // Set the time step -inline void SolveHingeJointSystem::setTimeStep(decimal timeStep) { +RP3D_FORCE_INLINE void SolveHingeJointSystem::setTimeStep(decimal timeStep) { assert(timeStep > decimal(0.0)); mTimeStep = timeStep; } // Set to true to enable warm starting -inline void SolveHingeJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) { +RP3D_FORCE_INLINE void SolveHingeJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) { mIsWarmStartingActive = isWarmStartingActive; } diff --git a/include/reactphysics3d/systems/SolveSliderJointSystem.h b/include/reactphysics3d/systems/SolveSliderJointSystem.h index 9e7d595cd..a08b65e2b 100644 --- a/include/reactphysics3d/systems/SolveSliderJointSystem.h +++ b/include/reactphysics3d/systems/SolveSliderJointSystem.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -124,20 +124,20 @@ class SolveSliderJointSystem { #ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler -inline void SolveSliderJointSystem::setProfiler(Profiler* profiler) { +RP3D_FORCE_INLINE void SolveSliderJointSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } #endif // Set the time step -inline void SolveSliderJointSystem::setTimeStep(decimal timeStep) { +RP3D_FORCE_INLINE void SolveSliderJointSystem::setTimeStep(decimal timeStep) { assert(timeStep > decimal(0.0)); mTimeStep = timeStep; } // Set to true to enable warm starting -inline void SolveSliderJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) { +RP3D_FORCE_INLINE void SolveSliderJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) { mIsWarmStartingActive = isWarmStartingActive; } diff --git a/include/reactphysics3d/utils/DebugRenderer.h b/include/reactphysics3d/utils/DebugRenderer.h index cae56c8c0..2d22dba3d 100644 --- a/include/reactphysics3d/utils/DebugRenderer.h +++ b/include/reactphysics3d/utils/DebugRenderer.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_DEBUG_RENDERER_H // Libraries -#include +#include #include #include #include @@ -47,7 +47,7 @@ class PhysicsWorld; /** * This class is used to display physics debug information directly into the user application view. * For instance, it is possible to display AABBs of colliders, colliders or contact points. This class - * can be used to get the debug information as lists of basic primitives (points, linges, triangles, ...). + * can be used to get the debug information as arrays of basic primitives (points, linges, triangles, ...). * You can use this to render physics debug information in your simulation on top of your object. Note that * you should use this only for debugging purpose and you should disable it when you compile the final release * version of your application because computing/rendering phyiscs debug information can be expensive. @@ -159,11 +159,11 @@ class DebugRenderer : public EventListener { /// Memory allocator MemoryAllocator& mAllocator; - /// List with all the debug lines - List mLines; + /// Array with all the debug lines + Array mLines; - /// List with all the debug triangles - List mTriangles; + /// Array with all the debug triangles + Array mTriangles; /// 32-bits integer that contains all the flags of debug items to display uint32 mDisplayedDebugItems; @@ -216,8 +216,8 @@ class DebugRenderer : public EventListener { /// Return the number of lines uint32 getNbLines() const; - /// Return a reference to the list of lines - const List& getLines() const; + /// Return a reference to the array of lines + const Array& getLines() const; /// Return a pointer to the array of lines const DebugLine* getLinesArray() const; @@ -225,8 +225,8 @@ class DebugRenderer : public EventListener { /// Return the number of triangles uint32 getNbTriangles() const; - /// Return a reference to the list of triangles - const List& getTriangles() const; + /// Return a reference to the array of triangles + const Array& getTriangles() const; /// Return a pointer to the array of triangles const DebugTriangle* getTrianglesArray() const; @@ -263,15 +263,15 @@ class DebugRenderer : public EventListener { /** * @return The number of lines in the array of lines to draw */ -inline uint32 DebugRenderer::getNbLines() const { - return mLines.size(); +RP3D_FORCE_INLINE uint32 DebugRenderer::getNbLines() const { + return static_cast(mLines.size()); } -// Return a reference to the list of lines +// Return a reference to the array of lines /** - * @return The list of lines to draw + * @return The array of lines to draw */ -inline const List& DebugRenderer::getLines() const { +RP3D_FORCE_INLINE const Array& DebugRenderer::getLines() const { return mLines; } @@ -279,7 +279,7 @@ inline const List& DebugRenderer::getLines() const { /** * @return A pointer to the first element of the lines array to draw */ -inline const DebugRenderer::DebugLine* DebugRenderer::getLinesArray() const { +RP3D_FORCE_INLINE const DebugRenderer::DebugLine* DebugRenderer::getLinesArray() const { return &(mLines[0]); } @@ -287,15 +287,15 @@ inline const DebugRenderer::DebugLine* DebugRenderer::getLinesArray() const { /** * @return The number of triangles in the array of triangles to draw */ -inline uint32 DebugRenderer::getNbTriangles() const { - return mTriangles.size(); +RP3D_FORCE_INLINE uint32 DebugRenderer::getNbTriangles() const { + return static_cast(mTriangles.size()); } -// Return a reference to the list of triangles +// Return a reference to the array of triangles /** - * @return The list of triangles to draw + * @return The array of triangles to draw */ -inline const List& DebugRenderer::getTriangles() const { +RP3D_FORCE_INLINE const Array& DebugRenderer::getTriangles() const { return mTriangles; } @@ -303,7 +303,7 @@ inline const List& DebugRenderer::getTriangles() c /** * @return A pointer to the first element of the triangles array to draw */ -inline const DebugRenderer::DebugTriangle* DebugRenderer::getTrianglesArray() const { +RP3D_FORCE_INLINE const DebugRenderer::DebugTriangle* DebugRenderer::getTrianglesArray() const { return &(mTriangles[0]); } @@ -312,7 +312,7 @@ inline const DebugRenderer::DebugTriangle* DebugRenderer::getTrianglesArray() co * @param item A debug item * @return True if the given debug item is being displayed and false otherwise */ -inline bool DebugRenderer::getIsDebugItemDisplayed(DebugItem item) const { +RP3D_FORCE_INLINE bool DebugRenderer::getIsDebugItemDisplayed(DebugItem item) const { return mDisplayedDebugItems & static_cast(item); } @@ -321,7 +321,7 @@ inline bool DebugRenderer::getIsDebugItemDisplayed(DebugItem item) const { * @param item A debug item to draw * @param isDisplayed True if the given debug item has to be displayed and false otherwise */ -inline void DebugRenderer::setIsDebugItemDisplayed(DebugItem item, bool isDisplayed) { +RP3D_FORCE_INLINE void DebugRenderer::setIsDebugItemDisplayed(DebugItem item, bool isDisplayed) { const uint32 itemFlag = static_cast(item); uint32 resetBit = ~(itemFlag); mDisplayedDebugItems &= resetBit; @@ -334,7 +334,7 @@ inline void DebugRenderer::setIsDebugItemDisplayed(DebugItem item, bool isDispla /** * @return The radius of the sphere used to display a contact point */ -inline decimal DebugRenderer::getContactPointSphereRadius() const { +RP3D_FORCE_INLINE decimal DebugRenderer::getContactPointSphereRadius() const { return mContactPointSphereRadius; } @@ -342,7 +342,7 @@ inline decimal DebugRenderer::getContactPointSphereRadius() const { /** * @param radius The radius of the sphere used to display a contact point */ -inline void DebugRenderer::setContactPointSphereRadius(decimal radius) { +RP3D_FORCE_INLINE void DebugRenderer::setContactPointSphereRadius(decimal radius) { assert(radius > decimal(0.0)); mContactPointSphereRadius = radius; } @@ -352,7 +352,7 @@ inline void DebugRenderer::setContactPointSphereRadius(decimal radius) { /** * @return The length of the contact normal to display */ -inline decimal DebugRenderer::getContactNormalLength() const { +RP3D_FORCE_INLINE decimal DebugRenderer::getContactNormalLength() const { return mContactNormalLength; } @@ -360,7 +360,7 @@ inline decimal DebugRenderer::getContactNormalLength() const { /** * @param contactNormalLength The length of the contact normal to display */ -inline void DebugRenderer::setContactNormalLength(decimal contactNormalLength) { +RP3D_FORCE_INLINE void DebugRenderer::setContactNormalLength(decimal contactNormalLength) { mContactNormalLength = contactNormalLength; } diff --git a/include/reactphysics3d/utils/DefaultLogger.h b/include/reactphysics3d/utils/DefaultLogger.h index 85ffa1c8d..1a1833ca1 100644 --- a/include/reactphysics3d/utils/DefaultLogger.h +++ b/include/reactphysics3d/utils/DefaultLogger.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -28,7 +28,7 @@ // Libraries #include -#include +#include #include #include #include @@ -366,14 +366,14 @@ class DefaultLogger : public Logger { #endif } - // Writer the head + // Write the header mFileStream << formatter->getHeader() << std::endl; } /// Destructor virtual ~FileDestination() override { - // Writer the tail + // Write the tail mFileStream << formatter->getTail() << std::endl; if (mFileStream.is_open()) { @@ -388,7 +388,7 @@ class DefaultLogger : public Logger { const char* filename, int lineNumber) override { if (static_cast(level) <= static_cast(maxLevelFlag)) { - mFileStream << formatter->format(time, physicsWorldName, message, level, category, filename, lineNumber) << std::endl << std::flush; + mFileStream << formatter->format(time, physicsWorldName, message, level, category, filename, lineNumber) << std::endl; } } @@ -447,7 +447,7 @@ class DefaultLogger : public Logger { MemoryAllocator& mAllocator; /// All the log destinations - List mDestinations; + Array mDestinations; /// Map a log format to the given formatter object Map mFormatters; diff --git a/include/reactphysics3d/utils/Logger.h b/include/reactphysics3d/utils/Logger.h index ba0144e2c..bf6a0d422 100644 --- a/include/reactphysics3d/utils/Logger.h +++ b/include/reactphysics3d/utils/Logger.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_LOGGER_H // Libraries -#include +#include #include #include #include diff --git a/include/reactphysics3d/utils/Profiler.h b/include/reactphysics3d/utils/Profiler.h index cbfadfd01..34b7767bc 100644 --- a/include/reactphysics3d/utils/Profiler.h +++ b/include/reactphysics3d/utils/Profiler.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -29,16 +29,17 @@ // If profiling is enabled #ifdef IS_RP3D_PROFILING_ENABLED - // Libraries #include -#include #include -#include +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { +using clock = std::chrono::high_resolution_clock; + // Class ProfileNode /** * It represents a profile sample in the profiler tree. @@ -56,10 +57,10 @@ class ProfileNode { uint mNbTotalCalls; /// Starting time of the sampling of corresponding block of code - long double mStartingTime; + std::chrono::time_point mStartingTime; /// Total time spent in the block of code - long double mTotalTime; + std::chrono::duration mTotalTime; /// Recursion counter int mRecursionCounter; @@ -102,7 +103,7 @@ class ProfileNode { uint getNbTotalCalls() const; /// Return the total time spent in the block of code - long double getTotalTime() const; + std::chrono::duration getTotalTime() const; /// Called when we enter the block of code corresponding to this profile node void enterBlockOfCode(); @@ -162,7 +163,7 @@ class ProfileNodeIterator { const char* getCurrentName(); /// Return the total time of the current node - long double getCurrentTotalTime(); + std::chrono::duration getCurrentTotalTime(); /// Return the total number of calls of the current node uint getCurrentNbTotalCalls(); @@ -171,7 +172,7 @@ class ProfileNodeIterator { const char* getCurrentParentName(); /// Return the total time of the current parent node - long double getCurrentParentTotalTime(); + std::chrono::duration getCurrentParentTotalTime(); /// Return the total number of calls of the current parent node uint getCurrentParentNbTotalCalls(); @@ -292,7 +293,7 @@ class Profiler { uint mFrameCounter; /// Starting profiling time - long double mProfilingStartTime; + std::chrono::time_point mProfilingStartTime; /// Number of allocated destinations uint mNbAllocatedDestinations; @@ -338,7 +339,7 @@ class Profiler { uint getNbFrames(); /// Return the elasped time since the start/reset of the profiling - long double getElapsedTimeSinceStart(); + std::chrono::duration getElapsedTimeSinceStart(); /// Increment the frame counter void incrementFrameCounter(); @@ -403,113 +404,112 @@ class ProfileSample { #define RP3D_PROFILE(name, profiler) ProfileSample profileSample(name, profiler) // Return true if we are at the root of the profiler tree -inline bool ProfileNodeIterator::isRoot() { +RP3D_FORCE_INLINE bool ProfileNodeIterator::isRoot() { return (mCurrentParentNode->getParentNode() == nullptr); } // Return true if we are at the end of a branch of the profiler tree -inline bool ProfileNodeIterator::isEnd() { +RP3D_FORCE_INLINE bool ProfileNodeIterator::isEnd() { return (mCurrentChildNode == nullptr); } // Return the name of the current node -inline const char* ProfileNodeIterator::getCurrentName() { +RP3D_FORCE_INLINE const char* ProfileNodeIterator::getCurrentName() { return mCurrentChildNode->getName(); } // Return the total time of the current node -inline long double ProfileNodeIterator::getCurrentTotalTime() { +RP3D_FORCE_INLINE std::chrono::duration ProfileNodeIterator::getCurrentTotalTime() { return mCurrentChildNode->getTotalTime(); } // Return the total number of calls of the current node -inline uint ProfileNodeIterator::getCurrentNbTotalCalls() { +RP3D_FORCE_INLINE uint ProfileNodeIterator::getCurrentNbTotalCalls() { return mCurrentChildNode->getNbTotalCalls(); } // Return the name of the current parent node -inline const char* ProfileNodeIterator::getCurrentParentName() { +RP3D_FORCE_INLINE const char* ProfileNodeIterator::getCurrentParentName() { return mCurrentParentNode->getName(); } // Return the total time of the current parent node -inline long double ProfileNodeIterator::getCurrentParentTotalTime() { +RP3D_FORCE_INLINE std::chrono::duration ProfileNodeIterator::getCurrentParentTotalTime() { return mCurrentParentNode->getTotalTime(); } // Return the total number of calls of the current parent node -inline uint ProfileNodeIterator::getCurrentParentNbTotalCalls() { +RP3D_FORCE_INLINE uint ProfileNodeIterator::getCurrentParentNbTotalCalls() { return mCurrentParentNode->getNbTotalCalls(); } // Go to the first node -inline void ProfileNodeIterator::first() { +RP3D_FORCE_INLINE void ProfileNodeIterator::first() { mCurrentChildNode = mCurrentParentNode->getChildNode(); } // Go to the next node -inline void ProfileNodeIterator::next() { +RP3D_FORCE_INLINE void ProfileNodeIterator::next() { mCurrentChildNode = mCurrentChildNode->getSiblingNode(); } // Return a pointer to the parent node -inline ProfileNode* ProfileNode::getParentNode() { +RP3D_FORCE_INLINE ProfileNode* ProfileNode::getParentNode() { return mParentNode; } // Return a pointer to a sibling node -inline ProfileNode* ProfileNode::getSiblingNode() { +RP3D_FORCE_INLINE ProfileNode* ProfileNode::getSiblingNode() { return mSiblingNode; } // Return a pointer to a child node -inline ProfileNode* ProfileNode::getChildNode() { +RP3D_FORCE_INLINE ProfileNode* ProfileNode::getChildNode() { return mChildNode; } // Return the name of the node -inline const char* ProfileNode::getName() { +RP3D_FORCE_INLINE const char* ProfileNode::getName() { return mName; } // Return the total number of call of the corresponding block of code -inline uint ProfileNode::getNbTotalCalls() const { +RP3D_FORCE_INLINE uint ProfileNode::getNbTotalCalls() const { return mNbTotalCalls; } // Return the total time spent in the block of code -inline long double ProfileNode::getTotalTime() const { +RP3D_FORCE_INLINE std::chrono::duration ProfileNode::getTotalTime() const { return mTotalTime; } // Return the number of frames -inline uint Profiler::getNbFrames() { +RP3D_FORCE_INLINE uint Profiler::getNbFrames() { return mFrameCounter; } // Return the elasped time since the start/reset of the profiling -inline long double Profiler::getElapsedTimeSinceStart() { - long double currentTime = Timer::getCurrentSystemTime() * 1000.0L; - return currentTime - mProfilingStartTime; +RP3D_FORCE_INLINE std::chrono::duration Profiler::getElapsedTimeSinceStart() { + return (clock::now() - mProfilingStartTime); } // Increment the frame counter -inline void Profiler::incrementFrameCounter() { +RP3D_FORCE_INLINE void Profiler::incrementFrameCounter() { mFrameCounter++; } // Return an iterator over the profiler tree starting at the root -inline ProfileNodeIterator* Profiler::getIterator() { +RP3D_FORCE_INLINE ProfileNodeIterator* Profiler::getIterator() { return new ProfileNodeIterator(&mRootNode); } // Destroy a previously allocated iterator -inline void Profiler::destroyIterator(ProfileNodeIterator* iterator) { +RP3D_FORCE_INLINE void Profiler::destroyIterator(ProfileNodeIterator* iterator) { delete iterator; } // Destroy the profiler (release the memory) -inline void Profiler::destroy() { +RP3D_FORCE_INLINE void Profiler::destroy() { mRootNode.destroy(); } diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 16279cf7a..95f0afc0a 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -89,12 +89,13 @@ Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Trans // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); const Transform localToWorldTransform = mWorld.mTransformComponents.getTransform(mEntity) * transform; - ColliderComponents::ColliderComponent colliderComponent(mEntity, collider, - AABB(localBoundsMin, localBoundsMax), - transform, collisionShape, 0x0001, 0xFFFF, localToWorldTransform); + Material material(mWorld.mConfig.defaultFrictionCoefficient, mWorld.mConfig.defaultBounciness); + ColliderComponents::ColliderComponent colliderComponent(mEntity, collider, AABB(localBoundsMin, localBoundsMax), + transform, collisionShape, 0x0001, 0xFFFF, localToWorldTransform, material); bool isActive = mWorld.mCollisionBodyComponents.getIsActive(mEntity); mWorld.mCollidersComponents.addComponent(colliderEntity, !isActive, colliderComponent); + mWorld.mCollisionBodyComponents.addColliderToBody(mEntity, colliderEntity); // Assign the collider with the collision shape @@ -130,8 +131,8 @@ Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Trans /** * @return The number of colliders associated with this body */ -uint CollisionBody::getNbColliders() const { - return static_cast(mWorld.mCollisionBodyComponents.getColliders(mEntity).size()); +uint32 CollisionBody::getNbColliders() const { + return static_cast(mWorld.mCollisionBodyComponents.getColliders(mEntity).size()); } // Return a const pointer to a given collider of the body @@ -139,7 +140,7 @@ uint CollisionBody::getNbColliders() const { * @param index Index of a Collider of the body * @return The const pointer of a given collider of the body */ -const Collider* CollisionBody::getCollider(uint colliderIndex) const { +const Collider* CollisionBody::getCollider(uint32 colliderIndex) const { assert(colliderIndex < getNbColliders()); @@ -153,7 +154,7 @@ const Collider* CollisionBody::getCollider(uint colliderIndex) const { * @param index Index of a Collider of the body * @return The pointer of a given collider of the body */ -Collider* CollisionBody::getCollider(uint colliderIndex) { +Collider* CollisionBody::getCollider(uint32 colliderIndex) { assert(colliderIndex < getNbColliders()); @@ -199,9 +200,9 @@ void CollisionBody::removeCollider(Collider* collider) { void CollisionBody::removeAllColliders() { // Look for the collider that contains the collision shape in parameter. - // Note that we need to copy the list of collider entities because we are deleting them in a loop. - const List collidersEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < collidersEntities.size(); i++) { + // Note that we need to copy the array of collider entities because we are deleting them in a loop. + const Array collidersEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint32 i=0; i < collidersEntities.size(); i++) { removeCollider(mWorld.mCollidersComponents.getCollider(collidersEntities[i])); } @@ -218,11 +219,12 @@ const Transform& CollisionBody::getTransform() const { } // Update the broad-phase state for this body (because it has moved for instance) -void CollisionBody::updateBroadPhaseState(decimal timeStep) const { +void CollisionBody::updateBroadPhaseState() const { // For all the colliders of the body - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { + const Array& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + const uint32 nbColliderEntities = static_cast(colliderEntities.size()); + for (uint32 i=0; i < nbColliderEntities; i++) { // Update the local-to-world transform of the collider mWorld.mCollidersComponents.setLocalToWorldTransform(colliderEntities[i], @@ -230,7 +232,7 @@ void CollisionBody::updateBroadPhaseState(decimal timeStep) const { mWorld.mCollidersComponents.getLocalToBodyTransform(colliderEntities[i])); // Update the collider - mWorld.mCollisionDetection.updateCollider(colliderEntities[i], timeStep); + mWorld.mCollisionDetection.updateCollider(colliderEntities[i]); } } @@ -251,8 +253,8 @@ void CollisionBody::setIsActive(bool isActive) { const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); // For each collider of the body - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { + const Array& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint32 i=0; i < colliderEntities.size(); i++) { Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); @@ -267,8 +269,8 @@ void CollisionBody::setIsActive(bool isActive) { else { // If we have to deactivate the body // For each collider of the body - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { + const Array& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint32 i=0; i < colliderEntities.size(); i++) { Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); @@ -290,8 +292,9 @@ void CollisionBody::setIsActive(bool isActive) { void CollisionBody::askForBroadPhaseCollisionCheck() const { // For all the colliders of the body - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { + const Array& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + const uint32 nbColliderEntities = static_cast(colliderEntities.size()); + for (uint32 i=0; i < nbColliderEntities; i++) { Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); @@ -308,8 +311,8 @@ void CollisionBody::askForBroadPhaseCollisionCheck() const { bool CollisionBody::testPointInside(const Vector3& worldPoint) const { // For each collider of the body - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { + const Array& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint32 i=0; i < colliderEntities.size(); i++) { Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); @@ -337,8 +340,9 @@ bool CollisionBody::raycast(const Ray& ray, RaycastInfo& raycastInfo) { Ray rayTemp(ray); // For each collider of the body - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { + const Array& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + const uint32 nbColliderEntities = static_cast(colliderEntities.size()); + for (uint32 i=0; i < nbColliderEntities; i++) { Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); @@ -360,7 +364,7 @@ AABB CollisionBody::getAABB() const { AABB bodyAABB; - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + const Array& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); if (colliderEntities.size() == 0) return bodyAABB; const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); @@ -369,7 +373,8 @@ AABB CollisionBody::getAABB() const { collider->getCollisionShape()->computeAABB(bodyAABB, transform * collider->getLocalToBodyTransform()); // For each collider of the body - for (uint i=1; i < colliderEntities.size(); i++) { + const uint32 nbColliderEntities = static_cast(colliderEntities.size()); + for (uint32 i=1; i < nbColliderEntities; i++) { Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); @@ -395,7 +400,7 @@ void CollisionBody::setTransform(const Transform& transform) { mWorld.mTransformComponents.setTransform(mEntity, transform); // Update the broad-phase state of the body - updateBroadPhaseState(0); + updateBroadPhaseState(); RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set transform=" + transform.to_string(), __FILE__, __LINE__); diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 3ee7fca2c..4e574907b 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -108,11 +108,7 @@ void RigidBody::setType(BodyType type) { setIsSleeping(false); // Update the active status of currently overlapping pairs - updateOverlappingPairs(); - - // Ask the broad-phase to test again the collision shapes of the body for collision - // detection (as if the body has moved) - askForBroadPhaseCollisionCheck(); + resetOverlappingPairs(); // Reset the force and torque on the body mWorld.mRigidBodyComponents.setExternalForce(mEntity, Vector3::zero()); @@ -131,7 +127,7 @@ decimal RigidBody::getMass() const { return mWorld.mRigidBodyComponents.getMass(mEntity); } -// Apply an external force to the body at a given point (in local-space coordinates). +// Manually apply an external force (in local-space) to the body at a given point (in local-space). /// If the point is not at the center of mass of the body, it will also /// generate some torque and therefore, change the angular velocity of the body. /// If the body is sleeping, calling this method will wake it up. Note that the @@ -139,10 +135,29 @@ decimal RigidBody::getMass() const { /// reset to zero at the end of each call of the PhyscisWorld::update() method. /// You can only apply a force to a dynamic body otherwise, this method will do nothing. /** - * @param force The force to apply on the body (in Newtons) - * @param point The point where the force is applied (in local-space coordinates) + * @param force The force (in local-space of the body) to apply on the body (in Newtons) + * @param point The point where the force is applied (in local-space of the body) */ -void RigidBody::applyForceAtLocalPosition(const Vector3& force, const Vector3& point) { +void RigidBody::applyLocalForceAtLocalPosition(const Vector3& force, const Vector3& point) { + + // Convert the local-space force to world-space + const Vector3 worldForce = mWorld.mTransformComponents.getTransform(mEntity).getOrientation() * force; + + applyWorldForceAtLocalPosition(worldForce, point); +} + +// Manually apply an external force (in world-space) to the body at a given point (in local-space). +/// If the point is not at the center of mass of the body, it will also +/// generate some torque and therefore, change the angular velocity of the body. +/// If the body is sleeping, calling this method will wake it up. Note that the +/// force will we added to the sum of the applied forces and that this sum will be +/// reset to zero at the end of each call of the PhyscisWorld::update() method. +/// You can only apply a force to a dynamic body otherwise, this method will do nothing. +/** + * @param force The force (in world-space) to apply on the body (in Newtons) + * @param point The point where the force is applied (in local-space) + */ +void RigidBody::applyWorldForceAtLocalPosition(const Vector3& force, const Vector3& point) { // If it is not a dynamic body, we do nothing if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; @@ -163,7 +178,7 @@ void RigidBody::applyForceAtLocalPosition(const Vector3& force, const Vector3& p mWorld.mRigidBodyComponents.setExternalTorque(mEntity, externalTorque + (worldPoint - centerOfMassWorld).cross(force)); } -// Apply an external force to the body at a given point (in world-space coordinates). +// Manually apply an external force (in local-space) to the body at a given point (in world-space). /// If the point is not at the center of mass of the body, it will also /// generate some torque and therefore, change the angular velocity of the body. /// If the body is sleeping, calling this method will wake it up. Note that the @@ -171,10 +186,29 @@ void RigidBody::applyForceAtLocalPosition(const Vector3& force, const Vector3& p /// reset to zero at the end of each call of the PhyscisWorld::update() method. /// You can only apply a force to a dynamic body otherwise, this method will do nothing. /** - * @param force The force to apply on the body (in Newtons) - * @param point The point where the force is applied (in world-space coordinates) + * @param force The force (in local-space of the body) to apply on the body (in Newtons) + * @param point The point where the force is applied (in world-space) */ -void RigidBody::applyForceAtWorldPosition(const Vector3& force, const Vector3& point) { +void RigidBody::applyLocalForceAtWorldPosition(const Vector3& force, const Vector3& point) { + + // Convert the local-space force to world-space + const Vector3 worldForce = mWorld.mTransformComponents.getTransform(mEntity).getOrientation() * force; + + applyWorldForceAtWorldPosition(worldForce, point); +} + +// Manually apply an external force (in world-space) to the body at a given point (in world-space). +/// If the point is not at the center of mass of the body, it will also +/// generate some torque and therefore, change the angular velocity of the body. +/// If the body is sleeping, calling this method will wake it up. Note that the +/// force will we added to the sum of the applied forces and that this sum will be +/// reset to zero at the end of each call of the PhyscisWorld::update() method. +/// You can only apply a force to a dynamic body otherwise, this method will do nothing. +/** + * @param force The force (in world-space) to apply on the body (in Newtons) + * @param point The point where the force is applied (in world-space) + */ +void RigidBody::applyWorldForceAtWorldPosition(const Vector3& force, const Vector3& point) { // If it is not a dynamic body, we do nothing if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; @@ -212,25 +246,46 @@ void RigidBody::setLocalInertiaTensor(const Vector3& inertiaTensorLocal) { mWorld.mRigidBodyComponents.setLocalInertiaTensor(mEntity, inertiaTensorLocal); - // Compute the inverse local inertia tensor - Vector3 inverseInertiaTensorLocal(inertiaTensorLocal.x != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.x : 0, - inertiaTensorLocal.y != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.y : 0, - inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); + // If it is a dynamic body + const BodyType type = mWorld.mRigidBodyComponents.getBodyType(mEntity); + if (type == BodyType::DYNAMIC) { + + // Compute the inverse local inertia tensor + Vector3 inverseInertiaTensorLocal(inertiaTensorLocal.x != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.x : 0, + inertiaTensorLocal.y != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.y : 0, + inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); + } RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string(), __FILE__, __LINE__); } -// Apply an external force to the body at its center of mass. +// Manually apply an external force (in local-space) to the body at its center of mass. /// If the body is sleeping, calling this method will wake it up. Note that the /// force will we added to the sum of the applied forces and that this sum will be /// reset to zero at the end of each call of the PhyscisWorld::update() method. /// You can only apply a force to a dynamic body otherwise, this method will do nothing. /** - * @param force The external force to apply on the center of mass of the body (in Newtons) + * @param force The external force (in local-space of the body) to apply on the center of mass of the body (in Newtons) */ -void RigidBody::applyForceToCenterOfMass(const Vector3& force) { +void RigidBody::applyLocalForceAtCenterOfMass(const Vector3& force) { + + // Convert the local-space force to world-space + const Vector3 worldForce = mWorld.mTransformComponents.getTransform(mEntity).getOrientation() * force; + + applyWorldForceAtCenterOfMass(worldForce); +} + +// Manually apply an external force (in world-space) to the body at its center of mass. +/// If the body is sleeping, calling this method will wake it up. Note that the +/// force will we added to the sum of the applied forces and that this sum will be +/// reset to zero at the end of each call of the PhyscisWorld::update() method. +/// You can only apply a force to a dynamic body otherwise, this method will do nothing. +/** + * @param force The external force (in world-space) to apply on the center of mass of the body (in Newtons) + */ +void RigidBody::applyWorldForceAtCenterOfMass(const Vector3& force) { // If it is not a dynamic body, we do nothing if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; @@ -247,7 +302,7 @@ void RigidBody::applyForceToCenterOfMass(const Vector3& force) { // Return the linear velocity damping factor /** - * @return The linear damping factor of this body + * @return The linear damping factor of this body (in range [0; +inf]). Zero means no damping. */ decimal RigidBody::getLinearDamping() const { return mWorld.mRigidBodyComponents.getLinearDamping(mEntity); @@ -255,7 +310,7 @@ decimal RigidBody::getLinearDamping() const { // Return the angular velocity damping factor /** - * @return The angular damping factor of this body + * @return The angular damping factor of this body (in range [0; +inf]). Zero means no damping. */ decimal RigidBody::getAngularDamping() const { return mWorld.mRigidBodyComponents.getAngularDamping(mEntity); @@ -275,7 +330,7 @@ void RigidBody::setLocalCenterOfMass(const Vector3& centerOfMass) { mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * centerOfMass); // Update the linear velocity of the center of mass - Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); + Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity); const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); const Vector3& centerOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMass); @@ -312,7 +367,7 @@ void RigidBody::updateLocalCenterOfMassFromColliders() { mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, centerOfMassWorld); // Update the linear velocity of the center of mass - Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); + Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity); const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld); mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); @@ -328,18 +383,18 @@ Vector3 RigidBody::computeCenterOfMass() const { Vector3 centerOfMassLocal(0, 0, 0); // Compute the local center of mass - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { + const Array& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint32 i=0; i < colliderEntities.size(); i++) { - Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); + const uint32 colliderIndex = mWorld.mCollidersComponents.getEntityIndex(colliderEntities[i]); - const decimal colliderVolume = mWorld.mCollidersComponents.getCollisionShape(colliderEntities[i])->getVolume(); - const decimal colliderMassDensity = collider->getMaterial().getMassDensity(); + const decimal colliderVolume = mWorld.mCollidersComponents.mCollisionShapes[colliderIndex]->getVolume(); + const decimal colliderMassDensity = mWorld.mCollidersComponents.mMaterials[colliderIndex].getMassDensity(); const decimal colliderMass = colliderVolume * colliderMassDensity; totalMass += colliderMass; - centerOfMassLocal += colliderMass * mWorld.mCollidersComponents.getLocalToBodyTransform(colliderEntities[i]).getPosition(); + centerOfMassLocal += colliderMass * mWorld.mCollidersComponents.mLocalToBodyTransforms[colliderIndex].getPosition(); } if (totalMass > decimal(0.0)) { @@ -360,22 +415,22 @@ void RigidBody::computeMassAndInertiaTensorLocal(Vector3& inertiaTensorLocal, de const Vector3 centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); // Compute the inertia tensor using all the colliders - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { + const Array& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint32 i=0; i < colliderEntities.size(); i++) { - Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); + const uint32 colliderIndex = mWorld.mCollidersComponents.getEntityIndex(colliderEntities[i]); - const decimal colliderVolume = mWorld.mCollidersComponents.getCollisionShape(colliderEntities[i])->getVolume(); - const decimal colliderMassDensity = collider->getMaterial().getMassDensity(); + const decimal colliderVolume = mWorld.mCollidersComponents.mCollisionShapes[colliderIndex]->getVolume(); + const decimal colliderMassDensity = mWorld.mCollidersComponents.mMaterials[colliderIndex].getMassDensity(); const decimal colliderMass = colliderVolume * colliderMassDensity; totalMass += colliderMass; // Get the inertia tensor of the collider in its local-space - Vector3 shapeLocalInertiaTensor = collider->getCollisionShape()->getLocalInertiaTensor(colliderMass); + Vector3 shapeLocalInertiaTensor = mWorld.mCollidersComponents.mCollisionShapes[colliderIndex]->getLocalInertiaTensor(colliderMass); // Convert the collider inertia tensor into the local-space of the body - const Transform& shapeTransform = collider->getLocalToBodyTransform(); + const Transform& shapeTransform = mWorld.mCollidersComponents.mLocalToBodyTransforms[colliderIndex]; Matrix3x3 rotationMatrix = shapeTransform.getOrientation().getMatrix(); Matrix3x3 rotationMatrixTranspose = rotationMatrix.getTranspose(); rotationMatrixTranspose[0] *= shapeLocalInertiaTensor.x; @@ -416,11 +471,16 @@ void RigidBody::updateLocalInertiaTensorFromColliders() { mWorld.mRigidBodyComponents.setLocalInertiaTensor(mEntity, inertiaTensorLocal); - // Compute the inverse local inertia tensor - Vector3 inverseInertiaTensorLocal(inertiaTensorLocal.x != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.x : 0, - inertiaTensorLocal.y != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.y : 0, - inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); + // If it is a dynamic body + const BodyType type = mWorld.mRigidBodyComponents.getBodyType(mEntity); + if (type == BodyType::DYNAMIC) { + + // Compute the inverse local inertia tensor + Vector3 inverseInertiaTensorLocal(inertiaTensorLocal.x != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.x : 0, + inertiaTensorLocal.y != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.y : 0, + inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); + } RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string(), __FILE__, __LINE__); @@ -435,12 +495,13 @@ void RigidBody::updateMassFromColliders() { decimal totalMass = decimal(0.0); // Compute the total mass of the body - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { - Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); + const Array& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint32 i=0; i < colliderEntities.size(); i++) { - const decimal colliderVolume = mWorld.mCollidersComponents.getCollisionShape(colliderEntities[i])->getVolume(); - const decimal colliderMassDensity = collider->getMaterial().getMassDensity(); + const uint32 colliderIndex = mWorld.mCollidersComponents.getEntityIndex(colliderEntities[i]); + + const decimal colliderVolume = mWorld.mCollidersComponents.mCollisionShapes[colliderIndex]->getVolume(); + const decimal colliderMassDensity = mWorld.mCollidersComponents.mMaterials[colliderIndex].getMassDensity(); const decimal colliderMass = colliderVolume * colliderMassDensity; @@ -450,12 +511,17 @@ void RigidBody::updateMassFromColliders() { // Set the mass mWorld.mRigidBodyComponents.setMass(mEntity, totalMass); - // Compute the inverse mass - if (totalMass > decimal(0.0)) { - mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / totalMass); - } - else { - mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); + // If it is a dynamic body + const BodyType type = mWorld.mRigidBodyComponents.getBodyType(mEntity); + if (type == BodyType::DYNAMIC) { + + // Compute the inverse mass + if (totalMass > decimal(0.0)) { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / totalMass); + } + else { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); + } } RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, @@ -482,11 +548,16 @@ void RigidBody::updateMassPropertiesFromColliders() { mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, centerOfMassLocal); mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, centerOfMassWorld); - // Update the linear velocity of the center of mass - Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); - const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); - linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld); - mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); + // If it is a dynamic body + const BodyType type = mWorld.mRigidBodyComponents.getBodyType(mEntity); + if (type == BodyType::DYNAMIC) { + + // Update the linear velocity of the center of mass + Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity); + const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); + linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld); + mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); + } RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string(), __FILE__, __LINE__); @@ -498,11 +569,15 @@ void RigidBody::updateMassPropertiesFromColliders() { mWorld.mRigidBodyComponents.setLocalInertiaTensor(mEntity, inertiaTensorLocal); - // Compute the inverse local inertia tensor - Vector3 inverseInertiaTensorLocal(inertiaTensorLocal.x != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.x : 0, - inertiaTensorLocal.y != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.y : 0, - inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); + // If it is a dynamic body + if (type == BodyType::DYNAMIC) { + + // Compute the inverse local inertia tensor + Vector3 inverseInertiaTensorLocal(inertiaTensorLocal.x != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.x : 0, + inertiaTensorLocal.y != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.y : 0, + inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); + } RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string(), __FILE__, __LINE__); @@ -510,12 +585,16 @@ void RigidBody::updateMassPropertiesFromColliders() { // Set the mass mWorld.mRigidBodyComponents.setMass(mEntity, totalMass); - // Compute the inverse mass - if (totalMass > decimal(0.0)) { - mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / totalMass); - } - else { - mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); + // If it is a dynamic body + if (type == BodyType::DYNAMIC) { + + // Compute the inverse mass + if (totalMass > decimal(0.0)) { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / totalMass); + } + else { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); + } } RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, @@ -529,24 +608,26 @@ void RigidBody::updateMassPropertiesFromColliders() { */ void RigidBody::setMass(decimal mass) { - mWorld.mRigidBodyComponents.setMass(mEntity, mass); - if (mass < decimal(0.0)) { RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Error, Logger::Category::Body, - "Error when setting the mass of a rigid body: the mass must be a positive value", __FILE__, __LINE__); - } + "Error when setting mass of body " + std::to_string(mEntity.id) + ": mass cannot be negative", __FILE__, __LINE__); - if (mWorld.mRigidBodyComponents.getMass(mEntity) > decimal(0.0)) { - mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mass); + return; } - else { - mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); - if (mWorld.mRigidBodyComponents.getMass(mEntity) < decimal(0.0)) { + mWorld.mRigidBodyComponents.setMass(mEntity, mass); + + // If it is a dynamic body + const BodyType type = mWorld.mRigidBodyComponents.getBodyType(mEntity); + if (type == BodyType::DYNAMIC) { + + if (mass > decimal(0.0)) { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mass); + } + else { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); - RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Error, Logger::Category::Body, - "Error when setting mass of body " + std::to_string(mEntity.id) + ": mass cannot be negative", __FILE__, __LINE__); } } @@ -589,8 +670,9 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); const Transform localToWorldTransform = mWorld.mTransformComponents.getTransform(mEntity) * transform; + Material material(mWorld.mConfig.defaultFrictionCoefficient, mWorld.mConfig.defaultBounciness); ColliderComponents::ColliderComponent colliderComponent(mEntity, collider, AABB(localBoundsMin, localBoundsMax), - transform, collisionShape, 0x0001, 0xFFFF, localToWorldTransform); + transform, collisionShape, 0x0001, 0xFFFF, localToWorldTransform, material); bool isSleeping = mWorld.mRigidBodyComponents.getIsSleeping(mEntity); mWorld.mCollidersComponents.addComponent(colliderEntity, isSleeping, colliderComponent); @@ -648,10 +730,9 @@ void RigidBody::enableGravity(bool isEnabled) { (isEnabled ? "true" : "false"), __FILE__, __LINE__); } -// Set the linear damping factor. This is the ratio of the linear velocity -// that the body will lose every at seconds of simulation. +// Set the linear damping factor. /** - * @param linearDamping The linear damping factor of this body + * @param linearDamping The linear damping factor of this body (in range [0; +inf]). Zero means no damping. */ void RigidBody::setLinearDamping(decimal linearDamping) { assert(linearDamping >= decimal(0.0)); @@ -670,10 +751,9 @@ void RigidBody::setLinearDamping(decimal linearDamping) { } } -// Set the angular damping factor. This is the ratio of the angular velocity -// that the body will lose at every seconds of simulation. +// Set the angular damping factor. /** - * @param angularDamping The angular damping factor of this body + * @param angularDamping The angular damping factor of this body (in range [0; +inf]). Zero means no damping. */ void RigidBody::setAngularDamping(decimal angularDamping) { assert(angularDamping >= decimal(0.0)); @@ -783,15 +863,57 @@ bool RigidBody::isGravityEnabled() const { return mWorld.mRigidBodyComponents.getIsGravityEnabled(mEntity); } -// Apply an external torque to the body. +// Return the linear lock axis factor +/// The linear lock axis factor specify whether linear motion along world-space axes X,Y,Z is +/// restricted or not. +/** + * @return A Vector3 with the linear lock axis factor for each X,Y,Z world-space axis + */ +const Vector3& RigidBody::getLinearLockAxisFactor() const { + return mWorld.mRigidBodyComponents.getLinearLockAxisFactor(mEntity); +} + +// Set the linear lock axis factor +/// This method allows to restrict the linear motion of a rigid body along the world-space +/// axes X,Y and Z. For instance, it's possible to disable the linear motion of a body +/// along a given axis by setting a lock axis factor of zero. +/** + * @param linearLockAxisFactor A Vector3 with the lock factor for each world-space axis X,Y,Z + */ +void RigidBody::setLinearLockAxisFactor(const Vector3& linearLockAxisFactor) const { + mWorld.mRigidBodyComponents.setLinearLockAxisFactor(mEntity, linearLockAxisFactor); +} + +// Return the angular lock axis factor +/// The angular lock axis factor specify whether angular motion around world-space axes X,Y,Z is +/// restricted or not. +/** + * @return A Vector3 with the angular lock axis factor for each X,Y,Z world-space axis + */ +const Vector3& RigidBody::getAngularLockAxisFactor() const { + return mWorld.mRigidBodyComponents.getAngularLockAxisFactor(mEntity); +} + +// Set the angular lock axis factor +/// This method allows to restrict the angular motion of a rigid body around the world-space +/// axes X,Y and Z. For instance, it's possible to disable the angular motion of a body +/// around a given axis by setting a lock axis factor of zero. +/** + * @param angularLockAxisFactor A Vector3 with the lock factor for each world-space axis X,Y,Z + */ +void RigidBody::setAngularLockAxisFactor(const Vector3& angularLockAxisFactor) const { + mWorld.mRigidBodyComponents.setAngularLockAxisFactor(mEntity, angularLockAxisFactor); +} + +// Manually apply an external torque to the body (in world-space). /// If the body is sleeping, calling this method will wake it up. Note that the /// force will we added to the sum of the applied torques and that this sum will be /// reset to zero at the end of each call of the PhyscisWorld::update() method. /// You can only apply a force to a dynamic body otherwise, this method will do nothing. /** - * @param torque The external torque to apply on the body + * @param torque The external torque to apply on the body (in world-space) */ -void RigidBody::applyTorque(const Vector3& torque) { +void RigidBody::applyWorldTorque(const Vector3& torque) { // If it is not a dynamic body, we do nothing if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; @@ -806,6 +928,58 @@ void RigidBody::applyTorque(const Vector3& torque) { mWorld.mRigidBodyComponents.setExternalTorque(mEntity, externalTorque + torque); } +// Manually apply an external torque to the body (in local-space). +/// If the body is sleeping, calling this method will wake it up. Note that the +/// force will we added to the sum of the applied torques and that this sum will be +/// reset to zero at the end of each call of the PhyscisWorld::update() method. +/// You can only apply a force to a dynamic body otherwise, this method will do nothing. +/** + * @param torque The external torque to apply on the body (in local-space) + */ +void RigidBody::applyLocalTorque(const Vector3& torque) { + + // Convert the local-space torque to world-space + const Vector3 worldTorque = mWorld.mTransformComponents.getTransform(mEntity).getOrientation() * torque; + + applyWorldTorque(worldTorque); +} + +// Reset the accumulated force to zero +void RigidBody::resetForce() { + + // If it is not a dynamic body, we do nothing + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; + + // Set the external force to zero + mWorld.mRigidBodyComponents.setExternalForce(mEntity, Vector3(0, 0, 0)); +} + +// Reset the accumulated torque to zero +void RigidBody::resetTorque() { + + // If it is not a dynamic body, we do nothing + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; + + // Set the external torque to zero + mWorld.mRigidBodyComponents.setExternalTorque(mEntity, Vector3(0, 0, 0)); +} + +// Return the total manually applied force on the body (in world-space) +/** + * @return The total manually applied force on the body (in world-space) + */ +const Vector3& RigidBody::getForce() const { + return mWorld.mRigidBodyComponents.getExternalForce(mEntity); +} + +// Return the total manually applied torque on the body (in world-space) +/** + * @return The total manually applied torque on the body (in world-space) + */ +const Vector3& RigidBody::getTorque() const { + return mWorld.mRigidBodyComponents.getExternalTorque(mEntity); +} + // Set the variable to know whether or not the body is sleeping void RigidBody::setIsSleeping(bool isSleeping) { @@ -834,7 +1008,7 @@ void RigidBody::setIsSleeping(bool isSleeping) { mWorld.setBodyDisabled(mEntity, isSleeping); // Update the currently overlapping pairs - updateOverlappingPairs(); + resetOverlappingPairs(); if (isSleeping) { @@ -849,33 +1023,25 @@ void RigidBody::setIsSleeping(bool isSleeping) { (isSleeping ? "true" : "false"), __FILE__, __LINE__); } -// Update whether the current overlapping pairs where this body is involed are active or not -void RigidBody::updateOverlappingPairs() { +// Remove all the overlapping pairs in which this body is involved and ask the broad-phase to recompute pairs in the next frame +void RigidBody::resetOverlappingPairs() { // For each collider of the body - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { + const Array& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint32 i=0; i < colliderEntities.size(); i++) { // Get the currently overlapping pairs for this collider - List overlappingPairs = mWorld.mCollidersComponents.getOverlappingPairs(colliderEntities[i]); + Array overlappingPairs = mWorld.mCollidersComponents.getOverlappingPairs(colliderEntities[i]); - for (uint j=0; j < overlappingPairs.size(); j++) { + const uint64 nbOverlappingPairs = overlappingPairs.size(); + for (uint64 j=0; j < nbOverlappingPairs; j++) { - mWorld.mCollisionDetection.mOverlappingPairs.updateOverlappingPairIsActive(overlappingPairs[j]); + mWorld.mCollisionDetection.mOverlappingPairs.removePair(overlappingPairs[j]); } } -} -/// Return the inverse of the inertia tensor in world coordinates. -const Matrix3x3 RigidBody::getWorldInertiaTensorInverse(PhysicsWorld& world, Entity bodyEntity) { - - Matrix3x3 orientation = world.mTransformComponents.getTransform(bodyEntity).getOrientation().getMatrix(); - const Vector3& inverseInertiaLocalTensor = world.mRigidBodyComponents.getInertiaTensorLocalInverse(bodyEntity); - Matrix3x3 orientationTranspose = orientation.getTranspose(); - orientationTranspose[0] *= inverseInertiaLocalTensor.x; - orientationTranspose[1] *= inverseInertiaLocalTensor.y; - orientationTranspose[2] *= inverseInertiaLocalTensor.z; - return orientation * orientationTranspose; + // Make sure we recompute the overlapping pairs with this body in the next frame + askForBroadPhaseCollisionCheck(); } // Set whether or not the body is allowed to go to sleep @@ -932,8 +1098,8 @@ void RigidBody::setProfiler(Profiler* profiler) { CollisionBody::setProfiler(profiler); // Set the profiler for each collider - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { + const Array& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint32 i=0; i < colliderEntities.size(); i++) { Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp index 1ae22bdb5..c615b27c5 100644 --- a/src/collision/Collider.cpp +++ b/src/collision/Collider.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -42,8 +42,7 @@ using namespace reactphysics3d; */ Collider::Collider(Entity entity, CollisionBody* body, MemoryManager& memoryManager) :mMemoryManager(memoryManager), mEntity(entity), mBody(body), - mMaterial(body->mWorld.mConfig.defaultFrictionCoefficient, body->mWorld.mConfig.defaultRollingRestistance, - body->mWorld.mConfig.defaultBounciness), mUserData(nullptr) { + mUserData(nullptr) { } @@ -115,10 +114,10 @@ void Collider::setLocalToBodyTransform(const Transform& transform) { RigidBody* rigidBody = static_cast(mBody); if (rigidBody != nullptr) { - mBody->mWorld.mRigidBodyComponents.setIsSleeping(mBody->getEntity(), false); + rigidBody->setIsSleeping(false); } - mBody->mWorld.mCollisionDetection.updateCollider(mEntity, 0); + mBody->mWorld.mCollisionDetection.updateCollider(mEntity); RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider, "Collider " + std::to_string(getBroadPhaseId()) + ": Set localToBodyTransform=" + @@ -168,7 +167,7 @@ const Transform& Collider::getLocalToBodyTransform() const { // Raycast method with feedback information /** - * @param ray Ray to use for the raycasting + * @param ray Ray to use for the raycasting in world-space * @param[out] raycastInfo Result of the raycasting that is valid only if the * methods returned true * @return True if the ray hits the collision shape @@ -181,9 +180,7 @@ bool Collider::raycast(const Ray& ray, RaycastInfo& raycastInfo) { // Convert the ray into the local-space of the collision shape const Transform localToWorldTransform = mBody->mWorld.mCollidersComponents.getLocalToWorldTransform(mEntity); const Transform worldToLocalTransform = localToWorldTransform.getInverse(); - Ray rayLocal(worldToLocalTransform * ray.point1, - worldToLocalTransform * ray.point2, - ray.maxFraction); + Ray rayLocal(worldToLocalTransform * ray.point1, worldToLocalTransform * ray.point2, ray.maxFraction); const CollisionShape* collisionShape = mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity); bool isHit = collisionShape->raycast(rayLocal, raycastInfo, this, mMemoryManager.getPoolAllocator()); @@ -223,10 +220,10 @@ void Collider::setHasCollisionShapeChangedSize(bool hasCollisionShapeChangedSize */ void Collider::setMaterial(const Material& material) { - mMaterial = material; + mBody->mWorld.mCollidersComponents.setMaterial(mEntity, material); RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider, - "Collider " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string(), __FILE__, __LINE__); + "Collider " + std::to_string(mEntity.id) + ": Set Material" + material.to_string(), __FILE__, __LINE__); } // Return the local to world transform @@ -254,6 +251,14 @@ void Collider::setIsTrigger(bool isTrigger) const { mBody->mWorld.mCollidersComponents.setIsTrigger(mEntity, isTrigger); } +// Return a reference to the material properties of the collider +/** + * @return A reference to the material of the body + */ +Material& Collider::getMaterial() { + return mBody->mWorld.mCollidersComponents.getMaterial(mEntity); +} + #ifdef IS_RP3D_PROFILING_ENABLED diff --git a/src/collision/CollisionCallback.cpp b/src/collision/CollisionCallback.cpp index 887790233..ade108fb6 100644 --- a/src/collision/CollisionCallback.cpp +++ b/src/collision/CollisionCallback.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -39,7 +39,7 @@ CollisionCallback::ContactPoint::ContactPoint(const reactphysics3d::ContactPoint // Contact Pair Constructor CollisionCallback::ContactPair::ContactPair(const reactphysics3d::ContactPair& contactPair, - List* contactPoints, PhysicsWorld& world, bool isLostContactPair) + Array* contactPoints, PhysicsWorld& world, bool isLostContactPair) :mContactPair(contactPair), mContactPoints(contactPoints), mWorld(world), mIsLostContactPair(isLostContactPair) { @@ -76,13 +76,15 @@ CollisionCallback::ContactPair::EventType CollisionCallback::ContactPair::getEve } // Constructor -CollisionCallback::CallbackData::CallbackData(List* contactPairs, List* manifolds, - List* contactPoints, List& lostContactPairs, PhysicsWorld& world) +CollisionCallback::CallbackData::CallbackData(Array* contactPairs, Array* manifolds, + Array* contactPoints, Array& lostContactPairs, PhysicsWorld& world) :mContactPairs(contactPairs), mContactManifolds(manifolds), mContactPoints(contactPoints), mLostContactPairs(lostContactPairs), - mContactPairsIndices(world.mMemoryManager.getHeapAllocator()), mLostContactPairsIndices(world.mMemoryManager.getHeapAllocator()), mWorld(world) { + mContactPairsIndices(world.mMemoryManager.getHeapAllocator(), contactPairs->size()), mLostContactPairsIndices(world.mMemoryManager.getHeapAllocator(), lostContactPairs.size()), + mWorld(world) { // Filter the contact pairs to only keep the contact events (not the overlap/trigger events) - for (uint i=0; i < mContactPairs->size(); i++) { + const uint64 nbContactPairs = mContactPairs->size(); + for (uint64 i=0; i < nbContactPairs; i++) { // If the contact pair contains contacts (and is therefore not an overlap/trigger event) if (!(*mContactPairs)[i].isTrigger) { @@ -90,7 +92,8 @@ CollisionCallback::CallbackData::CallbackData(List* } } // Filter the lost contact pairs to only keep the contact events (not the overlap/trigger events) - for (uint i=0; i < mLostContactPairs.size(); i++) { + const uint64 nbLostContactPairs = mLostContactPairs.size(); + for (uint64 i=0; i < nbLostContactPairs; i++) { // If the contact pair contains contacts (and is therefore not an overlap/trigger event) if (!mLostContactPairs[i].isTrigger) { @@ -103,7 +106,7 @@ CollisionCallback::CallbackData::CallbackData(List* /// Note that the returned ContactPoint object is only valid during the call of the CollisionCallback::onContact() /// method. Therefore, you need to get contact data from it and make a copy. Do not make a copy of the ContactPoint /// object itself because it won't be valid after the CollisionCallback::onContact() call. -CollisionCallback::ContactPoint CollisionCallback::ContactPair::getContactPoint(uint index) const { +CollisionCallback::ContactPoint CollisionCallback::ContactPair::getContactPoint(uint32 index) const { assert(index < getNbContactPoints()); @@ -114,7 +117,7 @@ CollisionCallback::ContactPoint CollisionCallback::ContactPair::getContactPoint( /// Note that the returned ContactPair object is only valid during the call of the CollisionCallback::onContact() /// method. Therefore, you need to get contact data from it and make a copy. Do not make a copy of the ContactPair /// object itself because it won't be valid after the CollisionCallback::onContact() call. -CollisionCallback::ContactPair CollisionCallback::CallbackData::getContactPair(uint index) const { +CollisionCallback::ContactPair CollisionCallback::CallbackData::getContactPair(uint64 index) const { assert(index < getNbContactPairs()); diff --git a/src/collision/ContactManifold.cpp b/src/collision/ContactManifold.cpp index 10c5c957d..a11f84104 100644 --- a/src/collision/ContactManifold.cpp +++ b/src/collision/ContactManifold.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -32,14 +32,9 @@ using namespace reactphysics3d; // Constructor ContactManifold::ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity colliderEntity1, Entity colliderEntity2, - uint contactPointsIndex, int8 nbContactPoints) + uint32 contactPointsIndex, uint8 nbContactPoints) :contactPointsIndex(contactPointsIndex), bodyEntity1(bodyEntity1), bodyEntity2(bodyEntity2), colliderEntity1(colliderEntity1), colliderEntity2(colliderEntity2), nbContactPoints(nbContactPoints), frictionImpulse1(0), frictionImpulse2(0), frictionTwistImpulse(0), isAlreadyInIsland(false) { } - -// Destructor -ContactManifold::~ContactManifold() { - -} diff --git a/src/collision/HalfEdgeStructure.cpp b/src/collision/HalfEdgeStructure.cpp index b1da7ef89..7a0818406 100644 --- a/src/collision/HalfEdgeStructure.cpp +++ b/src/collision/HalfEdgeStructure.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -36,24 +36,26 @@ void HalfEdgeStructure::init() { Map edges(mAllocator); Map nextEdges(mAllocator); - Map mapEdgeToStartVertex(mAllocator); - Map mapEdgeToIndex(mAllocator); - Map mapEdgeIndexToKey(mAllocator); - Map mapFaceIndexToEdgeKey(mAllocator); + Map mapEdgeToStartVertex(mAllocator); + Map mapEdgeToIndex(mAllocator); + Map mapEdgeIndexToKey(mAllocator); + Map mapFaceIndexToEdgeKey(mAllocator); - List currentFaceEdges(mAllocator, mFaces[0].faceVertices.size()); + Array currentFaceEdges(mAllocator, mFaces[0].faceVertices.size()); // For each face - for (uint f=0; f(mFaces.size()); + for (uint32 f=0; f < nbFaces; f++) { - Face face = mFaces[f]; + Face& face = mFaces[f]; VerticesPair firstEdgeKey(0, 0); // For each vertex of the face - for (uint v=0; v < face.faceVertices.size(); v++) { - uint v1Index = face.faceVertices[v]; - uint v2Index = face.faceVertices[v == (face.faceVertices.size() - 1) ? 0 : v + 1]; + const uint32 nbFaceVertices = static_cast(face.faceVertices.size()); + for (uint32 v=0; v < nbFaceVertices; v++) { + uint32 v1Index = face.faceVertices[v]; + uint32 v2Index = face.faceVertices[v == (face.faceVertices.size() - 1) ? 0 : v + 1]; const VerticesPair pairV1V2 = VerticesPair(v1Index, v2Index); @@ -74,27 +76,27 @@ void HalfEdgeStructure::init() { const VerticesPair pairV2V1(v2Index, v1Index); - mapEdgeToStartVertex.add(Pair(pairV1V2, v1Index), true); - mapEdgeToStartVertex.add(Pair(pairV2V1, v2Index), true); + mapEdgeToStartVertex.add(Pair(pairV1V2, v1Index), true); + mapEdgeToStartVertex.add(Pair(pairV2V1, v2Index), true); - mapFaceIndexToEdgeKey.add(Pair(f, pairV1V2), true); + mapFaceIndexToEdgeKey.add(Pair(f, pairV1V2), true); auto itEdge = edges.find(pairV2V1); if (itEdge != edges.end()) { - const uint edgeIndex = mEdges.size(); + const uint32 edgeIndex = static_cast(mEdges.size()); itEdge->second.twinEdgeIndex = edgeIndex + 1; edge.twinEdgeIndex = edgeIndex; - mapEdgeIndexToKey.add(Pair(edgeIndex, pairV2V1)); - mapEdgeIndexToKey.add(Pair(edgeIndex + 1, pairV1V2)); + mapEdgeIndexToKey.add(Pair(edgeIndex, pairV2V1)); + mapEdgeIndexToKey.add(Pair(edgeIndex + 1, pairV1V2)); mVertices[v1Index].edgeIndex = edgeIndex + 1; mVertices[v2Index].edgeIndex = edgeIndex; - mapEdgeToIndex.add(Pair(pairV1V2, edgeIndex + 1)); - mapEdgeToIndex.add(Pair(pairV2V1, edgeIndex)); + mapEdgeToIndex.add(Pair(pairV1V2, edgeIndex + 1)); + mapEdgeToIndex.add(Pair(pairV2V1, edgeIndex)); mEdges.add(itEdge->second); mEdges.add(edge); @@ -107,12 +109,13 @@ void HalfEdgeStructure::init() { } // Set next edges - for (uint i=0; i < mEdges.size(); i++) { + const uint32 nbEdges = static_cast(mEdges.size()); + for (uint32 i=0; i < nbEdges; i++) { mEdges[i].nextEdgeIndex = mapEdgeToIndex[nextEdges[mapEdgeIndexToKey[i]]]; } // Set face edge - for (uint f=0; f < mFaces.size(); f++) { + for (uint32 f=0; f < nbFaces; f++) { mFaces[f].edgeIndex = mapEdgeToIndex[mapFaceIndexToEdgeKey[f]]; } } diff --git a/src/collision/OverlapCallback.cpp b/src/collision/OverlapCallback.cpp index 5cc9b5716..2b1147eb1 100644 --- a/src/collision/OverlapCallback.cpp +++ b/src/collision/OverlapCallback.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -67,12 +67,13 @@ OverlapCallback::OverlapPair::EventType OverlapCallback::OverlapPair::getEventTy } // CollisionCallbackData Constructor -OverlapCallback::CallbackData::CallbackData(List& contactPairs, List& lostContactPairs, bool onlyReportTriggers, PhysicsWorld& world) +OverlapCallback::CallbackData::CallbackData(Array& contactPairs, Array& lostContactPairs, bool onlyReportTriggers, PhysicsWorld& world) :mContactPairs(contactPairs), mLostContactPairs(lostContactPairs), mContactPairsIndices(world.mMemoryManager.getHeapAllocator()), mLostContactPairsIndices(world.mMemoryManager.getHeapAllocator()), mWorld(world) { // Filter the contact pairs to only keep the overlap/trigger events (not the contact events) - for (uint i=0; i < mContactPairs.size(); i++) { + const uint64 nbContactPairs = mContactPairs.size(); + for (uint64 i=0; i < nbContactPairs; i++) { // If the contact pair contains contacts (and is therefore not an overlap/trigger event) if (!onlyReportTriggers || mContactPairs[i].isTrigger) { @@ -80,7 +81,8 @@ OverlapCallback::CallbackData::CallbackData(List& contactPairs, Lis } } // Filter the lost contact pairs to only keep the overlap/trigger events (not the contact events) - for (uint i=0; i < mLostContactPairs.size(); i++) { + const uint64 nbLostContactPairs = mLostContactPairs.size(); + for (uint64 i=0; i < nbLostContactPairs; i++) { // If the contact pair contains contacts (and is therefore not an overlap/trigger event) if (!onlyReportTriggers || mLostContactPairs[i].isTrigger) { diff --git a/src/collision/PolygonVertexArray.cpp b/src/collision/PolygonVertexArray.cpp index a6958b35f..d4d595eab 100644 --- a/src/collision/PolygonVertexArray.cpp +++ b/src/collision/PolygonVertexArray.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -43,9 +43,9 @@ using namespace reactphysics3d; * @param vertexDataType Data type of the vertices data * @param indexDataType Data type of the face indices data */ -PolygonVertexArray::PolygonVertexArray(uint nbVertices, const void* verticesStart, int verticesStride, - const void* indexesStart, int indexesStride, - uint nbFaces, PolygonFace* facesStart, +PolygonVertexArray::PolygonVertexArray(uint32 nbVertices, const void* verticesStart, uint32 verticesStride, + const void* indexesStart, uint32 indexesStride, + uint32 nbFaces, PolygonFace* facesStart, VertexDataType vertexDataType, IndexDataType indexDataType) { mNbVertices = nbVertices; mVerticesStart = reinterpret_cast(verticesStart); @@ -62,12 +62,12 @@ PolygonVertexArray::PolygonVertexArray(uint nbVertices, const void* verticesStar /** * @return The index of a vertex (in the array of vertices data) of a given vertex in a face */ -uint PolygonVertexArray::getVertexIndexInFace(uint faceIndex, uint noVertexInFace) const { +uint32 PolygonVertexArray::getVertexIndexInFace(uint32 faceIndex32, uint32 noVertexInFace) const { - assert(faceIndex < mNbFaces); + assert(faceIndex32 < mNbFaces); // Get the face - PolygonFace* face = getPolygonFace(faceIndex); + PolygonFace* face = getPolygonFace(faceIndex32); assert(noVertexInFace < face->nbVertices); diff --git a/src/collision/PolyhedronMesh.cpp b/src/collision/PolyhedronMesh.cpp index 28ae47549..58e08e742 100644 --- a/src/collision/PolyhedronMesh.cpp +++ b/src/collision/PolyhedronMesh.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -27,6 +27,8 @@ #include #include #include +#include +#include #include using namespace reactphysics3d; @@ -37,59 +39,103 @@ using namespace reactphysics3d; * Create a polyhedron mesh given an array of polygons. * @param polygonVertexArray Pointer to the array of polygons and their vertices */ -PolyhedronMesh::PolyhedronMesh(PolygonVertexArray* polygonVertexArray, MemoryAllocator &allocator) +PolyhedronMesh::PolyhedronMesh(PolygonVertexArray* polygonVertexArray, MemoryAllocator& allocator) : mMemoryAllocator(allocator), mHalfEdgeStructure(allocator, polygonVertexArray->getNbFaces(), polygonVertexArray->getNbVertices(), - (polygonVertexArray->getNbFaces() + polygonVertexArray->getNbVertices() - 2) * 2) { + (polygonVertexArray->getNbFaces() + polygonVertexArray->getNbVertices() - 2) * 2), mFacesNormals(nullptr) { mPolygonVertexArray = polygonVertexArray; +} - // Create the half-edge structure of the mesh - createHalfEdgeStructure(); +// Destructor +PolyhedronMesh::~PolyhedronMesh() { - // Create the face normals array - mFacesNormals = new Vector3[mHalfEdgeStructure.getNbFaces()]; + if (mFacesNormals != nullptr) { - // Compute the faces normals - computeFacesNormals(); + for (uint32 f=0; f < mHalfEdgeStructure.getNbFaces(); f++) { + mFacesNormals[f].~Vector3(); + } - // Compute the centroid - computeCentroid(); + mMemoryAllocator.release(mFacesNormals, mHalfEdgeStructure.getNbFaces() * sizeof(Vector3)); + } } -// Destructor -PolyhedronMesh::~PolyhedronMesh() { - delete[] mFacesNormals; +/// Static factory method to create a polyhedron mesh. This methods returns null_ptr if the mesh is not valid +PolyhedronMesh* PolyhedronMesh::create(PolygonVertexArray* polygonVertexArray, MemoryAllocator& polyhedronMeshAllocator, MemoryAllocator& dataAllocator) { + + PolyhedronMesh* mesh = new (polyhedronMeshAllocator.allocate(sizeof(PolyhedronMesh))) PolyhedronMesh(polygonVertexArray, dataAllocator); + + // Create the half-edge structure of the mesh + bool isValid = mesh->createHalfEdgeStructure(); + + if (isValid) { + + // Compute the faces normals + mesh->computeFacesNormals(); + + // Compute the centroid + mesh->computeCentroid(); + } + else { + mesh->~PolyhedronMesh(); + polyhedronMeshAllocator.release(mesh, sizeof(PolyhedronMesh)); + mesh = nullptr; + } + + return mesh; } // Create the half-edge structure of the mesh -void PolyhedronMesh::createHalfEdgeStructure() { +/// This method returns true if the mesh is valid or false otherwise +bool PolyhedronMesh::createHalfEdgeStructure() { // For each vertex of the mesh - for (uint v=0; v < mPolygonVertexArray->getNbVertices(); v++) { + for (uint32 v=0; v < mPolygonVertexArray->getNbVertices(); v++) { mHalfEdgeStructure.addVertex(v); } + uint32 nbEdges = 0; + // For each polygon face of the mesh - for (uint f=0; f < mPolygonVertexArray->getNbFaces(); f++) { + for (uint32 f=0; f < mPolygonVertexArray->getNbFaces(); f++) { // Get the polygon face PolygonVertexArray::PolygonFace* face = mPolygonVertexArray->getPolygonFace(f); - List faceVertices(mMemoryAllocator, face->nbVertices); + Array faceVertices(mMemoryAllocator, face->nbVertices); // For each vertex of the face - for (uint v=0; v < face->nbVertices; v++) { + for (uint32 v=0; v < face->nbVertices; v++) { faceVertices.add(mPolygonVertexArray->getVertexIndexInFace(f, v)); } + nbEdges += face->nbVertices; + assert(faceVertices.size() >= 3); // Addd the face into the half-edge structure mHalfEdgeStructure.addFace(faceVertices); } + nbEdges /= 2; + + // If the mesh is valid (check Euler formula V + F - E = 2) and does not use duplicated vertices + if (2 + nbEdges - mPolygonVertexArray->getNbFaces() != mPolygonVertexArray->getNbVertices()) { + + RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon, + "Error when creating a PolyhedronMesh: input PolygonVertexArray is not valid. Mesh with duplicated vertices is not supported.", __FILE__, __LINE__); + + assert(false); + + return false; + } + // Initialize the half-edge structure mHalfEdgeStructure.init(); + + // Create the face normals array + mFacesNormals = new (mMemoryAllocator.allocate(mHalfEdgeStructure.getNbFaces() * sizeof(Vector3))) Vector3[mHalfEdgeStructure.getNbFaces()]; + + return true; } /// Return a vertex @@ -97,15 +143,15 @@ void PolyhedronMesh::createHalfEdgeStructure() { * @param index Index of a given vertex in the mesh * @return The coordinates of a given vertex in the mesh */ -Vector3 PolyhedronMesh::getVertex(uint index) const { +Vector3 PolyhedronMesh::getVertex(uint32 index) const { assert(index < getNbVertices()); // Get the vertex index in the array with all vertices - uint vertexIndex = mHalfEdgeStructure.getVertex(index).vertexPointIndex; + uint32 vertexIndex = mHalfEdgeStructure.getVertex(index).vertexPointIndex; PolygonVertexArray::VertexDataType vertexType = mPolygonVertexArray->getVertexDataType(); const unsigned char* verticesStart = mPolygonVertexArray->getVerticesStart(); - int vertexStride = mPolygonVertexArray->getVerticesStride(); + uint32 vertexStride = mPolygonVertexArray->getVerticesStride(); Vector3 vertex; if (vertexType == PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE) { @@ -131,7 +177,8 @@ Vector3 PolyhedronMesh::getVertex(uint index) const { void PolyhedronMesh::computeFacesNormals() { // For each face - for (uint f=0; f < mHalfEdgeStructure.getNbFaces(); f++) { + const uint32 nbFaces = mHalfEdgeStructure.getNbFaces(); + for (uint32 f=0; f < nbFaces; f++) { const HalfEdgeStructure::Face& face = mHalfEdgeStructure.getFace(f); assert(face.faceVertices.size() >= 3); @@ -148,15 +195,15 @@ void PolyhedronMesh::computeCentroid() { mCentroid.setToZero(); - for (uint v=0; v < getNbVertices(); v++) { + for (uint32 v=0; v < getNbVertices(); v++) { mCentroid += getVertex(v); } - mCentroid /= getNbVertices(); + mCentroid /= static_cast(getNbVertices()); } // Compute and return the area of a face -decimal PolyhedronMesh::getFaceArea(uint faceIndex) const { +decimal PolyhedronMesh::getFaceArea(uint32 faceIndex) const { Vector3 sumCrossProducts(0, 0, 0); @@ -166,7 +213,8 @@ decimal PolyhedronMesh::getFaceArea(uint faceIndex) const { Vector3 v1 = getVertex(face.faceVertices[0]); // For each vertex of the face - for (uint i=2; i < face.faceVertices.size(); i++) { + const uint32 nbFaceVertices = static_cast(face.faceVertices.size()); + for (uint32 i=2; i < nbFaceVertices; i++) { const Vector3 v2 = getVertex(face.faceVertices[i-1]); const Vector3 v3 = getVertex(face.faceVertices[i]); @@ -187,7 +235,7 @@ decimal PolyhedronMesh::getVolume() const { decimal sum = 0.0; // For each face of the polyhedron - for (uint f=0; f < getNbFaces(); f++) { + for (uint32 f=0; f < getNbFaces(); f++) { const HalfEdgeStructure::Face& face = mHalfEdgeStructure.getFace(f); const decimal faceArea = getFaceArea(f); diff --git a/src/collision/RaycastInfo.cpp b/src/collision/RaycastInfo.cpp index e36b9ba8e..92d7d4908 100644 --- a/src/collision/RaycastInfo.cpp +++ b/src/collision/RaycastInfo.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/collision/TriangleMesh.cpp b/src/collision/TriangleMesh.cpp index 6138f7c66..223b84f48 100644 --- a/src/collision/TriangleMesh.cpp +++ b/src/collision/TriangleMesh.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/collision/TriangleVertexArray.cpp b/src/collision/TriangleVertexArray.cpp index 36cdfa2b3..0e738ca5e 100644 --- a/src/collision/TriangleVertexArray.cpp +++ b/src/collision/TriangleVertexArray.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -48,8 +48,8 @@ using namespace reactphysics3d; * @param vertexDataType Type of data for the vertices (float, double) * @param indexDataType Type of data for the indices (short, int) */ -TriangleVertexArray::TriangleVertexArray(uint nbVertices, const void* verticesStart, uint verticesStride, - uint nbTriangles, const void* indexesStart, uint indexesStride, +TriangleVertexArray::TriangleVertexArray(uint32 nbVertices, const void* verticesStart, uint32 verticesStride, + uint32 nbTriangles, const void* indexesStart, uint32 indexesStride, VertexDataType vertexDataType, IndexDataType indexDataType) { mNbVertices = nbVertices; mVerticesStart = static_cast(verticesStart); @@ -85,9 +85,9 @@ TriangleVertexArray::TriangleVertexArray(uint nbVertices, const void* verticesSt * @param vertexDataType Type of data for the vertices (float, double) * @param indexDataType Type of data for the indices (short, int) */ -TriangleVertexArray::TriangleVertexArray(uint nbVertices, const void* verticesStart, uint verticesStride, - const void* verticesNormalsStart, uint verticesNormalsStride, - uint nbTriangles, const void* indexesStart, uint indexesStride, +TriangleVertexArray::TriangleVertexArray(uint32 nbVertices, const void* verticesStart, uint32 verticesStride, + const void* verticesNormalsStart, uint32 verticesNormalsStride, + uint32 nbTriangles, const void* indexesStart, uint32 indexesStride, VertexDataType vertexDataType, NormalDataType normalDataType, IndexDataType indexDataType) { @@ -130,15 +130,15 @@ void TriangleVertexArray::computeVerticesNormals() { float* verticesNormals = new float[mNbVertices * 3]; // Init vertices normals to zero - for (uint i=0; i= decimal(0.0)); - Vector3 normalComponent = arcSinA * crossProduct; - - // Add the normal component of this vertex into the normals array - verticesNormals[verticesIndices[v] * 3] += normalComponent.x; - verticesNormals[verticesIndices[v] * 3 + 1] += normalComponent.y; - verticesNormals[verticesIndices[v] * 3 + 2] += normalComponent.z; + decimal edgeLengths = (edgesLengths[previousVertex] * edgesLengths[v]); + if (std::abs(edgeLengths) > decimal(MACHINE_EPSILON)) { + + decimal sinA = crossProduct.length() / edgeLengths; + sinA = std::min(std::max(sinA, decimal(0.0)), decimal(1.0)); + decimal arcSinA = std::asin(sinA); + assert(arcSinA >= decimal(0.0)); + Vector3 normalComponent = arcSinA * crossProduct; + + // Add the normal component of this vertex into the normals array + verticesNormals[verticesIndices[v] * 3] += normalComponent.x; + verticesNormals[verticesIndices[v] * 3 + 1] += normalComponent.y; + verticesNormals[verticesIndices[v] * 3 + 2] += normalComponent.z; + } } } // Normalize the computed vertices normals - for (uint v=0; v(triangleIndicesPointer); // For each vertex of the triangle - for (int i=0; i < 3; i++) { + for (uint32 i=0; i < 3; i++) { // Get the index of the current vertex in the triangle if (mIndexDataType == TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE) { @@ -222,16 +226,16 @@ void TriangleVertexArray::getTriangleVerticesIndices(uint triangleIndex, uint* o * @param triangleIndex Index of a given triangle in the array * @param[out] outTriangleVertices Pointer to the three output vertex coordinates */ -void TriangleVertexArray::getTriangleVertices(uint triangleIndex, Vector3* outTriangleVertices) const { +void TriangleVertexArray::getTriangleVertices(uint32 triangleIndex, Vector3* outTriangleVertices) const { assert(triangleIndex < mNbTriangles); // Get the three vertex index of the three vertices of the triangle - uint verticesIndices[3]; + uint32 verticesIndices[3]; getTriangleVerticesIndices(triangleIndex, verticesIndices); // For each vertex of the triangle - for (int k=0; k < 3; k++) { + for (uint32 k=0; k < 3; k++) { const uchar* vertexPointerChar = mVerticesStart + verticesIndices[k] * mVerticesStride; const void* vertexPointer = static_cast(vertexPointerChar); @@ -260,16 +264,16 @@ void TriangleVertexArray::getTriangleVertices(uint triangleIndex, Vector3* outTr * @param triangleIndex Index of a given triangle in the array * @param[out] outTriangleVerticesNormals Pointer to the three output vertex normals */ -void TriangleVertexArray::getTriangleVerticesNormals(uint triangleIndex, Vector3* outTriangleVerticesNormals) const { +void TriangleVertexArray::getTriangleVerticesNormals(uint32 triangleIndex, Vector3* outTriangleVerticesNormals) const { assert(triangleIndex < mNbTriangles); // Get the three vertex index of the three vertices of the triangle - uint verticesIndices[3]; + uint32 verticesIndices[3]; getTriangleVerticesIndices(triangleIndex, verticesIndices); // For each vertex of the triangle - for (int k=0; k < 3; k++) { + for (uint32 k=0; k < 3; k++) { const uchar* vertexNormalPointerChar = mVerticesNormalsStart + verticesIndices[k] * mVerticesNormalsStride; const void* vertexNormalPointer = static_cast(vertexNormalPointerChar); @@ -298,7 +302,7 @@ void TriangleVertexArray::getTriangleVerticesNormals(uint triangleIndex, Vector3 * @param vertexIndex Index of a given vertex of the array * @param[out] outVertex Pointer to the output vertex coordinates */ -void TriangleVertexArray::getVertex(uint vertexIndex, Vector3* outVertex) { +void TriangleVertexArray::getVertex(uint32 vertexIndex, Vector3* outVertex) { assert(vertexIndex < mNbVertices); @@ -328,7 +332,7 @@ void TriangleVertexArray::getVertex(uint vertexIndex, Vector3* outVertex) { * @param vertexIndex Index of a given vertex of the array * @param[out] outNormal Pointer to the output vertex normal */ -void TriangleVertexArray::getNormal(uint vertexIndex, Vector3* outNormal) { +void TriangleVertexArray::getNormal(uint32 vertexIndex, Vector3* outNormal) { assert(vertexIndex < mNbVertices); diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index a5a7ad21f..333d922b2 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -58,7 +58,11 @@ void DynamicAABBTree::init() { // Allocate memory for the nodes of the tree mNodes = static_cast(mAllocator.allocate(static_cast(mNbAllocatedNodes) * sizeof(TreeNode))); assert(mNodes); - std::memset(mNodes, 0, static_cast(mNbAllocatedNodes) * sizeof(TreeNode)); + + // Construct the nodes + for (int32 i=0; i < mNbAllocatedNodes; i++) { + new (mNodes + i) TreeNode(); + } // Initialize the allocated nodes for (int32 i=0; i(mNbAllocatedNodes) * sizeof(TreeNode)); @@ -94,11 +103,15 @@ int32 DynamicAABBTree::allocateNode() { TreeNode* oldNodes = mNodes; mNodes = static_cast(mAllocator.allocate(static_cast(mNbAllocatedNodes) * sizeof(TreeNode))); assert(mNodes); - memcpy(mNodes, oldNodes, static_cast(mNbNodes) * sizeof(TreeNode)); + + // Copy the elements to the new allocated memory location + std::uninitialized_copy(oldNodes, oldNodes + mNbNodes, mNodes); + mAllocator.release(oldNodes, static_cast(oldNbAllocatedNodes) * sizeof(TreeNode)); // Initialize the allocated nodes for (int32 i=mNbNodes; i& nodesToTest, size_t startIndex, - size_t endIndex, List>& outOverlappingNodes) const { +/// Take an array of shapes to be tested for broad-phase overlap and return an array of pair of overlapping shapes +void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const Array& nodesToTest, uint32 startIndex, + size_t endIndex, Array>& outOverlappingNodes) const { RP3D_PROFILE("DynamicAABBTree::reportAllShapesOverlappingWithAABB()", mProfiler); @@ -583,7 +596,7 @@ void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List& no Stack stack(mAllocator, 64); // For each shape to be tested for overlap - for (uint i=startIndex; i < endIndex; i++) { + for (uint32 i=startIndex; i < endIndex; i++) { assert(nodesToTest[i] != -1); @@ -609,7 +622,7 @@ void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List& no // If the node is a leaf if (nodeToVisit->isLeaf()) { - // Add the node in the list of overlapping nodes + // Add the node in the array of overlapping nodes outOverlappingNodes.add(Pair(nodesToTest[i], nodeIDToVisit)); } else { // If the node is not a leaf @@ -626,7 +639,7 @@ void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List& no } // Report all shapes overlapping with the AABB given in parameter. -void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const { +void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, Array& overlappingNodes) const { RP3D_PROFILE("DynamicAABBTree::reportAllShapesOverlappingWithAABB()", mProfiler); @@ -640,6 +653,9 @@ void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, List< // Get the next node ID to visit const int32 nodeIDToVisit = stack.pop(); + assert(nodeIDToVisit >= 0); + assert(nodeIDToVisit < mNbAllocatedNodes); + // Skip it if it is a null node if (nodeIDToVisit == TreeNode::NULL_TREE_NODE) continue; @@ -672,6 +688,10 @@ void DynamicAABBTree::raycast(const Ray& ray, DynamicAABBTreeRaycastCallback& ca decimal maxFraction = ray.maxFraction; + // Compute the inverse ray direction + const Vector3 rayDirection = ray.point2 - ray.point1; + const Vector3 rayDirectionInverse(decimal(1.0) / rayDirection.x, decimal(1.0) / rayDirection.y, decimal(1.0) / rayDirection.z); + Stack stack(mAllocator, 128); stack.push(mRootNodeID); @@ -688,14 +708,14 @@ void DynamicAABBTree::raycast(const Ray& ray, DynamicAABBTreeRaycastCallback& ca // Get the corresponding node const TreeNode* node = mNodes + nodeID; - Ray rayTemp(ray.point1, ray.point2, maxFraction); - // Test if the ray intersects with the current node AABB - if (!node->aabb.testRayIntersect(rayTemp)) continue; + if (!node->aabb.testRayIntersect(ray.point1, rayDirectionInverse, maxFraction)) continue; // If the node is a leaf of the tree if (node->isLeaf()) { + Ray rayTemp(ray.point1, ray.point2, maxFraction); + // Call the callback that will raycast again the broad-phase shape decimal hitFraction = callback.raycastBroadPhaseShape(nodeID, rayTemp); diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp index 4fa4595fd..0fbe9b075 100755 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -26,7 +26,7 @@ // Libraries #include #include -#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; @@ -34,30 +34,37 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between two capsules // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - MemoryAllocator& memoryAllocator) { +bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, uint32 batchNbItems, MemoryAllocator& /*memoryAllocator*/) { bool isCollisionFound = false; - for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + for (uint32 batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].nbContactPoints == 0); - assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); + assert(!narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding); // Get the transform from capsule 1 local-space to capsule 2 local-space - const Transform capsule1ToCapsule2SpaceTransform = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getInverse() * - narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; + const Transform capsule1ToCapsule2SpaceTransform = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform.getInverse() * + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform; + + const CapsuleShape* capsuleShape1 = static_cast(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1); + const CapsuleShape* capsuleShape2 = static_cast(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2); + + const decimal capsule1Height = capsuleShape1->getHeight(); + const decimal capsule2Height = capsuleShape2->getHeight(); + const decimal capsule1Radius = capsuleShape1->getRadius(); + const decimal capsule2Radius = capsuleShape2->getRadius(); // Compute the end-points of the inner segment of the first capsule - const decimal capsule1HalfHeight = narrowPhaseInfoBatch.capsule1Heights[batchIndex] * decimal(0.5); + const decimal capsule1HalfHeight = capsule1Height * decimal(0.5); Vector3 capsule1SegA(0, -capsule1HalfHeight, 0); Vector3 capsule1SegB(0, capsule1HalfHeight, 0); capsule1SegA = capsule1ToCapsule2SpaceTransform * capsule1SegA; capsule1SegB = capsule1ToCapsule2SpaceTransform * capsule1SegB; // Compute the end-points of the inner segment of the second capsule - const decimal capsule2HalfHeight = narrowPhaseInfoBatch.capsule2Heights[batchIndex] * decimal(0.5); + const decimal capsule2HalfHeight = capsule2Height * decimal(0.5); const Vector3 capsule2SegA(0, -capsule2HalfHeight, 0); const Vector3 capsule2SegB(0, capsule2HalfHeight, 0); @@ -66,8 +73,6 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBat const Vector3 seg2 = capsule2SegB - capsule2SegA; // Compute the sum of the radius of the two capsules (virtual spheres) - const decimal capsule1Radius = narrowPhaseInfoBatch.capsule1Radiuses[batchIndex]; - const decimal capsule2Radius = narrowPhaseInfoBatch.capsule2Radiuses[batchIndex]; const decimal sumRadius = capsule1Radius + capsule2Radius; // If the two capsules are parallel (we create two contact points) @@ -95,7 +100,7 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBat // If the segments were overlapping (the clip segment is valid) if (t1 > decimal(0.0) && t2 > decimal(0.0)) { - if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].reportContacts) { // Clip the inner segment of capsule 2 if (t1 > decimal(1.0)) t1 = decimal(1.0); @@ -145,14 +150,14 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBat decimal penetrationDepth = sumRadius - segmentsPerpendicularDistance; - const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normalCapsule2SpaceNormalized; + const Vector3 normalWorld = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform.getOrientation() * normalCapsule2SpaceNormalized; // Create the contact info object narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, penetrationDepth, contactPointACapsule1Local, contactPointACapsule2Local); narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, penetrationDepth, contactPointBCapsule1Local, contactPointBCapsule2Local); } - narrowPhaseInfoBatch.isColliding[batchIndex] = true; + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true; isCollisionFound = true; continue; } @@ -171,7 +176,7 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBat // If the collision shapes overlap if (closestPointsDistanceSquare < sumRadius * sumRadius) { - if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].reportContacts) { // If the distance between the inner segments is not zero if (closestPointsDistanceSquare > MACHINE_EPSILON) { @@ -182,7 +187,7 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBat const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + closestPointsSeg1ToSeg2 * capsule1Radius); const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - closestPointsSeg1ToSeg2 * capsule2Radius; - const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * closestPointsSeg1ToSeg2; + const Vector3 normalWorld = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform.getOrientation() * closestPointsSeg1ToSeg2; decimal penetrationDepth = sumRadius - closestPointsDistance; @@ -205,7 +210,7 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBat const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsule1Radius); const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsule2Radius; - const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normalCapsuleSpace2; + const Vector3 normalWorld = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform.getOrientation() * normalCapsuleSpace2; // Create the contact info object narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, sumRadius, contactPointCapsule1Local, contactPointCapsule2Local); @@ -221,7 +226,7 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBat const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsule1Radius); const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsule2Radius; - const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normalCapsuleSpace2; + const Vector3 normalWorld = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform.getOrientation() * normalCapsuleSpace2; // Create the contact info object narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, sumRadius, contactPointCapsule1Local, contactPointCapsule2Local); @@ -229,7 +234,7 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBat } } - narrowPhaseInfoBatch.isColliding[batchIndex] = true; + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true; isCollisionFound = true; } } diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp deleted file mode 100644 index 6af030189..000000000 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp +++ /dev/null @@ -1,84 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include -#include - -using namespace reactphysics3d; - -// Constructor -CapsuleVsCapsuleNarrowPhaseInfoBatch::CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator, - OverlappingPairs& overlappingPairs) - : NarrowPhaseInfoBatch(allocator, overlappingPairs), capsule1Radiuses(allocator), capsule2Radiuses(allocator), - capsule1Heights(allocator), capsule2Heights(allocator) { - -} - -// Add shapes to be tested during narrow-phase collision detection into the batch -void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, - const Transform& shape1Transform, const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator &shapeAllocator) { - - NarrowPhaseInfoBatch::addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, - shape2Transform, needToReportContacts, shapeAllocator); - - assert(shape1->getType() == CollisionShapeType::CAPSULE); - assert(shape2->getType() == CollisionShapeType::CAPSULE); - - const CapsuleShape* capsule1 = static_cast(shape1); - const CapsuleShape* capsule2 = static_cast(shape2); - - capsule1Radiuses.add(capsule1->getRadius()); - capsule2Radiuses.add(capsule2->getRadius()); - capsule1Heights.add(capsule1->getHeight()); - capsule2Heights.add(capsule2->getHeight()); -} - -// Initialize the containers using cached capacity -void CapsuleVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { - - NarrowPhaseInfoBatch::reserveMemory(); - - capsule1Radiuses.reserve(mCachedCapacity); - capsule2Radiuses.reserve(mCachedCapacity); - capsule1Heights.reserve(mCachedCapacity); - capsule2Heights.reserve(mCachedCapacity); -} - -// Clear all the objects in the batch -void CapsuleVsCapsuleNarrowPhaseInfoBatch::clear() { - - // Note that we clear the following containers and we release their allocated memory. Therefore, - // if the memory allocator is a single frame allocator, the memory is deallocated and will be - // allocated in the next frame at a possibly different location in memory (remember that the - // location of the allocated memory of a single frame allocator might change between two frames) - - NarrowPhaseInfoBatch::clear(); - - capsule1Radiuses.clear(true); - capsule2Radiuses.clear(true); - capsule1Heights.clear(true); - capsule2Heights.clear(true); -} diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp index 8e082822e..347eae65a 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -40,7 +40,7 @@ using namespace reactphysics3d; // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, - uint batchStartIndex, uint batchNbItems, + uint32 batchStartIndex, uint32 batchNbItems, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) { @@ -59,28 +59,28 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar #endif // Run the GJK algorithm - List gjkResults(memoryAllocator); + Array gjkResults(memoryAllocator); gjkAlgorithm.testCollision(narrowPhaseInfoBatch, batchStartIndex, batchNbItems, gjkResults); assert(gjkResults.size() == batchNbItems); - for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + for (uint32 batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { // Get the last frame collision info - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex]; + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].lastFrameCollisionInfo; lastFrameCollisionInfo->wasUsingGJK = true; lastFrameCollisionInfo->wasUsingSAT = false; - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON || - narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE || - narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CAPSULE); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::CONVEX_POLYHEDRON || + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::CAPSULE || + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2->getType() == CollisionShapeType::CAPSULE); // If we have found a contact point inside the margins (shallow penetration) if (gjkResults[batchIndex] == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) { // If we need to report contacts - if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].reportContacts) { bool noContact = false; @@ -89,20 +89,20 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar // two contact points instead of a single one (as in the deep contact case with SAT algorithm) // Get the contact point created by GJK - assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() > 0); - ContactPointInfo*& contactPoint = narrowPhaseInfoBatch.contactPoints[batchIndex][0]; + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].nbContactPoints > 0); + ContactPointInfo& contactPoint = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].contactPoints[0]; - bool isCapsuleShape1 = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE; + bool isCapsuleShape1 = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::CAPSULE; // Get the collision shapes - const CapsuleShape* capsuleShape = static_cast(isCapsuleShape1 ? narrowPhaseInfoBatch.collisionShapes1[batchIndex] : narrowPhaseInfoBatch.collisionShapes2[batchIndex]); - const ConvexPolyhedronShape* polyhedron = static_cast(isCapsuleShape1 ? narrowPhaseInfoBatch.collisionShapes2[batchIndex] : narrowPhaseInfoBatch.collisionShapes1[batchIndex]); + const CapsuleShape* capsuleShape = static_cast(isCapsuleShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1 : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2); + const ConvexPolyhedronShape* polyhedron = static_cast(isCapsuleShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2 : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1); // For each face of the polyhedron - for (uint f = 0; f < polyhedron->getNbFaces(); f++) { + for (uint32 f = 0; f < polyhedron->getNbFaces(); f++) { - const Transform polyhedronToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; - const Transform capsuleToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; + const Transform polyhedronToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform; + const Transform capsuleToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform; // Get the face normal const Vector3 faceNormal = polyhedron->getFaceNormal(f); @@ -113,18 +113,18 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar Vector3 capsuleInnerSegmentDirection = capsuleToWorld.getOrientation() * (capsuleSegB - capsuleSegA); capsuleInnerSegmentDirection.normalize(); - bool isFaceNormalInDirectionOfContactNormal = faceNormalWorld.dot(contactPoint->normal) > decimal(0.0); + bool isFaceNormalInDirectionOfContactNormal = faceNormalWorld.dot(contactPoint.normal) > decimal(0.0); bool isFaceNormalInContactDirection = (isCapsuleShape1 && !isFaceNormalInDirectionOfContactNormal) || (!isCapsuleShape1 && isFaceNormalInDirectionOfContactNormal); // If the polyhedron face normal is orthogonal to the capsule inner segment and parallel to the contact point normal and the face normal // is in direction of the contact normal (from the polyhedron point of view). if (isFaceNormalInContactDirection && areOrthogonalVectors(faceNormalWorld, capsuleInnerSegmentDirection) - && areParallelVectors(faceNormalWorld, contactPoint->normal)) { + && areParallelVectors(faceNormalWorld, contactPoint.normal)) { // Remove the previous contact point computed by GJK narrowPhaseInfoBatch.resetContactPoints(batchIndex); - const Transform capsuleToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; + const Transform capsuleToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform; const Transform polyhedronToCapsuleTransform = capsuleToWorld.getInverse() * polyhedronToWorld; // Compute the end-points of the inner segment of the capsule @@ -143,13 +143,13 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar } // Compute and create two contact points - bool contactsFound = satAlgorithm.computeCapsulePolyhedronFaceContactPoints(f, capsuleShape->getRadius(), polyhedron, contactPoint->penetrationDepth, + bool contactsFound = satAlgorithm.computeCapsulePolyhedronFaceContactPoints(f, capsuleShape->getRadius(), polyhedron, contactPoint.penetrationDepth, polyhedronToCapsuleTransform, faceNormalWorld, separatingAxisCapsuleSpace, capsuleSegAPolyhedronSpace, capsuleSegBPolyhedronSpace, narrowPhaseInfoBatch, batchIndex, isCapsuleShape1); if (!contactsFound) { noContact = true; - narrowPhaseInfoBatch.isColliding[batchIndex] = false; + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = false; break; } @@ -166,7 +166,7 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar lastFrameCollisionInfo->wasUsingGJK = false; // Colision found - narrowPhaseInfoBatch.isColliding[batchIndex] = true; + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true; isCollisionFound = true; continue; } @@ -175,12 +175,12 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar if (gjkResults[batchIndex] == GJKAlgorithm::GJKResult::INTERPENETRATE) { // Run the SAT algorithm to find the separating axis and compute contact point - narrowPhaseInfoBatch.isColliding[batchIndex] = satAlgorithm.testCollisionCapsuleVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex); + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = satAlgorithm.testCollisionCapsuleVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex); lastFrameCollisionInfo->wasUsingGJK = false; lastFrameCollisionInfo->wasUsingSAT = true; - if (narrowPhaseInfoBatch.isColliding[batchIndex]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding) { isCollisionFound = true; } } diff --git a/src/collision/narrowphase/CollisionDispatch.cpp b/src/collision/narrowphase/CollisionDispatch.cpp index 85c2b53cb..fbdd51560 100644 --- a/src/collision/narrowphase/CollisionDispatch.cpp +++ b/src/collision/narrowphase/CollisionDispatch.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -202,8 +202,8 @@ NarrowPhaseAlgorithmType CollisionDispatch::selectNarrowPhaseAlgorithm(const Col RP3D_PROFILE("CollisionDispatch::selectNarrowPhaseAlgorithm()", mProfiler); - uint shape1Index = static_cast(shape1Type); - uint shape2Index = static_cast(shape2Type); + uint32 shape1Index = static_cast(shape1Type); + uint shape2Index = static_cast(shape2Type); // Swap the shape types if necessary if (shape1Index > shape2Index) { diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp index a44ba93b7..9a3498254 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -35,8 +35,8 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between two convex polyhedra // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, - uint batchStartIndex, uint batchNbItems, +bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch &narrowPhaseInfoBatch, + uint32 batchStartIndex, uint32 batchNbItems, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) { // Run the SAT algorithm to find the separating axis and compute contact point @@ -51,10 +51,10 @@ bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoB bool isCollisionFound = satAlgorithm.testCollisionConvexPolyhedronVsConvexPolyhedron(narrowPhaseInfoBatch, batchStartIndex, batchNbItems); - for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + for (uint32 batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { // Get the last frame collision info - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex]; + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].lastFrameCollisionInfo; lastFrameCollisionInfo->wasUsingSAT = true; lastFrameCollisionInfo->wasUsingGJK = false; diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp index 28c3ff0fe..864458f21 100644 --- a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp +++ b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -30,7 +30,7 @@ #include #include #include -#include +#include #include #include #include @@ -47,13 +47,13 @@ using namespace reactphysics3d; /// algorithm on the enlarged object to obtain a simplex polytope that contains the /// origin, they we give that simplex polytope to the EPA algorithm which will compute /// the correct penetration depth and contact points between the enlarged objects. -void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, List& gjkResults) { +void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, + uint32 batchNbItems, Array& gjkResults) { RP3D_PROFILE("GJKAlgorithm::testCollision()", mProfiler); // For each item in the batch - for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + for (uint32 batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { Vector3 suppA; // Support point of object A Vector3 suppB; // Support point of object B @@ -64,15 +64,15 @@ void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uin decimal prevDistSquare; bool contactFound = false; - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->isConvex()); - assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->isConvex()); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->isConvex()); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2->isConvex()); - const ConvexShape* shape1 = static_cast(narrowPhaseInfoBatch.collisionShapes1[batchIndex]); - const ConvexShape* shape2 = static_cast(narrowPhaseInfoBatch.collisionShapes2[batchIndex]); + const ConvexShape* shape1 = static_cast(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1); + const ConvexShape* shape2 = static_cast(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2); // Get the local-space to world-space transforms - const Transform& transform1 = narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; - const Transform& transform2 = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; + const Transform& transform1 = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform; + const Transform& transform2 = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform; // Transform a point from local space of body 2 to local // space of body 1 (the GJK algorithm is done in local space of body 1) @@ -92,7 +92,7 @@ void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uin VoronoiSimplex simplex; // Get the last collision frame info - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex]; + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].lastFrameCollisionInfo; // Get the previous point V (last cached separating axis) Vector3 v; @@ -215,7 +215,7 @@ void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uin } // If we need to report contacts - if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].reportContacts) { // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle TriangleShape::computeSmoothTriangleMeshContact(shape1, shape2, pA, pB, transform1, transform2, diff --git a/src/collision/narrowphase/GJK/VoronoiSimplex.cpp b/src/collision/narrowphase/GJK/VoronoiSimplex.cpp index f695c1d38..37f1ea826 100644 --- a/src/collision/narrowphase/GJK/VoronoiSimplex.cpp +++ b/src/collision/narrowphase/GJK/VoronoiSimplex.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp index ff59d32be..f6f624991 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -33,12 +33,8 @@ using namespace reactphysics3d; // Constructor -NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs) - : mMemoryAllocator(allocator), mOverlappingPairs(overlappingPairs), overlappingPairIds(allocator), - colliderEntities1(allocator), colliderEntities2(allocator), collisionShapes1(allocator), collisionShapes2(allocator), - shape1ToWorldTransforms(allocator), shape2ToWorldTransforms(allocator), reportContacts(allocator), - isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator), - lastFrameCollisionInfos(allocator) { +NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(OverlappingPairs& overlappingPairs, MemoryAllocator& allocator) + : mMemoryAllocator(allocator), mOverlappingPairs(overlappingPairs), narrowPhaseInfos(allocator){ } @@ -47,100 +43,31 @@ NarrowPhaseInfoBatch::~NarrowPhaseInfoBatch() { clear(); } -// Add shapes to be tested during narrow-phase collision detection into the batch -void NarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, - const Transform& shape1Transform, const Transform& shape2Transform, bool needToReportContacts, - MemoryAllocator& shapeAllocator) { - - overlappingPairIds.add(pairId); - colliderEntities1.add(collider1); - colliderEntities2.add(collider2); - collisionShapes1.add(shape1); - collisionShapes2.add(shape2); - shape1ToWorldTransforms.add(shape1Transform); - shape2ToWorldTransforms.add(shape2Transform); - reportContacts.add(needToReportContacts); - collisionShapeAllocators.add(&shapeAllocator); - contactPoints.add(List(mMemoryAllocator)); - isColliding.add(false); - - // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairIndex, shape1->getId(), shape2->getId()); - lastFrameCollisionInfos.add(lastFrameInfo); -} - -// Add a new contact point -void NarrowPhaseInfoBatch::addContactPoint(uint index, const Vector3& contactNormal, decimal penDepth, - const Vector3& localPt1, const Vector3& localPt2) { - - assert(reportContacts[index]); - assert(penDepth > decimal(0.0)); - - // Get the memory allocator - MemoryAllocator& allocator = mOverlappingPairs.getTemporaryAllocator(); - - // Create the contact point info - ContactPointInfo* contactPointInfo = new (allocator.allocate(sizeof(ContactPointInfo))) - ContactPointInfo(contactNormal, penDepth, localPt1, localPt2); - - // Add it into the list of contact points - contactPoints[index].add(contactPointInfo); -} - -// Reset the remaining contact points -void NarrowPhaseInfoBatch::resetContactPoints(uint index) { - - // Get the memory allocator - MemoryAllocator& allocator = mOverlappingPairs.getTemporaryAllocator(); - - // For each remaining contact point info - for (uint i=0; i < contactPoints[index].size(); i++) { - - ContactPointInfo* contactPoint = contactPoints[index][i]; - - // Call the destructor - contactPoint->~ContactPointInfo(); - - // Delete the current element - allocator.release(contactPoint, sizeof(ContactPointInfo)); - } - - contactPoints[index].clear(); -} - // Initialize the containers using cached capacity void NarrowPhaseInfoBatch::reserveMemory() { - overlappingPairIds.reserve(mCachedCapacity); - colliderEntities1.reserve(mCachedCapacity); - colliderEntities2.reserve(mCachedCapacity); - collisionShapes1.reserve(mCachedCapacity); - collisionShapes2.reserve(mCachedCapacity); - shape1ToWorldTransforms.reserve(mCachedCapacity); - shape2ToWorldTransforms.reserve(mCachedCapacity); - reportContacts.reserve(mCachedCapacity); - collisionShapeAllocators.reserve(mCachedCapacity); - lastFrameCollisionInfos.reserve(mCachedCapacity); - isColliding.reserve(mCachedCapacity); - contactPoints.reserve(mCachedCapacity); + narrowPhaseInfos.reserve(mCachedCapacity); } // Clear all the objects in the batch void NarrowPhaseInfoBatch::clear() { - for (uint i=0; i < overlappingPairIds.size(); i++) { + const uint32 nbNarrowPhaseInfos = static_cast(narrowPhaseInfos.size()); + for (uint32 i=0; i < nbNarrowPhaseInfos; i++) { + + assert(narrowPhaseInfos[i].nbContactPoints == 0); - assert(contactPoints[i].size() == 0); + // TODO OPTI : Better manage this // Release the memory of the TriangleShape (this memory was allocated in the // MiddlePhaseTriangleCallback::testTriangle() method) - if (collisionShapes1.size() > 0 && collisionShapes1[i]->getName() == CollisionShapeName::TRIANGLE) { - collisionShapes1[i]->~CollisionShape(); - collisionShapeAllocators[i]->release(collisionShapes1[i], sizeof(TriangleShape)); + if (narrowPhaseInfos[i].collisionShape1->getName() == CollisionShapeName::TRIANGLE) { + narrowPhaseInfos[i].collisionShape1->~CollisionShape(); + narrowPhaseInfos[i].collisionShapeAllocator->release(narrowPhaseInfos[i].collisionShape1, sizeof(TriangleShape)); } - if (collisionShapes2.size() > 0 && collisionShapes2[i]->getName() == CollisionShapeName::TRIANGLE) { - collisionShapes2[i]->~CollisionShape(); - collisionShapeAllocators[i]->release(collisionShapes2[i], sizeof(TriangleShape)); + if (narrowPhaseInfos[i].collisionShape2->getName() == CollisionShapeName::TRIANGLE) { + narrowPhaseInfos[i].collisionShape2->~CollisionShape(); + narrowPhaseInfos[i].collisionShapeAllocator->release(narrowPhaseInfos[i].collisionShape2, sizeof(TriangleShape)); } } @@ -149,18 +76,7 @@ void NarrowPhaseInfoBatch::clear() { // allocated in the next frame at a possibly different location in memory (remember that the // location of the allocated memory of a single frame allocator might change between two frames) - mCachedCapacity = overlappingPairIds.size(); + mCachedCapacity = static_cast(narrowPhaseInfos.capacity()); - overlappingPairIds.clear(true); - colliderEntities1.clear(true); - colliderEntities2.clear(true); - collisionShapes1.clear(true); - collisionShapes2.clear(true); - shape1ToWorldTransforms.clear(true); - shape2ToWorldTransforms.clear(true); - reportContacts.clear(true); - collisionShapeAllocators.clear(true); - lastFrameCollisionInfos.clear(true); - isColliding.clear(true); - contactPoints.clear(true); + narrowPhaseInfos.clear(true); } diff --git a/src/collision/narrowphase/NarrowPhaseInput.cpp b/src/collision/narrowphase/NarrowPhaseInput.cpp index 767fd3c2f..b748c4d0e 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.cpp +++ b/src/collision/narrowphase/NarrowPhaseInput.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -25,50 +25,18 @@ // Libraries #include -#include using namespace reactphysics3d; /// Constructor NarrowPhaseInput::NarrowPhaseInput(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs) - :mSphereVsSphereBatch(allocator, overlappingPairs), mSphereVsCapsuleBatch(allocator, overlappingPairs), - mCapsuleVsCapsuleBatch(allocator, overlappingPairs), mSphereVsConvexPolyhedronBatch(allocator, overlappingPairs), - mCapsuleVsConvexPolyhedronBatch(allocator, overlappingPairs), - mConvexPolyhedronVsConvexPolyhedronBatch(allocator, overlappingPairs) { + :mSphereVsSphereBatch(overlappingPairs, allocator), mSphereVsCapsuleBatch(overlappingPairs, allocator), + mCapsuleVsCapsuleBatch(overlappingPairs, allocator), mSphereVsConvexPolyhedronBatch(overlappingPairs, allocator), + mCapsuleVsConvexPolyhedronBatch(overlappingPairs, allocator), + mConvexPolyhedronVsConvexPolyhedronBatch(overlappingPairs, allocator) { } -// Add shapes to be tested during narrow-phase collision detection into the batch -void NarrowPhaseInput::addNarrowPhaseTest(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, - const Transform& shape1Transform, const Transform& shape2Transform, - NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, bool reportContacts, MemoryAllocator& shapeAllocator) { - - switch (narrowPhaseAlgorithmType) { - case NarrowPhaseAlgorithmType::SphereVsSphere: - mSphereVsSphereBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, shapeAllocator); - break; - case NarrowPhaseAlgorithmType::SphereVsCapsule: - mSphereVsCapsuleBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, shapeAllocator); - break; - case NarrowPhaseAlgorithmType::CapsuleVsCapsule: - mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, shapeAllocator); - break; - case NarrowPhaseAlgorithmType::SphereVsConvexPolyhedron: - mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, shapeAllocator); - break; - case NarrowPhaseAlgorithmType::CapsuleVsConvexPolyhedron: - mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, shapeAllocator); - break; - case NarrowPhaseAlgorithmType::ConvexPolyhedronVsConvexPolyhedron: - mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, shapeAllocator); - break; - case NarrowPhaseAlgorithmType::None: - // Must never happen - assert(false); - break; - } -} - /// Reserve memory for the containers with cached capacity void NarrowPhaseInput::reserveMemory() { diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index 4271b9002..6887b054b 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -55,28 +55,27 @@ SATAlgorithm::SATAlgorithm(bool clipWithPreviousAxisIfStillColliding, MemoryAllo } // Test collision between a sphere and a convex mesh -bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, - uint batchStartIndex, uint batchNbItems) const { +bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, uint32 batchNbItems) const { bool isCollisionFound = false; RP3D_PROFILE("SATAlgorithm::testCollisionSphereVsConvexPolyhedron()", mProfiler); - for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + for (uint32 batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - bool isSphereShape1 = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE; + bool isSphereShape1 = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::SPHERE; - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON || - narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE || - narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::SPHERE); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::CONVEX_POLYHEDRON || + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::SPHERE || + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2->getType() == CollisionShapeType::SPHERE); // Get the capsule collision shapes - const SphereShape* sphere = static_cast(isSphereShape1 ? narrowPhaseInfoBatch.collisionShapes1[batchIndex] : narrowPhaseInfoBatch.collisionShapes2[batchIndex]); - const ConvexPolyhedronShape* polyhedron = static_cast(isSphereShape1 ? narrowPhaseInfoBatch.collisionShapes2[batchIndex] : narrowPhaseInfoBatch.collisionShapes1[batchIndex]); + const SphereShape* sphere = static_cast(isSphereShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1 : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2); + const ConvexPolyhedronShape* polyhedron = static_cast(isSphereShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2 : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1); - const Transform& sphereToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; - const Transform& polyhedronToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; + const Transform& sphereToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform; + const Transform& polyhedronToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform; // Get the transform from sphere local-space to polyhedron local-space const Transform worldToPolyhedronTransform = polyhedronToWorldTransform.getInverse(); @@ -87,11 +86,11 @@ bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& n // Minimum penetration depth decimal minPenetrationDepth = DECIMAL_LARGEST; - uint minFaceIndex = 0; + uint32 minFaceIndex = 0; bool noContact = false; // For each face of the convex mesh - for (uint f = 0; f < polyhedron->getNbFaces(); f++) { + for (uint32 f = 0; f < polyhedron->getNbFaces(); f++) { // Compute the penetration depth of the shapes along the face normal direction decimal penetrationDepth = computePolyhedronFaceVsSpherePenetrationDepth(f, polyhedron, sphere, sphereCenter); @@ -115,7 +114,7 @@ bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& n } // If we need to report contacts - if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].reportContacts) { const Vector3 minFaceNormal = polyhedron->getFaceNormal(minFaceIndex); Vector3 minFaceNormalWorld = polyhedronToWorldTransform.getOrientation() * minFaceNormal; @@ -125,10 +124,10 @@ bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& n Vector3 normalWorld = isSphereShape1 ? -minFaceNormalWorld : minFaceNormalWorld; // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1, narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2, isSphereShape1 ? contactPointSphereLocal : contactPointPolyhedronLocal, isSphereShape1 ? contactPointPolyhedronLocal : contactPointSphereLocal, - narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform, narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform, minPenetrationDepth, normalWorld); // Create the contact info object @@ -137,7 +136,7 @@ bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& n isSphereShape1 ? contactPointPolyhedronLocal : contactPointSphereLocal); } - narrowPhaseInfoBatch.isColliding[batchIndex] = true; + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true; isCollisionFound = true; } @@ -145,7 +144,7 @@ bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& n } // Compute the penetration depth between a face of the polyhedron and a sphere along the polyhedron face normal direction -decimal SATAlgorithm::computePolyhedronFaceVsSpherePenetrationDepth(uint faceIndex, const ConvexPolyhedronShape* polyhedron, +decimal SATAlgorithm::computePolyhedronFaceVsSpherePenetrationDepth(uint32 faceIndex, const ConvexPolyhedronShape* polyhedron, const SphereShape* sphere, const Vector3& sphereCenter) const { RP3D_PROFILE("SATAlgorithm::computePolyhedronFaceVsSpherePenetrationDepth)", mProfiler); @@ -163,23 +162,23 @@ decimal SATAlgorithm::computePolyhedronFaceVsSpherePenetrationDepth(uint faceInd } // Test collision between a capsule and a convex mesh -bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex) const { +bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchIndex) const { RP3D_PROFILE("SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron()", mProfiler); - bool isCapsuleShape1 = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE; + bool isCapsuleShape1 = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::CAPSULE; - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON || - narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE || - narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CAPSULE); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::CONVEX_POLYHEDRON || + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::CAPSULE || + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2->getType() == CollisionShapeType::CAPSULE); // Get the collision shapes - const CapsuleShape* capsuleShape = static_cast(isCapsuleShape1 ? narrowPhaseInfoBatch.collisionShapes1[batchIndex] : narrowPhaseInfoBatch.collisionShapes2[batchIndex]); - const ConvexPolyhedronShape* polyhedron = static_cast(isCapsuleShape1 ? narrowPhaseInfoBatch.collisionShapes2[batchIndex] : narrowPhaseInfoBatch.collisionShapes1[batchIndex]); + const CapsuleShape* capsuleShape = static_cast(isCapsuleShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1 : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2); + const ConvexPolyhedronShape* polyhedron = static_cast(isCapsuleShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2 : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1); - const Transform capsuleToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; - const Transform polyhedronToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; + const Transform capsuleToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform; + const Transform polyhedronToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform; const Transform polyhedronToCapsuleTransform = capsuleToWorld.getInverse() * polyhedronToWorld; @@ -190,14 +189,14 @@ bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& // Minimum penetration depth decimal minPenetrationDepth = DECIMAL_LARGEST; - uint minFaceIndex = 0; + uint32 minFaceIndex = 0; bool isMinPenetrationFaceNormal = false; Vector3 separatingAxisCapsuleSpace; Vector3 separatingPolyhedronEdgeVertex1; Vector3 separatingPolyhedronEdgeVertex2; // For each face of the convex mesh - for (uint f = 0; f < polyhedron->getNbFaces(); f++) { + for (uint32 f = 0; f < polyhedron->getNbFaces(); f++) { Vector3 outFaceNormalCapsuleSpace; @@ -222,7 +221,7 @@ bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& } // For each direction that is the cross product of the capsule inner segment and an edge of the polyhedron - for (uint e = 0; e < polyhedron->getNbHalfEdges(); e += 2) { + for (uint32 e = 0; e < polyhedron->getNbHalfEdges(); e += 2) { // Get an edge from the polyhedron (convert it into the capsule local-space) const HalfEdgeStructure::Edge& edge = polyhedron->getHalfEdge(e); @@ -279,7 +278,7 @@ bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& if (isMinPenetrationFaceNormal) { // If we need to report contacts - if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].reportContacts) { return computeCapsulePolyhedronFaceContactPoints(minFaceIndex, capsuleRadius, polyhedron, minPenetrationDepth, polyhedronToCapsuleTransform, normalWorld, separatingAxisCapsuleSpace, @@ -290,7 +289,7 @@ bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& else { // The separating axis is the cross product of a polyhedron edge and the inner capsule segment // If we need to report contacts - if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].reportContacts) { // Compute the closest points between the inner capsule segment and the // edge of the polyhedron in polyhedron local-space @@ -303,10 +302,10 @@ bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& Vector3 contactPointCapsule = (polyhedronToCapsuleTransform * closestPointCapsuleInnerSegment) - separatingAxisCapsuleSpace * capsuleRadius; // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1, narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2, isCapsuleShape1 ? contactPointCapsule : closestPointPolyhedronEdge, isCapsuleShape1 ? closestPointPolyhedronEdge : contactPointCapsule, - narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform, narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform, minPenetrationDepth, normalWorld); // Create the contact point @@ -355,7 +354,7 @@ decimal SATAlgorithm::computeEdgeVsCapsuleInnerSegmentPenetrationDepth(const Con } // Compute the penetration depth between the face of a polyhedron and a capsule along the polyhedron face normal direction -decimal SATAlgorithm::computePolyhedronFaceVsCapsulePenetrationDepth(uint polyhedronFaceIndex, const ConvexPolyhedronShape* polyhedron, +decimal SATAlgorithm::computePolyhedronFaceVsCapsulePenetrationDepth(uint32 polyhedronFaceIndex, const ConvexPolyhedronShape* polyhedron, const CapsuleShape* capsule, const Transform& polyhedronToCapsuleTransform, Vector3& outFaceNormalCapsuleSpace) const { @@ -379,11 +378,11 @@ decimal SATAlgorithm::computePolyhedronFaceVsCapsulePenetrationDepth(uint polyhe // Compute the two contact points between a polyhedron and a capsule when the separating // axis is a face normal of the polyhedron -bool SATAlgorithm::computeCapsulePolyhedronFaceContactPoints(uint referenceFaceIndex, decimal capsuleRadius, const ConvexPolyhedronShape* polyhedron, +bool SATAlgorithm::computeCapsulePolyhedronFaceContactPoints(uint32 referenceFaceIndex, decimal capsuleRadius, const ConvexPolyhedronShape* polyhedron, decimal penetrationDepth, const Transform& polyhedronToCapsuleTransform, Vector3& normalWorld, const Vector3& separatingAxisCapsuleSpace, const Vector3& capsuleSegAPolyhedronSpace, const Vector3& capsuleSegBPolyhedronSpace, - NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, bool isCapsuleShape1) const { + NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchIndex, bool isCapsuleShape1) const { RP3D_PROFILE("SATAlgorithm::computeCapsulePolyhedronFaceContactPoints", mProfiler); @@ -392,11 +391,11 @@ bool SATAlgorithm::computeCapsulePolyhedronFaceContactPoints(uint referenceFaceI // Get the face normal Vector3 faceNormal = polyhedron->getFaceNormal(referenceFaceIndex); - uint firstEdgeIndex = face.edgeIndex; - uint edgeIndex = firstEdgeIndex; + uint32 firstEdgeIndex = face.edgeIndex; + uint32 edgeIndex = firstEdgeIndex; - List planesPoints(mMemoryAllocator, 2); - List planesNormals(mMemoryAllocator, 2); + Array planesPoints(mMemoryAllocator, 2); + Array planesNormals(mMemoryAllocator, 2); // For each adjacent edge of the separating face of the polyhedron do { @@ -422,7 +421,7 @@ bool SATAlgorithm::computeCapsulePolyhedronFaceContactPoints(uint referenceFaceI } while(edgeIndex != firstEdgeIndex); // First we clip the inner segment of the capsule with the four planes of the adjacent faces - List clipSegment = clipSegmentWithPlanes(capsuleSegAPolyhedronSpace, capsuleSegBPolyhedronSpace, planesPoints, planesNormals, mMemoryAllocator); + Array clipSegment = clipSegmentWithPlanes(capsuleSegAPolyhedronSpace, capsuleSegBPolyhedronSpace, planesPoints, planesNormals, mMemoryAllocator); // Project the two clipped points into the polyhedron face const Vector3 delta = faceNormal * (penetrationDepth - capsuleRadius); @@ -430,7 +429,8 @@ bool SATAlgorithm::computeCapsulePolyhedronFaceContactPoints(uint referenceFaceI bool contactFound = false; // For each of the two clipped points - for (uint i = 0; i(clipSegment.size()); + for (uint32 i = 0; i < nbClipSegments; i++) { // Compute the penetration depth of the two clipped points (to filter out the points that does not correspond to the penetration depth) const decimal clipPointPenDepth = (planesPoints[0] - clipSegment[i]).dot(faceNormal); @@ -448,10 +448,10 @@ bool SATAlgorithm::computeCapsulePolyhedronFaceContactPoints(uint referenceFaceI // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1, narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2, isCapsuleShape1 ? contactPointCapsule : contactPointPolyhedron, isCapsuleShape1 ? contactPointPolyhedron : contactPointCapsule, - narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform, narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform, penetrationDepth, normalWorld); @@ -478,36 +478,36 @@ bool SATAlgorithm::isMinkowskiFaceCapsuleVsEdge(const Vector3& capsuleSegment, c } // Test collision between two convex polyhedrons -bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems) const { +bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, uint32 batchNbItems) const { RP3D_PROFILE("SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron()", mProfiler); bool isCollisionFound = false; - for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + for (uint32 batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); - assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); - assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].nbContactPoints == 0); - const ConvexPolyhedronShape* polyhedron1 = static_cast(narrowPhaseInfoBatch.collisionShapes1[batchIndex]); - const ConvexPolyhedronShape* polyhedron2 = static_cast(narrowPhaseInfoBatch.collisionShapes2[batchIndex]); + const ConvexPolyhedronShape* polyhedron1 = static_cast(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1); + const ConvexPolyhedronShape* polyhedron2 = static_cast(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2); - const Transform polyhedron1ToPolyhedron2 = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getInverse() * narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; + const Transform polyhedron1ToPolyhedron2 = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform.getInverse() * narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform; const Transform polyhedron2ToPolyhedron1 = polyhedron1ToPolyhedron2.getInverse(); decimal minPenetrationDepth = DECIMAL_LARGEST; - uint minFaceIndex = 0; + uint32 minFaceIndex = 0; bool isMinPenetrationFaceNormal = false; bool isMinPenetrationFaceNormalPolyhedron1 = false; - uint minSeparatingEdge1Index = 0; - uint minSeparatingEdge2Index = 0; + uint32 minSeparatingEdge1Index = 0; + uint32 minSeparatingEdge2Index = 0; Vector3 separatingEdge1A, separatingEdge1B; Vector3 separatingEdge2A, separatingEdge2B; Vector3 minEdgeVsEdgeSeparatingAxisPolyhedron2Space; const bool isShape1Triangle = polyhedron1->getName() == CollisionShapeName::TRIANGLE; - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex]; + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].lastFrameCollisionInfo; // If the last frame collision info is valid and was also using SAT algorithm if (lastFrameCollisionInfo->isValid && lastFrameCollisionInfo->wasUsingSAT) { @@ -520,7 +520,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // was a face normal of polyhedron 1 if (lastFrameCollisionInfo->satIsAxisFacePolyhedron1) { - decimal penetrationDepth = testSingleFaceDirectionPolyhedronVsPolyhedron(polyhedron1, polyhedron2, polyhedron1ToPolyhedron2, + const decimal penetrationDepth = testSingleFaceDirectionPolyhedronVsPolyhedron(polyhedron1, polyhedron2, polyhedron1ToPolyhedron2, lastFrameCollisionInfo->satMinAxisFaceIndex); // If the previous axis was a separating axis and is still a separating axis in this frame @@ -549,7 +549,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // The shapes are still overlapping in the previous axis (the contact manifold is not empty). // Therefore, we can return without running the whole SAT algorithm - narrowPhaseInfoBatch.isColliding[batchIndex] = true; + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true; isCollisionFound = true; continue; } @@ -589,7 +589,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // The shapes are still overlapping in the previous axis (the contact manifold is not empty). // Therefore, we can return without running the whole SAT algorithm - narrowPhaseInfoBatch.isColliding[batchIndex] = true; + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true; isCollisionFound = true; continue; } @@ -651,18 +651,18 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn if (t1 >= decimal(0.0) && t1 <= decimal(1) && t2 >= decimal(0.0) && t2 <= decimal(1.0)) { // If we need to report contact points - if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].reportContacts) { // Compute the contact point on polyhedron 1 edge in the local-space of polyhedron 1 Vector3 closestPointPolyhedron1EdgeLocalSpace = polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge; // Compute the world normal - Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * separatingAxisPolyhedron2Space; + Vector3 normalWorld = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform.getOrientation() * separatingAxisPolyhedron2Space; // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1, narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2, closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge, - narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform, narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform, penetrationDepth, normalWorld); // Create the contact point @@ -673,7 +673,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // The shapes are overlapping on the previous axis (the contact manifold is not empty). Therefore // we return without running the whole SAT algorithm - narrowPhaseInfoBatch.isColliding[batchIndex] = true; + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true; isCollisionFound = true; continue; } @@ -688,7 +688,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn isMinPenetrationFaceNormal = false; // Test all the face normals of the polyhedron 1 for separating axis - uint faceIndex1; + uint32 faceIndex1; decimal penetrationDepth1 = testFacesDirectionPolyhedronVsPolyhedron(polyhedron1, polyhedron2, polyhedron1ToPolyhedron2, faceIndex1); if (penetrationDepth1 <= decimal(0.0)) { @@ -701,7 +701,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn } // Test all the face normals of the polyhedron 2 for separating axis - uint faceIndex2; + uint32 faceIndex2; decimal penetrationDepth2 = testFacesDirectionPolyhedronVsPolyhedron(polyhedron2, polyhedron1, polyhedron2ToPolyhedron1, faceIndex2); if (penetrationDepth2 <= decimal(0.0)) { @@ -742,7 +742,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn bool separatingAxisFound = false; // Test the cross products of edges of polyhedron 1 with edges of polyhedron 2 for separating axis - for (uint i=0; i < polyhedron1->getNbHalfEdges(); i += 2) { + for (uint32 i=0; i < polyhedron1->getNbHalfEdges(); i += 2) { // Get an edge of polyhedron 1 const HalfEdgeStructure::Edge& edge1 = polyhedron1->getHalfEdge(i); @@ -751,7 +751,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn const Vector3 edge1B = polyhedron1ToPolyhedron2 * polyhedron1->getVertexPosition(polyhedron1->getHalfEdge(edge1.nextEdgeIndex).vertexIndex); const Vector3 edge1Direction = edge1B - edge1A; - for (uint j=0; j < polyhedron2->getNbHalfEdges(); j += 2) { + for (uint32 j=0; j < polyhedron2->getNbHalfEdges(); j += 2) { // Get an edge of polyhedron 2 const HalfEdgeStructure::Edge& edge2 = polyhedron2->getHalfEdge(j); @@ -848,7 +848,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn else { // If we have an edge vs edge contact // If we need to report contacts - if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].reportContacts) { // Compute the closest points between the two edges (in the local-space of poylhedron 2) Vector3 closestPointPolyhedron1Edge, closestPointPolyhedron2Edge; @@ -859,12 +859,12 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn Vector3 closestPointPolyhedron1EdgeLocalSpace = polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge; // Compute the world normal - Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * minEdgeVsEdgeSeparatingAxisPolyhedron2Space; + Vector3 normalWorld = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform.getOrientation() * minEdgeVsEdgeSeparatingAxisPolyhedron2Space; // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1, narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2, closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge, - narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform, narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform, minPenetrationDepth, normalWorld); // Create the contact point @@ -878,7 +878,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn lastFrameCollisionInfo->satMinEdge2Index = minSeparatingEdge2Index; } - narrowPhaseInfoBatch.isColliding[batchIndex] = true; + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true; isCollisionFound = true; } @@ -890,106 +890,135 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn bool SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPenetrationFaceNormalPolyhedron1, const ConvexPolyhedronShape* polyhedron1, const ConvexPolyhedronShape* polyhedron2, const Transform& polyhedron1ToPolyhedron2, const Transform& polyhedron2ToPolyhedron1, - uint minFaceIndex, NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex) const { + uint32 minFaceIndex, NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchIndex) const { RP3D_PROFILE("SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints", mProfiler); - const ConvexPolyhedronShape* referencePolyhedron = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron1 : polyhedron2; - const ConvexPolyhedronShape* incidentPolyhedron = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron2 : polyhedron1; + const ConvexPolyhedronShape* referencePolyhedron; + const ConvexPolyhedronShape* incidentPolyhedron; const Transform& referenceToIncidentTransform = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron1ToPolyhedron2 : polyhedron2ToPolyhedron1; const Transform& incidentToReferenceTransform = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron2ToPolyhedron1 : polyhedron1ToPolyhedron2; + if (isMinPenetrationFaceNormalPolyhedron1) { + referencePolyhedron = polyhedron1; + incidentPolyhedron = polyhedron2; + } + else { + referencePolyhedron = polyhedron2; + incidentPolyhedron = polyhedron1; + } + const Vector3 axisReferenceSpace = referencePolyhedron->getFaceNormal(minFaceIndex); const Vector3 axisIncidentSpace = referenceToIncidentTransform.getOrientation() * axisReferenceSpace; // Compute the world normal - Vector3 normalWorld = isMinPenetrationFaceNormalPolyhedron1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex].getOrientation() * axisReferenceSpace : - -(narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * axisReferenceSpace); + const Vector3 normalWorld = isMinPenetrationFaceNormalPolyhedron1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform.getOrientation() * axisReferenceSpace : + -(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform.getOrientation() * axisReferenceSpace); // Get the reference face const HalfEdgeStructure::Face& referenceFace = referencePolyhedron->getFace(minFaceIndex); // Find the incident face on the other polyhedron (most anti-parallel face) - uint incidentFaceIndex = incidentPolyhedron->findMostAntiParallelFace(axisIncidentSpace); + uint32 incidentFaceIndex = incidentPolyhedron->findMostAntiParallelFace(axisIncidentSpace); // Get the incident face const HalfEdgeStructure::Face& incidentFace = incidentPolyhedron->getFace(incidentFaceIndex); - uint nbIncidentFaceVertices = static_cast(incidentFace.faceVertices.size()); - List polygonVertices(mMemoryAllocator, nbIncidentFaceVertices); // Vertices to clip of the incident face - List planesNormals(mMemoryAllocator, nbIncidentFaceVertices); // Normals of the clipping planes - List planesPoints(mMemoryAllocator, nbIncidentFaceVertices); // Points on the clipping planes + const uint32 nbIncidentFaceVertices = static_cast(incidentFace.faceVertices.size()); + const uint32 nbMaxElements = nbIncidentFaceVertices * 2 * static_cast(referenceFace.faceVertices.size()); + Array verticesTemp1(mMemoryAllocator, nbMaxElements); + Array verticesTemp2(mMemoryAllocator, nbMaxElements); // Get all the vertices of the incident face (in the reference local-space) - for (uint i=0; i < incidentFace.faceVertices.size(); i++) { + for (uint32 i=0; i < nbIncidentFaceVertices; i++) { const Vector3 faceVertexIncidentSpace = incidentPolyhedron->getVertexPosition(incidentFace.faceVertices[i]); - polygonVertices.add(incidentToReferenceTransform * faceVertexIncidentSpace); + verticesTemp1.add(incidentToReferenceTransform * faceVertexIncidentSpace); } - // Get the reference face clipping planes - uint currentEdgeIndex = referenceFace.edgeIndex; - uint firstEdgeIndex = currentEdgeIndex; + // For each edge of the reference we use it to clip the incident face polygon using Sutherland-Hodgman algorithm + uint32 firstEdgeIndex = referenceFace.edgeIndex; + bool areVertices1Input = false; + uint32 nbOutputVertices; + uint32 currentEdgeIndex; + + // Get the adjacent edge + const HalfEdgeStructure::Edge* currentEdge = &(referencePolyhedron->getHalfEdge(firstEdgeIndex)); + Vector3 edgeV1 = referencePolyhedron->getVertexPosition(currentEdge->vertexIndex); + do { - // Get the adjacent edge - const HalfEdgeStructure::Edge& edge = referencePolyhedron->getHalfEdge(currentEdgeIndex); + // Switch the input/output arrays of vertices + areVertices1Input = !areVertices1Input; - // Get the twin edge - const HalfEdgeStructure::Edge& twinEdge = referencePolyhedron->getHalfEdge(edge.twinEdgeIndex); + // Get the adjacent edge + const HalfEdgeStructure::Edge* nextEdge = &(referencePolyhedron->getHalfEdge(currentEdge->nextEdgeIndex)); // Compute the edge vertices and edge direction - Vector3 edgeV1 = referencePolyhedron->getVertexPosition(edge.vertexIndex); - Vector3 edgeV2 = referencePolyhedron->getVertexPosition(twinEdge.vertexIndex); - Vector3 edgeDirection = edgeV2 - edgeV1; + const Vector3 edgeV2 = referencePolyhedron->getVertexPosition(nextEdge->vertexIndex); + const Vector3 edgeDirection = edgeV2 - edgeV1; // Compute the normal of the clipping plane for this edge // The clipping plane is perpendicular to the edge direction and the reference face normal - Vector3 clipPlaneNormal = axisReferenceSpace.cross(edgeDirection); + const Vector3 planeNormal = axisReferenceSpace.cross(edgeDirection); - planesNormals.add(clipPlaneNormal); - planesPoints.add(edgeV1); + assert((areVertices1Input && verticesTemp1.size() > 0) || !areVertices1Input); + assert((!areVertices1Input && verticesTemp2.size() > 0) || areVertices1Input); + + // Clip the incident face with one adjacent plane (corresponding to one edge) of the reference face + clipPolygonWithPlane(areVertices1Input ? verticesTemp1 : verticesTemp2, edgeV1, planeNormal, areVertices1Input ? verticesTemp2 : verticesTemp1); + + currentEdgeIndex = currentEdge->nextEdgeIndex; // Go to the next adjacent edge of the reference face - currentEdgeIndex = edge.nextEdgeIndex; + currentEdge = nextEdge; + edgeV1 = edgeV2; - } while (currentEdgeIndex != firstEdgeIndex); + // Clear the input array of vertices before the next loop + if (areVertices1Input) { + verticesTemp1.clear(); + nbOutputVertices = static_cast(verticesTemp2.size()); + } + else { + verticesTemp2.clear(); + nbOutputVertices = static_cast(verticesTemp1.size()); + } - assert(planesNormals.size() > 0); - assert(planesNormals.size() == planesPoints.size()); + } while (currentEdgeIndex != firstEdgeIndex && nbOutputVertices > 0); - // Clip the reference faces with the adjacent planes of the reference face - List clipPolygonVertices = clipPolygonWithPlanes(polygonVertices, planesPoints, planesNormals, mMemoryAllocator); + // Reference to the output clipped polygon vertices + Array& clippedPolygonVertices = areVertices1Input ? verticesTemp2 : verticesTemp1; // We only keep the clipped points that are below the reference face const Vector3 referenceFaceVertex = referencePolyhedron->getVertexPosition(referencePolyhedron->getHalfEdge(firstEdgeIndex).vertexIndex); bool contactPointsFound = false; - for (uint i=0; i(clippedPolygonVertices.size()); + for (uint32 i=0; i < nbClipPolygonVertices; i++) { // Compute the penetration depth of this contact point (can be different from the minPenetration depth which is // the maximal penetration depth of any contact point for this separating axis - decimal penetrationDepth = (referenceFaceVertex - clipPolygonVertices[i]).dot(axisReferenceSpace); + decimal penetrationDepth = (referenceFaceVertex - clippedPolygonVertices[i]).dot(axisReferenceSpace); - // If the clip point is bellow the reference face + // If the clip point is below the reference face if (penetrationDepth > decimal(0.0)) { contactPointsFound = true; // If we need to report contacts - if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].reportContacts) { Vector3 outWorldNormal = normalWorld; // Convert the clip incident polyhedron vertex into the incident polyhedron local-space - Vector3 contactPointIncidentPolyhedron = referenceToIncidentTransform * clipPolygonVertices[i]; + Vector3 contactPointIncidentPolyhedron = referenceToIncidentTransform * clippedPolygonVertices[i]; // Project the contact point onto the reference face - Vector3 contactPointReferencePolyhedron = projectPointOntoPlane(clipPolygonVertices[i], axisReferenceSpace, referenceFaceVertex); + Vector3 contactPointReferencePolyhedron = projectPointOntoPlane(clippedPolygonVertices[i], axisReferenceSpace, referenceFaceVertex); // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1, narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2, isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron, isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron, - narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform, narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform, penetrationDepth, outWorldNormal); // Create a new contact point @@ -1055,7 +1084,7 @@ decimal SATAlgorithm::computeDistanceBetweenEdges(const Vector3& edge1A, const V decimal SATAlgorithm::testSingleFaceDirectionPolyhedronVsPolyhedron(const ConvexPolyhedronShape* polyhedron1, const ConvexPolyhedronShape* polyhedron2, const Transform& polyhedron1ToPolyhedron2, - uint faceIndex) const { + uint32 faceIndex) const { RP3D_PROFILE("SATAlgorithm::testSingleFaceDirectionPolyhedronVsPolyhedron", mProfiler); @@ -1088,7 +1117,7 @@ decimal SATAlgorithm::testFacesDirectionPolyhedronVsPolyhedron(const ConvexPolyh decimal minPenetrationDepth = DECIMAL_LARGEST; // For each face of the first polyhedron - for (uint f = 0; f < polyhedron1->getNbFaces(); f++) { + for (uint32 f = 0; f < polyhedron1->getNbFaces(); f++) { decimal penetrationDepth = testSingleFaceDirectionPolyhedronVsPolyhedron(polyhedron1, polyhedron2, polyhedron1ToPolyhedron2, f); diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp index a441cbcad..15d3e874f 100755 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -27,7 +27,7 @@ #include #include #include -#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; @@ -35,21 +35,27 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between a sphere and a capsule // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -bool SphereVsCapsuleAlgorithm::testCollision(SphereVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - MemoryAllocator& memoryAllocator) { +bool SphereVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, uint32 batchNbItems, MemoryAllocator& /*memoryAllocator*/) { bool isCollisionFound = false; - for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + for (uint32 batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); - assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); + assert(!narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].nbContactPoints == 0); - const bool isSphereShape1 = narrowPhaseInfoBatch.isSpheresShape1[batchIndex]; + const bool isSphereShape1 = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::SPHERE; + + const SphereShape* sphereShape = static_cast(isSphereShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1 : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2); + const CapsuleShape* capsuleShape = static_cast(isSphereShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2 : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1); + + const decimal capsuleHeight = capsuleShape->getHeight(); + const decimal sphereRadius = sphereShape->getRadius(); + const decimal capsuleRadius = capsuleShape->getRadius(); // Get the transform from sphere local-space to capsule local-space - const Transform& sphereToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; - const Transform& capsuleToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; + const Transform& sphereToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform; + const Transform& capsuleToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform : narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform; const Transform worldToCapsuleTransform = capsuleToWorldTransform.getInverse(); const Transform sphereToCapsuleSpaceTransform = worldToCapsuleTransform * sphereToWorldTransform; @@ -57,7 +63,7 @@ bool SphereVsCapsuleAlgorithm::testCollision(SphereVsCapsuleNarrowPhaseInfoBatch const Vector3 sphereCenter = sphereToCapsuleSpaceTransform.getPosition(); // Compute the end-points of the inner segment of the capsule - const decimal capsuleHalfHeight = narrowPhaseInfoBatch.capsuleHeights[batchIndex] * decimal(0.5); + const decimal capsuleHalfHeight = capsuleHeight * decimal(0.5); const Vector3 capsuleSegA(0, -capsuleHalfHeight, 0); const Vector3 capsuleSegB(0, capsuleHalfHeight, 0); @@ -69,7 +75,7 @@ bool SphereVsCapsuleAlgorithm::testCollision(SphereVsCapsuleNarrowPhaseInfoBatch const decimal sphereSegmentDistanceSquare = sphereCenterToSegment.lengthSquare(); // Compute the sum of the radius of the sphere and the capsule (virtual sphere) - decimal sumRadius = narrowPhaseInfoBatch.sphereRadiuses[batchIndex] + narrowPhaseInfoBatch.capsuleRadiuses[batchIndex]; + decimal sumRadius = sphereRadius + capsuleRadius; // If the collision shapes overlap if (sphereSegmentDistanceSquare < sumRadius * sumRadius) { @@ -80,7 +86,7 @@ bool SphereVsCapsuleAlgorithm::testCollision(SphereVsCapsuleNarrowPhaseInfoBatch Vector3 contactPointCapsuleLocal; // If we need to report contacts - if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].reportContacts) { // If the sphere center is not on the capsule inner segment if (sphereSegmentDistanceSquare > MACHINE_EPSILON) { @@ -88,8 +94,8 @@ bool SphereVsCapsuleAlgorithm::testCollision(SphereVsCapsuleNarrowPhaseInfoBatch decimal sphereSegmentDistance = std::sqrt(sphereSegmentDistanceSquare); sphereCenterToSegment /= sphereSegmentDistance; - contactPointSphereLocal = sphereToCapsuleSpaceTransform.getInverse() * (sphereCenter + sphereCenterToSegment * narrowPhaseInfoBatch.sphereRadiuses[batchIndex]); - contactPointCapsuleLocal = closestPointOnSegment - sphereCenterToSegment * narrowPhaseInfoBatch.capsuleRadiuses[batchIndex]; + contactPointSphereLocal = sphereToCapsuleSpaceTransform.getInverse() * (sphereCenter + sphereCenterToSegment * sphereRadius); + contactPointCapsuleLocal = closestPointOnSegment - sphereCenterToSegment * capsuleRadius; normalWorld = capsuleToWorldTransform.getOrientation() * sphereCenterToSegment; @@ -120,8 +126,8 @@ bool SphereVsCapsuleAlgorithm::testCollision(SphereVsCapsuleNarrowPhaseInfoBatch normalWorld = capsuleToWorldTransform.getOrientation() * normalCapsuleSpace; // Compute the two local contact points - contactPointSphereLocal = sphereToCapsuleSpaceTransform.getInverse() * (sphereCenter + normalCapsuleSpace * narrowPhaseInfoBatch.sphereRadiuses[batchIndex]); - contactPointCapsuleLocal = sphereCenter - normalCapsuleSpace * narrowPhaseInfoBatch.capsuleRadiuses[batchIndex]; + contactPointSphereLocal = sphereToCapsuleSpaceTransform.getInverse() * (sphereCenter + normalCapsuleSpace * sphereRadius); + contactPointCapsuleLocal = sphereCenter - normalCapsuleSpace * capsuleRadius; } if (penetrationDepth <= decimal(0.0)) { @@ -136,7 +142,7 @@ bool SphereVsCapsuleAlgorithm::testCollision(SphereVsCapsuleNarrowPhaseInfoBatch isSphereShape1 ? contactPointCapsuleLocal : contactPointSphereLocal); } - narrowPhaseInfoBatch.isColliding[batchIndex] = true; + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true; isCollisionFound = true; continue; } diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp deleted file mode 100644 index e4433b0d1..000000000 --- a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp +++ /dev/null @@ -1,88 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include -#include -#include - -using namespace reactphysics3d; - -// Constructor -SphereVsCapsuleNarrowPhaseInfoBatch::SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator, - OverlappingPairs& overlappingPairs) - : NarrowPhaseInfoBatch(allocator, overlappingPairs), isSpheresShape1(allocator), sphereRadiuses(allocator), capsuleRadiuses(allocator), - capsuleHeights(allocator) { - -} - -// Add shapes to be tested during narrow-phase collision detection into the batch -void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, - const Transform& shape1Transform, const Transform& shape2Transform, - bool needToReportContacts, MemoryAllocator& shapeAllocator) { - - NarrowPhaseInfoBatch::addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, - shape2Transform, needToReportContacts, shapeAllocator); - - bool isSphereShape1 = shape1->getType() == CollisionShapeType::SPHERE; - isSpheresShape1.add(isSphereShape1); - - assert(isSphereShape1 || shape1->getType() == CollisionShapeType::CAPSULE); - - // Get the collision shapes - const SphereShape* sphereShape = static_cast(isSphereShape1 ? shape1 : shape2); - const CapsuleShape* capsuleShape = static_cast(isSphereShape1 ? shape2 : shape1); - - sphereRadiuses.add(sphereShape->getRadius()); - capsuleRadiuses.add(capsuleShape->getRadius()); - capsuleHeights.add(capsuleShape->getHeight()); -} - -// Initialize the containers using cached capacity -void SphereVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { - - NarrowPhaseInfoBatch::reserveMemory(); - - isSpheresShape1.reserve(mCachedCapacity); - sphereRadiuses.reserve(mCachedCapacity); - capsuleRadiuses.reserve(mCachedCapacity); - capsuleHeights.reserve(mCachedCapacity); -} - -// Clear all the objects in the batch -void SphereVsCapsuleNarrowPhaseInfoBatch::clear() { - - // Note that we clear the following containers and we release their allocated memory. Therefore, - // if the memory allocator is a single frame allocator, the memory is deallocated and will be - // allocated in the next frame at a possibly different location in memory (remember that the - // location of the allocated memory of a single frame allocator might change between two frames) - - NarrowPhaseInfoBatch::clear(); - - isSpheresShape1.clear(true); - sphereRadiuses.clear(true); - capsuleRadiuses.clear(true); - capsuleHeights.clear(true); -} diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp index 0c0f609bd..9d1eae019 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -35,7 +35,7 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between a sphere and a convex polyhedron // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, +bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, uint32 batchNbItems, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) { // First, we run the GJK algorithm @@ -50,20 +50,20 @@ bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr #endif - List gjkResults(memoryAllocator); + Array gjkResults(memoryAllocator, batchNbItems); gjkAlgorithm.testCollision(narrowPhaseInfoBatch, batchStartIndex, batchNbItems, gjkResults); assert(gjkResults.size() == batchNbItems); // For each item in the batch - for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + for (uint32 batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON || - narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE || - narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::SPHERE); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::CONVEX_POLYHEDRON || + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1->getType() == CollisionShapeType::SPHERE || + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2->getType() == CollisionShapeType::SPHERE); // Get the last frame collision info - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex]; + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].lastFrameCollisionInfo; lastFrameCollisionInfo->wasUsingGJK = true; lastFrameCollisionInfo->wasUsingSAT = false; @@ -72,7 +72,7 @@ bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr if (gjkResults[batchIndex] == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) { // Return true - narrowPhaseInfoBatch.isColliding[batchIndex] = true; + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true; isCollisionFound = true; continue; } diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp index 943ae89da..0a913f058 100755 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -26,74 +26,86 @@ // Libraries #include #include -#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; -bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, MemoryAllocator& memoryAllocator) { +bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex, uint32 batchNbItems, MemoryAllocator& /*memoryAllocator*/) { bool isCollisionFound = false; // For each item in the batch - for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + for (uint32 batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); - assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); + assert(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].nbContactPoints == 0); + assert(!narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding); // Get the local-space to world-space transforms - const Transform& transform1 = narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; - const Transform& transform2 = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; + const Transform& transform1 = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape1ToWorldTransform; + const Transform& transform2 = narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].shape2ToWorldTransform; // Compute the distance between the centers Vector3 vectorBetweenCenters = transform2.getPosition() - transform1.getPosition(); decimal squaredDistanceBetweenCenters = vectorBetweenCenters.lengthSquare(); + const SphereShape* sphereShape1 = static_cast(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape1); + const SphereShape* sphereShape2 = static_cast(narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].collisionShape2); + + const decimal sphere1Radius = sphereShape1->getRadius(); + const decimal sphere2Radius = sphereShape2->getRadius(); + // Compute the sum of the radius - decimal sumRadiuses = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] + narrowPhaseInfoBatch.sphere2Radiuses[batchIndex]; + const decimal sumRadiuses = sphere1Radius + sphere2Radius; // Compute the product of the sum of the radius - decimal sumRadiusesProducts = sumRadiuses * sumRadiuses; + const decimal sumRadiusesProducts = sumRadiuses * sumRadiuses; // If the sphere collision shapes intersect if (squaredDistanceBetweenCenters < sumRadiusesProducts) { - // If we need to report contacts - if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + const decimal penetrationDepth = sumRadiuses - std::sqrt(squaredDistanceBetweenCenters); - const Transform transform1Inverse = transform1.getInverse(); - const Transform transform2Inverse = transform2.getInverse(); + // Make sure the penetration depth is not zero (even if the previous condition test was true the penetration depth can still be + // zero because of precision issue of the computation at the previous line) + if (penetrationDepth > 0) { - decimal penetrationDepth = sumRadiuses - std::sqrt(squaredDistanceBetweenCenters); - Vector3 intersectionOnBody1; - Vector3 intersectionOnBody2; - Vector3 normal; + // If we need to report contacts + if (narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].reportContacts) { - // If the two sphere centers are not at the same position - if (squaredDistanceBetweenCenters > MACHINE_EPSILON) { + const Transform transform1Inverse = transform1.getInverse(); + const Transform transform2Inverse = transform2.getInverse(); - Vector3 centerSphere2InBody1LocalSpace = transform1Inverse * transform2.getPosition(); - Vector3 centerSphere1InBody2LocalSpace = transform2Inverse * transform1.getPosition(); + Vector3 intersectionOnBody1; + Vector3 intersectionOnBody2; + Vector3 normal; - intersectionOnBody1 = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] * centerSphere2InBody1LocalSpace.getUnit(); - intersectionOnBody2 = narrowPhaseInfoBatch.sphere2Radiuses[batchIndex] * centerSphere1InBody2LocalSpace.getUnit(); - normal = vectorBetweenCenters.getUnit(); - } - else { // If the sphere centers are at the same position (degenerate case) + // If the two sphere centers are not at the same position + if (squaredDistanceBetweenCenters > MACHINE_EPSILON) { + + const Vector3 centerSphere2InBody1LocalSpace = transform1Inverse * transform2.getPosition(); + const Vector3 centerSphere1InBody2LocalSpace = transform2Inverse * transform1.getPosition(); - // Take any contact normal direction - normal.setAllValues(0, 1, 0); + intersectionOnBody1 = sphere1Radius * centerSphere2InBody1LocalSpace.getUnit(); + intersectionOnBody2 = sphere2Radius * centerSphere1InBody2LocalSpace.getUnit(); + normal = vectorBetweenCenters.getUnit(); + } + else { // If the sphere centers are at the same position (degenerate case) - intersectionOnBody1 = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] * (transform1Inverse.getOrientation() * normal); - intersectionOnBody2 = narrowPhaseInfoBatch.sphere2Radiuses[batchIndex] * (transform2Inverse.getOrientation() * normal); + // Take any contact normal direction + normal.setAllValues(0, 1, 0); + + intersectionOnBody1 = sphere1Radius * (transform1Inverse.getOrientation() * normal); + intersectionOnBody2 = sphere2Radius * (transform2Inverse.getOrientation() * normal); + } + + // Create the contact info object + narrowPhaseInfoBatch.addContactPoint(batchIndex, normal, penetrationDepth, intersectionOnBody1, intersectionOnBody2); } - // Create the contact info object - narrowPhaseInfoBatch.addContactPoint(batchIndex, normal, penetrationDepth, intersectionOnBody1, intersectionOnBody2); + narrowPhaseInfoBatch.narrowPhaseInfos[batchIndex].isColliding = true; + isCollisionFound = true; } - - narrowPhaseInfoBatch.isColliding[batchIndex] = true; - isCollisionFound = true; } } diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp deleted file mode 100644 index 36970cd2f..000000000 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp +++ /dev/null @@ -1,77 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include -#include - -using namespace reactphysics3d; - -// Constructor -SphereVsSphereNarrowPhaseInfoBatch::SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs) - : NarrowPhaseInfoBatch(allocator, overlappingPairs), sphere1Radiuses(allocator), sphere2Radiuses(allocator) { - -} - -// Add shapes to be tested during narrow-phase collision detection into the batch -void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, - const Transform& shape1Transform, const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator &shapeAllocator) { - - NarrowPhaseInfoBatch::addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, - shape2Transform, needToReportContacts, shapeAllocator); - - assert(shape1->getType() == CollisionShapeType::SPHERE); - assert(shape2->getType() == CollisionShapeType::SPHERE); - - const SphereShape* sphere1 = static_cast(shape1); - const SphereShape* sphere2 = static_cast(shape2); - - sphere1Radiuses.add(sphere1->getRadius()); - sphere2Radiuses.add(sphere2->getRadius()); -} - -// Initialize the containers using cached capacity -void SphereVsSphereNarrowPhaseInfoBatch::reserveMemory() { - - NarrowPhaseInfoBatch::reserveMemory(); - - sphere1Radiuses.reserve(mCachedCapacity); - sphere2Radiuses.reserve(mCachedCapacity); -} - -// Clear all the objects in the batch -void SphereVsSphereNarrowPhaseInfoBatch::clear() { - - // Note that we clear the following containers and we release their allocated memory. Therefore, - // if the memory allocator is a single frame allocator, the memory is deallocated and will be - // allocated in the next frame at a possibly different location in memory (remember that the - // location of the allocated memory of a single frame allocator might change between two frames) - - NarrowPhaseInfoBatch::clear(); - - sphere1Radiuses.clear(true); - sphere2Radiuses.clear(true); -} - diff --git a/src/collision/shapes/AABB.cpp b/src/collision/shapes/AABB.cpp index 2d9b29e55..09554e39c 100644 --- a/src/collision/shapes/AABB.cpp +++ b/src/collision/shapes/AABB.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -36,105 +36,3 @@ AABB::AABB(const Vector3& minCoordinates, const Vector3& maxCoordinates) :mMinCoordinates(minCoordinates), mMaxCoordinates(maxCoordinates) { } - -// Copy-constructor -AABB::AABB(const AABB& aabb) - : mMinCoordinates(aabb.mMinCoordinates), mMaxCoordinates(aabb.mMaxCoordinates) { - -} - -// Merge the AABB in parameter with the current one -void AABB::mergeWithAABB(const AABB& aabb) { - mMinCoordinates.x = std::min(mMinCoordinates.x, aabb.mMinCoordinates.x); - mMinCoordinates.y = std::min(mMinCoordinates.y, aabb.mMinCoordinates.y); - mMinCoordinates.z = std::min(mMinCoordinates.z, aabb.mMinCoordinates.z); - - mMaxCoordinates.x = std::max(mMaxCoordinates.x, aabb.mMaxCoordinates.x); - mMaxCoordinates.y = std::max(mMaxCoordinates.y, aabb.mMaxCoordinates.y); - mMaxCoordinates.z = std::max(mMaxCoordinates.z, aabb.mMaxCoordinates.z); -} - -// Replace the current AABB with a new AABB that is the union of two AABBs in parameters -void AABB::mergeTwoAABBs(const AABB& aabb1, const AABB& aabb2) { - mMinCoordinates.x = std::min(aabb1.mMinCoordinates.x, aabb2.mMinCoordinates.x); - mMinCoordinates.y = std::min(aabb1.mMinCoordinates.y, aabb2.mMinCoordinates.y); - mMinCoordinates.z = std::min(aabb1.mMinCoordinates.z, aabb2.mMinCoordinates.z); - - mMaxCoordinates.x = std::max(aabb1.mMaxCoordinates.x, aabb2.mMaxCoordinates.x); - mMaxCoordinates.y = std::max(aabb1.mMaxCoordinates.y, aabb2.mMaxCoordinates.y); - mMaxCoordinates.z = std::max(aabb1.mMaxCoordinates.z, aabb2.mMaxCoordinates.z); -} - -// Return true if the current AABB contains the AABB given in parameter -bool AABB::contains(const AABB& aabb) const { - - bool isInside = true; - isInside = isInside && mMinCoordinates.x <= aabb.mMinCoordinates.x; - isInside = isInside && mMinCoordinates.y <= aabb.mMinCoordinates.y; - isInside = isInside && mMinCoordinates.z <= aabb.mMinCoordinates.z; - - isInside = isInside && mMaxCoordinates.x >= aabb.mMaxCoordinates.x; - isInside = isInside && mMaxCoordinates.y >= aabb.mMaxCoordinates.y; - isInside = isInside && mMaxCoordinates.z >= aabb.mMaxCoordinates.z; - return isInside; -} - -// Create and return an AABB for a triangle -AABB AABB::createAABBForTriangle(const Vector3* trianglePoints) { - - Vector3 minCoords(trianglePoints[0].x, trianglePoints[0].y, trianglePoints[0].z); - Vector3 maxCoords(trianglePoints[0].x, trianglePoints[0].y, trianglePoints[0].z); - - if (trianglePoints[1].x < minCoords.x) minCoords.x = trianglePoints[1].x; - if (trianglePoints[1].y < minCoords.y) minCoords.y = trianglePoints[1].y; - if (trianglePoints[1].z < minCoords.z) minCoords.z = trianglePoints[1].z; - - if (trianglePoints[2].x < minCoords.x) minCoords.x = trianglePoints[2].x; - if (trianglePoints[2].y < minCoords.y) minCoords.y = trianglePoints[2].y; - if (trianglePoints[2].z < minCoords.z) minCoords.z = trianglePoints[2].z; - - if (trianglePoints[1].x > maxCoords.x) maxCoords.x = trianglePoints[1].x; - if (trianglePoints[1].y > maxCoords.y) maxCoords.y = trianglePoints[1].y; - if (trianglePoints[1].z > maxCoords.z) maxCoords.z = trianglePoints[1].z; - - if (trianglePoints[2].x > maxCoords.x) maxCoords.x = trianglePoints[2].x; - if (trianglePoints[2].y > maxCoords.y) maxCoords.y = trianglePoints[2].y; - if (trianglePoints[2].z > maxCoords.z) maxCoords.z = trianglePoints[2].z; - - return AABB(minCoords, maxCoords); -} - -// Return true if the ray intersects the AABB -/// This method use the line vs AABB raycasting technique described in -/// Real-time Collision Detection by Christer Ericson. -bool AABB::testRayIntersect(const Ray& ray) const { - - const Vector3 point2 = ray.point1 + ray.maxFraction * (ray.point2 - ray.point1); - const Vector3 e = mMaxCoordinates - mMinCoordinates; - const Vector3 d = point2 - ray.point1; - const Vector3 m = ray.point1 + point2 - mMinCoordinates - mMaxCoordinates; - - // Test if the AABB face normals are separating axis - decimal adx = std::abs(d.x); - if (std::abs(m.x) > e.x + adx) return false; - decimal ady = std::abs(d.y); - if (std::abs(m.y) > e.y + ady) return false; - decimal adz = std::abs(d.z); - if (std::abs(m.z) > e.z + adz) return false; - - // Add in an epsilon term to counteract arithmetic errors when segment is - // (near) parallel to a coordinate axis (see text for detail) - const decimal epsilon = 0.00001; - adx += epsilon; - ady += epsilon; - adz += epsilon; - - // Test if the cross products between face normals and ray direction are - // separating axis - if (std::abs(m.y * d.z - m.z * d.y) > e.y * adz + e.z * ady) return false; - if (std::abs(m.z * d.x - m.x * d.z) > e.x * adz + e.z * adx) return false; - if (std::abs(m.x * d.y - m.y * d.x) > e.x * ady + e.y * adx) return false; - - // No separating axis has been found - return true; -} diff --git a/src/collision/shapes/BoxShape.cpp b/src/collision/shapes/BoxShape.cpp index 60f5a2b29..942e9536c 100644 --- a/src/collision/shapes/BoxShape.cpp +++ b/src/collision/shapes/BoxShape.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -27,6 +27,7 @@ #include #include #include +#include #include #include #include @@ -37,46 +38,12 @@ using namespace reactphysics3d; /** * @param halfExtents The vector with the three half-extents of the box */ -BoxShape::BoxShape(const Vector3& halfExtents, MemoryAllocator& allocator) - : ConvexPolyhedronShape(CollisionShapeName::BOX, allocator), mHalfExtents(halfExtents), - mHalfEdgeStructure(allocator, 6, 8, 24) { +BoxShape::BoxShape(const Vector3& halfExtents, MemoryAllocator& allocator, PhysicsCommon& physicsCommon) + : ConvexPolyhedronShape(CollisionShapeName::BOX, allocator), mHalfExtents(halfExtents), mPhysicsCommon(physicsCommon) { assert(halfExtents.x > decimal(0.0)); assert(halfExtents.y > decimal(0.0)); assert(halfExtents.z > decimal(0.0)); - - // Vertices - mHalfEdgeStructure.addVertex(0); - mHalfEdgeStructure.addVertex(1); - mHalfEdgeStructure.addVertex(2); - mHalfEdgeStructure.addVertex(3); - mHalfEdgeStructure.addVertex(4); - mHalfEdgeStructure.addVertex(5); - mHalfEdgeStructure.addVertex(6); - mHalfEdgeStructure.addVertex(7); - - // Faces - List face0(allocator, 4); - face0.add(0); face0.add(1); face0.add(2); face0.add(3); - List face1(allocator, 4); - face1.add(1); face1.add(5); face1.add(6); face1.add(2); - List face2(allocator, 4); - face2.add(4); face2.add(7); face2.add(6); face2.add(5); - List face3(allocator, 4); - face3.add(4); face3.add(0); face3.add(3); face3.add(7); - List face4(allocator, 4); - face4.add(4); face4.add(5); face4.add(1); face4.add(0); - List face5(allocator, 4); - face5.add(2); face5.add(6); face5.add(7); face5.add(3); - - mHalfEdgeStructure.addFace(face0); - mHalfEdgeStructure.addFace(face1); - mHalfEdgeStructure.addFace(face2); - mHalfEdgeStructure.addFace(face3); - mHalfEdgeStructure.addFace(face4); - mHalfEdgeStructure.addFace(face5); - - mHalfEdgeStructure.init(); } // Return the local inertia tensor of the collision shape @@ -92,7 +59,7 @@ Vector3 BoxShape::getLocalInertiaTensor(decimal mass) const { } // Raycast method with feedback information -bool BoxShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const { +bool BoxShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& /*allocator*/) const { Vector3 rayDirection = ray.point2 - ray.point1; decimal tMin = DECIMAL_SMALLEST; @@ -155,3 +122,21 @@ bool BoxShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* colli return true; } + +// Return a given face of the polyhedron +const HalfEdgeStructure::Face& BoxShape::getFace(uint32 faceIndex) const { + assert(faceIndex < mPhysicsCommon.mBoxShapeHalfEdgeStructure.getNbFaces()); + return mPhysicsCommon.mBoxShapeHalfEdgeStructure.getFace(faceIndex); +} + +// Return a given vertex of the polyhedron +const HalfEdgeStructure::Vertex& BoxShape::getVertex(uint32 vertexIndex) const { + assert(vertexIndex < getNbVertices()); + return mPhysicsCommon.mBoxShapeHalfEdgeStructure.getVertex(vertexIndex); +} + +// Return a given half-edge of the polyhedron +const HalfEdgeStructure::Edge& BoxShape::getHalfEdge(uint32 edgeIndex) const { + assert(edgeIndex < getNbHalfEdges()); + return mPhysicsCommon.mBoxShapeHalfEdgeStructure.getHalfEdge(edgeIndex); +} diff --git a/src/collision/shapes/CapsuleShape.cpp b/src/collision/shapes/CapsuleShape.cpp index e7e59c62e..e8c249881 100644 --- a/src/collision/shapes/CapsuleShape.cpp +++ b/src/collision/shapes/CapsuleShape.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -67,7 +67,7 @@ Vector3 CapsuleShape::getLocalInertiaTensor(decimal mass) const { } // Return true if a point is inside the collision shape -bool CapsuleShape::testPointInside(const Vector3& localPoint, Collider* collider) const { +bool CapsuleShape::testPointInside(const Vector3& localPoint, Collider* /*collider*/) const { const decimal diffYCenterSphere1 = localPoint.y - mHalfHeight; const decimal diffYCenterSphere2 = localPoint.y + mHalfHeight; @@ -83,7 +83,7 @@ bool CapsuleShape::testPointInside(const Vector3& localPoint, Collider* collider } // Raycast method with feedback information -bool CapsuleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const { +bool CapsuleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& /*allocator*/) const { const Vector3 n = ray.point2 - ray.point1; diff --git a/src/collision/shapes/CollisionShape.cpp b/src/collision/shapes/CollisionShape.cpp index 25f9715e2..47c63ad57 100644 --- a/src/collision/shapes/CollisionShape.cpp +++ b/src/collision/shapes/CollisionShape.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -96,7 +96,8 @@ void CollisionShape::computeAABB(AABB& aabb, const Transform& transform) const { /// Notify all the assign colliders that the size of the collision shape has changed void CollisionShape::notifyColliderAboutChangedSize() { - for (uint i=0; i < mColliders.size(); i++) { + const uint32 nbColliders = static_cast(mColliders.size()); + for (uint32 i=0; i < nbColliders; i++) { mColliders[i]->setHasCollisionShapeChangedSize(true); } } diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index c395b0ec5..3c4294c38 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,8 +34,8 @@ using namespace reactphysics3d; // Constructor -ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, const Vector3& scaling) - : ConcaveShape(CollisionShapeName::TRIANGLE_MESH, allocator, scaling), mDynamicAABBTree(allocator) { +ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, HalfEdgeStructure& triangleHalfEdgeStructure, const Vector3& scaling) + : ConcaveShape(CollisionShapeName::TRIANGLE_MESH, allocator, scaling), mDynamicAABBTree(allocator), mTriangleHalfEdgeStructure(triangleHalfEdgeStructure) { mTriangleMesh = triangleMesh; mRaycastTestType = TriangleRaycastSide::FRONT; @@ -50,13 +50,13 @@ void ConcaveMeshShape::initBVHTree() { // TODO : Try to randomly add the triangles into the tree to obtain a better tree // For each sub-part of the mesh - for (uint subPart=0; subPartgetNbSubparts(); subPart++) { + for (uint32 subPart=0; subPartgetNbSubparts(); subPart++) { // Get the triangle vertex array of the current sub-part TriangleVertexArray* triangleVertexArray = mTriangleMesh->getSubpart(subPart); // For each triangle of the concave mesh - for (uint triangleIndex=0; triangleIndexgetNbTriangles(); triangleIndex++) { + for (uint32 triangleIndex=0; triangleIndexgetNbTriangles(); triangleIndex++) { Vector3 trianglePoints[3]; @@ -73,7 +73,7 @@ void ConcaveMeshShape::initBVHTree() { } // Return the three vertices coordinates (in the array outTriangleVertices) of a triangle -void ConcaveMeshShape::getTriangleVertices(uint subPart, uint triangleIndex, Vector3* outTriangleVertices) const { +void ConcaveMeshShape::getTriangleVertices(uint32 subPart, uint32 triangleIndex, Vector3* outTriangleVertices) const { // Get the triangle vertex array of the current sub-part TriangleVertexArray* triangleVertexArray = mTriangleMesh->getSubpart(subPart); @@ -94,7 +94,7 @@ void ConcaveMeshShape::getTriangleVertices(uint subPart, uint triangleIndex, Vec } // Return the three vertex normals (in the array outVerticesNormals) of a triangle -void ConcaveMeshShape::getTriangleVerticesNormals(uint subPart, uint triangleIndex, Vector3* outVerticesNormals) const { +void ConcaveMeshShape::getTriangleVerticesNormals(uint32 subPart, uint32 triangleIndex, Vector3* outVerticesNormals) const { // Get the triangle vertex array of the current sub-part TriangleVertexArray* triangleVertexArray = mTriangleMesh->getSubpart(subPart); @@ -104,7 +104,7 @@ void ConcaveMeshShape::getTriangleVerticesNormals(uint subPart, uint triangleInd } // Return the indices of the three vertices of a given triangle in the array -void ConcaveMeshShape::getTriangleVerticesIndices(uint subPart, uint triangleIndex, uint* outVerticesIndices) const { +void ConcaveMeshShape::getTriangleVerticesIndices(uint32 subPart, uint32 triangleIndex, uint32* outVerticesIndices) const { // Get the triangle vertex array of the current sub-part TriangleVertexArray* triangleVertexArray = mTriangleMesh->getSubpart(subPart); @@ -114,21 +114,21 @@ void ConcaveMeshShape::getTriangleVerticesIndices(uint subPart, uint triangleInd } // Return the number of sub parts contained in this mesh -uint ConcaveMeshShape::getNbSubparts() const +uint32 ConcaveMeshShape::getNbSubparts() const { return mTriangleMesh->getNbSubparts(); } // Return the number of triangles in a sub part of the mesh -uint ConcaveMeshShape::getNbTriangles(uint subPart) const +uint32 ConcaveMeshShape::getNbTriangles(uint32 subPart) const { assert(mTriangleMesh->getSubpart(subPart)); return mTriangleMesh->getSubpart(subPart)->getNbTriangles(); } // Compute all the triangles of the mesh that are overlapping with the AABB in parameter -void ConcaveMeshShape::computeOverlappingTriangles(const AABB& localAABB, List& triangleVertices, - List& triangleVerticesNormals, List& shapeIds, +void ConcaveMeshShape::computeOverlappingTriangles(const AABB& localAABB, Array& triangleVertices, + Array& triangleVerticesNormals, Array& shapeIds, MemoryAllocator& allocator) const { RP3D_PROFILE("ConcaveMeshShape::computeOverlappingTriangles()", mProfiler); @@ -139,17 +139,17 @@ void ConcaveMeshShape::computeOverlappingTriangles(const AABB& localAABB, List overlappingNodes(allocator); + Array overlappingNodes(allocator, 64); mDynamicAABBTree.reportAllShapesOverlappingWithAABB(aabb, overlappingNodes); - const uint nbOverlappingNodes = overlappingNodes.size(); + const uint32 nbOverlappingNodes = static_cast(overlappingNodes.size()); - // Add space in the list of triangles vertices/normals for the new triangles + // Add space in the array of triangles vertices/normals for the new triangles triangleVertices.addWithoutInit(nbOverlappingNodes * 3); triangleVerticesNormals.addWithoutInit(nbOverlappingNodes * 3); // For each overlapping node - for (uint i=0; i < nbOverlappingNodes; i++) { + for (uint32 i=0; i < nbOverlappingNodes; i++) { int nodeId = overlappingNodes[i]; @@ -201,13 +201,13 @@ bool ConcaveMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collide } // Compute the shape Id for a given triangle of the mesh -uint ConcaveMeshShape::computeTriangleShapeId(uint subPart, uint triangleIndex) const { +uint32 ConcaveMeshShape::computeTriangleShapeId(uint32 subPart, uint32 triangleIndex) const { RP3D_PROFILE("ConcaveMeshShape::computeTriangleShapeId()", mProfiler); - uint shapeId = 0; + uint32 shapeId = 0; - uint i=0; + uint32 i=0; while (i < subPart) { shapeId += mTriangleMesh->getSubpart(i)->getNbTriangles(); @@ -230,7 +230,7 @@ decimal ConcaveMeshRaycastCallback::raycastBroadPhaseShape(int32 nodeId, const R // Raycast all collision shapes that have been collected void ConcaveMeshRaycastCallback::raycastTriangles() { - List::Iterator it; + Array::Iterator it; decimal smallestHitFraction = mRay.maxFraction; for (it = mHitAABBNodes.begin(); it != mHitAABBNodes.end(); ++it) { @@ -247,7 +247,7 @@ void ConcaveMeshRaycastCallback::raycastTriangles() { mConcaveMeshShape.getTriangleVerticesNormals(data[0], data[1], verticesNormals); // Create a triangle collision shape - TriangleShape triangleShape(trianglePoints, verticesNormals, mConcaveMeshShape.computeTriangleShapeId(data[0], data[1]), mAllocator); + TriangleShape triangleShape(trianglePoints, verticesNormals, mConcaveMeshShape.computeTriangleShapeId(data[0], data[1]), mConcaveMeshShape.mTriangleHalfEdgeStructure, mAllocator); triangleShape.setRaycastTestType(mConcaveMeshShape.getRaycastTestType()); #ifdef IS_RP3D_PROFILING_ENABLED @@ -290,7 +290,7 @@ std::string ConcaveMeshShape::to_string() const { ss << "nbSubparts=" << mTriangleMesh->getNbSubparts() << std::endl; // Vertices array - for (uint subPart=0; subPartgetNbSubparts(); subPart++) { + for (uint32 subPart=0; subPartgetNbSubparts(); subPart++) { // Get the triangle vertex array of the current sub-part TriangleVertexArray* triangleVertexArray = mTriangleMesh->getSubpart(subPart); @@ -302,7 +302,7 @@ std::string ConcaveMeshShape::to_string() const { ss << "vertices=["; // For each triangle of the concave mesh - for (uint v=0; vgetNbVertices(); v++) { + for (uint32 v=0; vgetNbVertices(); v++) { Vector3 vertex; triangleVertexArray->getVertex(v, &vertex); @@ -315,7 +315,7 @@ std::string ConcaveMeshShape::to_string() const { ss << "normals=["; // For each triangle of the concave mesh - for (uint v=0; vgetNbVertices(); v++) { + for (uint32 v=0; vgetNbVertices(); v++) { Vector3 normal; triangleVertexArray->getNormal(v, &normal); @@ -329,9 +329,9 @@ std::string ConcaveMeshShape::to_string() const { // For each triangle of the concave mesh // For each triangle of the concave mesh - for (uint triangleIndex=0; triangleIndexgetNbTriangles(); triangleIndex++) { + for (uint32 triangleIndex=0; triangleIndexgetNbTriangles(); triangleIndex++) { - uint indices[3]; + uint32 indices[3]; triangleVertexArray->getTriangleVerticesIndices(triangleIndex, indices); diff --git a/src/collision/shapes/ConcaveShape.cpp b/src/collision/shapes/ConcaveShape.cpp index a24cfb78e..1c321c406 100644 --- a/src/collision/shapes/ConcaveShape.cpp +++ b/src/collision/shapes/ConcaveShape.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/collision/shapes/ConvexMeshShape.cpp b/src/collision/shapes/ConvexMeshShape.cpp index b90f11b62..d57f01351 100644 --- a/src/collision/shapes/ConvexMeshShape.cpp +++ b/src/collision/shapes/ConvexMeshShape.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -49,7 +49,7 @@ ConvexMeshShape::ConvexMeshShape(PolyhedronMesh* polyhedronMesh, MemoryAllocator // Return a local support point in a given direction without the object margin. /// If the edges information is not used for collision detection, this method will go through -/// the whole vertices list and pick up the vertex with the largest dot product in the support +/// the whole vertices array and pick up the vertex with the largest dot product in the support /// direction. This is an O(n) process with "n" being the number of vertices in the mesh. /// However, if the edges information is used, we can cache the previous support vertex and use /// it as a start in a hill-climbing (local search) process to find the new support vertex which @@ -58,10 +58,10 @@ ConvexMeshShape::ConvexMeshShape(PolyhedronMesh* polyhedronMesh, MemoryAllocator Vector3 ConvexMeshShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const { decimal maxDotProduct = DECIMAL_SMALLEST; - uint indexMaxDotProduct = 0; + uint32 indexMaxDotProduct = 0; // For each vertex of the mesh - for (uint i=0; igetNbVertices(); i++) { + for (uint32 i=0; igetNbVertices(); i++) { // Compute the dot product of the current vertex decimal dotProduct = direction.dot(mPolyhedronMesh->getVertex(i)); @@ -86,7 +86,7 @@ void ConvexMeshShape::recalculateBounds() { mMaxBounds = mPolyhedronMesh->getVertex(0); // For each vertex of the mesh - for (uint i=1; igetNbVertices(); i++) { + for (uint32 i=1; igetNbVertices(); i++) { if (mPolyhedronMesh->getVertex(i).x > mMaxBounds.x) mMaxBounds.x = mPolyhedronMesh->getVertex(i).x; if (mPolyhedronMesh->getVertex(i).x < mMinBounds.x) mMinBounds.x = mPolyhedronMesh->getVertex(i).x; @@ -106,7 +106,7 @@ void ConvexMeshShape::recalculateBounds() { // Raycast method with feedback information /// This method implements the technique in the book "Real-time Collision Detection" by /// Christer Ericson. -bool ConvexMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const { +bool ConvexMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& /*allocator*/) const { // Ray direction Vector3 direction = ray.point2 - ray.point1; @@ -119,7 +119,7 @@ bool ConvexMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider const HalfEdgeStructure& halfEdgeStructure = mPolyhedronMesh->getHalfEdgeStructure(); // For each face of the convex mesh - for (uint f=0; f < mPolyhedronMesh->getNbFaces(); f++) { + for (uint32 f=0; f < mPolyhedronMesh->getNbFaces(); f++) { const HalfEdgeStructure::Face& face = halfEdgeStructure.getFace(f); const Vector3 faceNormal = mPolyhedronMesh->getFaceNormal(f); @@ -184,12 +184,12 @@ bool ConvexMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider } // Return true if a point is inside the collision shape -bool ConvexMeshShape::testPointInside(const Vector3& localPoint, Collider* collider) const { +bool ConvexMeshShape::testPointInside(const Vector3& localPoint, Collider* /*collider*/) const { const HalfEdgeStructure& halfEdgeStructure = mPolyhedronMesh->getHalfEdgeStructure(); // For each face plane of the convex mesh - for (uint f=0; f < mPolyhedronMesh->getNbFaces(); f++) { + for (uint32 f=0; f < mPolyhedronMesh->getNbFaces(); f++) { const HalfEdgeStructure::Face& face = halfEdgeStructure.getFace(f); const Vector3 faceNormal = mPolyhedronMesh->getFaceNormal(f); @@ -213,7 +213,7 @@ std::string ConvexMeshShape::to_string() const { ss << "vertices=["; - for (uint v=0; v < mPolyhedronMesh->getNbVertices(); v++) { + for (uint32 v=0; v < mPolyhedronMesh->getNbVertices(); v++) { Vector3 vertex = mPolyhedronMesh->getVertex(v); ss << vertex.to_string(); @@ -225,13 +225,13 @@ std::string ConvexMeshShape::to_string() const { ss << "], faces=["; HalfEdgeStructure halfEdgeStruct = mPolyhedronMesh->getHalfEdgeStructure(); - for (uint f=0; f < mPolyhedronMesh->getNbFaces(); f++) { + for (uint32 f=0; f < mPolyhedronMesh->getNbFaces(); f++) { const HalfEdgeStructure::Face& face = halfEdgeStruct.getFace(f); ss << "["; - for (uint v=0; v < face.faceVertices.size(); v++) { + for (uint32 v=0; v < face.faceVertices.size(); v++) { ss << face.faceVertices[v]; if (v != face.faceVertices.size() - 1) { diff --git a/src/collision/shapes/ConvexPolyhedronShape.cpp b/src/collision/shapes/ConvexPolyhedronShape.cpp index bb907a2b7..1aca3a56c 100644 --- a/src/collision/shapes/ConvexPolyhedronShape.cpp +++ b/src/collision/shapes/ConvexPolyhedronShape.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -35,25 +35,3 @@ ConvexPolyhedronShape::ConvexPolyhedronShape(CollisionShapeName name, MemoryAllo : ConvexShape(name, CollisionShapeType::CONVEX_POLYHEDRON, allocator) { } - -// Find and return the index of the polyhedron face with the most anti-parallel face -// normal given a direction vector. This is used to find the incident face on -// a polyhedron of a given reference face of another polyhedron -uint ConvexPolyhedronShape::findMostAntiParallelFace(const Vector3& direction) const { - - decimal minDotProduct = DECIMAL_LARGEST; - uint mostAntiParallelFace = 0; - - // For each face of the polyhedron - for (uint i=0; i < getNbFaces(); i++) { - - // Get the face normal - decimal dotProduct = getFaceNormal(i).dot(direction); - if (dotProduct < minDotProduct) { - minDotProduct = dotProduct; - mostAntiParallelFace = i; - } - } - - return mostAntiParallelFace; -} diff --git a/src/collision/shapes/ConvexShape.cpp b/src/collision/shapes/ConvexShape.cpp index a8f2c9736..e59c7632a 100644 --- a/src/collision/shapes/ConvexShape.cpp +++ b/src/collision/shapes/ConvexShape.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp index 7c2e99cd7..1cf5d4e32 100644 --- a/src/collision/shapes/HeightFieldShape.cpp +++ b/src/collision/shapes/HeightFieldShape.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -27,6 +27,7 @@ #include #include #include +#include using namespace reactphysics3d; @@ -42,12 +43,13 @@ using namespace reactphysics3d; * @param integerHeightScale Scaling factor used to scale the height values (only when height values type is integer) */ HeightFieldShape::HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight, - const void* heightFieldData, HeightDataType dataType, MemoryAllocator& allocator, int upAxis, + const void* heightFieldData, HeightDataType dataType, MemoryAllocator& allocator, + HalfEdgeStructure& triangleHalfEdgeStructure, int upAxis, decimal integerHeightScale, const Vector3& scaling) : ConcaveShape(CollisionShapeName::HEIGHTFIELD, allocator, scaling), mNbColumns(nbGridColumns), mNbRows(nbGridRows), - mWidth(nbGridColumns - 1), mLength(nbGridRows - 1), mMinHeight(minHeight), + mWidth(static_cast(nbGridColumns - 1)), mLength(static_cast(nbGridRows - 1)), mMinHeight(minHeight), mMaxHeight(maxHeight), mUpAxis(upAxis), mIntegerHeightScale(integerHeightScale), - mHeightDataType(dataType) { + mHeightDataType(dataType), mTriangleHalfEdgeStructure(triangleHalfEdgeStructure) { assert(nbGridColumns >= 2); assert(nbGridRows >= 2); @@ -91,9 +93,9 @@ void HeightFieldShape::getLocalBounds(Vector3& min, Vector3& max) const { // of the body when need to test and see against which triangles of the height-field we need // to test for collision. We compute the sub-grid points that are inside the other body's AABB // and then for each rectangle in the sub-grid we generate two triangles that we use to test collision. -void HeightFieldShape::computeOverlappingTriangles(const AABB& localAABB, List& triangleVertices, - List& triangleVerticesNormals, List& shapeIds, - MemoryAllocator& allocator) const { +void HeightFieldShape::computeOverlappingTriangles(const AABB& localAABB, Array& triangleVertices, + Array& triangleVerticesNormals, Array& shapeIds, + MemoryAllocator& /*allocator*/) const { RP3D_PROFILE("HeightFieldShape::computeOverlappingTriangles()", mProfiler); @@ -209,16 +211,23 @@ void HeightFieldShape::computeMinMaxGridCoordinates(int* minCoords, int* maxCoor minPoint += translateVec; maxPoint += translateVec; + assert(minPoint.x >= 0); + assert(minPoint.y >= 0); + assert(minPoint.z >= 0); + assert(maxPoint.x >= 0); + assert(maxPoint.y >= 0); + assert(maxPoint.z >= 0); + // Convert the floating min/max coords of the AABB into closest integer // grid values (note that we use the closest grid coordinate that is out // of the AABB) - minCoords[0] = computeIntegerGridValue(minPoint.x) - 1; - minCoords[1] = computeIntegerGridValue(minPoint.y) - 1; - minCoords[2] = computeIntegerGridValue(minPoint.z) - 1; + minCoords[0] = static_cast(minPoint.x + 0.5) - 1; + minCoords[1] = static_cast(minPoint.y + 0.5) - 1; + minCoords[2] = static_cast(minPoint.z + 0.5) - 1; - maxCoords[0] = computeIntegerGridValue(maxPoint.x) + 1; - maxCoords[1] = computeIntegerGridValue(maxPoint.y) + 1; - maxCoords[2] = computeIntegerGridValue(maxPoint.z) + 1; + maxCoords[0] = static_cast(maxPoint.x + 0.5) + 1; + maxCoords[1] = static_cast(maxPoint.y + 0.5) + 1; + maxCoords[2] = static_cast(maxPoint.z + 0.5) + 1; } // Raycast method with feedback information @@ -226,67 +235,186 @@ void HeightFieldShape::computeMinMaxGridCoordinates(int* minCoords, int* maxCoor /// the ray hits many triangles. bool HeightFieldShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const { - // TODO : Implement raycasting without using an AABB for the ray - // but using a dynamic AABB tree or octree instead - RP3D_PROFILE("HeightFieldShape::raycast()", mProfiler); - // Compute the AABB for the ray - const Vector3 rayEnd = ray.point1 + ray.maxFraction * (ray.point2 - ray.point1); - const AABB rayAABB(Vector3::min(ray.point1, rayEnd), Vector3::max(ray.point1, rayEnd)); + // Apply the concave mesh inverse scale factor because the mesh is stored without scaling + // inside the dynamic AABB tree + const Vector3 inverseScale(decimal(1.0) / mScale.x, decimal(1.0) / mScale.y, decimal(1.0) / mScale.z); + Ray scaledRay(ray.point1 * inverseScale, ray.point2 * inverseScale, ray.maxFraction); + + bool isHit = false; - // Compute the triangles overlapping with the ray AABB - List triangleVertices(allocator); - List triangleVerticesNormals(allocator); - List shapeIds(allocator); - computeOverlappingTriangles(rayAABB, triangleVertices, triangleVerticesNormals, shapeIds, allocator); + // Compute the grid coordinates where the ray is entering the AABB of the height field + int i, j; + Vector3 outHitGridPoint; + if (computeEnteringRayGridCoordinates(scaledRay, i, j, outHitGridPoint)) { + + const int nbCellsI = mNbColumns - 1; + const int nbCellsJ = mNbRows - 1; + + const Vector3 aabbSize = mAABB.getExtent(); + + const Vector3 rayDirection = scaledRay.point2 - scaledRay.point1; + + int stepI, stepJ; + decimal tMaxI, tMaxJ, nextI, nextJ, tDeltaI, tDeltaJ, sizeI, sizeJ; + + switch(mUpAxis) { + case 0 : stepI = rayDirection.y > 0 ? 1 : (rayDirection.y < 0 ? -1 : 0); + stepJ = rayDirection.z > 0 ? 1 : (rayDirection.z < 0 ? -1 : 0); + nextI = static_cast(stepI >= 0 ? i + 1 : i); + nextJ = static_cast(stepJ >= 0 ? j + 1 : j); + sizeI = aabbSize.y / nbCellsI; + sizeJ = aabbSize.z / nbCellsJ; + tMaxI = ((nextI * sizeI) - outHitGridPoint.y) / rayDirection.y; + tMaxJ = ((nextJ * sizeJ) - outHitGridPoint.z) / rayDirection.z; + tDeltaI = sizeI / std::abs(rayDirection.y); + tDeltaJ = sizeJ / std::abs(rayDirection.z); + break; + case 1 : stepI = rayDirection.x > 0 ? 1 : (rayDirection.x < 0 ? -1 : 0); + stepJ = rayDirection.z > 0 ? 1 : (rayDirection.z < 0 ? -1 : 0); + nextI = static_cast(stepI >= 0 ? i + 1 : i); + nextJ = static_cast(stepJ >= 0 ? j + 1 : j); + sizeI = aabbSize.x / nbCellsI; + sizeJ = aabbSize.z / nbCellsJ; + tMaxI = ((nextI * sizeI) - outHitGridPoint.x) / rayDirection.x; + tMaxJ = ((nextJ * sizeJ) - outHitGridPoint.z) / rayDirection.z; + tDeltaI = sizeI / std::abs(rayDirection.x); + tDeltaJ = sizeJ / std::abs(rayDirection.z); + break; + case 2 : stepI = rayDirection.x > 0 ? 1 : (rayDirection.x < 0 ? -1 : 0); + stepJ = rayDirection.y > 0 ? 1 : (rayDirection.y < 0 ? -1 : 0); + nextI = static_cast(stepI >= 0 ? i + 1 : i); + nextJ = static_cast(stepJ >= 0 ? j + 1 : j); + sizeI = aabbSize.x / nbCellsI; + sizeJ = aabbSize.y / nbCellsJ; + tMaxI = ((nextI * sizeI) - outHitGridPoint.x) / rayDirection.x; + tMaxJ = ((nextJ * sizeJ) - outHitGridPoint.y) / rayDirection.y; + tDeltaI = sizeI / std::abs(rayDirection.x); + tDeltaJ = sizeJ / std::abs(rayDirection.y); + break; + } - assert(triangleVertices.size() == triangleVerticesNormals.size()); - assert(shapeIds.size() == triangleVertices.size() / 3); - assert(triangleVertices.size() % 3 == 0); - assert(triangleVerticesNormals.size() % 3 == 0); + decimal smallestHitFraction = ray.maxFraction; - bool isHit = false; - decimal smallestHitFraction = ray.maxFraction; + while (i >= 0 && i < nbCellsI && j >= 0 && j < nbCellsJ) { - // For each overlapping triangle - for (uint i=0; i < shapeIds.size(); i++) - { - // Create a triangle collision shape - TriangleShape triangleShape(&(triangleVertices[i * 3]), &(triangleVerticesNormals[i * 3]), shapeIds[i], allocator); - triangleShape.setRaycastTestType(getRaycastTestType()); + // Compute the four point of the current quad + const Vector3 p1 = getVertexAt(i, j); + const Vector3 p2 = getVertexAt(i, j + 1); + const Vector3 p3 = getVertexAt(i + 1, j); + const Vector3 p4 = getVertexAt(i + 1, j + 1); - #ifdef IS_RP3D_PROFILING_ENABLED + // Raycast against the first triangle of the cell + uint32 shapeId = computeTriangleShapeId(i, j, 0); + isHit |= raycastTriangle(ray, p1, p2, p3, shapeId, collider, raycastInfo, smallestHitFraction, allocator); + // Raycast against the second triangle of the cell + shapeId = computeTriangleShapeId(i, j, 1); + isHit |= raycastTriangle(ray, p3, p2, p4, shapeId, collider, raycastInfo, smallestHitFraction, allocator); - // Set the profiler to the triangle shape - triangleShape.setProfiler(mProfiler); + if (stepI == 0 && stepJ == 0) break; - #endif + if (tMaxI < tMaxJ) { + tMaxI += tDeltaI; + i += stepI; + } + else { + tMaxJ += tDeltaJ; + j += stepJ; + } + } + } - // Ray casting test against the collision shape - RaycastInfo triangleRaycastInfo; - bool isTriangleHit = triangleShape.raycast(ray, triangleRaycastInfo, collider, allocator); + return isHit; +} - // If the ray hit the collision shape - if (isTriangleHit && triangleRaycastInfo.hitFraction <= smallestHitFraction) { +// Raycast a single triangle of the height-field +bool HeightFieldShape::raycastTriangle(const Ray& ray, const Vector3& p1, const Vector3& p2, const Vector3& p3, uint32 shapeId, + Collider* collider, RaycastInfo& raycastInfo, decimal& smallestHitFraction, MemoryAllocator& allocator) const { - assert(triangleRaycastInfo.hitFraction >= decimal(0.0)); + // Generate the first triangle for the current grid rectangle + Vector3 triangleVertices[3] = {p1, p2, p3}; - raycastInfo.body = triangleRaycastInfo.body; - raycastInfo.collider = triangleRaycastInfo.collider; - raycastInfo.hitFraction = triangleRaycastInfo.hitFraction; - raycastInfo.worldPoint = triangleRaycastInfo.worldPoint; - raycastInfo.worldNormal = triangleRaycastInfo.worldNormal; - raycastInfo.meshSubpart = -1; - raycastInfo.triangleIndex = -1; + // Create a triangle collision shape + TriangleShape triangleShape(triangleVertices, shapeId, mTriangleHalfEdgeStructure, allocator); + triangleShape.setRaycastTestType(getRaycastTestType()); - smallestHitFraction = triangleRaycastInfo.hitFraction; - isHit = true; - } +#ifdef IS_RP3D_PROFILING_ENABLED + + + // Set the profiler to the triangle shape + triangleShape.setProfiler(mProfiler); + +#endif + + // Ray casting test against the collision shape + RaycastInfo triangleRaycastInfo; + bool isTriangleHit = triangleShape.raycast(ray, triangleRaycastInfo, collider, allocator); + + // If the ray hit the collision shape + if (isTriangleHit && triangleRaycastInfo.hitFraction <= smallestHitFraction) { + + assert(triangleRaycastInfo.hitFraction >= decimal(0.0)); + + raycastInfo.body = triangleRaycastInfo.body; + raycastInfo.collider = triangleRaycastInfo.collider; + raycastInfo.hitFraction = triangleRaycastInfo.hitFraction; + raycastInfo.worldPoint = triangleRaycastInfo.worldPoint; + raycastInfo.worldNormal = triangleRaycastInfo.worldNormal; + raycastInfo.meshSubpart = -1; + raycastInfo.triangleIndex = -1; + + smallestHitFraction = triangleRaycastInfo.hitFraction; + + return true; } - return isHit; + return false; +} + +// Compute the first grid cell of the heightfield intersected by a ray. +/// This method returns true if the ray hit the AABB of the height field and false otherwise +bool HeightFieldShape::computeEnteringRayGridCoordinates(const Ray& ray, int& i, int& j, Vector3& outHitGridPoint) const { + + decimal stepI, stepJ; + const Vector3 aabbSize = mAABB.getExtent(); + + assert(mNbColumns > 0); + assert(mNbRows > 0); + + const int nbCellsI = mNbColumns - 1; + const int nbCellsJ = mNbRows - 1; + + if (mAABB.raycast(ray, outHitGridPoint)) { + + // Map the hit point into the grid range [0, mNbColumns - 1], [0, mNbRows - 1] + outHitGridPoint -= mAABB.getMin(); + + switch(mUpAxis) { + case 0 : stepI = aabbSize.y / nbCellsI; + stepJ = aabbSize.z / nbCellsJ; + i = clamp(int(outHitGridPoint.y / stepI), 0, nbCellsI - 1); + j = clamp(int(outHitGridPoint.z / stepJ), 0, nbCellsJ - 1); + break; + case 1 : stepI = aabbSize.x / nbCellsI; + stepJ = aabbSize.z / nbCellsJ; + i = clamp(int(outHitGridPoint.x / stepI), 0, nbCellsI - 1); + j = clamp(int(outHitGridPoint.z / stepJ), 0, nbCellsJ - 1); + break; + case 2 : stepI = aabbSize.x / nbCellsI; + stepJ = aabbSize.y / nbCellsJ; + i = clamp(int(outHitGridPoint.x / stepI), 0, nbCellsI - 1); + j = clamp(int(outHitGridPoint.y / stepJ), 0, nbCellsJ - 1); + break; + } + + assert(i >= 0 && i < nbCellsI); + assert(j >= 0 && j < nbCellsJ); + return true; + } + + return false; } // Return the vertex (local-coordinates) of the height field at a given (x,y) position diff --git a/src/collision/shapes/SphereShape.cpp b/src/collision/shapes/SphereShape.cpp index 3c789cbf3..86d0c99ad 100644 --- a/src/collision/shapes/SphereShape.cpp +++ b/src/collision/shapes/SphereShape.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -60,7 +60,7 @@ void SphereShape::computeAABB(AABB& aabb, const Transform& transform) const { } // Raycast method with feedback information -bool SphereShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const { +bool SphereShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& /*allocator*/) const { const Vector3 m = ray.point1; decimal c = m.dot(m) - mMargin * mMargin; diff --git a/src/collision/shapes/TriangleShape.cpp b/src/collision/shapes/TriangleShape.cpp index 2d1b13805..eff1b0add 100644 --- a/src/collision/shapes/TriangleShape.cpp +++ b/src/collision/shapes/TriangleShape.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -29,6 +29,7 @@ #include #include #include +#include #include #include @@ -36,18 +37,8 @@ using namespace reactphysics3d; // Constructor -/** - * Do not use this constructor. It is supposed to be used internally only. - * Use a ConcaveMeshShape instead. - * @param point1 First point of the triangle - * @param point2 Second point of the triangle - * @param point3 Third point of the triangle - * @param verticesNormals The three vertices normals for smooth mesh collision - * @param margin The collision margin (in meters) around the collision shape - */ -TriangleShape::TriangleShape(const Vector3* vertices, const Vector3* verticesNormals, uint shapeId, - MemoryAllocator& allocator) - : ConvexPolyhedronShape(CollisionShapeName::TRIANGLE, allocator), mFaces{HalfEdgeStructure::Face(allocator), HalfEdgeStructure::Face(allocator)} { +TriangleShape::TriangleShape(const Vector3* vertices, const Vector3* verticesNormals, uint32 shapeId, HalfEdgeStructure& triangleHalfEdgeStructure, MemoryAllocator& allocator) + : ConvexPolyhedronShape(CollisionShapeName::TRIANGLE, allocator), mTriangleHalfEdgeStructure(triangleHalfEdgeStructure) { mPoints[0] = vertices[0]; mPoints[1] = vertices[1]; @@ -61,96 +52,31 @@ TriangleShape::TriangleShape(const Vector3* vertices, const Vector3* verticesNor mVerticesNormals[1] = verticesNormals[1]; mVerticesNormals[2] = verticesNormals[2]; - // Faces - mFaces[0].faceVertices.reserve(3); - mFaces[0].faceVertices.add(0); - mFaces[0].faceVertices.add(1); - mFaces[0].faceVertices.add(2); - mFaces[0].edgeIndex = 0; - - mFaces[1].faceVertices.reserve(3); - mFaces[1].faceVertices.add(0); - mFaces[1].faceVertices.add(2); - mFaces[1].faceVertices.add(1); - mFaces[1].edgeIndex = 1; - - // Edges - for (uint i=0; i<6; i++) { - switch(i) { - case 0: - mEdges[0].vertexIndex = 0; - mEdges[0].twinEdgeIndex = 1; - mEdges[0].faceIndex = 0; - mEdges[0].nextEdgeIndex = 2; - break; - case 1: - mEdges[1].vertexIndex = 1; - mEdges[1].twinEdgeIndex = 0; - mEdges[1].faceIndex = 1; - mEdges[1].nextEdgeIndex = 5; - break; - case 2: - mEdges[2].vertexIndex = 1; - mEdges[2].twinEdgeIndex = 3; - mEdges[2].faceIndex = 0; - mEdges[2].nextEdgeIndex = 4; - break; - case 3: - mEdges[3].vertexIndex = 2; - mEdges[3].twinEdgeIndex = 2; - mEdges[3].faceIndex = 1; - mEdges[3].nextEdgeIndex = 1; - break; - case 4: - mEdges[4].vertexIndex = 2; - mEdges[4].twinEdgeIndex = 5; - mEdges[4].faceIndex = 0; - mEdges[4].nextEdgeIndex = 0; - break; - case 5: - mEdges[5].vertexIndex = 0; - mEdges[5].twinEdgeIndex = 4; - mEdges[5].faceIndex = 1; - mEdges[5].nextEdgeIndex = 3; - break; - } - } - - mRaycastTestType = TriangleRaycastSide::FRONT; mId = shapeId; } -// This method compute the smooth mesh contact with a triangle in case one of the two collision -// shapes is a triangle. The idea in this case is to use a smooth vertex normal of the triangle mesh -// at the contact point instead of the triangle normal to avoid the internal edge collision issue. -// This method will return the new smooth world contact -// normal of the triangle and the the local contact point on the other shape. -void TriangleShape::computeSmoothTriangleMeshContact(const CollisionShape* shape1, const CollisionShape* shape2, - Vector3& localContactPointShape1, Vector3& localContactPointShape2, - const Transform& shape1ToWorld, const Transform& shape2ToWorld, - decimal penetrationDepth, Vector3& outSmoothVertexNormal) { - - assert(shape1->getName() != CollisionShapeName::TRIANGLE || shape2->getName() != CollisionShapeName::TRIANGLE); - - // If one the shape is a triangle - bool isShape1Triangle = shape1->getName() == CollisionShapeName::TRIANGLE; - if (isShape1Triangle || shape2->getName() == CollisionShapeName::TRIANGLE) { - - const TriangleShape* triangleShape = isShape1Triangle ? static_cast(shape1): - static_cast(shape2); - - // Compute the smooth triangle mesh contact normal and recompute the local contact point on the other shape - triangleShape->computeSmoothMeshContact(isShape1Triangle ? localContactPointShape1 : localContactPointShape2, - isShape1Triangle ? shape1ToWorld : shape2ToWorld, - isShape1Triangle ? shape2ToWorld.getInverse() : shape1ToWorld.getInverse(), - penetrationDepth, isShape1Triangle, - isShape1Triangle ? localContactPointShape2 : localContactPointShape1, - outSmoothVertexNormal); - } -} +// Constructor for raycasting +TriangleShape::TriangleShape(const Vector3* vertices, uint32 shapeId, HalfEdgeStructure& triangleHalfEdgeStructure, MemoryAllocator& allocator) + : ConvexPolyhedronShape(CollisionShapeName::TRIANGLE, allocator), mTriangleHalfEdgeStructure(triangleHalfEdgeStructure) { + mPoints[0] = vertices[0]; + mPoints[1] = vertices[1]; + mPoints[2] = vertices[2]; + + // The normal is not used when creating the triangle shape with this constructor (for raycasting for instance) + mNormal = Vector3(0, 0, 0); + + // Interpolated normals are not used in this constructor (for raycasting for instance) + mVerticesNormals[0] = mNormal; + mVerticesNormals[1] = mNormal; + mVerticesNormals[2] = mNormal; + + mRaycastTestType = TriangleRaycastSide::FRONT; + + mId = shapeId; +} // This method implements the technique described in Game Physics Pearl book // by Gino van der Bergen and Dirk Gregorius to get smooth triangle mesh collision. The idea is @@ -186,42 +112,6 @@ void TriangleShape::computeSmoothMeshContact(Vector3 localContactPointTriangle, outNewLocalContactPointOtherShape.setAllValues(otherShapePoint.x, otherShapePoint.y, otherShapePoint.z); } -// Get a smooth contact normal for collision for a triangle of the mesh -/// This is used to avoid the internal edges issue that occurs when a shape is colliding with -/// several triangles of a concave mesh. If the shape collide with an edge of the triangle for instance, -/// the computed contact normal from this triangle edge is not necessarily in the direction of the surface -/// normal of the mesh at this point. The idea to solve this problem is to use the real (smooth) surface -/// normal of the mesh at this point as the contact normal. This technique is described in the chapter 5 -/// of the Game Physics Pearl book by Gino van der Bergen and Dirk Gregorius. The vertices normals of the -/// mesh are either provided by the user or precomputed if the user did not provide them. Note that we only -/// use the interpolated normal if the contact point is on an edge of the triangle. If the contact is in the -/// middle of the triangle, we return the true triangle normal. -Vector3 TriangleShape::computeSmoothLocalContactNormalForTriangle(const Vector3& localContactPoint) const { - - // Compute the barycentric coordinates of the point in the triangle - decimal u, v, w; - computeBarycentricCoordinatesInTriangle(mPoints[0], mPoints[1], mPoints[2], localContactPoint, u, v, w); - - // If the contact is in the middle of the triangle face (not on the edges) - if (u > MACHINE_EPSILON && v > MACHINE_EPSILON && w > MACHINE_EPSILON) { - - // We return the true triangle face normal (not the interpolated one) - return mNormal; - } - - // We compute the contact normal as the barycentric interpolation of the three vertices normals - Vector3 interpolatedNormal = u * mVerticesNormals[0] + v * mVerticesNormals[1] + w * mVerticesNormals[2]; - - // If the interpolated normal is degenerated - if (interpolatedNormal.lengthSquare() < MACHINE_EPSILON) { - - // Return the original normal - return mNormal; - } - - return interpolatedNormal.getUnit(); -} - // Update the AABB of a body using its collision shape /** * @param[out] aabb The axis-aligned bounding box (AABB) of the collision shape @@ -246,7 +136,7 @@ void TriangleShape::computeAABB(AABB& aabb, const Transform& transform) const { // Raycast method with feedback information /// This method use the line vs triangle raycasting technique described in /// Real-time Collision Detection by Christer Ericson. -bool TriangleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const { +bool TriangleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& /*allocator*/) const { RP3D_PROFILE("TriangleShape::raycast()", mProfiler); @@ -304,15 +194,16 @@ bool TriangleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* if (hitFraction < decimal(0.0) || hitFraction > ray.maxFraction) return false; - Vector3 localHitNormal = (mPoints[1] - mPoints[0]).cross(mPoints[2] - mPoints[0]); - if (localHitNormal.dot(pq) > decimal(0.0)) localHitNormal = -localHitNormal; + // Compute the triangle face normal + Vector3 normal = (mPoints[1] - mPoints[0]).cross(mPoints[2] - mPoints[0]); + normal.normalize(); + normal = normal.dot(pq) > decimal(0.0) ? -normal : normal; raycastInfo.body = collider->getBody(); raycastInfo.collider = collider; raycastInfo.worldPoint = localHitPoint; raycastInfo.hitFraction = hitFraction; - raycastInfo.worldNormal = localHitNormal; + raycastInfo.worldNormal = normal; return true; } - diff --git a/src/components/BallAndSocketJointComponents.cpp b/src/components/BallAndSocketJointComponents.cpp index 2a97d5be6..6f843e786 100644 --- a/src/components/BallAndSocketJointComponents.cpp +++ b/src/components/BallAndSocketJointComponents.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -37,7 +37,8 @@ BallAndSocketJointComponents::BallAndSocketJointComponents(MemoryAllocator& allo :Components(allocator, sizeof(Entity) + sizeof(BallAndSocketJoint*) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Matrix3x3) + sizeof(Matrix3x3) + sizeof(Vector3) + - sizeof(Matrix3x3) + sizeof(Vector3)) { + sizeof(Matrix3x3) + sizeof(Vector3) + sizeof(bool) + sizeof(decimal) + + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(bool) + sizeof(Vector3)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -67,6 +68,13 @@ void BallAndSocketJointComponents::allocate(uint32 nbComponentsToAllocate) { Vector3* newBiasVector = reinterpret_cast(newI2 + nbComponentsToAllocate); Matrix3x3* newInverseMassMatrix = reinterpret_cast(newBiasVector + nbComponentsToAllocate); Vector3* newImpulse = reinterpret_cast(newInverseMassMatrix + nbComponentsToAllocate); + bool* newIsConeLimitEnabled = reinterpret_cast(newImpulse + nbComponentsToAllocate); + decimal* newConeLimitImpulse = reinterpret_cast(newIsConeLimitEnabled + nbComponentsToAllocate); + decimal* newConeLimitHalfAngle = reinterpret_cast(newConeLimitImpulse + nbComponentsToAllocate); + decimal* newInverseMassMatrixConeLimit = reinterpret_cast(newConeLimitHalfAngle + nbComponentsToAllocate); + decimal* newBConeLimit = reinterpret_cast(newInverseMassMatrixConeLimit + nbComponentsToAllocate); + bool* newIsConeLimitViolated = reinterpret_cast(newBConeLimit + nbComponentsToAllocate); + Vector3* newConeLimitACrossB = reinterpret_cast(newIsConeLimitViolated + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -83,6 +91,13 @@ void BallAndSocketJointComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newBiasVector, mBiasVector, mNbComponents * sizeof(Vector3)); memcpy(newInverseMassMatrix, mInverseMassMatrix, mNbComponents * sizeof(Matrix3x3)); memcpy(newImpulse, mImpulse, mNbComponents * sizeof(Vector3)); + memcpy(newIsConeLimitEnabled, mIsConeLimitEnabled, mNbComponents * sizeof(bool)); + memcpy(newConeLimitImpulse, mConeLimitImpulse, mNbComponents * sizeof(decimal)); + memcpy(newConeLimitHalfAngle, mConeLimitHalfAngle, mNbComponents * sizeof(decimal)); + memcpy(newInverseMassMatrixConeLimit, mInverseMassMatrixConeLimit, mNbComponents * sizeof(decimal)); + memcpy(newBConeLimit, mBConeLimit, mNbComponents * sizeof(decimal)); + memcpy(newIsConeLimitViolated, mIsConeLimitViolated, mNbComponents * sizeof(bool)); + memcpy(newConeLimitACrossB, mConeLimitACrossB, mNbComponents * sizeof(Vector3)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -101,6 +116,13 @@ void BallAndSocketJointComponents::allocate(uint32 nbComponentsToAllocate) { mBiasVector = newBiasVector; mInverseMassMatrix = newInverseMassMatrix; mImpulse = newImpulse; + mIsConeLimitEnabled = newIsConeLimitEnabled; + mConeLimitImpulse = newConeLimitImpulse; + mConeLimitHalfAngle = newConeLimitHalfAngle; + mInverseMassMatrixConeLimit = newInverseMassMatrixConeLimit; + mBConeLimit = newBConeLimit; + mIsConeLimitViolated = newIsConeLimitViolated; + mConeLimitACrossB = newConeLimitACrossB; } // Add a component @@ -121,6 +143,13 @@ void BallAndSocketJointComponents::addComponent(Entity jointEntity, bool isSleep new (mBiasVector + index) Vector3(0, 0, 0); new (mInverseMassMatrix + index) Matrix3x3(); new (mImpulse + index) Vector3(0, 0, 0); + mIsConeLimitEnabled[index] = component.isConeLimitEnabled; + mConeLimitImpulse[index] = decimal(0.0); + mConeLimitHalfAngle[index] = component.coneLimitHalfAngle; + mInverseMassMatrixConeLimit[index] = decimal(0.0); + mBConeLimit[index] = decimal(0.0); + mIsConeLimitViolated[index] = false; + new (mConeLimitACrossB + index) Vector3(0, 0, 0); // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(jointEntity, index)); @@ -149,6 +178,13 @@ void BallAndSocketJointComponents::moveComponentToIndex(uint32 srcIndex, uint32 new (mBiasVector + destIndex) Vector3(mBiasVector[srcIndex]); new (mInverseMassMatrix + destIndex) Matrix3x3(mInverseMassMatrix[srcIndex]); new (mImpulse + destIndex) Vector3(mImpulse[srcIndex]); + mIsConeLimitEnabled[destIndex] = mIsConeLimitEnabled[srcIndex]; + mConeLimitImpulse[destIndex] = mConeLimitImpulse[srcIndex]; + mConeLimitHalfAngle[destIndex] = mConeLimitHalfAngle[srcIndex]; + mInverseMassMatrixConeLimit[destIndex] = mInverseMassMatrixConeLimit[srcIndex]; + mBConeLimit[destIndex] = mBConeLimit[srcIndex]; + mIsConeLimitViolated[destIndex] = mIsConeLimitViolated[srcIndex]; + new (mConeLimitACrossB + destIndex) Vector3(mConeLimitACrossB[srcIndex]); // Destroy the source component destroyComponent(srcIndex); @@ -176,6 +212,13 @@ void BallAndSocketJointComponents::swapComponents(uint32 index1, uint32 index2) Vector3 biasVector1(mBiasVector[index1]); Matrix3x3 inverseMassMatrix1(mInverseMassMatrix[index1]); Vector3 impulse1(mImpulse[index1]); + bool isConeLimitEnabled1 = mIsConeLimitEnabled[index1]; + decimal coneLimitImpulse1 = mConeLimitImpulse[index1]; + decimal coneLimitHalfAngle1 = mConeLimitHalfAngle[index1]; + decimal inverseMassMatrixConeLimit1 = mInverseMassMatrixConeLimit[index1]; + decimal bConeLimit = mBConeLimit[index1]; + bool isConeLimitViolated = mIsConeLimitViolated[index1]; + Vector3 coneLimitAcrossB(mConeLimitACrossB[index1]); // Destroy component 1 destroyComponent(index1); @@ -194,6 +237,13 @@ void BallAndSocketJointComponents::swapComponents(uint32 index1, uint32 index2) new (mBiasVector + index2) Vector3(biasVector1); new (mInverseMassMatrix + index2) Matrix3x3(inverseMassMatrix1); new (mImpulse + index2) Vector3(impulse1); + mIsConeLimitEnabled[index2] = isConeLimitEnabled1; + mConeLimitImpulse[index2] = coneLimitImpulse1; + mConeLimitHalfAngle[index2] = coneLimitHalfAngle1; + mInverseMassMatrixConeLimit[index2] = inverseMassMatrixConeLimit1; + mBConeLimit[index2] = bConeLimit; + mIsConeLimitViolated[index2] = isConeLimitViolated; + new (mConeLimitACrossB + index2) Vector3(coneLimitAcrossB); // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(jointEntity1, index2)); @@ -223,4 +273,5 @@ void BallAndSocketJointComponents::destroyComponent(uint32 index) { mBiasVector[index].~Vector3(); mInverseMassMatrix[index].~Matrix3x3(); mImpulse[index].~Vector3(); + mConeLimitACrossB[index].~Vector3(); } diff --git a/src/components/ColliderComponents.cpp b/src/components/ColliderComponents.cpp index 3c296e58c..51e1b8dc2 100644 --- a/src/components/ColliderComponents.cpp +++ b/src/components/ColliderComponents.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -37,8 +37,8 @@ using namespace reactphysics3d; ColliderComponents::ColliderComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Collider*) + sizeof(int32) + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(unsigned short) + - sizeof(unsigned short) + sizeof(Transform) + sizeof(List) + sizeof(bool) + - sizeof(bool)) { + sizeof(unsigned short) + sizeof(Transform) + sizeof(Array) + sizeof(bool) + + sizeof(bool) + sizeof(Material)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -66,9 +66,10 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { unsigned short* newCollisionCategoryBits = reinterpret_cast(newCollisionShapes + nbComponentsToAllocate); unsigned short* newCollideWithMaskBits = reinterpret_cast(newCollisionCategoryBits + nbComponentsToAllocate); Transform* newLocalToWorldTransforms = reinterpret_cast(newCollideWithMaskBits + nbComponentsToAllocate); - List* newOverlappingPairs = reinterpret_cast*>(newLocalToWorldTransforms + nbComponentsToAllocate); + Array* newOverlappingPairs = reinterpret_cast*>(newLocalToWorldTransforms + nbComponentsToAllocate); bool* hasCollisionShapeChangedSize = reinterpret_cast(newOverlappingPairs + nbComponentsToAllocate); bool* isTrigger = reinterpret_cast(hasCollisionShapeChangedSize + nbComponentsToAllocate); + Material* materials = reinterpret_cast(isTrigger + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -83,9 +84,10 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newCollisionCategoryBits, mCollisionCategoryBits, mNbComponents * sizeof(unsigned short)); memcpy(newCollideWithMaskBits, mCollideWithMaskBits, mNbComponents * sizeof(unsigned short)); memcpy(newLocalToWorldTransforms, mLocalToWorldTransforms, mNbComponents * sizeof(Transform)); - memcpy(newOverlappingPairs, mOverlappingPairs, mNbComponents * sizeof(List)); + memcpy(newOverlappingPairs, mOverlappingPairs, mNbComponents * sizeof(Array)); memcpy(hasCollisionShapeChangedSize, mHasCollisionShapeChangedSize, mNbComponents * sizeof(bool)); memcpy(isTrigger, mIsTrigger, mNbComponents * sizeof(bool)); + memcpy(materials, mMaterials, mNbComponents * sizeof(Material)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -105,6 +107,7 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { mOverlappingPairs = newOverlappingPairs; mHasCollisionShapeChangedSize = hasCollisionShapeChangedSize; mIsTrigger = isTrigger; + mMaterials = materials; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -125,9 +128,10 @@ void ColliderComponents::addComponent(Entity colliderEntity, bool isSleeping, co new (mCollisionCategoryBits + index) unsigned short(component.collisionCategoryBits); new (mCollideWithMaskBits + index) unsigned short(component.collideWithMaskBits); new (mLocalToWorldTransforms + index) Transform(component.localToWorldTransform); - new (mOverlappingPairs + index) List(mMemoryAllocator); + new (mOverlappingPairs + index) Array(mMemoryAllocator); mHasCollisionShapeChangedSize[index] = false; mIsTrigger[index] = false; + mMaterials[index] = component.material; // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(colliderEntity, index)); @@ -153,9 +157,10 @@ void ColliderComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) new (mCollisionCategoryBits + destIndex) unsigned short(mCollisionCategoryBits[srcIndex]); new (mCollideWithMaskBits + destIndex) unsigned short(mCollideWithMaskBits[srcIndex]); new (mLocalToWorldTransforms + destIndex) Transform(mLocalToWorldTransforms[srcIndex]); - new (mOverlappingPairs + destIndex) List(mOverlappingPairs[srcIndex]); + new (mOverlappingPairs + destIndex) Array(mOverlappingPairs[srcIndex]); mHasCollisionShapeChangedSize[destIndex] = mHasCollisionShapeChangedSize[srcIndex]; mIsTrigger[destIndex] = mIsTrigger[srcIndex]; + mMaterials[destIndex] = mMaterials[srcIndex]; // Destroy the source component destroyComponent(srcIndex); @@ -181,9 +186,10 @@ void ColliderComponents::swapComponents(uint32 index1, uint32 index2) { unsigned short collisionCategoryBits1 = mCollisionCategoryBits[index1]; unsigned short collideWithMaskBits1 = mCollideWithMaskBits[index1]; Transform localToWorldTransform1 = mLocalToWorldTransforms[index1]; - List overlappingPairs = mOverlappingPairs[index1]; + Array overlappingPairs = mOverlappingPairs[index1]; bool hasCollisionShapeChangedSize = mHasCollisionShapeChangedSize[index1]; bool isTrigger = mIsTrigger[index1]; + Material material = mMaterials[index1]; // Destroy component 1 destroyComponent(index1); @@ -200,9 +206,10 @@ void ColliderComponents::swapComponents(uint32 index1, uint32 index2) { new (mCollisionCategoryBits + index2) unsigned short(collisionCategoryBits1); new (mCollideWithMaskBits + index2) unsigned short(collideWithMaskBits1); new (mLocalToWorldTransforms + index2) Transform(localToWorldTransform1); - new (mOverlappingPairs + index2) List(overlappingPairs); + new (mOverlappingPairs + index2) Array(overlappingPairs); mHasCollisionShapeChangedSize[index2] = hasCollisionShapeChangedSize; mIsTrigger[index2] = isTrigger; + mMaterials[index2] = material; // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(colliderEntity1, index2)); @@ -227,5 +234,6 @@ void ColliderComponents::destroyComponent(uint32 index) { mLocalToBodyTransforms[index].~Transform(); mCollisionShapes[index] = nullptr; mLocalToWorldTransforms[index].~Transform(); - mOverlappingPairs[index].~List(); + mOverlappingPairs[index].~Array(); + mMaterials[index].~Material(); } diff --git a/src/components/CollisionBodyComponents.cpp b/src/components/CollisionBodyComponents.cpp index eeadf0883..9606cfaad 100644 --- a/src/components/CollisionBodyComponents.cpp +++ b/src/components/CollisionBodyComponents.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,7 +34,7 @@ using namespace reactphysics3d; // Constructor CollisionBodyComponents::CollisionBodyComponents(MemoryAllocator& allocator) - :Components(allocator, sizeof(Entity) + sizeof(CollisionBody*) + sizeof(List) + + :Components(allocator, sizeof(Entity) + sizeof(CollisionBody*) + sizeof(Array) + sizeof(bool) + sizeof(void*)) { // Allocate memory for the components data @@ -56,7 +56,7 @@ void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) { // New pointers to components data Entity* newBodiesEntities = static_cast(newBuffer); CollisionBody** newBodies = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); - List* newColliders = reinterpret_cast*>(newBodies + nbComponentsToAllocate); + Array* newColliders = reinterpret_cast*>(newBodies + nbComponentsToAllocate); bool* newIsActive = reinterpret_cast(newColliders + nbComponentsToAllocate); void** newUserData = reinterpret_cast(newIsActive + nbComponentsToAllocate); @@ -66,7 +66,7 @@ void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) { // Copy component data from the previous buffer to the new one memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity)); memcpy(newBodies, mBodies, mNbComponents * sizeof(CollisionBody*)); - memcpy(newColliders, mColliders, mNbComponents * sizeof(List)); + memcpy(newColliders, mColliders, mNbComponents * sizeof(Array)); memcpy(newIsActive, mIsActive, mNbComponents * sizeof(bool)); memcpy(newUserData, mUserData, mNbComponents * sizeof(void*)); @@ -92,7 +92,7 @@ void CollisionBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, c // Insert the new component data new (mBodiesEntities + index) Entity(bodyEntity); mBodies[index] = component.body; - new (mColliders + index) List(mMemoryAllocator); + new (mColliders + index) Array(mMemoryAllocator); mIsActive[index] = true; mUserData[index] = nullptr; @@ -114,7 +114,7 @@ void CollisionBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destI // Copy the data of the source component to the destination location new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]); mBodies[destIndex] = mBodies[srcIndex]; - new (mColliders + destIndex) List(mColliders[srcIndex]); + new (mColliders + destIndex) Array(mColliders[srcIndex]); mIsActive[destIndex] = mIsActive[srcIndex]; mUserData[destIndex] = mUserData[srcIndex]; @@ -135,7 +135,7 @@ void CollisionBodyComponents::swapComponents(uint32 index1, uint32 index2) { // Copy component 1 data Entity entity1(mBodiesEntities[index1]); CollisionBody* body1 = mBodies[index1]; - List colliders1(mColliders[index1]); + Array colliders1(mColliders[index1]); bool isActive1 = mIsActive[index1]; void* userData1 = mUserData[index1]; @@ -146,7 +146,7 @@ void CollisionBodyComponents::swapComponents(uint32 index1, uint32 index2) { // Reconstruct component 1 at component 2 location new (mBodiesEntities + index2) Entity(entity1); - new (mColliders + index2) List(colliders1); + new (mColliders + index2) Array(colliders1); mBodies[index2] = body1; mIsActive[index2] = isActive1; mUserData[index2] = userData1; @@ -170,6 +170,6 @@ void CollisionBodyComponents::destroyComponent(uint32 index) { mBodiesEntities[index].~Entity(); mBodies[index] = nullptr; - mColliders[index].~List(); + mColliders[index].~Array(); mUserData[index] = nullptr; } diff --git a/src/components/Components.cpp b/src/components/Components.cpp index 7a528d4df..f09d4fe2b 100644 --- a/src/components/Components.cpp +++ b/src/components/Components.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -102,7 +102,7 @@ void Components::removeComponent(Entity entity) { assert(mMapEntityToComponentIndex.containsKey(entity)); - uint index = mMapEntityToComponentIndex[entity]; + uint32 index = mMapEntityToComponentIndex[entity]; assert(index < mNbComponents); diff --git a/src/components/FixedJointComponents.cpp b/src/components/FixedJointComponents.cpp index d7c8c1294..0794c0587 100644 --- a/src/components/FixedJointComponents.cpp +++ b/src/components/FixedJointComponents.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -117,7 +117,7 @@ void FixedJointComponents::allocate(uint32 nbComponentsToAllocate) { } // Add a component -void FixedJointComponents::addComponent(Entity jointEntity, bool isSleeping, const FixedJointComponent& component) { +void FixedJointComponents::addComponent(Entity jointEntity, bool isSleeping, const FixedJointComponent& /*component*/) { // Prepare to add new component (allocate memory if necessary and compute insertion index) uint32 index = prepareAddComponent(isSleeping); @@ -163,7 +163,7 @@ void FixedJointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInde new (mR2World + destIndex) Vector3(mR2World[srcIndex]); new (mI1 + destIndex) Matrix3x3(mI1[srcIndex]); new (mI2 + destIndex) Matrix3x3(mI2[srcIndex]); - new (mImpulseTranslation + destIndex) Vector3(mImpulseRotation[srcIndex]); + new (mImpulseTranslation + destIndex) Vector3(mImpulseTranslation[srcIndex]); new (mImpulseRotation + destIndex) Vector3(mImpulseRotation[srcIndex]); new (mInverseMassMatrixTranslation + destIndex) Matrix3x3(mInverseMassMatrixTranslation[srcIndex]); new (mInverseMassMatrixRotation + destIndex) Matrix3x3(mInverseMassMatrixRotation[srcIndex]); diff --git a/src/components/HingeJointComponents.cpp b/src/components/HingeJointComponents.cpp index 67b655fc5..e55a9d2d1 100644 --- a/src/components/HingeJointComponents.cpp +++ b/src/components/HingeJointComponents.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/components/JointComponents.cpp b/src/components/JointComponents.cpp index a52f7bc70..12123c51a 100644 --- a/src/components/JointComponents.cpp +++ b/src/components/JointComponents.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/components/RigidBodyComponents.cpp b/src/components/RigidBodyComponents.cpp index fa3086e1a..3edcefe9e 100644 --- a/src/components/RigidBodyComponents.cpp +++ b/src/components/RigidBodyComponents.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -40,10 +40,11 @@ RigidBodyComponents::RigidBodyComponents(MemoryAllocator& allocator) sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(Vector3) + - sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Vector3) + + sizeof(Matrix3x3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) + - sizeof(bool) + sizeof(bool) + sizeof(List)) { + sizeof(bool) + sizeof(bool) + sizeof(Array) + sizeof(Array) + + sizeof(Vector3) + sizeof(Vector3)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -78,7 +79,8 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { decimal* newInverseMasses = reinterpret_cast(newMasses + nbComponentsToAllocate); Vector3* newInertiaTensorLocal = reinterpret_cast(newInverseMasses + nbComponentsToAllocate); Vector3* newInertiaTensorLocalInverses = reinterpret_cast(newInertiaTensorLocal + nbComponentsToAllocate); - Vector3* newConstrainedLinearVelocities = reinterpret_cast(newInertiaTensorLocalInverses + nbComponentsToAllocate); + Matrix3x3* newInertiaTensorWorldInverses = reinterpret_cast(newInertiaTensorLocalInverses + nbComponentsToAllocate); + Vector3* newConstrainedLinearVelocities = reinterpret_cast(newInertiaTensorWorldInverses + nbComponentsToAllocate); Vector3* newConstrainedAngularVelocities = reinterpret_cast(newConstrainedLinearVelocities + nbComponentsToAllocate); Vector3* newSplitLinearVelocities = reinterpret_cast(newConstrainedAngularVelocities + nbComponentsToAllocate); Vector3* newSplitAngularVelocities = reinterpret_cast(newSplitLinearVelocities + nbComponentsToAllocate); @@ -88,7 +90,10 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { Vector3* newCentersOfMassWorld = reinterpret_cast(newCentersOfMassLocal + nbComponentsToAllocate); bool* newIsGravityEnabled = reinterpret_cast(newCentersOfMassWorld + nbComponentsToAllocate); bool* newIsAlreadyInIsland = reinterpret_cast(newIsGravityEnabled + nbComponentsToAllocate); - List* newJoints = reinterpret_cast*>(newIsAlreadyInIsland + nbComponentsToAllocate); + Array* newJoints = reinterpret_cast*>(newIsAlreadyInIsland + nbComponentsToAllocate); + Array* newContactPairs = reinterpret_cast*>(newJoints + nbComponentsToAllocate); + Vector3* newLinearLockAxisFactors = reinterpret_cast(newContactPairs + nbComponentsToAllocate); + Vector3* newAngularLockAxisFactors = reinterpret_cast(newLinearLockAxisFactors + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -98,7 +103,7 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newBodies, mRigidBodies, mNbComponents * sizeof(RigidBody*)); memcpy(newIsAllowedToSleep, mIsAllowedToSleep, mNbComponents * sizeof(bool)); memcpy(newIsSleeping, mIsSleeping, mNbComponents * sizeof(bool)); - memcpy(newSleepTimes, mSleepTimes, mNbComponents * sizeof(bool)); + memcpy(newSleepTimes, mSleepTimes, mNbComponents * sizeof(decimal)); memcpy(newBodyTypes, mBodyTypes, mNbComponents * sizeof(BodyType)); memcpy(newLinearVelocities, mLinearVelocities, mNbComponents * sizeof(Vector3)); memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Vector3)); @@ -110,6 +115,7 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newInverseMasses, mInverseMasses, mNbComponents * sizeof(decimal)); memcpy(newInertiaTensorLocal, mLocalInertiaTensors, mNbComponents * sizeof(Vector3)); memcpy(newInertiaTensorLocalInverses, mInverseInertiaTensorsLocal, mNbComponents * sizeof(Vector3)); + memcpy(newInertiaTensorWorldInverses, mInverseInertiaTensorsWorld, mNbComponents * sizeof(Matrix3x3)); memcpy(newConstrainedLinearVelocities, mConstrainedLinearVelocities, mNbComponents * sizeof(Vector3)); memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3)); memcpy(newSplitLinearVelocities, mSplitLinearVelocities, mNbComponents * sizeof(Vector3)); @@ -120,7 +126,10 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newCentersOfMassWorld, mCentersOfMassWorld, mNbComponents * sizeof(Vector3)); memcpy(newIsGravityEnabled, mIsGravityEnabled, mNbComponents * sizeof(bool)); memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); - memcpy(newJoints, mJoints, mNbComponents * sizeof(List)); + memcpy(newJoints, mJoints, mNbComponents * sizeof(Array)); + memcpy(newContactPairs, mContactPairs, mNbComponents * sizeof(Array)); + memcpy(newLinearLockAxisFactors, mLinearLockAxisFactors, mNbComponents * sizeof(Vector3)); + memcpy(newAngularLockAxisFactors, mAngularLockAxisFactors, mNbComponents * sizeof(Vector3)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -144,6 +153,7 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { mInverseMasses = newInverseMasses; mLocalInertiaTensors = newInertiaTensorLocal; mInverseInertiaTensorsLocal = newInertiaTensorLocalInverses; + mInverseInertiaTensorsWorld = newInertiaTensorWorldInverses; mConstrainedLinearVelocities = newConstrainedLinearVelocities; mConstrainedAngularVelocities = newConstrainedAngularVelocities; mSplitLinearVelocities = newSplitLinearVelocities; @@ -155,6 +165,9 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { mIsGravityEnabled = newIsGravityEnabled; mIsAlreadyInIsland = newIsAlreadyInIsland; mJoints = newJoints; + mContactPairs = newContactPairs; + mLinearLockAxisFactors = newLinearLockAxisFactors; + mAngularLockAxisFactors = newAngularLockAxisFactors; } // Add a component @@ -180,6 +193,7 @@ void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const mInverseMasses[index] = decimal(1.0); new (mLocalInertiaTensors + index) Vector3(1.0, 1.0, 1.0); new (mInverseInertiaTensorsLocal + index) Vector3(1.0, 1.0, 1.0); + new (mInverseInertiaTensorsWorld + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0); new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0); new (mSplitLinearVelocities + index) Vector3(0, 0, 0); @@ -190,7 +204,10 @@ void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const new (mCentersOfMassWorld + index) Vector3(component.worldPosition); mIsGravityEnabled[index] = true; mIsAlreadyInIsland[index] = false; - new (mJoints + index) List(mMemoryAllocator); + new (mJoints + index) Array(mMemoryAllocator); + new (mContactPairs + index) Array(mMemoryAllocator); + new (mLinearLockAxisFactors + index) Vector3(1, 1, 1); + new (mAngularLockAxisFactors + index) Vector3(1, 1, 1); // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); @@ -224,6 +241,7 @@ void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex mInverseMasses[destIndex] = mInverseMasses[srcIndex]; new (mLocalInertiaTensors + destIndex) Vector3(mLocalInertiaTensors[srcIndex]); new (mInverseInertiaTensorsLocal + destIndex) Vector3(mInverseInertiaTensorsLocal[srcIndex]); + new (mInverseInertiaTensorsWorld + destIndex) Matrix3x3(mInverseInertiaTensorsWorld[srcIndex]); new (mConstrainedLinearVelocities + destIndex) Vector3(mConstrainedLinearVelocities[srcIndex]); new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]); new (mSplitLinearVelocities + destIndex) Vector3(mSplitLinearVelocities[srcIndex]); @@ -234,7 +252,10 @@ void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex new (mCentersOfMassWorld + destIndex) Vector3(mCentersOfMassWorld[srcIndex]); mIsGravityEnabled[destIndex] = mIsGravityEnabled[srcIndex]; mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; - new (mJoints + destIndex) List(mJoints[srcIndex]); + new (mJoints + destIndex) Array(mJoints[srcIndex]); + new (mContactPairs + destIndex) Array(mContactPairs[srcIndex]); + new (mLinearLockAxisFactors + destIndex) Vector3(mLinearLockAxisFactors[srcIndex]); + new (mAngularLockAxisFactors + destIndex) Vector3(mAngularLockAxisFactors[srcIndex]); // Destroy the source component destroyComponent(srcIndex); @@ -267,6 +288,7 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { decimal inverseMass1 = mInverseMasses[index1]; Vector3 inertiaTensorLocal1 = mLocalInertiaTensors[index1]; Vector3 inertiaTensorLocalInverse1 = mInverseInertiaTensorsLocal[index1]; + Matrix3x3 inertiaTensorWorldInverse1 = mInverseInertiaTensorsWorld[index1]; Vector3 constrainedLinearVelocity1(mConstrainedLinearVelocities[index1]); Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]); Vector3 splitLinearVelocity1(mSplitLinearVelocities[index1]); @@ -277,7 +299,10 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { Vector3 centerOfMassWorld1 = mCentersOfMassWorld[index1]; bool isGravityEnabled1 = mIsGravityEnabled[index1]; bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; - List joints1 = mJoints[index1]; + Array joints1 = mJoints[index1]; + Array contactPairs1 = mContactPairs[index1]; + Vector3 linearLockAxisFactor1(mLinearLockAxisFactors[index1]); + Vector3 angularLockAxisFactor1(mAngularLockAxisFactors[index1]); // Destroy component 1 destroyComponent(index1); @@ -301,6 +326,7 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { mInverseMasses[index2] = inverseMass1; mLocalInertiaTensors[index2] = inertiaTensorLocal1; mInverseInertiaTensorsLocal[index2] = inertiaTensorLocalInverse1; + mInverseInertiaTensorsWorld[index2] = inertiaTensorWorldInverse1; new (mConstrainedLinearVelocities + index2) Vector3(constrainedLinearVelocity1); new (mConstrainedAngularVelocities + index2) Vector3(constrainedAngularVelocity1); new (mSplitLinearVelocities + index2) Vector3(splitLinearVelocity1); @@ -311,7 +337,10 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { mCentersOfMassWorld[index2] = centerOfMassWorld1; mIsGravityEnabled[index2] = isGravityEnabled1; mIsAlreadyInIsland[index2] = isAlreadyInIsland1; - new (mJoints + index2) List(joints1); + new (mJoints + index2) Array(joints1); + new (mContactPairs + index2) Array(contactPairs1); + new (mLinearLockAxisFactors + index2) Vector3(linearLockAxisFactor1); + new (mAngularLockAxisFactors + index2) Vector3(angularLockAxisFactor1); // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(entity1, index2)); @@ -338,6 +367,7 @@ void RigidBodyComponents::destroyComponent(uint32 index) { mExternalTorques[index].~Vector3(); mLocalInertiaTensors[index].~Vector3(); mInverseInertiaTensorsLocal[index].~Vector3(); + mInverseInertiaTensorsWorld[index].~Matrix3x3(); mConstrainedLinearVelocities[index].~Vector3(); mConstrainedAngularVelocities[index].~Vector3(); mSplitLinearVelocities[index].~Vector3(); @@ -346,5 +376,8 @@ void RigidBodyComponents::destroyComponent(uint32 index) { mConstrainedOrientations[index].~Quaternion(); mCentersOfMassLocal[index].~Vector3(); mCentersOfMassWorld[index].~Vector3(); - mJoints[index].~List(); + mJoints[index].~Array(); + mContactPairs[index].~Array(); + mLinearLockAxisFactors[index].~Vector3(); + mAngularLockAxisFactors[index].~Vector3(); } diff --git a/src/components/SliderJointComponents.cpp b/src/components/SliderJointComponents.cpp index 57e214b07..4a6da7a01 100644 --- a/src/components/SliderJointComponents.cpp +++ b/src/components/SliderJointComponents.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/components/TransformComponents.cpp b/src/components/TransformComponents.cpp index 72f7b9ca7..832450228 100644 --- a/src/components/TransformComponents.cpp +++ b/src/components/TransformComponents.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index 48eb787f4..a62a067ba 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -38,15 +38,121 @@ const decimal BallAndSocketJoint::BETA = decimal(0.2); BallAndSocketJoint::BallAndSocketJoint(Entity entity, PhysicsWorld& world, const BallAndSocketJointInfo& jointInfo) : Joint(entity, world) { - // Get the transforms of the two bodies - const Transform& body1Transform = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); - const Transform& body2Transform = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); + Vector3 anchorPointBody1LocalSpace; + Vector3 anchorPointBody2LocalSpace; + + if (jointInfo.isUsingLocalSpaceAnchors) { + + anchorPointBody1LocalSpace = jointInfo.anchorPointBody1LocalSpace; + anchorPointBody2LocalSpace = jointInfo.anchorPointBody2LocalSpace; + } + else { + + // Get the transforms of the two bodies + const Transform& body1Transform = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); + const Transform& body2Transform = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); + + anchorPointBody1LocalSpace = body1Transform.getInverse() * jointInfo.anchorPointWorldSpace; + anchorPointBody2LocalSpace = body2Transform.getInverse() * jointInfo.anchorPointWorldSpace; + } // Compute the local-space anchor point for each body - mWorld.mBallAndSocketJointsComponents.setLocalAnchorPointBody1(entity, body1Transform.getInverse() * jointInfo.anchorPointWorldSpace); - mWorld.mBallAndSocketJointsComponents.setLocalAnchorPointBody2(entity, body2Transform.getInverse() * jointInfo.anchorPointWorldSpace); + mWorld.mBallAndSocketJointsComponents.setLocalAnchorPointBody1(entity, anchorPointBody1LocalSpace); + mWorld.mBallAndSocketJointsComponents.setLocalAnchorPointBody2(entity, anchorPointBody2LocalSpace); } +// Enable/disable the cone limit of the joint +/// It is possible to enable a cone-limit for the BallAndSocketJoint in order to +/// restrict the angular motion between the two bodies. Use this method to enable/disable +/// the cone-limit. +/** + * @param isLimitEnabled True if the limit must be enabled and false otherwise + */ +void BallAndSocketJoint::enableConeLimit(bool isLimitEnabled) { + mWorld.mBallAndSocketJointsComponents.setIsConeLimitEnabled(mEntity, isLimitEnabled); + + resetLimits(); +} + +// Return true if the cone limit or the joint is enabled +/** + * @return True if the cone-limit is enabled for this joint + */ +bool BallAndSocketJoint::isConeLimitEnabled() const { + return mWorld.mBallAndSocketJointsComponents.getIsConeLimitEnabled(mEntity); +} + +// Set the cone limit half angle +/** + * @param coneHalfAngle The angle of the cone limit (in radian) from [0; PI] + */ +void BallAndSocketJoint::setConeLimitHalfAngle(decimal coneHalfAngle) { + + if (mWorld.mBallAndSocketJointsComponents.getConeLimitHalfAngle(mEntity) != coneHalfAngle) { + + mWorld.mBallAndSocketJointsComponents.setConeLimitHalfAngle(mEntity, coneHalfAngle); + + resetLimits(); + } +} + +// Return the cone angle limit (in radians) from [0; PI] +/** + * @return The half-angle (in radians) of the cone-limit + */ +decimal BallAndSocketJoint::getConeLimitHalfAngle() const { + return mWorld.mBallAndSocketJointsComponents.getConeLimitHalfAngle(mEntity); +} + +// Return the current cone angle in radians (in [0, pi]) +/** + * @return The current half-angle (in radians) of the joint with respect to the cone-limit axis + */ +decimal BallAndSocketJoint::getConeHalfAngle() const { + + // Get the bodies entities + const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + const Transform& transformBody1 = mWorld.mTransformComponents.getTransform(body1Entity); + const Transform& transformBody2 = mWorld.mTransformComponents.getTransform(body2Entity); + + // Convert local-space cone axis of bodies to world-space + const Vector3 r1Local = mWorld.mBallAndSocketJointsComponents.getLocalAnchorPointBody1(mEntity) - mWorld.mRigidBodyComponents.getCenterOfMassLocal(body1Entity); + const Vector3 r2Local = mWorld.mBallAndSocketJointsComponents.getLocalAnchorPointBody2(mEntity) - mWorld.mRigidBodyComponents.getCenterOfMassLocal(body2Entity); + const Vector3 r1World = transformBody1.getOrientation() * r1Local; + const Vector3 r2World = transformBody2.getOrientation() * r2Local; + + return SolveBallAndSocketJointSystem::computeCurrentConeHalfAngle(r1World.getUnit(), -r2World.getUnit()); +} + +// Reset the limits +void BallAndSocketJoint::resetLimits() { + + // Reset the accumulated impulses for the limits + mWorld.mBallAndSocketJointsComponents.setConeLimitImpulse(mEntity, decimal(0.0)); + + // Wake up the two bodies of the joint + awakeBodies(); +} + +// Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space +/** + * @return The current force (in Newtons) applied on body 2 + */ +Vector3 BallAndSocketJoint::getReactionForce(decimal timeStep) const { + assert(timeStep > MACHINE_EPSILON); + return mWorld.mBallAndSocketJointsComponents.getImpulse(mEntity) / timeStep; +} + +// Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space +/** + * @return The current torque (in Newtons * meters) on body 2 + */ +Vector3 BallAndSocketJoint::getReactionTorque(decimal timeStep) const { + assert(timeStep > MACHINE_EPSILON); + return Vector3(0, 0, 0); +} // Return a string representation std::string BallAndSocketJoint::to_string() const { diff --git a/src/constraint/ContactPoint.cpp b/src/constraint/ContactPoint.cpp index 6f0ba7190..a9db9d3f0 100644 --- a/src/constraint/ContactPoint.cpp +++ b/src/constraint/ContactPoint.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -36,7 +36,7 @@ ContactPoint::ContactPoint(const ContactPointInfo* contactInfo, decimal persiste mPenetrationDepth(contactInfo->penetrationDepth), mLocalPointOnShape1(contactInfo->localPoint1), mLocalPointOnShape2(contactInfo->localPoint2), - mIsRestingContact(false), mIsObsolete(false), mNext(nullptr), mPrevious(nullptr), + mIsRestingContact(false), mIsObsolete(false), mPersistentContactDistanceThreshold(persistentContactDistanceThreshold) { assert(mPenetrationDepth > decimal(0.0)); diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index 83b80e3b5..308e81158 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -32,15 +32,30 @@ using namespace reactphysics3d; // Constructor -FixedJoint::FixedJoint(Entity entity, PhysicsWorld &world, const FixedJointInfo& jointInfo) +FixedJoint::FixedJoint(Entity entity, PhysicsWorld& world, const FixedJointInfo& jointInfo) : Joint(entity, world) { - // Compute the local-space anchor point for each body + + Vector3 anchorPointBody1LocalSpace; + Vector3 anchorPointBody2LocalSpace; + const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); - mWorld.mFixedJointsComponents.setLocalAnchorPointBody1(mEntity, transform1.getInverse() * jointInfo.anchorPointWorldSpace); - mWorld.mFixedJointsComponents.setLocalAnchorPointBody2(mEntity, transform2.getInverse() * jointInfo.anchorPointWorldSpace); + if (jointInfo.isUsingLocalSpaceAnchors) { + + anchorPointBody1LocalSpace = jointInfo.anchorPointBody1LocalSpace; + anchorPointBody2LocalSpace = jointInfo.anchorPointBody2LocalSpace; + } + else { + + // Compute the local-space anchor point for each body + anchorPointBody1LocalSpace = transform1.getInverse() * jointInfo.anchorPointWorldSpace; + anchorPointBody2LocalSpace = transform2.getInverse() * jointInfo.anchorPointWorldSpace; + } + + mWorld.mFixedJointsComponents.setLocalAnchorPointBody1(mEntity, anchorPointBody1LocalSpace); + mWorld.mFixedJointsComponents.setLocalAnchorPointBody2(mEntity, anchorPointBody2LocalSpace); // Store inverse of initial rotation from body 1 to body 2 in body 1 space: // @@ -56,6 +71,24 @@ FixedJoint::FixedJoint(Entity entity, PhysicsWorld &world, const FixedJointInfo& mWorld.mFixedJointsComponents.setInitOrientationDifferenceInv(mEntity, transform2.getOrientation().getInverse() * transform1.getOrientation()); } +// Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space +/** + * @return The current force (in Newtons) applied on body 2 + */ +Vector3 FixedJoint::getReactionForce(decimal timeStep) const { + assert(timeStep > MACHINE_EPSILON); + return mWorld.mFixedJointsComponents.getImpulseTranslation(mEntity) / timeStep; +} + +// Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space +/** + * @return The current torque (in Newtons * meters) applied on body 2 + */ +Vector3 FixedJoint::getReactionTorque(decimal timeStep) const { + assert(timeStep > MACHINE_EPSILON); + return mWorld.mFixedJointsComponents.getImpulseRotation(mEntity) / timeStep; +} + // Return a string representation std::string FixedJoint::to_string() const { return "FixedJoint{ localAnchorPointBody1=" + mWorld.mFixedJointsComponents.getLocalAnchorPointBody1(mEntity).to_string() + diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index f65239080..3aff49084 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,22 +34,43 @@ using namespace reactphysics3d; // Constructor HingeJoint::HingeJoint(Entity entity, PhysicsWorld &world, const HingeJointInfo& jointInfo) : Joint(entity, world) { - const decimal lowerLimit = mWorld.mHingeJointsComponents.getLowerLimit(mEntity); - const decimal upperLimit = mWorld.mHingeJointsComponents.getUpperLimit(mEntity); - assert(lowerLimit <= decimal(0) && lowerLimit >= decimal(-2.0) * PI); - assert(upperLimit >= decimal(0) && upperLimit <= decimal(2.0) * PI); + Vector3 anchorPointBody1Local; + Vector3 anchorPointBody2Local; + Vector3 hingeLocalAxisBody1; + Vector3 hingeLocalAxisBody2; - // Compute the local-space anchor point for each body const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); - mWorld.mHingeJointsComponents.setLocalAnchorPointBody1(mEntity, transform1.getInverse() * jointInfo.anchorPointWorldSpace); - mWorld.mHingeJointsComponents.setLocalAnchorPointBody2(mEntity, transform2.getInverse() * jointInfo.anchorPointWorldSpace); - - // Compute the local-space hinge axis - Vector3 hingeLocalAxisBody1 = transform1.getOrientation().getInverse() * jointInfo.rotationAxisWorld; - Vector3 hingeLocalAxisBody2 = transform2.getOrientation().getInverse() * jointInfo.rotationAxisWorld; - hingeLocalAxisBody1.normalize(); - hingeLocalAxisBody2.normalize(); + + if (jointInfo.isUsingLocalSpaceAnchors) { + + anchorPointBody1Local = jointInfo.anchorPointBody1LocalSpace; + anchorPointBody2Local = jointInfo.anchorPointBody2LocalSpace; + + hingeLocalAxisBody1 = jointInfo.rotationAxisBody1Local; + hingeLocalAxisBody2 = jointInfo.rotationAxisBody2Local; + } + else { + + // Compute the local-space anchor point for each body + anchorPointBody1Local = transform1.getInverse() * jointInfo.anchorPointWorldSpace; + anchorPointBody2Local = transform2.getInverse() * jointInfo.anchorPointWorldSpace; + + // Compute the local-space hinge axis + hingeLocalAxisBody1 = transform1.getOrientation().getInverse() * jointInfo.rotationAxisWorld; + hingeLocalAxisBody2 = transform2.getOrientation().getInverse() * jointInfo.rotationAxisWorld; + hingeLocalAxisBody1.normalize(); + hingeLocalAxisBody2.normalize(); + } + + const decimal lowerLimit = mWorld.mHingeJointsComponents.getLowerLimit(mEntity); + const decimal upperLimit = mWorld.mHingeJointsComponents.getUpperLimit(mEntity); + assert(lowerLimit <= decimal(0) && lowerLimit >= decimal(-2.0) * PI_RP3D); + assert(upperLimit >= decimal(0) && upperLimit <= decimal(2.0) * PI_RP3D); + + mWorld.mHingeJointsComponents.setLocalAnchorPointBody1(mEntity, anchorPointBody1Local); + mWorld.mHingeJointsComponents.setLocalAnchorPointBody2(mEntity, anchorPointBody2Local); + mWorld.mHingeJointsComponents.setHingeLocalAxisBody1(mEntity, hingeLocalAxisBody1); mWorld.mHingeJointsComponents.setHingeLocalAxisBody2(mEntity, hingeLocalAxisBody2); @@ -99,7 +120,7 @@ void HingeJoint::setMinAngleLimit(decimal lowerLimit) { const decimal limit = mWorld.mHingeJointsComponents.getLowerLimit(mEntity); - assert(limit <= decimal(0.0) && limit >= decimal(-2.0) * PI); + assert(limit <= decimal(0.0) && limit >= decimal(-2.0) * PI_RP3D); if (lowerLimit != limit) { @@ -118,7 +139,7 @@ void HingeJoint::setMaxAngleLimit(decimal upperLimit) { const decimal limit = mWorld.mHingeJointsComponents.getUpperLimit(mEntity); - assert(limit >= decimal(0) && limit <= decimal(2.0) * PI); + assert(limit >= decimal(0) && limit <= decimal(2.0) * PI_RP3D); if (upperLimit != limit) { @@ -141,6 +162,9 @@ void HingeJoint::resetLimits() { } // Set the motor speed +/** + * @param motorSpeed The speed of the motor + */ void HingeJoint::setMotorSpeed(decimal motorSpeed) { if (motorSpeed != mWorld.mHingeJointsComponents.getMotorSpeed(mEntity)) { @@ -207,7 +231,7 @@ decimal HingeJoint::getMaxAngleLimit() const { /** * @return The current speed of the joint motor (in radian per second) */ - decimal HingeJoint::getMotorSpeed() const { +decimal HingeJoint::getMotorSpeed() const { return mWorld.mHingeJointsComponents.getMotorSpeed(mEntity); } @@ -215,7 +239,7 @@ decimal HingeJoint::getMaxAngleLimit() const { /** * @return The maximum torque of the joint motor (in Newtons) */ - decimal HingeJoint::getMaxMotorTorque() const { +decimal HingeJoint::getMaxMotorTorque() const { return mWorld.mHingeJointsComponents.getMaxMotorTorque(mEntity); } @@ -224,10 +248,58 @@ decimal HingeJoint::getMaxAngleLimit() const { * @param timeStep The current time step (in seconds) * @return The intensity of the current torque (in Newtons) of the joint motor */ - decimal HingeJoint::getMotorTorque(decimal timeStep) const { +decimal HingeJoint::getMotorTorque(decimal timeStep) const { return mWorld.mHingeJointsComponents.getImpulseMotor(mEntity) / timeStep; } +// Return the current hinge angle +/** + * @return The current hinge angle (in radians) in the range [-pi; pi] + */ +decimal HingeJoint::getAngle() const { + + // Get the bodies entities + const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + const Quaternion& orientationBody1 = mWorld.mTransformComponents.getTransform(body1Entity).getOrientation(); + const Quaternion& orientationBody2 = mWorld.mTransformComponents.getTransform(body2Entity).getOrientation(); + + // Compute the current angle around the hinge axis + return mWorld.mConstraintSolverSystem.mSolveHingeJointSystem.computeCurrentHingeAngle(mEntity, orientationBody1, orientationBody2); +} + +// Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space +/** + * @return The current force (in Newtons) applied on body 2 + */ +Vector3 HingeJoint::getReactionForce(decimal timeStep) const { + assert(timeStep > MACHINE_EPSILON); + return mWorld.mHingeJointsComponents.getImpulseTranslation(mEntity) / timeStep; +} + +// Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space +/** + * @return The current torque (in Newtons * meters) applied on body 2 + */ +Vector3 HingeJoint::getReactionTorque(decimal timeStep) const { + + assert(timeStep > MACHINE_EPSILON); + + const uint32 jointIndex = mWorld.mHingeJointsComponents.getEntityIndex(mEntity); + + const Vector2& impulseRotation = mWorld.mHingeJointsComponents.mImpulseRotation[jointIndex]; + const Vector3& b2CrossA1 = mWorld.mHingeJointsComponents.mB2CrossA1[jointIndex]; + const Vector3& c2CrossA1 = mWorld.mHingeJointsComponents.mC2CrossA1[jointIndex]; + + Vector3 impulseJoint = b2CrossA1 * impulseRotation.x + c2CrossA1 * impulseRotation.y; + Vector3 impulseLowerLimit = mWorld.mHingeJointsComponents.mImpulseLowerLimit[jointIndex] * mWorld.mHingeJointsComponents.mA1[jointIndex]; + Vector3 impulseUpperLimit = -mWorld.mHingeJointsComponents.mImpulseUpperLimit[jointIndex] * mWorld.mHingeJointsComponents.mA1[jointIndex]; + Vector3 impulseMotor = mWorld.mHingeJointsComponents.mImpulseMotor[jointIndex] * mWorld.mHingeJointsComponents.mA1[jointIndex]; + + return (impulseJoint + impulseLowerLimit + impulseUpperLimit + impulseMotor) / timeStep; +} + // Return the number of bytes used by the joint size_t HingeJoint::getSizeInBytes() const { return sizeof(HingeJoint); diff --git a/src/constraint/Joint.cpp b/src/constraint/Joint.cpp index dc99ee266..e3278c470 100644 --- a/src/constraint/Joint.cpp +++ b/src/constraint/Joint.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 7cc13a31a..08dd262ea 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -35,20 +35,48 @@ using namespace reactphysics3d; const decimal SliderJoint::BETA = decimal(0.2); // Constructor -SliderJoint::SliderJoint(Entity entity, PhysicsWorld &world, const SliderJointInfo& jointInfo) +SliderJoint::SliderJoint(Entity entity, PhysicsWorld& world, const SliderJointInfo& jointInfo) : Joint(entity, world) { assert(mWorld.mSliderJointsComponents.getUpperLimit(mEntity) >= decimal(0.0)); assert(mWorld.mSliderJointsComponents.getLowerLimit(mEntity) <= decimal(0.0)); assert(mWorld.mSliderJointsComponents.getMaxMotorForce(mEntity) >= decimal(0.0)); - // Compute the local-space anchor point for each body + Vector3 anchorPointBody1Local; + Vector3 anchorPointBody2Local; + Vector3 sliderLocalAxisBody1; + Vector3 sliderLocalAxisBody2; + const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); - mWorld.mSliderJointsComponents.setLocalAnchorPointBody1(mEntity, transform1.getInverse() * jointInfo.anchorPointWorldSpace); - mWorld.mSliderJointsComponents.setLocalAnchorPointBody2(mEntity, transform2.getInverse() * jointInfo.anchorPointWorldSpace); - // Store inverse of initial rotation from body 1 to body 2 in body 1 space: + const Transform transform2Inverse = transform2.getInverse(); + + if (jointInfo.isUsingLocalSpaceAnchors) { + + anchorPointBody1Local = jointInfo.anchorPointBody1LocalSpace; + anchorPointBody2Local = jointInfo.anchorPointBody2LocalSpace; + + sliderLocalAxisBody1 = jointInfo.sliderAxisBody1Local; + } + else { + + // Compute the local-space anchor point for each body + const Transform transform1Inverse = transform1.getInverse(); + anchorPointBody1Local = transform1Inverse * jointInfo.anchorPointWorldSpace; + anchorPointBody2Local = transform2Inverse * jointInfo.anchorPointWorldSpace; + + // Compute the slider axis in local-space of body 1 + sliderLocalAxisBody1 = transform1Inverse.getOrientation() * jointInfo.sliderAxisWorldSpace; + sliderLocalAxisBody1.normalize(); + } + + mWorld.mSliderJointsComponents.setLocalAnchorPointBody1(mEntity, anchorPointBody1Local); + mWorld.mSliderJointsComponents.setLocalAnchorPointBody2(mEntity, anchorPointBody2Local); + + mWorld.mSliderJointsComponents.setSliderAxisBody1(mEntity, sliderLocalAxisBody1); + + // Store inverse of initial rotation from body 1 to body 2 in body 1 space: // // q20 = q10 r0 // <=> r0 = q10^-1 q20 @@ -59,15 +87,7 @@ SliderJoint::SliderJoint(Entity entity, PhysicsWorld &world, const SliderJointIn // q20 = initial orientation of body 2 // q10 = initial orientation of body 1 // r0 = initial rotation rotation from body 1 to body 2 - // TODO : Do not compute the inverse here, it has already been computed above - mWorld.mSliderJointsComponents.setInitOrientationDifferenceInv(mEntity, transform2.getOrientation().getInverse() * transform1.getOrientation()); - - // Compute the slider axis in local-space of body 1 - // TODO : Do not compute the inverse here, it has already been computed above - Vector3 sliderAxisBody1 = transform1.getOrientation().getInverse() * - jointInfo.sliderAxisWorldSpace; - sliderAxisBody1.normalize(); - mWorld.mSliderJointsComponents.setSliderAxisBody1(mEntity, sliderAxisBody1); + mWorld.mSliderJointsComponents.setInitOrientationDifferenceInv(mEntity, transform2Inverse.getOrientation() * transform1.getOrientation()); } // Enable/Disable the limits of the joint @@ -273,6 +293,39 @@ decimal SliderJoint::getMaxMotorForce() const { decimal SliderJoint::getMaxTranslationLimit() const { return mWorld.mSliderJointsComponents.getUpperLimit(mEntity); } + +// Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space +/** + * @return The current force (in Newtons) applied on body 2 + */ +Vector3 SliderJoint::getReactionForce(decimal timeStep) const { + assert(timeStep > MACHINE_EPSILON); + + const uint32 jointIndex = mWorld.mSliderJointsComponents.getEntityIndex(mEntity); + + const Vector2 translationImpulse = mWorld.mSliderJointsComponents.mImpulseTranslation[jointIndex]; + const Vector3& n1 = mWorld.mSliderJointsComponents.mN1[jointIndex]; + const Vector3& n2 = mWorld.mSliderJointsComponents.mN2[jointIndex]; + const Vector3 impulseJoint = n1 * translationImpulse.x + n2 * translationImpulse.y; + + const Vector3& sliderAxisWorld = mWorld.mSliderJointsComponents.mSliderAxisWorld[jointIndex]; + const Vector3 impulseLowerLimit = mWorld.mSliderJointsComponents.mImpulseLowerLimit[jointIndex] * sliderAxisWorld; + const Vector3 impulseUpperLimit = -mWorld.mSliderJointsComponents.mImpulseUpperLimit[jointIndex] * sliderAxisWorld; + Vector3 impulseMotor = -mWorld.mSliderJointsComponents.mImpulseMotor[jointIndex] * sliderAxisWorld; + + return (impulseJoint + impulseLowerLimit + impulseUpperLimit + impulseMotor) / timeStep; +} + +// Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space +/** + * @return The current torque (in Newtons * meters) applied on body 2 + */ +Vector3 SliderJoint::getReactionTorque(decimal timeStep) const { + + assert(timeStep > MACHINE_EPSILON); + return mWorld.mSliderJointsComponents.getImpulseRotation(mEntity) / timeStep; +} + // Return a string representation std::string SliderJoint::to_string() const { return "SliderJoint{ lowerLimit=" + std::to_string(mWorld.mSliderJointsComponents.getLowerLimit(mEntity)) + ", upperLimit=" + std::to_string(mWorld.mSliderJointsComponents.getUpperLimit(mEntity)) + diff --git a/src/engine/Entity.cpp b/src/engine/Entity.cpp index 919c5fc22..b78911b4d 100644 --- a/src/engine/Entity.cpp +++ b/src/engine/Entity.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -43,14 +43,3 @@ Entity::Entity(uint32 index, uint32 generation) assert(getIndex() == index); assert(getGeneration() == generation); } - -// Assignment operator -Entity& Entity::operator=(const Entity& entity) { - - if (&entity != this) { - - id = entity.id; - } - - return *this; -} diff --git a/src/engine/EntityManager.cpp b/src/engine/EntityManager.cpp index e7cd4231e..18f7bc766 100644 --- a/src/engine/EntityManager.cpp +++ b/src/engine/EntityManager.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -55,7 +55,7 @@ Entity EntityManager::createEntity() { // Create a new indice index = static_cast(mGenerations.size()) - 1; - assert(index < (1 << Entity::ENTITY_INDEX_BITS)); + assert(index < (uint32(1) << Entity::ENTITY_INDEX_BITS)); } // Return a new entity diff --git a/src/engine/Island.cpp b/src/engine/Island.cpp index 36bdc23d1..c8d932200 100644 --- a/src/engine/Island.cpp +++ b/src/engine/Island.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -30,7 +30,7 @@ using namespace reactphysics3d; // Constructor -Island::Island(uint nbMaxBodies, uint nbMaxContactManifolds, MemoryManager& memoryManager) +Island::Island(uint32 nbMaxBodies, uint32 nbMaxContactManifolds, MemoryManager& memoryManager) : mBodies(nullptr), mContactManifolds(nullptr), mNbBodies(0), mNbContactManifolds(0) { // Allocate memory for the arrays on the single frame allocator diff --git a/src/engine/Material.cpp b/src/engine/Material.cpp index bb2aaa35d..f5550a1eb 100644 --- a/src/engine/Material.cpp +++ b/src/engine/Material.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -29,15 +29,7 @@ using namespace reactphysics3d; // Constructor -Material::Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness, decimal massDensity) - : mFrictionCoefficient(frictionCoefficient), mRollingResistance(rollingResistance), mBounciness(bounciness), - mMassDensity(massDensity) { - -} - -// Copy-constructor -Material::Material(const Material& material) - : mFrictionCoefficient(material.mFrictionCoefficient), mRollingResistance(material.mRollingResistance), - mBounciness(material.mBounciness) { +Material::Material(decimal frictionCoefficient, decimal bounciness, decimal massDensity) + : mFrictionCoefficientSqrt(std::sqrt(frictionCoefficient)), mBounciness(bounciness), mMassDensity(massDensity) { } diff --git a/src/engine/OverlappingPairs.cpp b/src/engine/OverlappingPairs.cpp index 2121143ef..0633b5e29 100644 --- a/src/engine/OverlappingPairs.cpp +++ b/src/engine/OverlappingPairs.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -30,285 +30,155 @@ #include #include #include +#include using namespace reactphysics3d; // Constructor -OverlappingPairs::OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, ColliderComponents &colliderComponents, +OverlappingPairs::OverlappingPairs(MemoryManager& memoryManager, ColliderComponents& colliderComponents, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, Set &noCollisionPairs, CollisionDispatch &collisionDispatch) - : mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), - mNbPairs(0), mConcavePairsStartIndex(0), mPairDataSize(sizeof(uint64) + sizeof(int32) + sizeof(int32) + sizeof(Entity) + - sizeof(Entity) + sizeof(Map) + - sizeof(bool) + sizeof(bool) + sizeof(NarrowPhaseAlgorithmType) + - sizeof(bool) + sizeof(bool) + sizeof(bool)), - mNbAllocatedPairs(0), mBuffer(nullptr), - mMapPairIdToPairIndex(persistentMemoryAllocator), + : mPoolAllocator(memoryManager.getPoolAllocator()), mHeapAllocator(memoryManager.getHeapAllocator()), mConvexPairs(memoryManager.getHeapAllocator()), + mConcavePairs(memoryManager.getHeapAllocator()), mMapConvexPairIdToPairIndex(memoryManager.getHeapAllocator()), mMapConcavePairIdToPairIndex(memoryManager.getHeapAllocator()), mColliderComponents(colliderComponents), mCollisionBodyComponents(collisionBodyComponents), mRigidBodyComponents(rigidBodyComponents), mNoCollisionPairs(noCollisionPairs), mCollisionDispatch(collisionDispatch) { - // Allocate memory for the components data - allocate(INIT_NB_ALLOCATED_PAIRS); } // Destructor OverlappingPairs::~OverlappingPairs() { - // If there are allocated pairs - if (mNbAllocatedPairs > 0) { + // Destroy the convex pairs + while (mConvexPairs.size() > 0) { - // Destroy all the remaining pairs - for (uint32 i = 0; i < mNbPairs; i++) { - - // Remove all the remaining last frame collision info - for (auto it = mLastFrameCollisionInfos[i].begin(); it != mLastFrameCollisionInfos[i].end(); ++it) { - - // Call the constructor - it->second->~LastFrameCollisionInfo(); - - // Release memory - mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); - } - - // Remove the involved overlapping pair to the two colliders - assert(mColliderComponents.getOverlappingPairs(mColliders1[i]).find(mPairIds[i]) != mColliderComponents.getOverlappingPairs(mColliders1[i]).end()); - assert(mColliderComponents.getOverlappingPairs(mColliders2[i]).find(mPairIds[i]) != mColliderComponents.getOverlappingPairs(mColliders2[i]).end()); - mColliderComponents.getOverlappingPairs(mColliders1[i]).remove(mPairIds[i]); - mColliderComponents.getOverlappingPairs(mColliders2[i]).remove(mPairIds[i]); - - destroyPair(i); - } - - // Size for the data of a single pair (in bytes) - const size_t totalSizeBytes = mNbAllocatedPairs * mPairDataSize; - - // Release the allocated memory - mPersistentAllocator.release(mBuffer, totalSizeBytes); + removePair(mConvexPairs.size() - 1, true); } -} -// Compute the index where we need to insert the new pair -uint64 OverlappingPairs::prepareAddPair(bool isConvexVsConvex) { + // Destroy the concave pairs + while (mConcavePairs.size() > 0) { - // If we need to allocate more components - if (mNbPairs == mNbAllocatedPairs) { - allocate(mNbAllocatedPairs * 2); + removePair(mConcavePairs.size() - 1, false); } +} - uint64 index; +// Remove a component at a given index +void OverlappingPairs::removePair(uint64 pairId) { - // If the pair to add is not convex vs convex or there are no concave pairs yet - if (!isConvexVsConvex) { + assert(mMapConvexPairIdToPairIndex.containsKey(pairId) || mMapConcavePairIdToPairIndex.containsKey(pairId)); - // Add the component at the end of the array - index = mNbPairs; + auto it = mMapConvexPairIdToPairIndex.find(pairId); + if (it != mMapConvexPairIdToPairIndex.end()) { + removePair(it->second, true); } - // If the pair to add is convex vs convex else { - - // If there already are convex vs concave pairs - if (mConcavePairsStartIndex != mNbPairs) { - - // Move the first convex vs concave pair to the end of the array - movePairToIndex(mConcavePairsStartIndex, mNbPairs); - } - - index = mConcavePairsStartIndex; - - mConcavePairsStartIndex++; + removePair(mMapConcavePairIdToPairIndex[pairId], false); } - - return index; } // Remove a component at a given index -void OverlappingPairs::removePair(uint64 pairId) { +void OverlappingPairs::removePair(uint64 pairIndex, bool isConvexVsConvex) { RP3D_PROFILE("OverlappingPairs::removePair()", mProfiler); - assert(mMapPairIdToPairIndex.containsKey(pairId)); - - uint64 index = mMapPairIdToPairIndex[pairId]; - assert(index < mNbPairs); - - // We want to keep the arrays tightly packed. Therefore, when a pair is removed, - // we replace it with the last element of the array. But we need to make sure that convex - // and concave pairs stay grouped together. - - // Remove all the remaining last frame collision info - for (auto it = mLastFrameCollisionInfos[index].begin(); it != mLastFrameCollisionInfos[index].end(); ++it) { - - // Call the constructor - it->second->~LastFrameCollisionInfo(); + if (isConvexVsConvex) { - // Release memory - mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); - } + const uint64 nbConvexPairs = mConvexPairs.size(); - // Remove the involved overlapping pair to the two colliders - assert(mColliderComponents.getOverlappingPairs(mColliders1[index]).find(pairId) != mColliderComponents.getOverlappingPairs(mColliders1[index]).end()); - assert(mColliderComponents.getOverlappingPairs(mColliders2[index]).find(pairId) != mColliderComponents.getOverlappingPairs(mColliders2[index]).end()); - mColliderComponents.getOverlappingPairs(mColliders1[index]).remove(pairId); - mColliderComponents.getOverlappingPairs(mColliders2[index]).remove(pairId); + assert(pairIndex < nbConvexPairs); - // Destroy the pair - destroyPair(index); + // Remove the involved overlapping pair from the two colliders + assert(mColliderComponents.getOverlappingPairs(mConvexPairs[pairIndex].collider1).find(mConvexPairs[pairIndex].pairID) != mColliderComponents.getOverlappingPairs(mConvexPairs[pairIndex].collider1).end()); + assert(mColliderComponents.getOverlappingPairs(mConvexPairs[pairIndex].collider2).find(mConvexPairs[pairIndex].pairID) != mColliderComponents.getOverlappingPairs(mConvexPairs[pairIndex].collider2).end()); + mColliderComponents.getOverlappingPairs(mConvexPairs[pairIndex].collider1).remove(mConvexPairs[pairIndex].pairID); + mColliderComponents.getOverlappingPairs(mConvexPairs[pairIndex].collider2).remove(mConvexPairs[pairIndex].pairID); - // If the pair to remove is convex vs concave - if (index >= mConcavePairsStartIndex) { + assert(mMapConvexPairIdToPairIndex[mConvexPairs[pairIndex].pairID] == pairIndex); + mMapConvexPairIdToPairIndex.remove(mConvexPairs[pairIndex].pairID); - // If the pair is not the last one - if (index != mNbPairs - 1) { + // Change the mapping between the pairId and the index in the convex pairs array if we swap the last item with the one to remove + if (mConvexPairs.size() > 1 && pairIndex < (nbConvexPairs - 1)) { - // We replace it by the last convex vs concave pair - movePairToIndex(mNbPairs - 1, index); + mMapConvexPairIdToPairIndex[mConvexPairs[nbConvexPairs - 1].pairID] = pairIndex; } + + // We want to keep the arrays tightly packed. Therefore, when a pair is removed, + // we replace it with the last element of the array. + mConvexPairs.removeAtAndReplaceByLast(pairIndex); } - else { // If the pair to remove is convex vs convex + else { - // If it not the last convex vs convex pair - if (index != mConcavePairsStartIndex - 1) { + const uint64 nbConcavePairs = mConcavePairs.size(); - // We replace it by the last convex vs convex pair - movePairToIndex(mConcavePairsStartIndex - 1, index); - } + assert(pairIndex < nbConcavePairs); - // If there are convex vs concave pairs at the end - if (mConcavePairsStartIndex != mNbPairs) { + // Remove the involved overlapping pair to the two colliders + assert(mColliderComponents.getOverlappingPairs(mConcavePairs[pairIndex].collider1).find(mConcavePairs[pairIndex].pairID) != mColliderComponents.getOverlappingPairs(mConcavePairs[pairIndex].collider1).end()); + assert(mColliderComponents.getOverlappingPairs(mConcavePairs[pairIndex].collider2).find(mConcavePairs[pairIndex].pairID) != mColliderComponents.getOverlappingPairs(mConcavePairs[pairIndex].collider2).end()); + mColliderComponents.getOverlappingPairs(mConcavePairs[pairIndex].collider1).remove(mConcavePairs[pairIndex].pairID); + mColliderComponents.getOverlappingPairs(mConcavePairs[pairIndex].collider2).remove(mConcavePairs[pairIndex].pairID); - // We replace the last convex vs convex pair by the last convex vs concave pair - movePairToIndex(mNbPairs - 1, mConcavePairsStartIndex - 1); - } + assert(mMapConcavePairIdToPairIndex[mConcavePairs[pairIndex].pairID] == pairIndex); + mMapConcavePairIdToPairIndex.remove(mConcavePairs[pairIndex].pairID); - mConcavePairsStartIndex--; - } + // Destroy all the LastFrameCollisionInfo objects + mConcavePairs[pairIndex].destroyLastFrameCollisionInfos(); - mNbPairs--; + // Change the mapping between the pairId and the index in the convex pairs array if we swap the last item with the one to remove + if (mConcavePairs.size() > 1 && pairIndex < (nbConcavePairs - 1)) { - assert(mConcavePairsStartIndex <= mNbPairs); - assert(mNbPairs == static_cast(mMapPairIdToPairIndex.size())); -} + mMapConcavePairIdToPairIndex[mConcavePairs[nbConcavePairs - 1].pairID] = pairIndex; + } -// Allocate memory for a given number of pairs -void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { - - assert(nbPairsToAllocate > mNbAllocatedPairs); - - // Size for the data of a single component (in bytes) - const size_t totalSizeBytes = nbPairsToAllocate * mPairDataSize; - - // Allocate memory - void* newBuffer = mPersistentAllocator.allocate(totalSizeBytes); - assert(newBuffer != nullptr); - - // New pointers to components data - uint64* newPairIds = static_cast(newBuffer); - int32* newPairBroadPhaseId1 = reinterpret_cast(newPairIds + nbPairsToAllocate); - int32* newPairBroadPhaseId2 = reinterpret_cast(newPairBroadPhaseId1 + nbPairsToAllocate); - Entity* newColliders1 = reinterpret_cast(newPairBroadPhaseId2 + nbPairsToAllocate); - Entity* newColliders2 = reinterpret_cast(newColliders1 + nbPairsToAllocate); - Map* newLastFrameCollisionInfos = reinterpret_cast*>(newColliders2 + nbPairsToAllocate); - bool* newNeedToTestOverlap = reinterpret_cast(newLastFrameCollisionInfos + nbPairsToAllocate); - bool* newIsActive = reinterpret_cast(newNeedToTestOverlap + nbPairsToAllocate); - NarrowPhaseAlgorithmType* newNarrowPhaseAlgorithmType = reinterpret_cast(newIsActive + nbPairsToAllocate); - bool* newIsShape1Convex = reinterpret_cast(newNarrowPhaseAlgorithmType + nbPairsToAllocate); - bool* wereCollidingInPreviousFrame = reinterpret_cast(newIsShape1Convex + nbPairsToAllocate); - bool* areCollidingInCurrentFrame = reinterpret_cast(wereCollidingInPreviousFrame + nbPairsToAllocate); - - // If there was already pairs before - if (mNbPairs > 0) { - - // Copy component data from the previous buffer to the new one - memcpy(newPairIds, mPairIds, mNbPairs * sizeof(uint64)); - memcpy(newPairBroadPhaseId1, mPairBroadPhaseId1, mNbPairs * sizeof(int32)); - memcpy(newPairBroadPhaseId2, mPairBroadPhaseId2, mNbPairs * sizeof(int32)); - memcpy(newColliders1, mColliders1, mNbPairs * sizeof(Entity)); - memcpy(newColliders2, mColliders2, mNbPairs * sizeof(Entity)); - memcpy(newLastFrameCollisionInfos, mLastFrameCollisionInfos, mNbPairs * sizeof(Map)); - memcpy(newNeedToTestOverlap, mNeedToTestOverlap, mNbPairs * sizeof(bool)); - memcpy(newIsActive, mIsActive, mNbPairs * sizeof(bool)); - memcpy(newNarrowPhaseAlgorithmType, mNarrowPhaseAlgorithmType, mNbPairs * sizeof(NarrowPhaseAlgorithmType)); - memcpy(newIsShape1Convex, mIsShape1Convex, mNbPairs * sizeof(bool)); - memcpy(wereCollidingInPreviousFrame, mCollidingInPreviousFrame, mNbPairs * sizeof(bool)); - memcpy(areCollidingInCurrentFrame, mCollidingInCurrentFrame, mNbPairs * sizeof(bool)); - - // Deallocate previous memory - mPersistentAllocator.release(mBuffer, mNbAllocatedPairs * mPairDataSize); + // We want to keep the arrays tightly packed. Therefore, when a pair is removed, + // we replace it with the last element of the array. + mConcavePairs.removeAtAndReplaceByLast(pairIndex); } - - mBuffer = newBuffer; - mPairIds = newPairIds; - mPairBroadPhaseId1 = newPairBroadPhaseId1; - mPairBroadPhaseId2 = newPairBroadPhaseId2; - mColliders1 = newColliders1; - mColliders2 = newColliders2; - mLastFrameCollisionInfos = newLastFrameCollisionInfos; - mNeedToTestOverlap = newNeedToTestOverlap; - mIsActive = newIsActive; - mNarrowPhaseAlgorithmType = newNarrowPhaseAlgorithmType; - mIsShape1Convex = newIsShape1Convex; - mCollidingInPreviousFrame = wereCollidingInPreviousFrame; - mCollidingInCurrentFrame = areCollidingInCurrentFrame; - - mNbAllocatedPairs = nbPairsToAllocate; } // Add an overlapping pair -uint64 OverlappingPairs::addPair(Collider* shape1, Collider* shape2) { +uint64 OverlappingPairs::addPair(uint32 collider1Index, uint32 collider2Index, bool isConvexVsConvex) { RP3D_PROFILE("OverlappingPairs::addPair()", mProfiler); - const Entity collider1 = shape1->getEntity(); - const Entity collider2 = shape2->getEntity(); - - const uint collider1Index = mColliderComponents.getEntityIndex(collider1); - const uint collider2Index = mColliderComponents.getEntityIndex(collider2); + assert(mColliderComponents.mBroadPhaseIds[collider1Index] >= 0 && mColliderComponents.mBroadPhaseIds[collider2Index] >= 0); const CollisionShape* collisionShape1 = mColliderComponents.mCollisionShapes[collider1Index]; const CollisionShape* collisionShape2 = mColliderComponents.mCollisionShapes[collider2Index]; - const bool isShape1Convex = collisionShape1->isConvex(); - const bool isShape2Convex = collisionShape2->isConvex(); - const bool isConvexVsConvex = isShape1Convex && isShape2Convex; - - // Prepare to add new pair (allocate memory if necessary and compute insertion index) - uint64 index = prepareAddPair(isConvexVsConvex); + const Entity collider1Entity = mColliderComponents.mCollidersEntities[collider1Index]; + const Entity collider2Entity = mColliderComponents.mCollidersEntities[collider2Index]; - const uint32 broadPhase1Id = static_cast(shape1->getBroadPhaseId()); - const uint32 broadPhase2Id = static_cast(shape2->getBroadPhaseId()); + const uint32 broadPhase1Id = static_cast(mColliderComponents.mBroadPhaseIds[collider1Index]); + const uint32 broadPhase2Id = static_cast(mColliderComponents.mBroadPhaseIds[collider2Index]); // Compute a unique id for the overlapping pair const uint64 pairId = pairNumbers(std::max(broadPhase1Id, broadPhase2Id), std::min(broadPhase1Id, broadPhase2Id)); - assert(!mMapPairIdToPairIndex.containsKey(pairId)); - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithmType algorithmType; if (isConvexVsConvex) { - algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), collisionShape2->getType()); + assert(!mMapConvexPairIdToPairIndex.containsKey(pairId)); + NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), collisionShape2->getType()); + + // Map the entity with the new component lookup index + mMapConvexPairIdToPairIndex.add(Pair(pairId, mConvexPairs.size())); + + // Create and add a new convex pair + mConvexPairs.emplace(pairId, broadPhase1Id, broadPhase2Id, collider1Entity, collider2Entity, algorithmType); } else { - algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(isShape1Convex ? collisionShape1->getType() : collisionShape2->getType(), + const bool isShape1Convex = collisionShape1->isConvex(); + + assert(!mMapConcavePairIdToPairIndex.containsKey(pairId)); + NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(isShape1Convex ? collisionShape1->getType() : collisionShape2->getType(), CollisionShapeType::CONVEX_POLYHEDRON); - } + // Map the entity with the new component lookup index + mMapConcavePairIdToPairIndex.add(Pair(pairId, mConcavePairs.size())); - // Insert the new component data - new (mPairIds + index) uint64(pairId); - new (mPairBroadPhaseId1 + index) int32(shape1->getBroadPhaseId()); - new (mPairBroadPhaseId2 + index) int32(shape2->getBroadPhaseId()); - new (mColliders1 + index) Entity(shape1->getEntity()); - new (mColliders2 + index) Entity(shape2->getEntity()); - new (mLastFrameCollisionInfos + index) Map(mPersistentAllocator); - new (mNeedToTestOverlap + index) bool(false); - new (mIsActive + index) bool(true); - new (mNarrowPhaseAlgorithmType + index) NarrowPhaseAlgorithmType(algorithmType); - new (mIsShape1Convex + index) bool(isShape1Convex); - new (mCollidingInPreviousFrame + index) bool(false); - new (mCollidingInCurrentFrame + index) bool(false); - - // Map the entity with the new component lookup index - mMapPairIdToPairIndex.add(Pair(pairId, index)); + // Create and add a new concave pair + mConcavePairs.emplace(pairId, broadPhase1Id, broadPhase2Id, collider1Entity, collider2Entity, algorithmType, + isShape1Convex, mPoolAllocator, mHeapAllocator); + } // Add the involved overlapping pair to the two colliders assert(mColliderComponents.mOverlappingPairs[collider1Index].find(pairId) == mColliderComponents.mOverlappingPairs[collider1Index].end()); @@ -316,212 +186,38 @@ uint64 OverlappingPairs::addPair(Collider* shape1, Collider* shape2) { mColliderComponents.mOverlappingPairs[collider1Index].add(pairId); mColliderComponents.mOverlappingPairs[collider2Index].add(pairId); - mNbPairs++; - - assert(mConcavePairsStartIndex <= mNbPairs); - assert(mNbPairs == static_cast(mMapPairIdToPairIndex.size())); - - updateOverlappingPairIsActive(pairId); - return pairId; } -// Move a pair from a source to a destination index in the pairs array -// The destination location must contain a constructed object -void OverlappingPairs::movePairToIndex(uint64 srcIndex, uint64 destIndex) { - - const uint64 pairId = mPairIds[srcIndex]; - - // Copy the data of the source pair to the destination location - mPairIds[destIndex] = mPairIds[srcIndex]; - mPairBroadPhaseId1[destIndex] = mPairBroadPhaseId1[srcIndex]; - mPairBroadPhaseId2[destIndex] = mPairBroadPhaseId2[srcIndex]; - new (mColliders1 + destIndex) Entity(mColliders1[srcIndex]); - new (mColliders2 + destIndex) Entity(mColliders2[srcIndex]); - new (mLastFrameCollisionInfos + destIndex) Map(mLastFrameCollisionInfos[srcIndex]); - mNeedToTestOverlap[destIndex] = mNeedToTestOverlap[srcIndex]; - mIsActive[destIndex] = mIsActive[srcIndex]; - new (mNarrowPhaseAlgorithmType + destIndex) NarrowPhaseAlgorithmType(mNarrowPhaseAlgorithmType[srcIndex]); - mIsShape1Convex[destIndex] = mIsShape1Convex[srcIndex]; - mCollidingInPreviousFrame[destIndex] = mCollidingInPreviousFrame[srcIndex]; - mCollidingInCurrentFrame[destIndex] = mCollidingInCurrentFrame[srcIndex]; - - // Destroy the source pair - destroyPair(srcIndex); - - assert(!mMapPairIdToPairIndex.containsKey(pairId)); - - // Update the pairId to pair index mapping - mMapPairIdToPairIndex.add(Pair(pairId, destIndex)); - - assert(mMapPairIdToPairIndex[mPairIds[destIndex]] == destIndex); -} - -// Swap two pairs in the array -void OverlappingPairs::swapPairs(uint64 index1, uint64 index2) { - - // Copy pair 1 data - uint64 pairId = mPairIds[index1]; - int32 pairBroadPhaseId1 = mPairBroadPhaseId1[index1]; - int32 pairBroadPhaseId2 = mPairBroadPhaseId2[index1]; - Entity collider1 = mColliders1[index1]; - Entity collider2 = mColliders2[index1]; - Map lastFrameCollisionInfo(mLastFrameCollisionInfos[index1]); - bool needTestOverlap = mNeedToTestOverlap[index1]; - bool isActive = mIsActive[index1]; - NarrowPhaseAlgorithmType narrowPhaseAlgorithmType = mNarrowPhaseAlgorithmType[index1]; - bool isShape1Convex = mIsShape1Convex[index1]; - bool wereCollidingInPreviousFrame = mCollidingInPreviousFrame[index1]; - bool areCollidingInCurrentFrame = mCollidingInCurrentFrame[index1]; - - // Destroy pair 1 - destroyPair(index1); - - movePairToIndex(index2, index1); - - // Reconstruct pair 1 at pair 2 location - mPairIds[index2] = pairId; - mPairBroadPhaseId1[index2] = pairBroadPhaseId1; - mPairBroadPhaseId2[index2] = pairBroadPhaseId2; - new (mColliders1 + index2) Entity(collider1); - new (mColliders2 + index2) Entity(collider2); - new (mLastFrameCollisionInfos + index2) Map(lastFrameCollisionInfo); - mNeedToTestOverlap[index2] = needTestOverlap; - mIsActive[index2] = isActive; - new (mNarrowPhaseAlgorithmType + index2) NarrowPhaseAlgorithmType(narrowPhaseAlgorithmType); - mIsShape1Convex[index2] = isShape1Convex; - mCollidingInPreviousFrame[index2] = wereCollidingInPreviousFrame; - mCollidingInCurrentFrame[index2] = areCollidingInCurrentFrame; - - // Update the pairID to pair index mapping - mMapPairIdToPairIndex.add(Pair(pairId, index2)); - - assert(mMapPairIdToPairIndex[mPairIds[index1]] == index1); - assert(mMapPairIdToPairIndex[mPairIds[index2]] == index2); - assert(mNbPairs == static_cast(mMapPairIdToPairIndex.size())); -} - -// Destroy a pair at a given index -void OverlappingPairs::destroyPair(uint64 index) { - - assert(index < mNbPairs); - - assert(mMapPairIdToPairIndex[mPairIds[index]] == index); - - mMapPairIdToPairIndex.remove(mPairIds[index]); - - mColliders1[index].~Entity(); - mColliders2[index].~Entity(); - mLastFrameCollisionInfos[index].~Map(); - mNarrowPhaseAlgorithmType[index].~NarrowPhaseAlgorithmType(); -} - -// Update whether a given overlapping pair is active or not -void OverlappingPairs::updateOverlappingPairIsActive(uint64 pairId) { - - assert(mMapPairIdToPairIndex.containsKey(pairId)); - - const uint64 pairIndex = mMapPairIdToPairIndex[pairId]; - - const Entity collider1 = mColliders1[pairIndex]; - const Entity collider2 = mColliders2[pairIndex]; - - const Entity body1 = mColliderComponents.getBody(collider1); - const Entity body2 = mColliderComponents.getBody(collider2); - - const bool isBody1Enabled = !mCollisionBodyComponents.getIsEntityDisabled(body1); - const bool isBody2Enabled = !mCollisionBodyComponents.getIsEntityDisabled(body2); - const bool isBody1Static = mRigidBodyComponents.hasComponent(body1) && - mRigidBodyComponents.getBodyType(body1) == BodyType::STATIC; - const bool isBody2Static = mRigidBodyComponents.hasComponent(body2) && - mRigidBodyComponents.getBodyType(body2) == BodyType::STATIC; - - const bool isBody1Active = isBody1Enabled && !isBody1Static; - const bool isBody2Active = isBody2Enabled && !isBody2Static; - - // Check if the bodies are in the set of bodies that cannot collide between each other - bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1, body2); - bool bodiesCanCollide = !mNoCollisionPairs.contains(bodiesIndex); - - mIsActive[pairIndex] = bodiesCanCollide && (isBody1Active || isBody2Active); -} - -// Add a new last frame collision info if it does not exist for the given shapes already -LastFrameCollisionInfo* OverlappingPairs::addLastFrameInfoIfNecessary(uint64 pairIndex, uint32 shapeId1, uint32 shapeId2) { - - RP3D_PROFILE("OverlappingPairs::addLastFrameInfoIfNecessary()", mProfiler); - - assert(pairIndex < mNbPairs); - - uint32 maxShapeId = shapeId1; - uint32 minShapeId = shapeId2; - if (shapeId1 < shapeId2) { - maxShapeId = shapeId2; - minShapeId = shapeId1; - } - - // Try to get the corresponding last frame collision info - const uint64 shapesId = pairNumbers(maxShapeId, minShapeId); - - // If there is no collision info for those two shapes already - auto it = mLastFrameCollisionInfos[pairIndex].find(shapesId); - if (it == mLastFrameCollisionInfos[pairIndex].end()) { - - // Create a new collision info - LastFrameCollisionInfo* collisionInfo = new (mPersistentAllocator.allocate(sizeof(LastFrameCollisionInfo))) - LastFrameCollisionInfo(); - - // Add it into the map of collision infos - mLastFrameCollisionInfos[pairIndex].add(Pair(shapesId, collisionInfo)); - - return collisionInfo; - } - else { - - // The existing collision info is not obsolete - it->second->isObsolete = false; - - return it->second; - } -} - // Delete all the obsolete last frame collision info void OverlappingPairs::clearObsoleteLastFrameCollisionInfos() { RP3D_PROFILE("OverlappingPairs::clearObsoleteLastFrameCollisionInfos()", mProfiler); - // For each overlapping pair - for (uint64 i=0; i < mNbPairs; i++) { - - // For each collision info - for (auto it = mLastFrameCollisionInfos[i].begin(); it != mLastFrameCollisionInfos[i].end(); ) { - - // If the collision info is obsolete - if (it->second->isObsolete) { - - // Delete it - it->second->~LastFrameCollisionInfo(); - mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); - - it = mLastFrameCollisionInfos[i].remove(it); - } - else { // If the collision info is not obsolete + // For each concave overlapping pair + const uint64 nbConcavePairs = mConcavePairs.size(); + for (uint64 i=0; i < nbConcavePairs; i++) { - // Do not delete it but mark it as obsolete - it->second->isObsolete = true; - - ++it; - } - } + mConcavePairs[i].clearObsoleteLastFrameInfos(); } } // Set the collidingInPreviousFrame value with the collidinginCurrentFrame value for each pair void OverlappingPairs::updateCollidingInPreviousFrame() { - // For each overlapping pair - for (uint64 i=0; i < mNbPairs; i++) { + RP3D_PROFILE("OverlappingPairs::updateCollidingInPreviousFrame()", mProfiler); + + // For each convex overlapping pair + const uint64 nbConvexPairs = mConvexPairs.size(); + for (uint64 i=0; i < nbConvexPairs; i++) { + + mConvexPairs[i].collidingInPreviousFrame = mConvexPairs[i].collidingInCurrentFrame; + } + + // For each concave overlapping pair + const uint64 nbConcavePairs = mConcavePairs.size(); + for (uint64 i=0; i < nbConcavePairs; i++) { - mCollidingInPreviousFrame[i] = mCollidingInCurrentFrame[i]; + mConcavePairs[i].collidingInPreviousFrame = mConcavePairs[i].collidingInCurrentFrame; } } diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp index 3147c7020..525d8d04a 100644 --- a/src/engine/PhysicsCommon.cpp +++ b/src/engine/PhysicsCommon.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -42,8 +42,11 @@ PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator) mConvexMeshShapes(mMemoryManager.getHeapAllocator()), mConcaveMeshShapes(mMemoryManager.getHeapAllocator()), mHeightFieldShapes(mMemoryManager.getHeapAllocator()), mPolyhedronMeshes(mMemoryManager.getHeapAllocator()), mTriangleMeshes(mMemoryManager.getHeapAllocator()), - mProfilers(mMemoryManager.getHeapAllocator()), mDefaultLoggers(mMemoryManager.getHeapAllocator()) { + mProfilers(mMemoryManager.getHeapAllocator()), mDefaultLoggers(mMemoryManager.getHeapAllocator()), + mBoxShapeHalfEdgeStructure(mMemoryManager.getHeapAllocator(), 6, 8, 24), + mTriangleShapeHalfEdgeStructure(mMemoryManager.getHeapAllocator(), 2, 3, 6) { + init(); } // Destructor @@ -53,58 +56,139 @@ PhysicsCommon::~PhysicsCommon() { release(); } +/// Initialization +void PhysicsCommon::init() { + + // Initialize the static half-edge structure for the BoxShape collision shape + initBoxShapeHalfEdgeStructure(); + + // Initialize the static half-edge structure for the TriangleShape collision shape + initTriangleShapeHalfEdgeStructure(); +} + +// Initialize the static half-edge structure of a BoxShape +void PhysicsCommon::initBoxShapeHalfEdgeStructure() { + + // Vertices + mBoxShapeHalfEdgeStructure.addVertex(0); + mBoxShapeHalfEdgeStructure.addVertex(1); + mBoxShapeHalfEdgeStructure.addVertex(2); + mBoxShapeHalfEdgeStructure.addVertex(3); + mBoxShapeHalfEdgeStructure.addVertex(4); + mBoxShapeHalfEdgeStructure.addVertex(5); + mBoxShapeHalfEdgeStructure.addVertex(6); + mBoxShapeHalfEdgeStructure.addVertex(7); + + MemoryAllocator& allocator = mMemoryManager.getHeapAllocator(); + + // Faces + Array face0(allocator, 4); + face0.add(0); face0.add(1); face0.add(2); face0.add(3); + Array face1(allocator, 4); + face1.add(1); face1.add(5); face1.add(6); face1.add(2); + Array face2(allocator, 4); + face2.add(4); face2.add(7); face2.add(6); face2.add(5); + Array face3(allocator, 4); + face3.add(4); face3.add(0); face3.add(3); face3.add(7); + Array face4(allocator, 4); + face4.add(4); face4.add(5); face4.add(1); face4.add(0); + Array face5(allocator, 4); + face5.add(2); face5.add(6); face5.add(7); face5.add(3); + + mBoxShapeHalfEdgeStructure.addFace(face0); + mBoxShapeHalfEdgeStructure.addFace(face1); + mBoxShapeHalfEdgeStructure.addFace(face2); + mBoxShapeHalfEdgeStructure.addFace(face3); + mBoxShapeHalfEdgeStructure.addFace(face4); + mBoxShapeHalfEdgeStructure.addFace(face5); + + mBoxShapeHalfEdgeStructure.init(); +} + +// Initialize the static half-edge structure of a TriangleShape +void PhysicsCommon::initTriangleShapeHalfEdgeStructure() { + + // Vertices + mTriangleShapeHalfEdgeStructure.addVertex(0); + mTriangleShapeHalfEdgeStructure.addVertex(1); + mTriangleShapeHalfEdgeStructure.addVertex(2); + + MemoryAllocator& allocator = mMemoryManager.getHeapAllocator(); + + // Faces + Array face0(allocator, 3); + face0.add(0); face0.add(1); face0.add(2); + Array face1(allocator, 3); + face1.add(0); face1.add(2); face1.add(1); + + mTriangleShapeHalfEdgeStructure.addFace(face0); + mTriangleShapeHalfEdgeStructure.addFace(face1); + + mTriangleShapeHalfEdgeStructure.init(); +} + // Destroy and release everything that has been allocated void PhysicsCommon::release() { // Destroy the physics worlds for (auto it = mPhysicsWorlds.begin(); it != mPhysicsWorlds.end(); ++it) { - destroyPhysicsWorld(*it); + deletePhysicsWorld(*it); } + mPhysicsWorlds.clear(); // Destroy the sphere shapes for (auto it = mSphereShapes.begin(); it != mSphereShapes.end(); ++it) { - destroySphereShape(*it); + deleteSphereShape(*it); } + mSphereShapes.clear(); // Destroy the box shapes for (auto it = mBoxShapes.begin(); it != mBoxShapes.end(); ++it) { - destroyBoxShape(*it); + deleteBoxShape(*it); } + mBoxShapes.clear(); // Destroy the capsule shapes for (auto it = mCapsuleShapes.begin(); it != mCapsuleShapes.end(); ++it) { - destroyCapsuleShape(*it); + deleteCapsuleShape(*it); } + mCapsuleShapes.clear(); // Destroy the convex mesh shapes for (auto it = mConvexMeshShapes.begin(); it != mConvexMeshShapes.end(); ++it) { - destroyConvexMeshShape(*it); + deleteConvexMeshShape(*it); } + mConvexMeshShapes.clear(); // Destroy the heigh-field shapes for (auto it = mHeightFieldShapes.begin(); it != mHeightFieldShapes.end(); ++it) { - destroyHeightFieldShape(*it); + deleteHeightFieldShape(*it); } + mHeightFieldShapes.clear(); // Destroy the concave mesh shapes for (auto it = mConcaveMeshShapes.begin(); it != mConcaveMeshShapes.end(); ++it) { - destroyConcaveMeshShape(*it); + deleteConcaveMeshShape(*it); } + mConcaveMeshShapes.clear(); // Destroy the polyhedron mesh for (auto it = mPolyhedronMeshes.begin(); it != mPolyhedronMeshes.end(); ++it) { - destroyPolyhedronMesh(*it); + deletePolyhedronMesh(*it); } + mPolyhedronMeshes.clear(); // Destroy the triangle mesh for (auto it = mTriangleMeshes.begin(); it != mTriangleMeshes.end(); ++it) { - destroyTriangleMesh(*it); + deleteTriangleMesh(*it); } + mTriangleMeshes.clear(); // Destroy the default loggers for (auto it = mDefaultLoggers.begin(); it != mDefaultLoggers.end(); ++it) { - destroyDefaultLogger(*it); + deleteDefaultLogger(*it); } + mDefaultLoggers.clear(); // If profiling is enabled #ifdef IS_RP3D_PROFILING_ENABLED @@ -112,8 +196,9 @@ void PhysicsCommon::release() { // Destroy the profilers for (auto it = mProfilers.begin(); it != mProfilers.end(); ++it) { - destroyProfiler(*it); + deleteProfiler(*it); } + mProfilers.clear(); #endif @@ -138,7 +223,7 @@ PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSetting #endif - PhysicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(PhysicsWorld))) PhysicsWorld(mMemoryManager, worldSettings, profiler); + PhysicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(PhysicsWorld))) PhysicsWorld(mMemoryManager, *this, worldSettings, profiler); mPhysicsWorlds.add(world); @@ -151,13 +236,22 @@ PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSetting */ void PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) { + deletePhysicsWorld(world); + + mPhysicsWorlds.remove(world); +} + +// Delete an instance of PhysicsWorld +/** + * @param world A pointer to the physics world to destroy + */ +void PhysicsCommon::deletePhysicsWorld(PhysicsWorld* world) { + // Call the destructor of the world world->~PhysicsWorld(); // Release allocated memory mMemoryManager.release(MemoryManager::AllocationType::Heap, world, sizeof(PhysicsWorld)); - - mPhysicsWorlds.remove(world); } // Create and return a sphere collision shape @@ -185,6 +279,17 @@ SphereShape* PhysicsCommon::createSphereShape(const decimal radius) { */ void PhysicsCommon::destroySphereShape(SphereShape* sphereShape) { + deleteSphereShape(sphereShape); + + mSphereShapes.remove(sphereShape); +} + +// Delete a sphere collision shape +/** + * @param sphereShape A pointer to the sphere collision shape to destroy + */ +void PhysicsCommon::deleteSphereShape(SphereShape* sphereShape) { + // If the shape is still part of some colliders if (sphereShape->mColliders.size() > 0) { @@ -197,8 +302,6 @@ void PhysicsCommon::destroySphereShape(SphereShape* sphereShape) { // Release allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, sphereShape, sizeof(SphereShape)); - - mSphereShapes.remove(sphereShape); } // Create and return a box collision shape @@ -213,7 +316,7 @@ BoxShape* PhysicsCommon::createBoxShape(const Vector3& halfExtents) { RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon, "Error when creating a BoxShape: the half extents must be positive values", __FILE__, __LINE__); } - BoxShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(BoxShape))) BoxShape(halfExtents, mMemoryManager.getHeapAllocator()); + BoxShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(BoxShape))) BoxShape(halfExtents, mMemoryManager.getHeapAllocator(), *this); mBoxShapes.add(shape); @@ -226,6 +329,17 @@ BoxShape* PhysicsCommon::createBoxShape(const Vector3& halfExtents) { */ void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) { + deleteBoxShape(boxShape); + + mBoxShapes.remove(boxShape); +} + +// Delete a box collision shape +/** + * @param boxShape A pointer to the box shape to destroy + */ +void PhysicsCommon::deleteBoxShape(BoxShape* boxShape) { + // If the shape is still part of some colliders if (boxShape->mColliders.size() > 0) { @@ -238,8 +352,6 @@ void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) { // Release allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, boxShape, sizeof(BoxShape)); - - mBoxShapes.remove(boxShape); } // Create and return a capsule shape @@ -275,6 +387,17 @@ CapsuleShape* PhysicsCommon::createCapsuleShape(decimal radius, decimal height) */ void PhysicsCommon::destroyCapsuleShape(CapsuleShape* capsuleShape) { + deleteCapsuleShape(capsuleShape); + + mCapsuleShapes.remove(capsuleShape); +} + +// Delete a capsule collision shape +/** + * @param capsuleShape A pointer to the capsule shape to destroy + */ +void PhysicsCommon::deleteCapsuleShape(CapsuleShape* capsuleShape) { + // If the shape is still part of some colliders if (capsuleShape->mColliders.size() > 0) { @@ -287,8 +410,6 @@ void PhysicsCommon::destroyCapsuleShape(CapsuleShape* capsuleShape) { // Release allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, capsuleShape, sizeof(CapsuleShape)); - - mCapsuleShapes.remove(capsuleShape); } // Create and return a convex mesh shape @@ -312,6 +433,17 @@ ConvexMeshShape* PhysicsCommon::createConvexMeshShape(PolyhedronMesh* polyhedron */ void PhysicsCommon::destroyConvexMeshShape(ConvexMeshShape* convexMeshShape) { + deleteConvexMeshShape(convexMeshShape); + + mConvexMeshShapes.remove(convexMeshShape); +} + +// Delete a convex mesh shape +/** + * @param convexMeshShape A pointer to the convex mesh shape to destroy + */ +void PhysicsCommon::deleteConvexMeshShape(ConvexMeshShape* convexMeshShape) { + // If the shape is still part of some colliders if (convexMeshShape->mColliders.size() > 0) { @@ -324,8 +456,6 @@ void PhysicsCommon::destroyConvexMeshShape(ConvexMeshShape* convexMeshShape) { // Release allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, convexMeshShape, sizeof(ConvexMeshShape)); - - mConvexMeshShapes.remove(convexMeshShape); } // Create and return a height-field shape @@ -345,7 +475,7 @@ HeightFieldShape* PhysicsCommon::createHeightFieldShape(int nbGridColumns, int n int upAxis, decimal integerHeightScale, const Vector3& scaling) { HeightFieldShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(HeightFieldShape))) HeightFieldShape(nbGridColumns, nbGridRows, minHeight, maxHeight, - heightFieldData, dataType, mMemoryManager.getHeapAllocator(), upAxis, integerHeightScale, scaling); + heightFieldData, dataType, mMemoryManager.getHeapAllocator(), mTriangleShapeHalfEdgeStructure, upAxis, integerHeightScale, scaling); mHeightFieldShapes.add(shape); @@ -358,6 +488,17 @@ HeightFieldShape* PhysicsCommon::createHeightFieldShape(int nbGridColumns, int n */ void PhysicsCommon::destroyHeightFieldShape(HeightFieldShape* heightFieldShape) { + deleteHeightFieldShape(heightFieldShape); + + mHeightFieldShapes.remove(heightFieldShape); +} + +// Delete a height-field shape +/** + * @param heightFieldShape A pointer to the height field shape to destroy + */ +void PhysicsCommon::deleteHeightFieldShape(HeightFieldShape* heightFieldShape) { + // If the shape is still part of some colliders if (heightFieldShape->mColliders.size() > 0) { @@ -370,8 +511,6 @@ void PhysicsCommon::destroyHeightFieldShape(HeightFieldShape* heightFieldShape) // Release allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, heightFieldShape, sizeof(HeightFieldShape)); - - mHeightFieldShapes.remove(heightFieldShape); } // Create and return a concave mesh shape @@ -382,7 +521,8 @@ void PhysicsCommon::destroyHeightFieldShape(HeightFieldShape* heightFieldShape) */ ConcaveMeshShape* PhysicsCommon::createConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling) { - ConcaveMeshShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ConcaveMeshShape))) ConcaveMeshShape(triangleMesh, mMemoryManager.getHeapAllocator(), scaling); + ConcaveMeshShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ConcaveMeshShape))) ConcaveMeshShape(triangleMesh, + mMemoryManager.getHeapAllocator(), mTriangleShapeHalfEdgeStructure, scaling); mConcaveMeshShapes.add(shape); @@ -395,6 +535,17 @@ ConcaveMeshShape* PhysicsCommon::createConcaveMeshShape(TriangleMesh* triangleMe */ void PhysicsCommon::destroyConcaveMeshShape(ConcaveMeshShape* concaveMeshShape) { + deleteConcaveMeshShape(concaveMeshShape); + + mConcaveMeshShapes.remove(concaveMeshShape); +} + +// Delete a concave mesh shape +/** + * @param concaveMeshShape A pointer to the concave mesh shape to destroy + */ +void PhysicsCommon::deleteConcaveMeshShape(ConcaveMeshShape* concaveMeshShape) { + // If the shape is still part of some colliders if (concaveMeshShape->mColliders.size() > 0) { @@ -407,20 +558,23 @@ void PhysicsCommon::destroyConcaveMeshShape(ConcaveMeshShape* concaveMeshShape) // Release allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, concaveMeshShape, sizeof(ConcaveMeshShape)); - - mConcaveMeshShapes.remove(concaveMeshShape); } // Create a polyhedron mesh /** * @param polygonVertexArray A pointer to the polygon vertex array to use to create the polyhedron mesh - * @return A pointer to the created polyhedron mesh + * @return A pointer to the created polyhedron mesh or nullptr if the mesh is not valid */ PolyhedronMesh* PhysicsCommon::createPolyhedronMesh(PolygonVertexArray* polygonVertexArray) { - PolyhedronMesh* mesh = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(PolyhedronMesh))) PolyhedronMesh(polygonVertexArray, mMemoryManager.getHeapAllocator()); + // Create the polyhedron mesh + PolyhedronMesh* mesh = PolyhedronMesh::create(polygonVertexArray, mMemoryManager.getPoolAllocator(), mMemoryManager.getHeapAllocator()); - mPolyhedronMeshes.add(mesh); + // If the mesh is valid + if (mesh != nullptr) { + + mPolyhedronMeshes.add(mesh); + } return mesh; } @@ -431,13 +585,22 @@ PolyhedronMesh* PhysicsCommon::createPolyhedronMesh(PolygonVertexArray* polygonV */ void PhysicsCommon::destroyPolyhedronMesh(PolyhedronMesh* polyhedronMesh) { + deletePolyhedronMesh(polyhedronMesh); + + mPolyhedronMeshes.remove(polyhedronMesh); +} + +// Delete a polyhedron mesh +/** + * @param polyhedronMesh A pointer to the polyhedron mesh to destroy + */ +void PhysicsCommon::deletePolyhedronMesh(PolyhedronMesh* polyhedronMesh) { + // Call the destructor of the shape polyhedronMesh->~PolyhedronMesh(); // Release allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, polyhedronMesh, sizeof(PolyhedronMesh)); - - mPolyhedronMeshes.remove(polyhedronMesh); } // Create a triangle mesh @@ -459,13 +622,22 @@ TriangleMesh* PhysicsCommon::createTriangleMesh() { */ void PhysicsCommon::destroyTriangleMesh(TriangleMesh* triangleMesh) { + deleteTriangleMesh(triangleMesh); + + mTriangleMeshes.remove(triangleMesh); +} + +// Delete a triangle mesh +/** + * @param A pointer to the triangle mesh to destroy + */ +void PhysicsCommon::deleteTriangleMesh(TriangleMesh* triangleMesh) { + // Call the destructor of the shape triangleMesh->~TriangleMesh(); // Release allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, triangleMesh, sizeof(TriangleMesh)); - - mTriangleMeshes.remove(triangleMesh); } // Create and return a new logger @@ -487,13 +659,22 @@ DefaultLogger* PhysicsCommon::createDefaultLogger() { */ void PhysicsCommon::destroyDefaultLogger(DefaultLogger* logger) { + deleteDefaultLogger(logger); + + mDefaultLoggers.remove(logger); +} + +// Delete a logger +/** + * @param A pointer to the default logger to destroy + */ +void PhysicsCommon::deleteDefaultLogger(DefaultLogger* logger) { + // Call the destructor of the logger logger->~DefaultLogger(); // Release allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, logger, sizeof(DefaultLogger)); - - mDefaultLoggers.remove(logger); } // If profiling is enabled @@ -514,13 +695,18 @@ Profiler* PhysicsCommon::createProfiler() { // Destroy a profiler void PhysicsCommon::destroyProfiler(Profiler* profiler) { + deleteProfiler(profiler); + + mProfilers.remove(profiler); +} + +// Delete a profiler +void PhysicsCommon::deleteProfiler(Profiler* profiler) { + // Call the destructor of the profiler profiler->~Profiler(); // Release allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, profiler, sizeof(Profiler)); - - mProfilers.remove(profiler); } - #endif diff --git a/src/engine/PhysicsWorld.cpp b/src/engine/PhysicsWorld.cpp index ec9645adb..c442452ef 100644 --- a/src/engine/PhysicsWorld.cpp +++ b/src/engine/PhysicsWorld.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -42,7 +42,7 @@ using namespace std; // Static initializations -uint PhysicsWorld::mNbWorlds = 0; +uint32 PhysicsWorld::mNbWorlds = 0; // Constructor /** @@ -50,14 +50,19 @@ uint PhysicsWorld::mNbWorlds = 0; * @param worldSettings The settings of the world * @param profiler Pointer to the profiler */ -PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings, Profiler* profiler) +PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, PhysicsCommon& physicsCommon, const WorldSettings& worldSettings, +#ifdef IS_RP3D_PROFILING_ENABLED + Profiler* profiler) +#else + Profiler* /*profiler*/) +#endif : mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()), mDebugRenderer(mMemoryManager.getHeapAllocator()), mCollisionBodyComponents(mMemoryManager.getHeapAllocator()), mRigidBodyComponents(mMemoryManager.getHeapAllocator()), mTransformComponents(mMemoryManager.getHeapAllocator()), mCollidersComponents(mMemoryManager.getHeapAllocator()), mJointsComponents(mMemoryManager.getHeapAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getHeapAllocator()), mFixedJointsComponents(mMemoryManager.getHeapAllocator()), mHingeJointsComponents(mMemoryManager.getHeapAllocator()), mSliderJointsComponents(mMemoryManager.getHeapAllocator()), mCollisionDetection(this, mCollidersComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents, - mMemoryManager), + mMemoryManager, physicsCommon.mTriangleShapeHalfEdgeStructure), mCollisionBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIslands(mMemoryManager.getSingleFrameAllocator()), mProcessContactPairsOrderIslands(mMemoryManager.getSingleFrameAllocator()), mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents, @@ -70,7 +75,7 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), mIsGravityEnabled(true), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), - mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), mCurrentJointId(0) { + mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep) { // Automatically generate a name for the world if (mName == "") { @@ -118,7 +123,9 @@ PhysicsWorld::~PhysicsWorld() { "Physics World: Physics world " + mName + " has been destroyed", __FILE__, __LINE__); // Destroy all the collision bodies that have not been removed - for (int i=mCollisionBodies.size() - 1 ; i >= 0; i--) { + uint32 i = static_cast(mCollisionBodies.size()); + while (i != 0) { + i--; destroyCollisionBody(mCollisionBodies[i]); } @@ -136,7 +143,9 @@ PhysicsWorld::~PhysicsWorld() { } // Destroy all the rigid bodies that have not been removed - for (int i=mRigidBodies.size() - 1; i >= 0; i--) { + i = static_cast(mRigidBodies.size()); + while (i != 0) { + i--; destroyRigidBody(mRigidBodies[i]); } @@ -217,7 +226,7 @@ void PhysicsWorld::destroyCollisionBody(CollisionBody* collisionBody) { // Call the destructor of the collision body collisionBody->~CollisionBody(); - // Remove the collision body from the list of bodies + // Remove the collision body from the array of bodies mCollisionBodies.remove(collisionBody); // Free the object from the memory allocator @@ -233,41 +242,17 @@ void PhysicsWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) { mCollisionBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); mTransformComponents.setIsEntityDisabled(bodyEntity, isDisabled); - if (mRigidBodyComponents.hasComponent(bodyEntity)) { - mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); - } + assert(mRigidBodyComponents.hasComponent(bodyEntity)); + + mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); // For each collider of the body - const List& collidersEntities = mCollisionBodyComponents.getColliders(bodyEntity); - for (uint i=0; i < collidersEntities.size(); i++) { + const Array& collidersEntities = mCollisionBodyComponents.getColliders(bodyEntity); + const uint32 nbColliderEntities = static_cast(collidersEntities.size()); + for (uint32 i=0; i < nbColliderEntities; i++) { mCollidersComponents.setIsEntityDisabled(collidersEntities[i], isDisabled); } - - // Disable the joints of the body if necessary - if (mRigidBodyComponents.hasComponent(bodyEntity)) { - - // For each joint of the body - const List& joints = mRigidBodyComponents.getJoints(bodyEntity); - for(uint32 i=0; i < joints.size(); i++) { - - const Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]); - const Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]); - - // If both bodies of the joint are disabled - if (mRigidBodyComponents.getIsEntityDisabled(body1Entity) && - mRigidBodyComponents.getIsEntityDisabled(body2Entity)) { - - // We disable the joint - setJointDisabled(joints[i], true); - } - else { - - // Enable the joint - setJointDisabled(joints[i], false); - } - } - } } // Notify the world whether a joint is disabled or not @@ -348,8 +333,11 @@ void PhysicsWorld::update(decimal timeStep) { // Report the contacts to the user mCollisionDetection.reportContactsAndTriggers(); - // Disable the joints for pair of sleeping bodies - disableJointsOfSleepingBodies(); + // Recompute the inverse inertia tensors of rigid bodies + updateBodiesInverseWorldInertiaTensors(); + + // Enable or disable the joints + enableDisableJoints(); // Integrate the velocities mDynamicsSystem.integrateRigidBodiesVelocities(timeStep); @@ -367,7 +355,7 @@ void PhysicsWorld::update(decimal timeStep) { mDynamicsSystem.updateBodiesState(); // Update the colliders components - mCollisionDetection.updateColliders(timeStep); + mCollisionDetection.updateColliders(); if (mIsSleepingEnabled) updateSleepingBodies(timeStep); @@ -388,6 +376,16 @@ void PhysicsWorld::update(decimal timeStep) { mMemoryManager.resetFrameAllocator(); } +// Update the world inverse inertia tensors of rigid bodies +void PhysicsWorld::updateBodiesInverseWorldInertiaTensors() { + + uint32 nbComponents = mRigidBodyComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbComponents; i++) { + const Matrix3x3 orientation = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]).getOrientation().getMatrix(); + + RigidBody::computeWorldInertiaTensorInverse(orientation, mRigidBodyComponents.mInverseInertiaTensorsLocal[i], mRigidBodyComponents.mInverseInertiaTensorsWorld[i]); + } +} // Solve the contacts and constraints void PhysicsWorld::solveContactsAndConstraints(decimal timeStep) { @@ -403,7 +401,7 @@ void PhysicsWorld::solveContactsAndConstraints(decimal timeStep) { mConstraintSolverSystem.initialize(timeStep); // For each iteration of the velocity solver - for (uint i=0; i jointsEntites(mMemoryManager.getHeapAllocator(), nbJointComponents); + + // Get all the joints entities + for (uint32 i = 0; i < nbJointComponents; i++) { + jointsEntites.add(mJointsComponents.mJointEntities[i]); + } // For each joint - for (uint32 i=0; i < mJointsComponents.getNbEnabledComponents(); i++) { + for (uint32 i = 0; i < nbJointComponents; i++) { + + uint32 jointEntityIndex = mJointsComponents.getEntityIndex(jointsEntites[i]); - Entity body1 = mJointsComponents.mBody1Entities[i]; - Entity body2 = mJointsComponents.mBody2Entities[i]; + Entity body1 = mJointsComponents.mBody1Entities[jointEntityIndex]; + Entity body2 = mJointsComponents.mBody2Entities[jointEntityIndex]; // If both bodies of the joint are disabled - if (mCollisionBodyComponents.getIsEntityDisabled(body1) && mCollisionBodyComponents.getIsEntityDisabled(body2)) { + if (mCollisionBodyComponents.getIsEntityDisabled(body1) || mCollisionBodyComponents.getIsEntityDisabled(body2)) { // Disable the joint - setJointDisabled(mJointsComponents.mJointEntities[i], true); + setJointDisabled(jointsEntites[i], true); + } + else { + + // Enable the joint + setJointDisabled(jointsEntites[i], false); } } } @@ -510,9 +524,9 @@ void PhysicsWorld::destroyRigidBody(RigidBody* rigidBody) { rigidBody->removeAllColliders(); // Destroy all the joints in which the rigid body to be destroyed is involved - const List& joints = mRigidBodyComponents.getJoints(rigidBody->getEntity()); - for (uint32 i=0; i < joints.size(); i++) { - destroyJoint(mJointsComponents.getJoint(joints[i])); + const Array& joints = mRigidBodyComponents.getJoints(rigidBody->getEntity()); + while (joints.size() > 0) { + destroyJoint(mJointsComponents.getJoint(joints[0])); } // Destroy the corresponding entity and its components @@ -524,7 +538,7 @@ void PhysicsWorld::destroyRigidBody(RigidBody* rigidBody) { // Call the destructor of the rigid body rigidBody->~RigidBody(); - // Remove the rigid body from the list of rigid bodies + // Remove the rigid body from the array of rigid bodies mRigidBodies.remove(rigidBody); // Free the object from the memory allocator @@ -553,7 +567,7 @@ Joint* PhysicsWorld::createJoint(const JointInfo& jointInfo) { case JointType::BALLSOCKETJOINT: { // Create a BallAndSocketJoint component - BallAndSocketJointComponents::BallAndSocketJointComponent ballAndSocketJointComponent; + BallAndSocketJointComponents::BallAndSocketJointComponent ballAndSocketJointComponent(false, PI_RP3D); mBallAndSocketJointsComponents.addComponent(entity, isJointDisabled, ballAndSocketJointComponent); void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, @@ -648,7 +662,7 @@ Joint* PhysicsWorld::createJoint(const JointInfo& jointInfo) { RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Joint, "Joint " + std::to_string(newJoint->getEntity().id) + ": " + newJoint->to_string(), __FILE__, __LINE__); - // Add the joint into the joint list of the bodies involved in the joint + // Add the joint into the joint array of the bodies involved in the joint addJointToBodies(jointInfo.body1->getEntity(), jointInfo.body2->getEntity(), entity); // Return the pointer to the created joint @@ -680,7 +694,7 @@ void PhysicsWorld::destroyJoint(Joint* joint) { body1->setIsSleeping(false); body2->setIsSleeping(false); - // Remove the joint from the joint list of the bodies involved in the joint + // Remove the joint from the joint array of the bodies involved in the joint mRigidBodyComponents.removeJointFromBody(body1->getEntity(), joint->getEntity()); mRigidBodyComponents.removeJointFromBody(body2->getEntity(), joint->getEntity()); @@ -716,7 +730,7 @@ void PhysicsWorld::destroyJoint(Joint* joint) { /** * @param nbIterations Number of iterations for the velocity solver */ -void PhysicsWorld::setNbIterationsVelocitySolver(uint nbIterations) { +void PhysicsWorld::setNbIterationsVelocitySolver(uint16 nbIterations) { mNbVelocitySolverIterations = nbIterations; @@ -724,7 +738,7 @@ void PhysicsWorld::setNbIterationsVelocitySolver(uint nbIterations) { "Physics World: Set nb iterations velocity solver to " + std::to_string(nbIterations), __FILE__, __LINE__); } -// Add the joint to the list of joints of the two bodies involved in the joint +// Add the joint to the array of joints of the two bodies involved in the joint void PhysicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) { mRigidBodyComponents.addJointToBody(body1, joint); @@ -755,21 +769,28 @@ void PhysicsWorld::createIslands() { assert(mProcessContactPairsOrderIslands.size() == 0); // Reset all the isAlreadyInIsland variables of bodies and joints - for (uint b=0; b < mRigidBodyComponents.getNbComponents(); b++) { - + const uint32 nbRigidBodyComponents = mRigidBodyComponents.getNbComponents(); + for (uint32 b=0; b < nbRigidBodyComponents; b++) { mRigidBodyComponents.mIsAlreadyInIsland[b] = false; } - for (uint32 i=0; i < mJointsComponents.getNbComponents(); i++) { + const uint32 nbJointsComponents = mJointsComponents.getNbComponents(); + for (uint32 i=0; i < nbJointsComponents; i++) { mJointsComponents.mIsAlreadyInIsland[i] = false; } + // Reserve memory for the islands + mIslands.reserveMemory(); + // Create a stack for the bodies to visit during the Depth First Search - Stack bodyEntityIndicesToVisit(mMemoryManager.getSingleFrameAllocator()); + Stack bodyEntitiesToVisit(mMemoryManager.getSingleFrameAllocator(), mIslands.getNbMaxBodiesInIslandPreviousFrame()); - uint nbTotalManifolds = 0; + // Array of static bodies added to the current island (used to reset the isAlreadyInIsland variable of static bodies) + Array staticBodiesAddedToIsland(mMemoryManager.getSingleFrameAllocator(), 16); + + uint32 nbTotalManifolds = 0; // For each rigid body component - for (uint b=0; b < mRigidBodyComponents.getNbEnabledComponents(); b++) { + for (uint32 b=0; b < mRigidBodyComponents.getNbEnabledComponents(); b++) { // If the body has already been added to an island, we go to the next body if (mRigidBodyComponents.mIsAlreadyInIsland[b]) continue; @@ -778,109 +799,127 @@ void PhysicsWorld::createIslands() { if (mRigidBodyComponents.mBodyTypes[b] == BodyType::STATIC) continue; // Reset the stack of bodies to visit - bodyEntityIndicesToVisit.clear(); + bodyEntitiesToVisit.clear(); // Add the body into the stack of bodies to visit mRigidBodyComponents.mIsAlreadyInIsland[b] = true; - bodyEntityIndicesToVisit.push(mRigidBodyComponents.mBodiesEntities[b]); + bodyEntitiesToVisit.push(mRigidBodyComponents.mBodiesEntities[b]); // Create the new island uint32 islandIndex = mIslands.addIsland(nbTotalManifolds); // While there are still some bodies to visit in the stack - while (bodyEntityIndicesToVisit.size() > 0) { + while (bodyEntitiesToVisit.size() > 0) { - // Get the next body to visit from the stack - const Entity bodyToVisitEntity = bodyEntityIndicesToVisit.pop(); + // Get the body entity + const Entity bodyToVisitEntity = bodyEntitiesToVisit.pop(); // Add the body into the island - mIslands.bodyEntities[islandIndex].add(bodyToVisitEntity); + mIslands.addBodyToIsland(bodyToVisitEntity); - RigidBody* rigidBodyToVisit = static_cast(mCollisionBodyComponents.getBody(bodyToVisitEntity)); + RigidBody* rigidBodyToVisit = mRigidBodyComponents.getRigidBody(bodyToVisitEntity); - // Awake the body if it is sleeping + // Awake the body if it is sleeping (note that this called might change the body index in the mRigidBodyComponents array) rigidBodyToVisit->setIsSleeping(false); + // Compute the body index in the array (Note that it could have changed because of the previous call to rigidBodyToVisit->setIsSleeping(false)) + const uint32 bodyToVisitIndex = mRigidBodyComponents.getEntityIndex(bodyToVisitEntity); + // If the current body is static, we do not want to perform the DFS search across that body - if (rigidBodyToVisit->getType() == BodyType::STATIC) continue; + if (mRigidBodyComponents.mBodyTypes[bodyToVisitIndex] == BodyType::STATIC) { - // If the body is involved in contacts with other bodies - auto itBodyContactPairs = mCollisionDetection.mMapBodyToContactPairs.find(bodyToVisitEntity); - if (itBodyContactPairs != mCollisionDetection.mMapBodyToContactPairs.end()) { + staticBodiesAddedToIsland.add(bodyToVisitEntity); - // For each contact pair in which the current body is involded - List& contactPairs = itBodyContactPairs->second; - for (uint p=0; p < contactPairs.size(); p++) { + // Go to the next body + continue; + } - ContactPair& pair = (*mCollisionDetection.mCurrentContactPairs)[contactPairs[p]]; + // If the body is involved in contacts with other bodies + // For each contact pair in which the current body is involded + const uint32 nbBodyContactPairs = static_cast(mRigidBodyComponents.mContactPairs[bodyToVisitIndex].size()); + for (uint32 p=0; p < nbBodyContactPairs; p++) { - // Check if the current contact pair has already been added into an island - if (pair.isAlreadyInIsland) continue; + const uint32 contactPairIndex = mRigidBodyComponents.mContactPairs[bodyToVisitIndex][p]; + ContactPair& pair = (*mCollisionDetection.mCurrentContactPairs)[contactPairIndex]; - // If the colliding body is a RigidBody (and not a CollisionBody) and is not a trigger - if (mRigidBodyComponents.hasComponent(pair.body1Entity) && mRigidBodyComponents.hasComponent(pair.body2Entity) - && !mCollidersComponents.getIsTrigger(pair.collider1Entity) && !mCollidersComponents.getIsTrigger(pair.collider2Entity)) { + // Check if the current contact pair has already been added into an island + if (pair.isAlreadyInIsland) continue; - mProcessContactPairsOrderIslands.add(contactPairs[p]); + const Entity otherBodyEntity = pair.body1Entity == bodyToVisitEntity ? pair.body2Entity : pair.body1Entity; - assert(pair.potentialContactManifoldsIndices.size() > 0); - nbTotalManifolds += pair.potentialContactManifoldsIndices.size(); + // If the colliding body is a RigidBody (and not a CollisionBody) and is not a trigger + uint32 otherBodyIndex; + if (mRigidBodyComponents.hasComponentGetIndex(otherBodyEntity, otherBodyIndex) + && !mCollidersComponents.getIsTrigger(pair.collider1Entity) && !mCollidersComponents.getIsTrigger(pair.collider2Entity)) { - // Add the contact manifold into the island - mIslands.nbContactManifolds[islandIndex] += pair.potentialContactManifoldsIndices.size(); - pair.isAlreadyInIsland = true; + mProcessContactPairsOrderIslands.add(contactPairIndex); - const Entity otherBodyEntity = pair.body1Entity == bodyToVisitEntity ? pair.body2Entity : pair.body1Entity; + assert(pair.nbPotentialContactManifolds > 0); + nbTotalManifolds += pair.nbPotentialContactManifolds; - // Check if the other body has already been added to the island - if (mRigidBodyComponents.getIsAlreadyInIsland(otherBodyEntity)) continue; + // Add the contact manifold into the island + mIslands.nbContactManifolds[islandIndex] += pair.nbPotentialContactManifolds; + pair.isAlreadyInIsland = true; - // Insert the other body into the stack of bodies to visit - bodyEntityIndicesToVisit.push(otherBodyEntity); - mRigidBodyComponents.setIsAlreadyInIsland(otherBodyEntity, true); - } - else { + // Check if the other body has already been added to the island + if (mRigidBodyComponents.mIsAlreadyInIsland[otherBodyIndex]) continue; + + // Insert the other body into the stack of bodies to visit + bodyEntitiesToVisit.push(otherBodyEntity); + mRigidBodyComponents.mIsAlreadyInIsland[otherBodyIndex] = true; + } + else { - // Add the contact pair index in the list of contact pairs that won't be part of islands - pair.isAlreadyInIsland = true; - } + // Add the contact pair index in the array of contact pairs that won't be part of islands + pair.isAlreadyInIsland = true; } } // For each joint in which the current body is involved - const List& joints = mRigidBodyComponents.getJoints(rigidBodyToVisit->getEntity()); - for (uint32 i=0; i < joints.size(); i++) { + const Array& joints = mRigidBodyComponents.getJoints(rigidBodyToVisit->getEntity()); + const uint32 nbBodyJoints = static_cast(joints.size()); + for (uint32 i=0; i < nbBodyJoints; i++) { + + const uint32 jointComponentIndex = mJointsComponents.getEntityIndex(joints[i]); // Check if the current joint has already been added into an island - if (mJointsComponents.getIsAlreadyInIsland(joints[i])) continue; + if (mJointsComponents.mIsAlreadyInIsland[jointComponentIndex]) continue; // Add the joint into the island - mJointsComponents.setIsAlreadyInIsland(joints[i], true); + mJointsComponents.mIsAlreadyInIsland[jointComponentIndex] = true; - const Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]); - const Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]); + const Entity body1Entity = mJointsComponents.mBody1Entities[jointComponentIndex]; + const Entity body2Entity = mJointsComponents.mBody2Entities[jointComponentIndex]; const Entity otherBodyEntity = body1Entity == bodyToVisitEntity ? body2Entity : body1Entity; + const uint32 otherBodyIndex = mRigidBodyComponents.getEntityIndex(otherBodyEntity); + // Check if the other body has already been added to the island - if (mRigidBodyComponents.getIsAlreadyInIsland(otherBodyEntity)) continue; + if (mRigidBodyComponents.mIsAlreadyInIsland[otherBodyIndex]) continue; // Insert the other body into the stack of bodies to visit - bodyEntityIndicesToVisit.push(otherBodyEntity); - mRigidBodyComponents.setIsAlreadyInIsland(otherBodyEntity, true); + bodyEntitiesToVisit.push(otherBodyEntity); + mRigidBodyComponents.mIsAlreadyInIsland[otherBodyIndex] = true; } } // Reset the isAlreadyIsland variable of the static bodies so that they // can also be included in the other islands - for (uint j=0; j < mRigidBodyComponents.getNbEnabledComponents(); j++) { + const uint32 nbStaticBodiesAddedToIsland = static_cast(staticBodiesAddedToIsland.size()); + for (uint32 j=0; j < nbStaticBodiesAddedToIsland; j++) { - if (mRigidBodyComponents.mBodyTypes[j] == BodyType::STATIC) { - mRigidBodyComponents.mIsAlreadyInIsland[j] = false; - } + assert(mRigidBodyComponents.getBodyType(staticBodiesAddedToIsland[j]) == BodyType::STATIC); + mRigidBodyComponents.setIsAlreadyInIsland(staticBodiesAddedToIsland[j], false); } + + staticBodiesAddedToIsland.clear(); } - mCollisionDetection.mMapBodyToContactPairs.clear(true); + // Clear the associated contacts pairs of rigid bodies + const uint32 nbRigidBodyEnabledComponents = mRigidBodyComponents.getNbEnabledComponents(); + for (uint32 b=0; b < nbRigidBodyEnabledComponents; b++) { + mRigidBodyComponents.mContactPairs[b].clear(); + } } // Put bodies to sleep if needed. @@ -894,35 +933,35 @@ void PhysicsWorld::updateSleepingBodies(decimal timeStep) { const decimal sleepAngularVelocitySquare = mSleepAngularVelocity * mSleepAngularVelocity; // For each island of the world - for (uint i=0; i sleepLinearVelocitySquare || - mRigidBodyComponents.getAngularVelocity(bodyEntity).lengthSquare() > sleepAngularVelocitySquare || - !mRigidBodyComponents.getIsAllowedToSleep(bodyEntity)) { + if (mRigidBodyComponents.mLinearVelocities[bodyIndex].lengthSquare() > sleepLinearVelocitySquare || + mRigidBodyComponents.mAngularVelocities[bodyIndex].lengthSquare() > sleepAngularVelocitySquare || + !mRigidBodyComponents.mIsAllowedToSleep[bodyIndex]) { // Reset the sleep time of the body - mRigidBodyComponents.setSleepTime(bodyEntity, decimal(0.0)); + mRigidBodyComponents.mSleepTimes[bodyIndex] = decimal(0.0); minSleepTime = decimal(0.0); } else { // If the body velocity is below the sleeping velocity threshold // Increase the sleep time - decimal sleepTime = mRigidBodyComponents.getSleepTime(bodyEntity); - mRigidBodyComponents.setSleepTime(bodyEntity, sleepTime + timeStep); - sleepTime = mRigidBodyComponents.getSleepTime(bodyEntity); - if (sleepTime < minSleepTime) { - minSleepTime = sleepTime; + mRigidBodyComponents.mSleepTimes[bodyIndex] += timeStep; + if (mRigidBodyComponents.mSleepTimes[bodyIndex] < minSleepTime) { + minSleepTime = mRigidBodyComponents.mSleepTimes[bodyIndex]; } } } @@ -933,9 +972,9 @@ void PhysicsWorld::updateSleepingBodies(decimal timeStep) { if (minSleepTime >= mTimeBeforeSleep) { // Put all the bodies of the island to sleep - for (uint b=0; b < mIslands.bodyEntities[i].size(); b++) { + for (uint32 b=0; b < mIslands.nbBodiesInIsland[i]; b++) { - const Entity bodyEntity = mIslands.bodyEntities[i][b]; + const Entity bodyEntity = mIslands.bodyEntities[mIslands.startBodyEntitiesIndex[i] + b]; RigidBody* body = mRigidBodyComponents.getRigidBody(bodyEntity); body->setIsSleeping(true); } @@ -956,7 +995,7 @@ void PhysicsWorld::enableSleeping(bool isSleepingEnabled) { if (!mIsSleepingEnabled) { // For each body of the world - List::Iterator it; + Array::Iterator it; for (it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) { // Wake up the rigid body @@ -972,7 +1011,7 @@ void PhysicsWorld::enableSleeping(bool isSleepingEnabled) { /** * @param nbIterations Number of iterations for the position solver */ -void PhysicsWorld::setNbIterationsPositionSolver(uint nbIterations) { +void PhysicsWorld::setNbIterationsPositionSolver(uint32 nbIterations) { mNbPositionSolverIterations = nbIterations; @@ -1051,7 +1090,7 @@ void PhysicsWorld::setIsGravityEnabled(bool isGravityEnabled) { * @param index Index of a CollisionBody in the world * @return Constant pointer to a given CollisionBody */ -const CollisionBody* PhysicsWorld::getCollisionBody(uint index) const { +const CollisionBody* PhysicsWorld::getCollisionBody(uint32 index) const { if (index >= getNbCollisionBodies()) { @@ -1069,7 +1108,7 @@ const CollisionBody* PhysicsWorld::getCollisionBody(uint index) const { * @param index Index of a CollisionBody in the world * @return Pointer to a given CollisionBody */ -CollisionBody* PhysicsWorld::getCollisionBody(uint index) { +CollisionBody* PhysicsWorld::getCollisionBody(uint32 index) { if (index >= getNbCollisionBodies()) { @@ -1087,7 +1126,7 @@ CollisionBody* PhysicsWorld::getCollisionBody(uint index) { * @param index Index of a RigidBody in the world * @return Constant pointer to a given RigidBody */ -const RigidBody* PhysicsWorld::getRigidBody(uint index) const { +const RigidBody* PhysicsWorld::getRigidBody(uint32 index) const { if (index >= getNbRigidBodies()) { @@ -1105,7 +1144,7 @@ const RigidBody* PhysicsWorld::getRigidBody(uint index) const { * @param index Index of a RigidBody in the world * @return Pointer to a given RigidBody */ -RigidBody* PhysicsWorld::getRigidBody(uint index) { +RigidBody* PhysicsWorld::getRigidBody(uint32 index) { if (index >= getNbRigidBodies()) { diff --git a/src/mathematics/Matrix2x2.cpp b/src/mathematics/Matrix2x2.cpp index a6ca1c132..d17ebf63f 100644 --- a/src/mathematics/Matrix2x2.cpp +++ b/src/mathematics/Matrix2x2.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -28,22 +28,8 @@ using namespace reactphysics3d; -// Assignment operator -Matrix2x2& Matrix2x2::operator=(const Matrix2x2& matrix) { - - // Check for self-assignment - if (&matrix != this) { - setAllValues(matrix.mRows[0][0], matrix.mRows[0][1], - matrix.mRows[1][0], matrix.mRows[1][1]); - } - return *this; -} - // Return the inverse matrix -Matrix2x2 Matrix2x2::getInverse() const { - - // Compute the determinant of the matrix - decimal determinant = getDeterminant(); +Matrix2x2 Matrix2x2::getInverse(decimal determinant) const { // Check if the determinant is equal to zero assert(std::abs(determinant) > MACHINE_EPSILON); diff --git a/src/mathematics/Matrix3x3.cpp b/src/mathematics/Matrix3x3.cpp index 2cca4a2cc..e6923e58f 100644 --- a/src/mathematics/Matrix3x3.cpp +++ b/src/mathematics/Matrix3x3.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -29,23 +29,8 @@ // Namespaces using namespace reactphysics3d; -// Assignment operator -Matrix3x3& Matrix3x3::operator=(const Matrix3x3& matrix) { - - // Check for self-assignment - if (&matrix != this) { - setAllValues(matrix.mRows[0][0], matrix.mRows[0][1], matrix.mRows[0][2], - matrix.mRows[1][0], matrix.mRows[1][1], matrix.mRows[1][2], - matrix.mRows[2][0], matrix.mRows[2][1], matrix.mRows[2][2]); - } - return *this; -} - // Return the inverse matrix -Matrix3x3 Matrix3x3::getInverse() const { - - // Compute the determinant of the matrix - decimal determinant = getDeterminant(); +Matrix3x3 Matrix3x3::getInverse(decimal determinant) const { // Check if the determinant is equal to zero assert(determinant != decimal(0.0)); @@ -65,6 +50,3 @@ Matrix3x3 Matrix3x3::getInverse() const { // Return the inverse matrix return (invDeterminant * tempMatrix); } - - - diff --git a/src/mathematics/Quaternion.cpp b/src/mathematics/Quaternion.cpp index a8918f93d..4e7fd6500 100644 --- a/src/mathematics/Quaternion.cpp +++ b/src/mathematics/Quaternion.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -51,12 +51,6 @@ Quaternion Quaternion::fromEulerAngles(const Vector3& eulerAngles) { return quaternion; } -// Copy-constructor -Quaternion::Quaternion(const Quaternion& quaternion) - :x(quaternion.x), y(quaternion.y), z(quaternion.z), w(quaternion.w) { - -} - // Create a unit quaternion from a rotation matrix Quaternion::Quaternion(const Matrix3x3& matrix) { diff --git a/src/mathematics/Transform.cpp b/src/mathematics/Transform.cpp index 389af0e4a..191aeadef 100644 --- a/src/mathematics/Transform.cpp +++ b/src/mathematics/Transform.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -30,7 +30,6 @@ // Namespaces using namespace reactphysics3d; - // Set the transform from an OpenGL transform matrix void Transform::setFromOpenGL(decimal* openglMatrix) { Matrix3x3 matrix(openglMatrix[0], openglMatrix[4], openglMatrix[8], diff --git a/src/mathematics/Vector2.cpp b/src/mathematics/Vector2.cpp index 41dbce504..b8be9a833 100644 --- a/src/mathematics/Vector2.cpp +++ b/src/mathematics/Vector2.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/mathematics/Vector3.cpp b/src/mathematics/Vector3.cpp index 5509e8531..42138def4 100644 --- a/src/mathematics/Vector3.cpp +++ b/src/mathematics/Vector3.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -48,7 +48,7 @@ Vector3 Vector3::getOneUnitOrthogonalVector() const { assert(length() > MACHINE_EPSILON); // Get the minimum element of the vector - Vector3 vectorAbs(std::fabs(x), std::fabs(y), std::fabs(z)); + Vector3 vectorAbs(std::abs(x), std::abs(y), std::abs(z)); int minElement = vectorAbs.getMinAxis(); if (minElement == 0) { diff --git a/src/mathematics/mathematics_functions.cpp b/src/mathematics/mathematics_functions.cpp deleted file mode 100755 index 66c3efdaa..000000000 --- a/src/mathematics/mathematics_functions.cpp +++ /dev/null @@ -1,415 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include -#include -#include -#include - -using namespace reactphysics3d; - - -// Function to test if two vectors are (almost) equal -bool reactphysics3d::approxEqual(const Vector3& vec1, const Vector3& vec2, decimal epsilon) { - return approxEqual(vec1.x, vec2.x, epsilon) && approxEqual(vec1.y, vec2.y, epsilon) && - approxEqual(vec1.z, vec2.z, epsilon); -} - -// Function to test if two vectors are (almost) equal -bool reactphysics3d::approxEqual(const Vector2& vec1, const Vector2& vec2, decimal epsilon) { - return approxEqual(vec1.x, vec2.x, epsilon) && approxEqual(vec1.y, vec2.y, epsilon); -} - -// Compute the barycentric coordinates u, v, w of a point p inside the triangle (a, b, c) -// This method uses the technique described in the book Real-Time collision detection by -// Christer Ericson. -void reactphysics3d::computeBarycentricCoordinatesInTriangle(const Vector3& a, const Vector3& b, const Vector3& c, - const Vector3& p, decimal& u, decimal& v, decimal& w) { - const Vector3 v0 = b - a; - const Vector3 v1 = c - a; - const Vector3 v2 = p - a; - - decimal d00 = v0.dot(v0); - decimal d01 = v0.dot(v1); - decimal d11 = v1.dot(v1); - decimal d20 = v2.dot(v0); - decimal d21 = v2.dot(v1); - - decimal denom = d00 * d11 - d01 * d01; - v = (d11 * d20 - d01 * d21) / denom; - w = (d00 * d21 - d01 * d20) / denom; - u = decimal(1.0) - v - w; -} - -// Clamp a vector such that it is no longer than a given maximum length -Vector3 reactphysics3d::clamp(const Vector3& vector, decimal maxLength) { - if (vector.lengthSquare() > maxLength * maxLength) { - return vector.getUnit() * maxLength; - } - return vector; -} - -// Return true if two vectors are parallel -bool reactphysics3d::areParallelVectors(const Vector3& vector1, const Vector3& vector2) { - return vector1.cross(vector2).lengthSquare() < decimal(0.00001); -} - -// Return true if two vectors are orthogonal -bool reactphysics3d::areOrthogonalVectors(const Vector3& vector1, const Vector3& vector2) { - return std::abs(vector1.dot(vector2)) < decimal(0.001); -} - -// Compute and return a point on segment from "segPointA" and "segPointB" that is closest to point "pointC" -Vector3 reactphysics3d::computeClosestPointOnSegment(const Vector3& segPointA, const Vector3& segPointB, const Vector3& pointC) { - - const Vector3 ab = segPointB - segPointA; - - decimal abLengthSquare = ab.lengthSquare(); - - // If the segment has almost zero length - if (abLengthSquare < MACHINE_EPSILON) { - - // Return one end-point of the segment as the closest point - return segPointA; - } - - // Project point C onto "AB" line - decimal t = (pointC - segPointA).dot(ab) / abLengthSquare; - - // If projected point onto the line is outside the segment, clamp it to the segment - if (t < decimal(0.0)) t = decimal(0.0); - if (t > decimal(1.0)) t = decimal(1.0); - - // Return the closest point on the segment - return segPointA + t * ab; -} - -// Compute the closest points between two segments -// This method uses the technique described in the book Real-Time -// collision detection by Christer Ericson. -void reactphysics3d::computeClosestPointBetweenTwoSegments(const Vector3& seg1PointA, const Vector3& seg1PointB, - const Vector3& seg2PointA, const Vector3& seg2PointB, - Vector3& closestPointSeg1, Vector3& closestPointSeg2) { - - const Vector3 d1 = seg1PointB - seg1PointA; - const Vector3 d2 = seg2PointB - seg2PointA; - const Vector3 r = seg1PointA - seg2PointA; - decimal a = d1.lengthSquare(); - decimal e = d2.lengthSquare(); - decimal f = d2.dot(r); - decimal s, t; - - // If both segments degenerate into points - if (a <= MACHINE_EPSILON && e <= MACHINE_EPSILON) { - - closestPointSeg1 = seg1PointA; - closestPointSeg2 = seg2PointA; - return; - } - if (a <= MACHINE_EPSILON) { // If first segment degenerates into a point - - s = decimal(0.0); - - // Compute the closest point on second segment - t = clamp(f / e, decimal(0.0), decimal(1.0)); - } - else { - - decimal c = d1.dot(r); - - // If the second segment degenerates into a point - if (e <= MACHINE_EPSILON) { - - t = decimal(0.0); - s = clamp(-c / a, decimal(0.0), decimal(1.0)); - } - else { - - decimal b = d1.dot(d2); - decimal denom = a * e - b * b; - - // If the segments are not parallel - if (denom != decimal(0.0)) { - - // Compute the closest point on line 1 to line 2 and - // clamp to first segment. - s = clamp((b * f - c * e) / denom, decimal(0.0), decimal(1.0)); - } - else { - - // Pick an arbitrary point on first segment - s = decimal(0.0); - } - - // Compute the point on line 2 closest to the closest point - // we have just found - t = (b * s + f) / e; - - // If this closest point is inside second segment (t in [0, 1]), we are done. - // Otherwise, we clamp the point to the second segment and compute again the - // closest point on segment 1 - if (t < decimal(0.0)) { - t = decimal(0.0); - s = clamp(-c / a, decimal(0.0), decimal(1.0)); - } - else if (t > decimal(1.0)) { - t = decimal(1.0); - s = clamp((b - c) / a, decimal(0.0), decimal(1.0)); - } - } - } - - // Compute the closest points on both segments - closestPointSeg1 = seg1PointA + d1 * s; - closestPointSeg2 = seg2PointA + d2 * t; -} - -// Compute the intersection between a plane and a segment -// Let the plane define by the equation planeNormal.dot(X) = planeD with X a point on the plane and "planeNormal" the plane normal. This method -// computes the intersection P between the plane and the segment (segA, segB). The method returns the value "t" such -// that P = segA + t * (segB - segA). Note that it only returns a value in [0, 1] if there is an intersection. Otherwise, -// there is no intersection between the plane and the segment. -decimal reactphysics3d::computePlaneSegmentIntersection(const Vector3& segA, const Vector3& segB, const decimal planeD, const Vector3& planeNormal) { - - const decimal parallelEpsilon = decimal(0.0001); - decimal t = decimal(-1); - - decimal nDotAB = planeNormal.dot(segB - segA); - - // If the segment is not parallel to the plane - if (std::abs(nDotAB) > parallelEpsilon) { - t = (planeD - planeNormal.dot(segA)) / nDotAB; - } - - return t; -} - -// Compute the distance between a point "point" and a line given by the points "linePointA" and "linePointB" -decimal reactphysics3d::computePointToLineDistance(const Vector3& linePointA, const Vector3& linePointB, const Vector3& point) { - - decimal distAB = (linePointB - linePointA).length(); - - if (distAB < MACHINE_EPSILON) { - return (point - linePointA).length(); - } - - return ((point - linePointA).cross(point - linePointB)).length() / distAB; -} - -// Clip a segment against multiple planes and return the clipped segment vertices -// This method implements the Sutherland–Hodgman clipping algorithm -List reactphysics3d::clipSegmentWithPlanes(const Vector3& segA, const Vector3& segB, - const List& planesPoints, - const List& planesNormals, - MemoryAllocator& allocator) { - assert(planesPoints.size() == planesNormals.size()); - - List inputVertices(allocator, 2); - List outputVertices(allocator, 2); - - inputVertices.add(segA); - inputVertices.add(segB); - - // For each clipping plane - for (uint p=0; p= decimal(0.0)) { - - // If the first vertex is not in front of the clippling plane - if (v1DotN < decimal(0.0)) { - - // The second point we keep is the intersection between the segment v1, v2 and the clipping plane - decimal t = computePlaneSegmentIntersection(v1, v2, planesNormals[p].dot(planesPoints[p]), planesNormals[p]); - - if (t >= decimal(0) && t <= decimal(1.0)) { - outputVertices.add(v1 + t * (v2 - v1)); - } - else { - outputVertices.add(v2); - } - } - else { - outputVertices.add(v1); - } - - // Add the second vertex - outputVertices.add(v2); - } - else { // If the second vertex is behind the clipping plane - - // If the first vertex is in front of the clippling plane - if (v1DotN >= decimal(0.0)) { - - outputVertices.add(v1); - - // The first point we keep is the intersection between the segment v1, v2 and the clipping plane - decimal t = computePlaneSegmentIntersection(v1, v2, -planesNormals[p].dot(planesPoints[p]), -planesNormals[p]); - - if (t >= decimal(0.0) && t <= decimal(1.0)) { - outputVertices.add(v1 + t * (v2 - v1)); - } - } - } - - inputVertices = outputVertices; - } - - return outputVertices; -} - -// Clip a polygon against multiple planes and return the clipped polygon vertices -// This method implements the Sutherland–Hodgman clipping algorithm -List reactphysics3d::clipPolygonWithPlanes(const List& polygonVertices, const List& planesPoints, - const List& planesNormals, MemoryAllocator& allocator) { - - assert(planesPoints.size() == planesNormals.size()); - - uint nbMaxElements = polygonVertices.size() + planesPoints.size(); - List inputVertices(allocator, nbMaxElements); - List outputVertices(allocator, nbMaxElements); - - inputVertices.addRange(polygonVertices); - - // For each clipping plane - for (uint p=0; p= decimal(0.0)) { - - // If the first vertex is not in front of the clippling plane - if (v1DotN < decimal(0.0)) { - - // The second point we keep is the intersection between the segment v1, v2 and the clipping plane - decimal t = computePlaneSegmentIntersection(v1, v2, planesNormals[p].dot(planesPoints[p]), planesNormals[p]); - - if (t >= decimal(0) && t <= decimal(1.0)) { - outputVertices.add(v1 + t * (v2 - v1)); - } - else { - outputVertices.add(v2); - } - } - - // Add the second vertex - outputVertices.add(v2); - } - else { // If the second vertex is behind the clipping plane - - // If the first vertex is in front of the clippling plane - if (v1DotN >= decimal(0.0)) { - - // The first point we keep is the intersection between the segment v1, v2 and the clipping plane - decimal t = computePlaneSegmentIntersection(v1, v2, -planesNormals[p].dot(planesPoints[p]), -planesNormals[p]); - - if (t >= decimal(0.0) && t <= decimal(1.0)) { - outputVertices.add(v1 + t * (v2 - v1)); - } - else { - outputVertices.add(v1); - } - } - } - - vStart = vEnd; - } - - inputVertices = outputVertices; - } - - return outputVertices; -} - -// Project a point onto a plane that is given by a point and its unit length normal -Vector3 reactphysics3d::projectPointOntoPlane(const Vector3& point, const Vector3& unitPlaneNormal, const Vector3& planePoint) { - return point - unitPlaneNormal.dot(point - planePoint) * unitPlaneNormal; -} - -// Return the distance between a point and a plane (the plane normal must be normalized) -decimal reactphysics3d::computePointToPlaneDistance(const Vector3& point, const Vector3& planeNormal, const Vector3& planePoint) { - return planeNormal.dot(point - planePoint); -} - -// Return true if the given number is prime -bool reactphysics3d::isPrimeNumber(int number) { - - // If it's a odd number - if ((number & 1) != 0) { - - int limit = static_cast(std::sqrt(number)); - - for (int divisor = 3; divisor <= limit; divisor += 2) { - - // If we have found a divisor - if ((number % divisor) == 0) { - - // It is not a prime number - return false; - } - } - - return true; - } - - return number == 2; -} - -// Return an unique integer from two integer numbers (pairing function) -/// Here we assume that the two parameter numbers are sorted such that -/// number1 = max(number1, number2) -/// http://szudzik.com/ElegantPairing.pdf -uint64 reactphysics3d::pairNumbers(uint32 number1, uint32 number2) { - assert(number1 == std::max(number1, number2)); - return number1 * number1 + number1 + number2; -} - diff --git a/src/memory/HeapAllocator.cpp b/src/memory/HeapAllocator.cpp index d8ee29151..85f063375 100644 --- a/src/memory/HeapAllocator.cpp +++ b/src/memory/HeapAllocator.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -62,9 +62,11 @@ HeapAllocator::~HeapAllocator() { MemoryUnitHeader* nextUnit = unit->nextUnit; + const size_t unitSize = unit->size; + // Destroy the unit unit->~MemoryUnitHeader(); - mBaseAllocator.release(static_cast(unit), unit->size + sizeof(MemoryUnitHeader)); + mBaseAllocator.release(static_cast(unit), unitSize + sizeof(MemoryUnitHeader)); unit = nextUnit; } diff --git a/src/memory/MemoryManager.cpp b/src/memory/MemoryManager.cpp index f1a0e0288..55edd19e0 100644 --- a/src/memory/MemoryManager.cpp +++ b/src/memory/MemoryManager.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/memory/PoolAllocator.cpp b/src/memory/PoolAllocator.cpp index 4999d00db..c8fcc6806 100644 --- a/src/memory/PoolAllocator.cpp +++ b/src/memory/PoolAllocator.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -151,7 +151,7 @@ void* PoolAllocator::allocate(size_t size) { newBlock->memoryUnits = static_cast(mBaseAllocator.allocate(BLOCK_SIZE)); assert(newBlock->memoryUnits != nullptr); size_t unitSize = mUnitSizes[indexHeap]; - uint nbUnits = BLOCK_SIZE / unitSize; + size_t nbUnits = BLOCK_SIZE / unitSize; assert(nbUnits * unitSize <= BLOCK_SIZE); void* memoryUnitsStart = static_cast(newBlock->memoryUnits); char* memoryUnitsStartChar = static_cast(memoryUnitsStart); diff --git a/src/memory/SingleFrameAllocator.cpp b/src/memory/SingleFrameAllocator.cpp index 06c3a35ce..8cc1970ae 100644 --- a/src/memory/SingleFrameAllocator.cpp +++ b/src/memory/SingleFrameAllocator.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 53a2993ea..7fa3c06f4 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -37,9 +37,9 @@ using namespace reactphysics3d; // Constructor BroadPhaseSystem::BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, ColliderComponents& collidersComponents, TransformComponents& transformComponents, RigidBodyComponents& rigidBodyComponents) - :mDynamicAABBTree(collisionDetection.getMemoryManager().getPoolAllocator(), DYNAMIC_TREE_FAT_AABB_INFLATE_PERCENTAGE), + :mDynamicAABBTree(collisionDetection.getMemoryManager().getHeapAllocator(), DYNAMIC_TREE_FAT_AABB_INFLATE_PERCENTAGE), mCollidersComponents(collidersComponents), mTransformsComponents(transformComponents), - mRigidBodyComponents(rigidBodyComponents), mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()), + mRigidBodyComponents(rigidBodyComponents), mMovedShapes(collisionDetection.getMemoryManager().getHeapAllocator()), mCollisionDetection(collisionDetection) { #ifdef IS_RP3D_PROFILING_ENABLED @@ -67,13 +67,16 @@ bool BroadPhaseSystem::testOverlappingShapes(int32 shape1BroadPhaseId, int32 sha } // Ray casting method -void BroadPhaseSystem::raycast(const Ray& ray, RaycastTest& raycastTest, - unsigned short raycastWithCategoryMaskBits) const { +void BroadPhaseSystem::raycast(const Ray& ray, RaycastTest& raycastTest, unsigned short raycastWithCategoryMaskBits) const { RP3D_PROFILE("BroadPhaseSystem::raycast()", mProfiler); BroadPhaseRaycastCallback broadPhaseRaycastCallback(mDynamicAABBTree, raycastWithCategoryMaskBits, raycastTest); + // Compute the inverse ray direction + const Vector3 rayDirection = ray.point2 - ray.point1; + const Vector3 rayDirectionInverse(decimal(1.0) / rayDirection.x, decimal(1.0) / rayDirection.y, decimal(1.0) / rayDirection.z); + mDynamicAABBTree.raycast(ray, broadPhaseRaycastCallback); } @@ -111,7 +114,7 @@ void BroadPhaseSystem::removeCollider(Collider* collider) { } // Update the broad-phase state of a single collider -void BroadPhaseSystem::updateCollider(Entity colliderEntity, decimal timeStep) { +void BroadPhaseSystem::updateCollider(Entity colliderEntity) { assert(mCollidersComponents.mMapEntityToComponentIndex.containsKey(colliderEntity)); @@ -119,17 +122,17 @@ void BroadPhaseSystem::updateCollider(Entity colliderEntity, decimal timeStep) { uint32 index = mCollidersComponents.mMapEntityToComponentIndex[colliderEntity]; // Update the collider component - updateCollidersComponents(index, 1, timeStep); + updateCollidersComponents(index, 1); } // Update the broad-phase state of all the enabled colliders -void BroadPhaseSystem::updateColliders(decimal timeStep) { +void BroadPhaseSystem::updateColliders() { RP3D_PROFILE("BroadPhaseSystem::updateColliders()", mProfiler); // Update all the enabled collider components if (mCollidersComponents.getNbEnabledComponents() > 0) { - updateCollidersComponents(0, mCollidersComponents.getNbEnabledComponents(), timeStep); + updateCollidersComponents(0, mCollidersComponents.getNbEnabledComponents()); } } @@ -153,7 +156,7 @@ void BroadPhaseSystem::updateColliderInternal(int32 broadPhaseId, Collider* coll } // Update the broad-phase state of some colliders components -void BroadPhaseSystem::updateCollidersComponents(uint32 startIndex, uint32 nbItems, decimal timeStep) { +void BroadPhaseSystem::updateCollidersComponents(uint32 startIndex, uint32 nbItems) { RP3D_PROFILE("BroadPhaseSystem::updateCollidersComponents()", mProfiler); @@ -206,15 +209,15 @@ void BroadPhaseSystem::addMovedCollider(int broadPhaseID, Collider* collider) { } // Compute all the overlapping pairs of collision shapes -void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes) { +void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager, Array>& overlappingNodes) { RP3D_PROFILE("BroadPhaseSystem::computeOverlappingPairs()", mProfiler); - // Get the list of the colliders that have moved or have been created in the last frame - List shapesToTest = mMovedShapes.toList(memoryManager.getPoolAllocator()); + // Get the array of the colliders that have moved or have been created in the last frame + Array shapesToTest = mMovedShapes.toArray(memoryManager.getHeapAllocator()); // Ask the dynamic AABB tree to report all collision shapes that overlap with the shapes to test - mDynamicAABBTree.reportAllShapesOverlappingWithShapes(shapesToTest, 0, shapesToTest.size(), overlappingNodes); + mDynamicAABBTree.reportAllShapesOverlappingWithShapes(shapesToTest, 0, static_cast(shapesToTest.size()), overlappingNodes); // Reset the array of collision shapes that have move (or have been created) during the // last simulation step diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 924d14571..a61b4ee42 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -49,25 +49,26 @@ using namespace reactphysics3d; using namespace std; // Constructor -CollisionDetectionSystem::CollisionDetectionSystem(PhysicsWorld* world, ColliderComponents& collidersComponents, TransformComponents& transformComponents, - CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager) - : mMemoryManager(memoryManager), mCollidersComponents(collidersComponents), +CollisionDetectionSystem::CollisionDetectionSystem(PhysicsWorld* world, ColliderComponents& collidersComponents, TransformComponents& transformComponents, + CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, + MemoryManager& memoryManager, HalfEdgeStructure& triangleHalfEdgeStructure) + : mMemoryManager(memoryManager), mCollidersComponents(collidersComponents), mRigidBodyComponents(rigidBodyComponents), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), - mOverlappingPairs(mMemoryManager.getPoolAllocator(), mMemoryManager.getSingleFrameAllocator(), mCollidersComponents, - collisionBodyComponents, rigidBodyComponents, mNoCollisionPairs, mCollisionDispatch), + mOverlappingPairs(mMemoryManager, mCollidersComponents, collisionBodyComponents, rigidBodyComponents, + mNoCollisionPairs, mCollisionDispatch), + mBroadPhaseOverlappingNodes(mMemoryManager.getHeapAllocator(), 32), mBroadPhaseSystem(*this, mCollidersComponents, transformComponents, rigidBodyComponents), mMapBroadPhaseIdToColliderEntity(memoryManager.getPoolAllocator()), mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator(), mOverlappingPairs), mPotentialContactPoints(mMemoryManager.getSingleFrameAllocator()), mPotentialContactManifolds(mMemoryManager.getSingleFrameAllocator()), mContactPairs1(mMemoryManager.getPoolAllocator()), mContactPairs2(mMemoryManager.getPoolAllocator()), mPreviousContactPairs(&mContactPairs1), mCurrentContactPairs(&mContactPairs2), - mLostContactPairs(mMemoryManager.getSingleFrameAllocator()), mMapPairIdToContactPairIndex1(mMemoryManager.getPoolAllocator()), - mMapPairIdToContactPairIndex2(mMemoryManager.getPoolAllocator()), mPreviousMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex1), - mCurrentMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex2), mContactManifolds1(mMemoryManager.getPoolAllocator()), - mContactManifolds2(mMemoryManager.getPoolAllocator()), mPreviousContactManifolds(&mContactManifolds1), mCurrentContactManifolds(&mContactManifolds2), - mContactPoints1(mMemoryManager.getPoolAllocator()), - mContactPoints2(mMemoryManager.getPoolAllocator()), mPreviousContactPoints(&mContactPoints1), - mCurrentContactPoints(&mContactPoints2), mMapBodyToContactPairs(mMemoryManager.getSingleFrameAllocator()) { + mLostContactPairs(mMemoryManager.getSingleFrameAllocator()), mPreviousMapPairIdToContactPairIndex(mMemoryManager.getHeapAllocator()), + mContactManifolds1(mMemoryManager.getPoolAllocator()), mContactManifolds2(mMemoryManager.getPoolAllocator()), + mPreviousContactManifolds(&mContactManifolds1), mCurrentContactManifolds(&mContactManifolds2), + mContactPoints1(mMemoryManager.getPoolAllocator()), mContactPoints2(mMemoryManager.getPoolAllocator()), + mPreviousContactPoints(&mContactPoints1), mCurrentContactPoints(&mContactPoints2), mCollisionBodyContactPairsIndices(mMemoryManager.getSingleFrameAllocator()), + mNbPreviousPotentialContactManifolds(0), mNbPreviousPotentialContactPoints(0), mTriangleHalfEdgeStructure(triangleHalfEdgeStructure) { #ifdef IS_RP3D_PROFILING_ENABLED @@ -100,17 +101,20 @@ void CollisionDetectionSystem::computeBroadPhase() { RP3D_PROFILE("CollisionDetectionSystem::computeBroadPhase()", mProfiler); + assert(mBroadPhaseOverlappingNodes.size() == 0); + // Ask the broad-phase to compute all the shapes overlapping with the shapes that // have moved or have been added in the last frame. This call can only add new // overlapping pairs in the collision detection. - List> overlappingNodes(mMemoryManager.getPoolAllocator(), 32); - mBroadPhaseSystem.computeOverlappingPairs(mMemoryManager, overlappingNodes); + mBroadPhaseSystem.computeOverlappingPairs(mMemoryManager, mBroadPhaseOverlappingNodes); // Create new overlapping pairs if necessary - updateOverlappingPairs(overlappingNodes); + updateOverlappingPairs(mBroadPhaseOverlappingNodes); // Remove non overlapping pairs removeNonOverlappingPairs(); + + mBroadPhaseOverlappingNodes.clear(); } // Remove pairs that are not overlapping anymore @@ -118,25 +122,55 @@ void CollisionDetectionSystem::removeNonOverlappingPairs() { RP3D_PROFILE("CollisionDetectionSystem::removeNonOverlappingPairs()", mProfiler); - for (uint64 i=0; i < mOverlappingPairs.getNbPairs(); i++) { + // For each convex pairs + for (uint64 i=0; i < mOverlappingPairs.mConvexPairs.size(); i++) { + + OverlappingPairs::ConvexOverlappingPair& overlappingPair = mOverlappingPairs.mConvexPairs[i]; + + // Check if we need to test overlap. If so, test if the two shapes are still overlapping. + // Otherwise, we destroy the overlapping pair + if (overlappingPair.needToTestOverlap) { + + if(mBroadPhaseSystem.testOverlappingShapes(overlappingPair.broadPhaseId1, overlappingPair.broadPhaseId2)) { + overlappingPair.needToTestOverlap = false; + } + else { + + // If the two colliders of the pair were colliding in the previous frame + if (overlappingPair.collidingInPreviousFrame) { + + // Create a new lost contact pair + addLostContactPair(overlappingPair); + } + + mOverlappingPairs.removePair(i, true); + i--; + } + } + } + + // For each concave pairs + for (uint64 i=0; i < mOverlappingPairs.mConcavePairs.size(); i++) { + + OverlappingPairs::ConcaveOverlappingPair& overlappingPair = mOverlappingPairs.mConcavePairs[i]; // Check if we need to test overlap. If so, test if the two shapes are still overlapping. // Otherwise, we destroy the overlapping pair - if (mOverlappingPairs.mNeedToTestOverlap[i]) { + if (overlappingPair.needToTestOverlap) { - if(mBroadPhaseSystem.testOverlappingShapes(mOverlappingPairs.mPairBroadPhaseId1[i], mOverlappingPairs.mPairBroadPhaseId2[i])) { - mOverlappingPairs.mNeedToTestOverlap[i] = false; + if(mBroadPhaseSystem.testOverlappingShapes(overlappingPair.broadPhaseId1, overlappingPair.broadPhaseId2)) { + overlappingPair.needToTestOverlap = false; } else { // If the two colliders of the pair were colliding in the previous frame - if (mOverlappingPairs.mCollidingInPreviousFrame[i]) { + if (overlappingPair.collidingInPreviousFrame) { // Create a new lost contact pair - addLostContactPair(i); + addLostContactPair(overlappingPair); } - mOverlappingPairs.removePair(mOverlappingPairs.mPairIds[i]); + mOverlappingPairs.removePair(i, false); i--; } } @@ -144,31 +178,63 @@ void CollisionDetectionSystem::removeNonOverlappingPairs() { } // Add a lost contact pair (pair of colliders that are not in contact anymore) -void CollisionDetectionSystem::addLostContactPair(uint64 overlappingPairIndex) { +void CollisionDetectionSystem::addLostContactPair(OverlappingPairs::OverlappingPair& overlappingPair) { - const Entity collider1Entity = mOverlappingPairs.mColliders1[overlappingPairIndex]; - const Entity collider2Entity = mOverlappingPairs.mColliders2[overlappingPairIndex]; + const uint32 collider1Index = mCollidersComponents.getEntityIndex(overlappingPair.collider1); + const uint32 collider2Index = mCollidersComponents.getEntityIndex(overlappingPair.collider2); - const Entity body1Entity = mCollidersComponents.getBody(collider1Entity); - const Entity body2Entity = mCollidersComponents.getBody(collider2Entity); + const Entity body1Entity = mCollidersComponents.mBodiesEntities[collider1Index]; + const Entity body2Entity = mCollidersComponents.mBodiesEntities[collider2Index]; - const bool isCollider1Trigger = mCollidersComponents.getIsTrigger(collider1Entity); - const bool isCollider2Trigger = mCollidersComponents.getIsTrigger(collider2Entity); + const bool isCollider1Trigger = mCollidersComponents.mIsTrigger[collider1Index]; + const bool isCollider2Trigger = mCollidersComponents.mIsTrigger[collider2Index]; const bool isTrigger = isCollider1Trigger || isCollider2Trigger; // Create a lost contact pair - ContactPair lostContactPair(mOverlappingPairs.mPairIds[overlappingPairIndex], body1Entity, body2Entity, collider1Entity, collider2Entity, mLostContactPairs.size(), - true, isTrigger, mMemoryManager.getHeapAllocator()); + ContactPair lostContactPair(overlappingPair.pairID, body1Entity, body2Entity, overlappingPair.collider1, overlappingPair.collider2, static_cast(mLostContactPairs.size()), + true, isTrigger); mLostContactPairs.add(lostContactPair); } -// Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary -void CollisionDetectionSystem::updateOverlappingPairs(const List>& overlappingNodes) { +// Add a pair of bodies that cannot collide with each other +void CollisionDetectionSystem::addNoCollisionPair(Entity body1Entity, Entity body2Entity) { + mNoCollisionPairs.add(OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity)); + + // If there already are OverlappingPairs involved, they should be removed; Or they will remain in collision state + Array toBeRemoved(mMemoryManager.getPoolAllocator()); + const Array& colliderEntities = mWorld->mCollisionBodyComponents.getColliders(body1Entity); + for (uint32 i = 0; i < colliderEntities.size(); ++i) { + + // Get the currently overlapping pairs for colliders of body1 + const Array& overlappingPairs = mCollidersComponents.getOverlappingPairs(colliderEntities[i]); + + for (uint32 j = 0; j < overlappingPairs.size(); ++j) { + + OverlappingPairs::OverlappingPair* pair = mOverlappingPairs.getOverlappingPair(overlappingPairs[j]); + assert(pair != nullptr); + + const Entity overlappingBody1 = mOverlappingPairs.mColliderComponents.getBody(pair->collider1); + const Entity overlappingBody2 = mOverlappingPairs.mColliderComponents.getBody(pair->collider2); + if (overlappingBody1 == body2Entity || overlappingBody2 == body2Entity) { + toBeRemoved.add(overlappingPairs[j]); + } + } + } + + // Remove the overlapping pairs that needs to be removed + for (uint32 i = 0; i < toBeRemoved.size(); ++i) { + mOverlappingPairs.removePair(toBeRemoved[i]); + } +} + +// Take an array of overlapping nodes in the broad-phase and create new overlapping pairs if necessary +void CollisionDetectionSystem::updateOverlappingPairs(const Array>& overlappingNodes) { RP3D_PROFILE("CollisionDetectionSystem::updateOverlappingPairs()", mProfiler); // For each overlapping pair of nodes - for (uint i=0; i < overlappingNodes.size(); i++) { + const uint32 nbOverlappingNodes = static_cast(overlappingNodes.size()); + for (uint32 i=0; i < nbOverlappingNodes; i++) { Pair nodePair = overlappingNodes[i]; @@ -182,8 +248,8 @@ void CollisionDetectionSystem::updateOverlappingPairs(const ListgetCollisionShape()->isConvex() || shape2->getCollisionShape()->isConvex()) { + // Check if the collision filtering allows collision between the two shapes + if ((shape1CollideWithMaskBits & shape2CollisionCategoryBits) != 0 && + (shape1CollisionCategoryBits & shape2CollideWithMaskBits) != 0) { - // Add the new overlapping pair - mOverlappingPairs.addPair(shape1, shape2); + Collider* shape1 = mCollidersComponents.mColliders[collider1Index]; + Collider* shape2 = mCollidersComponents.mColliders[collider2Index]; + + // Check that at least one collision shape is convex + const bool isShape1Convex = shape1->getCollisionShape()->isConvex(); + const bool isShape2Convex = shape2->getCollisionShape()->isConvex(); + if (isShape1Convex || isShape2Convex) { + + // Add the new overlapping pair + mOverlappingPairs.addPair(collider1Index, collider2Index, isShape1Convex && isShape2Convex); + } + } } - } - } - else { + else { - // We do not need to test the pair for overlap because it has just been reported that they still overlap - mOverlappingPairs.mNeedToTestOverlap[it->second] = false; + // We do not need to test the pair for overlap because it has just been reported that they still overlap + overlappingPair->needToTestOverlap = false; + } + } } } } @@ -242,62 +334,61 @@ void CollisionDetectionSystem::computeMiddlePhase(NarrowPhaseInput& narrowPhaseI mOverlappingPairs.clearObsoleteLastFrameCollisionInfos(); // For each possible convex vs convex pair of bodies - for (uint64 i=0; i < mOverlappingPairs.getNbConvexVsConvexPairs(); i++) { + const uint64 nbConvexVsConvexPairs = mOverlappingPairs.mConvexPairs.size(); + for (uint64 i=0; i < nbConvexVsConvexPairs; i++) { - assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders1[i]) != -1); - assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders2[i]) != -1); - assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders1[i]) != mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders2[i])); + OverlappingPairs::ConvexOverlappingPair& overlappingPair = mOverlappingPairs.mConvexPairs[i]; - // Check that at least one body is enabled (active and awake) and not static - if (mOverlappingPairs.mIsActive[i]) { + assert(mCollidersComponents.getBroadPhaseId(overlappingPair.collider1) != -1); + assert(mCollidersComponents.getBroadPhaseId(overlappingPair.collider2) != -1); + assert(mCollidersComponents.getBroadPhaseId(overlappingPair.collider1) != mCollidersComponents.getBroadPhaseId(overlappingPair.collider2)); - const Entity collider1Entity = mOverlappingPairs.mColliders1[i]; - const Entity collider2Entity = mOverlappingPairs.mColliders2[i]; - const uint collider1Index = mCollidersComponents.getEntityIndex(collider1Entity); - const uint collider2Index = mCollidersComponents.getEntityIndex(collider2Entity); + const Entity collider1Entity = overlappingPair.collider1; + const Entity collider2Entity = overlappingPair.collider2; - CollisionShape* collisionShape1 = mCollidersComponents.mCollisionShapes[collider1Index]; - CollisionShape* collisionShape2 = mCollidersComponents.mCollisionShapes[collider2Index]; + const uint32 collider1Index = mCollidersComponents.getEntityIndex(collider1Entity); + const uint32 collider2Index = mCollidersComponents.getEntityIndex(collider2Entity); - NarrowPhaseAlgorithmType algorithmType = mOverlappingPairs.mNarrowPhaseAlgorithmType[i]; + CollisionShape* collisionShape1 = mCollidersComponents.mCollisionShapes[collider1Index]; + CollisionShape* collisionShape2 = mCollidersComponents.mCollisionShapes[collider2Index]; - const bool isCollider1Trigger = mCollidersComponents.mIsTrigger[collider1Index]; - const bool isCollider2Trigger = mCollidersComponents.mIsTrigger[collider2Index]; - const bool reportContacts = needToReportContacts && !isCollider1Trigger && !isCollider2Trigger; + NarrowPhaseAlgorithmType algorithmType = overlappingPair.narrowPhaseAlgorithmType; - // No middle-phase is necessary, simply create a narrow phase info - // for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(mOverlappingPairs.mPairIds[i], i, collider1Entity, collider2Entity, collisionShape1, collisionShape2, - mCollidersComponents.mLocalToWorldTransforms[collider1Index], - mCollidersComponents.mLocalToWorldTransforms[collider2Index], - algorithmType, reportContacts, mMemoryManager.getSingleFrameAllocator()); + const bool isCollider1Trigger = mCollidersComponents.mIsTrigger[collider1Index]; + const bool isCollider2Trigger = mCollidersComponents.mIsTrigger[collider2Index]; + const bool reportContacts = needToReportContacts && !isCollider1Trigger && !isCollider2Trigger; - mOverlappingPairs.mCollidingInCurrentFrame[i] = false; - } + // No middle-phase is necessary, simply create a narrow phase info + // for the narrow-phase collision detection + narrowPhaseInput.addNarrowPhaseTest(overlappingPair.pairID, collider1Entity, collider2Entity, collisionShape1, collisionShape2, + mCollidersComponents.mLocalToWorldTransforms[collider1Index], + mCollidersComponents.mLocalToWorldTransforms[collider2Index], + algorithmType, reportContacts, &overlappingPair.lastFrameCollisionInfo, + mMemoryManager.getSingleFrameAllocator()); + + overlappingPair.collidingInCurrentFrame = false; } // For each possible convex vs concave pair of bodies - const uint64 convexVsConcaveStartIndex = mOverlappingPairs.getConvexVsConcavePairsStartIndex(); - for (uint64 i=convexVsConcaveStartIndex; i < convexVsConcaveStartIndex + mOverlappingPairs.getNbConvexVsConcavePairs(); i++) { + const uint64 nbConcavePairs = mOverlappingPairs.mConcavePairs.size(); + for (uint64 i=0; i < nbConcavePairs; i++) { - assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders1[i]) != -1); - assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders2[i]) != -1); - assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders1[i]) != mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders2[i])); + OverlappingPairs::ConcaveOverlappingPair& overlappingPair = mOverlappingPairs.mConcavePairs[i]; - // Check that at least one body is enabled (active and awake) and not static - if (mOverlappingPairs.mIsActive[i]) { + assert(mCollidersComponents.getBroadPhaseId(overlappingPair.collider1) != -1); + assert(mCollidersComponents.getBroadPhaseId(overlappingPair.collider2) != -1); + assert(mCollidersComponents.getBroadPhaseId(overlappingPair.collider1) != mCollidersComponents.getBroadPhaseId(overlappingPair.collider2)); - computeConvexVsConcaveMiddlePhase(i, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); + computeConvexVsConcaveMiddlePhase(overlappingPair, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput, needToReportContacts); - mOverlappingPairs.mCollidingInCurrentFrame[i] = false; - } + overlappingPair.collidingInCurrentFrame = false; } } // Compute the middle-phase collision detection -void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& convexPairs, List& concavePairs, NarrowPhaseInput& narrowPhaseInput, - bool reportContacts) { +void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(Array& convexPairs, Array& concavePairs, + NarrowPhaseInput& narrowPhaseInput, bool reportContacts) { RP3D_PROFILE("CollisionDetectionSystem::computeMiddlePhase()", mProfiler); @@ -308,18 +399,19 @@ void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& mOverlappingPairs.clearObsoleteLastFrameCollisionInfos(); // For each possible convex vs convex pair of bodies - for (uint64 p=0; p < convexPairs.size(); p++) { + const uint64 nbConvexPairs = convexPairs.size(); + for (uint64 p=0; p < nbConvexPairs; p++) { const uint64 pairId = convexPairs[p]; - const uint64 pairIndex = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; - assert(pairIndex < mOverlappingPairs.getNbPairs()); + const uint64 pairIndex = mOverlappingPairs.mMapConvexPairIdToPairIndex[pairId]; + assert(pairIndex < mOverlappingPairs.mConvexPairs.size()); - const Entity collider1Entity = mOverlappingPairs.mColliders1[pairIndex]; - const Entity collider2Entity = mOverlappingPairs.mColliders2[pairIndex]; + const Entity collider1Entity = mOverlappingPairs.mConvexPairs[pairIndex].collider1; + const Entity collider2Entity = mOverlappingPairs.mConvexPairs[pairIndex].collider2; - const uint collider1Index = mCollidersComponents.getEntityIndex(collider1Entity); - const uint collider2Index = mCollidersComponents.getEntityIndex(collider2Entity); + const uint32 collider1Index = mCollidersComponents.getEntityIndex(collider1Entity); + const uint32 collider2Index = mCollidersComponents.getEntityIndex(collider2Entity); assert(mCollidersComponents.getBroadPhaseId(collider1Entity) != -1); assert(mCollidersComponents.getBroadPhaseId(collider2Entity) != -1); @@ -328,41 +420,42 @@ void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& CollisionShape* collisionShape1 = mCollidersComponents.mCollisionShapes[collider1Index]; CollisionShape* collisionShape2 = mCollidersComponents.mCollisionShapes[collider2Index]; - NarrowPhaseAlgorithmType algorithmType = mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex]; + NarrowPhaseAlgorithmType algorithmType = mOverlappingPairs.mConvexPairs[pairIndex].narrowPhaseAlgorithmType; // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(pairId, pairIndex, collider1Entity, collider2Entity, collisionShape1, collisionShape2, + narrowPhaseInput.addNarrowPhaseTest(pairId, collider1Entity, collider2Entity, collisionShape1, collisionShape2, mCollidersComponents.mLocalToWorldTransforms[collider1Index], mCollidersComponents.mLocalToWorldTransforms[collider2Index], - algorithmType, reportContacts, mMemoryManager.getSingleFrameAllocator()); + algorithmType, reportContacts, &mOverlappingPairs.mConvexPairs[pairIndex].lastFrameCollisionInfo, mMemoryManager.getSingleFrameAllocator()); } // For each possible convex vs concave pair of bodies - for (uint p=0; p < concavePairs.size(); p++) { + const uint32 nbConcavePairs = static_cast(concavePairs.size()); + for (uint32 p=0; p < nbConcavePairs; p++) { const uint64 pairId = concavePairs[p]; - const uint64 pairIndex = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; + const uint64 pairIndex = mOverlappingPairs.mMapConcavePairIdToPairIndex[pairId]; - assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders1[pairIndex]) != -1); - assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders2[pairIndex]) != -1); - assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders1[pairIndex]) != mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders2[pairIndex])); + assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mConcavePairs[pairIndex].collider1) != -1); + assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mConcavePairs[pairIndex].collider2) != -1); + assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mConcavePairs[pairIndex].collider1) != mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mConcavePairs[pairIndex].collider2)); - computeConvexVsConcaveMiddlePhase(pairIndex, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); + computeConvexVsConcaveMiddlePhase(mOverlappingPairs.mConcavePairs[pairIndex], mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput, reportContacts); } } // Compute the concave vs convex middle-phase algorithm for a given pair of bodies -void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairIndex, MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput) { +void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(OverlappingPairs::ConcaveOverlappingPair& overlappingPair, MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput, bool reportContacts) { RP3D_PROFILE("CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase()", mProfiler); - const Entity collider1 = mOverlappingPairs.mColliders1[pairIndex]; - const Entity collider2 = mOverlappingPairs.mColliders2[pairIndex]; + const Entity collider1 = overlappingPair.collider1; + const Entity collider2 = overlappingPair.collider2; - const uint collider1Index = mCollidersComponents.getEntityIndex(collider1); - const uint collider2Index = mCollidersComponents.getEntityIndex(collider2); + const uint32 collider1Index = mCollidersComponents.getEntityIndex(collider1); + const uint32 collider2Index = mCollidersComponents.getEntityIndex(collider2); Transform& shape1LocalToWorldTransform = mCollidersComponents.mLocalToWorldTransforms[collider1Index]; Transform& shape2LocalToWorldTransform = mCollidersComponents.mLocalToWorldTransforms[collider2Index]; @@ -372,8 +465,7 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairInde // Collision shape 1 is convex, collision shape 2 is concave ConvexShape* convexShape; ConcaveShape* concaveShape; - const bool isShape1Convex = mOverlappingPairs.mIsShape1Convex[pairIndex]; - if (isShape1Convex) { + if (overlappingPair.isShape1Convex) { convexShape = static_cast(mCollidersComponents.mCollisionShapes[collider1Index]); concaveShape = static_cast(mCollidersComponents.mCollisionShapes[collider2Index]); convexToConcaveTransform = shape2LocalToWorldTransform.getInverse() * shape1LocalToWorldTransform; @@ -386,16 +478,16 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairInde assert(convexShape->isConvex()); assert(!concaveShape->isConvex()); - assert(mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex] != NarrowPhaseAlgorithmType::None); + assert(overlappingPair.narrowPhaseAlgorithmType != NarrowPhaseAlgorithmType::None); - // Compute the convex shape AABB in the local-space of the convex shape + // Compute the convex shape AABB in the local-space of the concave shape AABB aabb; convexShape->computeAABB(aabb, convexToConcaveTransform); // Compute the concave shape triangles that are overlapping with the convex mesh AABB - List triangleVertices(allocator); - List triangleVerticesNormals(allocator); - List shapeIds(allocator); + Array triangleVertices(allocator, 64); + Array triangleVerticesNormals(allocator, 64); + Array shapeIds(allocator, 64); concaveShape->computeOverlappingTriangles(aabb, triangleVertices, triangleVerticesNormals, shapeIds, allocator); assert(triangleVertices.size() == triangleVerticesNormals.size()); @@ -405,15 +497,26 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairInde const bool isCollider1Trigger = mCollidersComponents.mIsTrigger[collider1Index]; const bool isCollider2Trigger = mCollidersComponents.mIsTrigger[collider2Index]; - const bool reportContacts = !isCollider1Trigger && !isCollider2Trigger; + reportContacts = reportContacts && !isCollider1Trigger && !isCollider2Trigger; + + CollisionShape* shape1; + CollisionShape* shape2; + + if (overlappingPair.isShape1Convex) { + shape1 = convexShape; + } + else { + shape2 = convexShape; + } // For each overlapping triangle - for (uint i=0; i < shapeIds.size(); i++) - { + const uint32 nbShapeIds = static_cast(shapeIds.size()); + for (uint32 i=0; i < nbShapeIds; i++) { + // Create a triangle collision shape (the allocated memory for the TriangleShape will be released in the // destructor of the corresponding NarrowPhaseInfo. TriangleShape* triangleShape = new (allocator.allocate(sizeof(TriangleShape))) - TriangleShape(&(triangleVertices[i * 3]), &(triangleVerticesNormals[i * 3]), shapeIds[i], allocator); + TriangleShape(&(triangleVertices[i * 3]), &(triangleVerticesNormals[i * 3]), shapeIds[i], mTriangleHalfEdgeStructure, allocator); #ifdef IS_RP3D_PROFILING_ENABLED @@ -423,11 +526,20 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairInde #endif + if (overlappingPair.isShape1Convex) { + shape2 = triangleShape; + } + else { + shape1 = triangleShape; + } + + // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) + LastFrameCollisionInfo* lastFrameInfo = overlappingPair.addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); + // Create a narrow phase info for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(mOverlappingPairs.mPairIds[pairIndex], pairIndex, collider1, collider2, isShape1Convex ? convexShape : triangleShape, - isShape1Convex ? triangleShape : convexShape, - shape1LocalToWorldTransform, shape2LocalToWorldTransform, - mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex], reportContacts, allocator); + narrowPhaseInput.addNarrowPhaseTest(overlappingPair.pairID, collider1, collider2, shape1, shape2, + shape1LocalToWorldTransform, shape2LocalToWorldTransform, + overlappingPair.narrowPhaseAlgorithmType, reportContacts, lastFrameInfo, allocator); } } @@ -446,9 +558,9 @@ bool CollisionDetectionSystem::testNarrowPhaseCollision(NarrowPhaseInput& narrow ConvexPolyhedronVsConvexPolyhedronAlgorithm* convexPolyVsConvexPolyAlgo = mCollisionDispatch.getConvexPolyhedronVsConvexPolyhedronAlgorithm(); // get the narrow-phase batches to test for collision for contacts - SphereVsSphereNarrowPhaseInfoBatch& sphereVsSphereBatchContacts = narrowPhaseInput.getSphereVsSphereBatch(); - SphereVsCapsuleNarrowPhaseInfoBatch& sphereVsCapsuleBatchContacts = narrowPhaseInput.getSphereVsCapsuleBatch(); - CapsuleVsCapsuleNarrowPhaseInfoBatch& capsuleVsCapsuleBatchContacts = narrowPhaseInput.getCapsuleVsCapsuleBatch(); + NarrowPhaseInfoBatch& sphereVsSphereBatchContacts = narrowPhaseInput.getSphereVsSphereBatch(); + NarrowPhaseInfoBatch& sphereVsCapsuleBatchContacts = narrowPhaseInput.getSphereVsCapsuleBatch(); + NarrowPhaseInfoBatch& capsuleVsCapsuleBatchContacts = narrowPhaseInput.getCapsuleVsCapsuleBatch(); NarrowPhaseInfoBatch& sphereVsConvexPolyhedronBatchContacts = narrowPhaseInput.getSphereVsConvexPolyhedronBatch(); NarrowPhaseInfoBatch& capsuleVsConvexPolyhedronBatchContacts = narrowPhaseInput.getCapsuleVsConvexPolyhedronBatch(); NarrowPhaseInfoBatch& convexPolyhedronVsConvexPolyhedronBatchContacts = narrowPhaseInput.getConvexPolyhedronVsConvexPolyhedronBatch(); @@ -478,14 +590,13 @@ bool CollisionDetectionSystem::testNarrowPhaseCollision(NarrowPhaseInput& narrow // Process the potential contacts after narrow-phase collision detection void CollisionDetectionSystem::processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo, - List& potentialContactPoints, - Map* mapPairIdToContactPairIndex, - List& potentialContactManifolds, - List* contactPairs, - Map>& mapBodyToContactPairs) { + Array& potentialContactPoints, + Array& potentialContactManifolds, + Array* contactPairs) { assert(contactPairs->size() == 0); - assert(mapPairIdToContactPairIndex->size() == 0); + + Map mapPairIdToContactPairIndex(mMemoryManager.getHeapAllocator(), mPreviousMapPairIdToContactPairIndex.size()); // get the narrow-phase batches to test for collision NarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); @@ -496,18 +607,13 @@ void CollisionDetectionSystem::processAllPotentialContacts(NarrowPhaseInput& nar NarrowPhaseInfoBatch& convexPolyhedronVsConvexPolyhedronBatch = narrowPhaseInput.getConvexPolyhedronVsConvexPolyhedronBatch(); // Process the potential contacts - processPotentialContacts(sphereVsSphereBatch, updateLastFrameInfo, potentialContactPoints, mapPairIdToContactPairIndex, - potentialContactManifolds, contactPairs, mapBodyToContactPairs); - processPotentialContacts(sphereVsCapsuleBatch, updateLastFrameInfo, potentialContactPoints, mapPairIdToContactPairIndex, - potentialContactManifolds, contactPairs, mapBodyToContactPairs); - processPotentialContacts(capsuleVsCapsuleBatch, updateLastFrameInfo, potentialContactPoints, mapPairIdToContactPairIndex, - potentialContactManifolds, contactPairs, mapBodyToContactPairs); - processPotentialContacts(sphereVsConvexPolyhedronBatch, updateLastFrameInfo, potentialContactPoints, mapPairIdToContactPairIndex, - potentialContactManifolds, contactPairs, mapBodyToContactPairs); - processPotentialContacts(capsuleVsConvexPolyhedronBatch, updateLastFrameInfo, potentialContactPoints, mapPairIdToContactPairIndex, - potentialContactManifolds, contactPairs, mapBodyToContactPairs); - processPotentialContacts(convexPolyhedronVsConvexPolyhedronBatch, updateLastFrameInfo, potentialContactPoints, mapPairIdToContactPairIndex, - potentialContactManifolds, contactPairs, mapBodyToContactPairs); + processPotentialContacts(sphereVsSphereBatch, updateLastFrameInfo, potentialContactPoints, potentialContactManifolds, mapPairIdToContactPairIndex, contactPairs); + processPotentialContacts(sphereVsCapsuleBatch, updateLastFrameInfo, potentialContactPoints, potentialContactManifolds, mapPairIdToContactPairIndex, contactPairs); + processPotentialContacts(capsuleVsCapsuleBatch, updateLastFrameInfo, potentialContactPoints, potentialContactManifolds, mapPairIdToContactPairIndex, contactPairs); + processPotentialContacts(sphereVsConvexPolyhedronBatch, updateLastFrameInfo, potentialContactPoints, potentialContactManifolds, mapPairIdToContactPairIndex, contactPairs); + processPotentialContacts(capsuleVsConvexPolyhedronBatch, updateLastFrameInfo, potentialContactPoints, potentialContactManifolds, mapPairIdToContactPairIndex, contactPairs); + processPotentialContacts(convexPolyhedronVsConvexPolyhedronBatch, updateLastFrameInfo, potentialContactPoints, + potentialContactManifolds, mapPairIdToContactPairIndex, contactPairs); } // Compute the narrow-phase collision detection @@ -517,23 +623,67 @@ void CollisionDetectionSystem::computeNarrowPhase() { MemoryAllocator& allocator = mMemoryManager.getSingleFrameAllocator(); - // Swap the previous and current contacts lists + // Swap the previous and current contacts arrays swapPreviousAndCurrentContacts(); + mPotentialContactManifolds.reserve(mNbPreviousPotentialContactManifolds); + mPotentialContactPoints.reserve(mNbPreviousPotentialContactPoints); + // Test the narrow-phase collision detection on the batches to be tested testNarrowPhaseCollision(mNarrowPhaseInput, true, allocator); // Process all the potential contacts after narrow-phase collision - processAllPotentialContacts(mNarrowPhaseInput, true, mPotentialContactPoints, mCurrentMapPairIdToContactPairIndex, - mPotentialContactManifolds, mCurrentContactPairs, mMapBodyToContactPairs); + processAllPotentialContacts(mNarrowPhaseInput, true, mPotentialContactPoints, + mPotentialContactManifolds, mCurrentContactPairs); // Reduce the number of contact points in the manifolds reducePotentialContactManifolds(mCurrentContactPairs, mPotentialContactManifolds, mPotentialContactPoints); + // Add the contact pairs to the bodies + addContactPairsToBodies(); + assert(mCurrentContactManifolds->size() == 0); assert(mCurrentContactPoints->size() == 0); } +// Add the contact pairs to the corresponding bodies +void CollisionDetectionSystem::addContactPairsToBodies() { + + const uint32 nbContactPairs = static_cast(mCurrentContactPairs->size()); + for (uint32 p=0 ; p < nbContactPairs; p++) { + + ContactPair& contactPair = (*mCurrentContactPairs)[p]; + + const bool isBody1Rigid = mRigidBodyComponents.hasComponent(contactPair.body1Entity); + const bool isBody2Rigid = mRigidBodyComponents.hasComponent(contactPair.body2Entity); + + // Add the associated contact pair to both bodies of the pair (used to create islands later) + if (isBody1Rigid) { + mRigidBodyComponents.addContacPair(contactPair.body1Entity, p); + } + if (isBody2Rigid) { + mRigidBodyComponents.addContacPair(contactPair.body2Entity, p); + } + + // If at least one of the two bodies is a CollisionBody + if (!isBody1Rigid || !isBody2Rigid) { + + // Add the pair index to the array of pairs with CollisionBody + mCollisionBodyContactPairsIndices.add(p); + } + } +} + +// Compute the map from contact pairs ids to contact pair for the next frame +void CollisionDetectionSystem::computeMapPreviousContactPairs() { + + mPreviousMapPairIdToContactPairIndex.clear(); + const uint32 nbCurrentContactPairs = static_cast(mCurrentContactPairs->size()); + for (uint32 i=0; i < nbCurrentContactPairs; i++) { + mPreviousMapPairIdToContactPairIndex.add(Pair((*mCurrentContactPairs)[i].pairId, i)); + } +} + // Compute the narrow-phase collision detection for the testOverlap() methods. /// This method returns true if contacts are found. bool CollisionDetectionSystem::computeNarrowPhaseOverlapSnapshot(NarrowPhaseInput& narrowPhaseInput, OverlapCallback* callback) { @@ -547,8 +697,8 @@ bool CollisionDetectionSystem::computeNarrowPhaseOverlapSnapshot(NarrowPhaseInpu if (collisionFound && callback != nullptr) { // Compute the overlapping colliders - List contactPairs(allocator); - List lostContactPairs(allocator); // Always empty in this case (snapshot) + Array contactPairs(allocator); + Array lostContactPairs(allocator); // Always empty in this case (snapshot) computeOverlapSnapshotContactPairs(narrowPhaseInput, contactPairs); // Report overlapping colliders @@ -560,7 +710,7 @@ bool CollisionDetectionSystem::computeNarrowPhaseOverlapSnapshot(NarrowPhaseInpu } // Process the potential overlapping bodies for the testOverlap() methods -void CollisionDetectionSystem::computeOverlapSnapshotContactPairs(NarrowPhaseInput& narrowPhaseInput, List& contactPairs) const { +void CollisionDetectionSystem::computeOverlapSnapshotContactPairs(NarrowPhaseInput& narrowPhaseInput, Array& contactPairs) const { Set setOverlapContactPairId(mMemoryManager.getHeapAllocator()); @@ -585,9 +735,10 @@ void CollisionDetectionSystem::computeOverlapSnapshotContactPairs(NarrowPhaseInp void CollisionDetectionSystem::notifyOverlappingPairsToTestOverlap(Collider* collider) { // Get the overlapping pairs involved with this collider - List& overlappingPairs = mCollidersComponents.getOverlappingPairs(collider->getEntity()); + Array& overlappingPairs = mCollidersComponents.getOverlappingPairs(collider->getEntity()); - for (uint i=0; i < overlappingPairs.size(); i++) { + const uint32 nbPairs = static_cast(overlappingPairs.size()); + for (uint32 i=0; i < nbPairs; i++) { // Notify that the overlapping pair needs to be testbed for overlap mOverlappingPairs.setNeedToTestOverlap(overlappingPairs[i], true); @@ -595,22 +746,22 @@ void CollisionDetectionSystem::notifyOverlappingPairsToTestOverlap(Collider* col } // Convert the potential overlapping bodies for the testOverlap() methods -void CollisionDetectionSystem::computeOverlapSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List& contactPairs, +void CollisionDetectionSystem::computeOverlapSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, Array& contactPairs, Set& setOverlapContactPairId) const { RP3D_PROFILE("CollisionDetectionSystem::computeSnapshotContactPairs()", mProfiler); // For each narrow phase info object - for(uint i=0; i < narrowPhaseInfoBatch.getNbObjects(); i++) { + for(uint32 i=0; i < narrowPhaseInfoBatch.getNbObjects(); i++) { // If there is a collision - if (narrowPhaseInfoBatch.isColliding[i]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[i].isColliding) { // If the contact pair does not already exist - if (!setOverlapContactPairId.contains(narrowPhaseInfoBatch.overlappingPairIds[i])) { + if (!setOverlapContactPairId.contains(narrowPhaseInfoBatch.narrowPhaseInfos[i].overlappingPairId)) { - const Entity collider1Entity = narrowPhaseInfoBatch.colliderEntities1[i]; - const Entity collider2Entity = narrowPhaseInfoBatch.colliderEntities2[i]; + const Entity collider1Entity = narrowPhaseInfoBatch.narrowPhaseInfos[i].colliderEntity1; + const Entity collider2Entity = narrowPhaseInfoBatch.narrowPhaseInfos[i].colliderEntity2; const uint32 collider1Index = mCollidersComponents.getEntityIndex(collider1Entity); const uint32 collider2Index = mCollidersComponents.getEntityIndex(collider2Entity); @@ -621,11 +772,10 @@ void CollisionDetectionSystem::computeOverlapSnapshotContactPairs(NarrowPhaseInf const bool isTrigger = mCollidersComponents.mIsTrigger[collider1Index] || mCollidersComponents.mIsTrigger[collider2Index]; // Create a new contact pair - ContactPair contactPair(narrowPhaseInfoBatch.overlappingPairIds[i], body1Entity, body2Entity, collider1Entity, collider2Entity, - contactPairs.size(), isTrigger, false, mMemoryManager.getHeapAllocator()); + ContactPair contactPair(narrowPhaseInfoBatch.narrowPhaseInfos[i].overlappingPairId, body1Entity, body2Entity, collider1Entity, collider2Entity, static_cast(contactPairs.size()), false, isTrigger); contactPairs.add(contactPair); - setOverlapContactPairId.add(narrowPhaseInfoBatch.overlappingPairIds[i]); + setOverlapContactPairId.add(narrowPhaseInfoBatch.narrowPhaseInfos[i].overlappingPairId); } } @@ -647,25 +797,21 @@ bool CollisionDetectionSystem::computeNarrowPhaseCollisionSnapshot(NarrowPhaseIn // If collision has been found, create contacts if (collisionFound) { - List potentialContactPoints(allocator); - List potentialContactManifolds(allocator); - Map mapPairIdToContactPairIndex(allocator); - List contactPairs(allocator); - List lostContactPairs(allocator); // Not used during collision snapshots - List contactManifolds(allocator); - List contactPoints(allocator); - Map> mapBodyToContactPairs(allocator); + Array potentialContactPoints(allocator); + Array potentialContactManifolds(allocator); + Array contactPairs(allocator); + Array lostContactPairs(allocator); // Not used during collision snapshots + Array contactManifolds(allocator); + Array contactPoints(allocator); // Process all the potential contacts after narrow-phase collision - processAllPotentialContacts(narrowPhaseInput, true, potentialContactPoints, &mapPairIdToContactPairIndex, potentialContactManifolds, - &contactPairs, mapBodyToContactPairs); + processAllPotentialContacts(narrowPhaseInput, true, potentialContactPoints, potentialContactManifolds, &contactPairs); // Reduce the number of contact points in the manifolds reducePotentialContactManifolds(&contactPairs, potentialContactManifolds, potentialContactPoints); // Create the actual contact manifolds and contact points - createSnapshotContacts(contactPairs, contactManifolds, contactPoints, potentialContactManifolds, - potentialContactPoints); + createSnapshotContacts(contactPairs, contactManifolds, contactPoints, potentialContactManifolds, potentialContactPoints); // Report the contacts to the user reportContacts(callback, &contactPairs, &contactManifolds, &contactPoints, lostContactPairs); @@ -674,7 +820,7 @@ bool CollisionDetectionSystem::computeNarrowPhaseCollisionSnapshot(NarrowPhaseIn return collisionFound; } -// Swap the previous and current contacts lists +// Swap the previous and current contacts arrays void CollisionDetectionSystem::swapPreviousAndCurrentContacts() { if (mPreviousContactPairs == &mContactPairs1) { @@ -682,24 +828,20 @@ void CollisionDetectionSystem::swapPreviousAndCurrentContacts() { mPreviousContactPairs = &mContactPairs2; mPreviousContactManifolds = &mContactManifolds2; mPreviousContactPoints = &mContactPoints2; - mPreviousMapPairIdToContactPairIndex = &mMapPairIdToContactPairIndex2; mCurrentContactPairs = &mContactPairs1; mCurrentContactManifolds = &mContactManifolds1; mCurrentContactPoints = &mContactPoints1; - mCurrentMapPairIdToContactPairIndex = &mMapPairIdToContactPairIndex1; } else { mPreviousContactPairs = &mContactPairs1; mPreviousContactManifolds = &mContactManifolds1; mPreviousContactPoints = &mContactPoints1; - mPreviousMapPairIdToContactPairIndex = &mMapPairIdToContactPairIndex1; mCurrentContactPairs = &mContactPairs2; mCurrentContactManifolds = &mContactManifolds2; mCurrentContactPoints = &mContactPoints2; - mCurrentMapPairIdToContactPairIndex = &mMapPairIdToContactPairIndex2; } } @@ -714,59 +856,44 @@ void CollisionDetectionSystem::createContacts() { // We go through all the contact pairs and add the pairs with a least a CollisionBody at the end of the // mProcessContactPairsOrderIslands array because those pairs have not been added during the islands // creation (only the pairs with two RigidBodies are added during island creation) - Set processedContactPairsIndices(mMemoryManager.getSingleFrameAllocator(), mCurrentContactPairs->size()); - for (uint32 i=0; i < mWorld->mProcessContactPairsOrderIslands.size(); i++) { - processedContactPairsIndices.add(mWorld->mProcessContactPairsOrderIslands[i]); - } - for (uint32 i=0; i < mCurrentContactPairs->size(); i++) { - if (!processedContactPairsIndices.contains(i)) { - mWorld->mProcessContactPairsOrderIslands.add(i); - } - } - - assert(mWorld->mProcessContactPairsOrderIslands.size() == (*mCurrentContactPairs).size()); + mWorld->mProcessContactPairsOrderIslands.addRange(mCollisionBodyContactPairsIndices); // Process the contact pairs in the order defined by the islands such that the contact manifolds and // contact points of a given island are packed together in the array of manifolds and contact points - for (uint p=0; p < mWorld->mProcessContactPairsOrderIslands.size(); p++) { + const uint32 nbContactPairsToProcess = static_cast(mWorld->mProcessContactPairsOrderIslands.size()); + for (uint32 p=0; p < nbContactPairsToProcess; p++) { uint32 contactPairIndex = mWorld->mProcessContactPairsOrderIslands[p]; ContactPair& contactPair = (*mCurrentContactPairs)[contactPairIndex]; - contactPair.contactManifoldsIndex = mCurrentContactManifolds->size(); - contactPair.nbContactManifolds = contactPair.potentialContactManifoldsIndices.size(); - contactPair.contactPointsIndex = mCurrentContactPoints->size(); + contactPair.contactManifoldsIndex = static_cast(mCurrentContactManifolds->size()); + contactPair.nbContactManifolds = contactPair.nbPotentialContactManifolds; + contactPair.contactPointsIndex = static_cast(mCurrentContactPoints->size()); // For each potential contact manifold of the pair - for (uint m=0; m < contactPair.potentialContactManifoldsIndices.size(); m++) { + for (uint32 m=0; m < contactPair.nbPotentialContactManifolds; m++) { ContactManifoldInfo& potentialManifold = mPotentialContactManifolds[contactPair.potentialContactManifoldsIndices[m]]; // Start index and number of contact points for this manifold - const uint contactPointsIndex = mCurrentContactPoints->size(); - const int8 nbContactPoints = static_cast(potentialManifold.potentialContactPointsIndices.size()); + const uint32 contactPointsIndex = static_cast(mCurrentContactPoints->size()); + const int8 nbContactPoints = static_cast(potentialManifold.nbPotentialContactPoints); contactPair.nbToTalContactPoints += nbContactPoints; - // We create a new contact manifold - ContactManifold contactManifold(contactPair.body1Entity, contactPair.body2Entity, contactPair.collider1Entity, - contactPair.collider2Entity, contactPointsIndex, nbContactPoints); - - // Add the contact manifold - mCurrentContactManifolds->add(contactManifold); + // Create and add the contact manifold + mCurrentContactManifolds->emplace(contactPair.body1Entity, contactPair.body2Entity, contactPair.collider1Entity, + contactPair.collider2Entity, contactPointsIndex, nbContactPoints); - assert(potentialManifold.potentialContactPointsIndices.size() > 0); + assert(potentialManifold.nbPotentialContactPoints > 0); // For each contact point of the manifold - for (uint c=0; c < potentialManifold.potentialContactPointsIndices.size(); c++) { + for (uint32 c=0; c < potentialManifold.nbPotentialContactPoints; c++) { ContactPointInfo& potentialContactPoint = mPotentialContactPoints[potentialManifold.potentialContactPointsIndices[c]]; - // Create a new contact point - ContactPoint contactPoint(potentialContactPoint, mWorld->mConfig.persistentContactDistanceThreshold); - - // Add the contact point - mCurrentContactPoints->add(contactPoint); + // Create and add the contact point + mCurrentContactPoints->emplace(potentialContactPoint, mWorld->mConfig.persistentContactDistanceThreshold); } } } @@ -780,40 +907,64 @@ void CollisionDetectionSystem::createContacts() { mPreviousContactPoints->clear(); mPreviousContactManifolds->clear(); mPreviousContactPairs->clear(); - mPreviousMapPairIdToContactPairIndex->clear(); + + mNbPreviousPotentialContactManifolds = static_cast(mPotentialContactManifolds.capacity()); + mNbPreviousPotentialContactPoints = static_cast(mPotentialContactPoints.capacity()); // Reset the potential contacts mPotentialContactPoints.clear(true); mPotentialContactManifolds.clear(true); + // Compute the map from contact pairs ids to contact pair for the next frame + computeMapPreviousContactPairs(); + + mCollisionBodyContactPairsIndices.clear(true); + mNarrowPhaseInput.clear(); } // Compute the lost contact pairs (contact pairs in contact in the previous frame but not in the current one) void CollisionDetectionSystem::computeLostContactPairs() { - // For each overlapping pair - for (uint i=0; i < mOverlappingPairs.getNbPairs(); i++) { + // For each convex pair + const uint32 nbConvexPairs = static_cast(mOverlappingPairs.mConvexPairs.size()); + for (uint32 i=0; i < nbConvexPairs; i++) { // If the two colliders of the pair were colliding in the previous frame but not in the current one - if (mOverlappingPairs.mCollidingInPreviousFrame[i] && !mOverlappingPairs.mCollidingInCurrentFrame[i]) { + if (mOverlappingPairs.mConvexPairs[i].collidingInPreviousFrame && !mOverlappingPairs.mConvexPairs[i].collidingInCurrentFrame) { // If both bodies still exist - if (mCollidersComponents.hasComponent(mOverlappingPairs.mColliders1[i]) && mCollidersComponents.hasComponent(mOverlappingPairs.mColliders2[i])) { + if (mCollidersComponents.hasComponent(mOverlappingPairs.mConvexPairs[i].collider1) && mCollidersComponents.hasComponent(mOverlappingPairs.mConvexPairs[i].collider2)) { // Create a lost contact pair - addLostContactPair(i); + addLostContactPair(mOverlappingPairs.mConvexPairs[i]); + } + } + } + + // For each convex pair + const uint32 nbConcavePairs = static_cast(mOverlappingPairs.mConcavePairs.size()); + for (uint32 i=0; i < nbConcavePairs; i++) { + + // If the two colliders of the pair were colliding in the previous frame but not in the current one + if (mOverlappingPairs.mConcavePairs[i].collidingInPreviousFrame && !mOverlappingPairs.mConcavePairs[i].collidingInCurrentFrame) { + + // If both bodies still exist + if (mCollidersComponents.hasComponent(mOverlappingPairs.mConcavePairs[i].collider1) && mCollidersComponents.hasComponent(mOverlappingPairs.mConcavePairs[i].collider2)) { + + // Create a lost contact pair + addLostContactPair(mOverlappingPairs.mConcavePairs[i]); } } } } // Create the actual contact manifolds and contacts points for testCollision() methods -void CollisionDetectionSystem::createSnapshotContacts(List& contactPairs, - List& contactManifolds, - List& contactPoints, - List& potentialContactManifolds, - List& potentialContactPoints) { +void CollisionDetectionSystem::createSnapshotContacts(Array& contactPairs, + Array& contactManifolds, + Array& contactPoints, + Array& potentialContactManifolds, + Array& potentialContactPoints) { RP3D_PROFILE("CollisionDetectionSystem::createSnapshotContacts()", mProfiler); @@ -821,36 +972,34 @@ void CollisionDetectionSystem::createSnapshotContacts(List& contact contactPoints.reserve(contactManifolds.size()); // For each contact pair - for (uint p=0; p < contactPairs.size(); p++) { + const uint32 nbContactPairs = static_cast(contactPairs.size()); + for (uint32 p=0; p < nbContactPairs; p++) { ContactPair& contactPair = contactPairs[p]; - assert(contactPair.potentialContactManifoldsIndices.size() > 0); + assert(contactPair.nbPotentialContactManifolds > 0); - contactPair.contactManifoldsIndex = contactManifolds.size(); - contactPair.nbContactManifolds = contactPair.potentialContactManifoldsIndices.size(); - contactPair.contactPointsIndex = contactPoints.size(); + contactPair.contactManifoldsIndex = static_cast(contactManifolds.size()); + contactPair.nbContactManifolds = contactPair.nbPotentialContactManifolds; + contactPair.contactPointsIndex = static_cast(contactPoints.size()); // For each potential contact manifold of the pair - for (uint m=0; m < contactPair.potentialContactManifoldsIndices.size(); m++) { + for (uint32 m=0; m < contactPair.nbPotentialContactManifolds; m++) { ContactManifoldInfo& potentialManifold = potentialContactManifolds[contactPair.potentialContactManifoldsIndices[m]]; // Start index and number of contact points for this manifold - const uint contactPointsIndex = contactPoints.size(); - const int8 nbContactPoints = static_cast(potentialManifold.potentialContactPointsIndices.size()); + const uint32 contactPointsIndex = static_cast(contactPoints.size()); + const uint8 nbContactPoints = potentialManifold.nbPotentialContactPoints; contactPair.nbToTalContactPoints += nbContactPoints; - // We create a new contact manifold - ContactManifold contactManifold(contactPair.body1Entity, contactPair.body2Entity, contactPair.collider1Entity, - contactPair.collider2Entity, contactPointsIndex, nbContactPoints); - - // Add the contact manifold - contactManifolds.add(contactManifold); + // Create and add the contact manifold + contactManifolds.emplace(contactPair.body1Entity, contactPair.body2Entity, contactPair.collider1Entity, + contactPair.collider2Entity, contactPointsIndex, nbContactPoints); - assert(potentialManifold.potentialContactPointsIndices.size() > 0); + assert(potentialManifold.nbPotentialContactPoints > 0); // For each contact point of the manifold - for (uint c=0; c < potentialManifold.potentialContactPointsIndices.size(); c++) { + for (uint32 c=0; c < potentialManifold.nbPotentialContactPoints; c++) { ContactPointInfo& potentialContactPoint = potentialContactPoints[potentialManifold.potentialContactPointsIndices[c]]; @@ -867,27 +1016,30 @@ void CollisionDetectionSystem::createSnapshotContacts(List& contact // Initialize the current contacts with the contacts from the previous frame (for warmstarting) void CollisionDetectionSystem::initContactsWithPreviousOnes() { + const decimal persistentContactDistThresholdSqr = mWorld->mConfig.persistentContactDistanceThreshold * mWorld->mConfig.persistentContactDistanceThreshold; + // For each contact pair of the current frame - for (uint i=0; i < mCurrentContactPairs->size(); i++) { + const uint32 nbCurrentContactPairs = static_cast(mCurrentContactPairs->size()); + for (uint32 i=0; i < nbCurrentContactPairs; i++) { ContactPair& currentContactPair = (*mCurrentContactPairs)[i]; // Find the corresponding contact pair in the previous frame (if any) - auto itPrevContactPair = mPreviousMapPairIdToContactPairIndex->find(currentContactPair.pairId); + auto itPrevContactPair = mPreviousMapPairIdToContactPairIndex.find(currentContactPair.pairId); // If we have found a corresponding contact pair in the previous frame - if (itPrevContactPair != mPreviousMapPairIdToContactPairIndex->end()) { + if (itPrevContactPair != mPreviousMapPairIdToContactPairIndex.end()) { - const uint previousContactPairIndex = itPrevContactPair->second; + const uint32 previousContactPairIndex = itPrevContactPair->second; ContactPair& previousContactPair = (*mPreviousContactPairs)[previousContactPairIndex]; // --------------------- Contact Manifolds --------------------- // - const uint contactManifoldsIndex = currentContactPair.contactManifoldsIndex; - const uint nbContactManifolds = currentContactPair.nbContactManifolds; + const uint32 contactManifoldsIndex = currentContactPair.contactManifoldsIndex; + const uint32 nbContactManifolds = currentContactPair.nbContactManifolds; // For each current contact manifold of the current contact pair - for (uint m=contactManifoldsIndex; m < contactManifoldsIndex + nbContactManifolds; m++) { + for (uint32 m=contactManifoldsIndex; m < contactManifoldsIndex + nbContactManifolds; m++) { assert(m < mCurrentContactManifolds->size()); ContactManifold& currentContactManifold = (*mCurrentContactManifolds)[m]; @@ -896,9 +1048,9 @@ void CollisionDetectionSystem::initContactsWithPreviousOnes() { const Vector3& currentContactPointNormal = currentContactPoint.getNormal(); // Find a similar contact manifold among the contact manifolds from the previous frame (for warmstarting) - const uint previousContactManifoldIndex = previousContactPair.contactManifoldsIndex; - const uint previousNbContactManifolds = previousContactPair.nbContactManifolds; - for (uint p=previousContactManifoldIndex; p < previousContactManifoldIndex + previousNbContactManifolds; p++) { + const uint32 previousContactManifoldIndex = previousContactPair.contactManifoldsIndex; + const uint32 previousNbContactManifolds = previousContactPair.nbContactManifolds; + for (uint32 p=previousContactManifoldIndex; p < previousContactManifoldIndex + previousNbContactManifolds; p++) { ContactManifold& previousContactManifold = (*mPreviousContactManifolds)[p]; assert(previousContactManifold.nbContactPoints > 0); @@ -913,7 +1065,6 @@ void CollisionDetectionSystem::initContactsWithPreviousOnes() { currentContactManifold.frictionImpulse1 = previousContactManifold.frictionImpulse1; currentContactManifold.frictionImpulse2 = previousContactManifold.frictionImpulse2; currentContactManifold.frictionTwistImpulse = previousContactManifold.frictionTwistImpulse; - currentContactManifold.rollingResistanceImpulse = previousContactManifold.rollingResistanceImpulse; break; } @@ -922,25 +1073,27 @@ void CollisionDetectionSystem::initContactsWithPreviousOnes() { // --------------------- Contact Points --------------------- // - const uint contactPointsIndex = currentContactPair.contactPointsIndex; - const uint nbTotalContactPoints = currentContactPair.nbToTalContactPoints; + const uint32 contactPointsIndex = currentContactPair.contactPointsIndex; + const uint32 nbTotalContactPoints = currentContactPair.nbToTalContactPoints; // For each current contact point of the current contact pair - for (uint c=contactPointsIndex; c < contactPointsIndex + nbTotalContactPoints; c++) { + for (uint32 c=contactPointsIndex; c < contactPointsIndex + nbTotalContactPoints; c++) { assert(c < mCurrentContactPoints->size()); ContactPoint& currentContactPoint = (*mCurrentContactPoints)[c]; + const Vector3& currentContactPointLocalShape1 = currentContactPoint.getLocalPointOnShape1(); + // Find a similar contact point among the contact points from the previous frame (for warmstarting) - const uint previousContactPointsIndex = previousContactPair.contactPointsIndex; - const uint previousNbContactPoints = previousContactPair.nbToTalContactPoints; - for (uint p=previousContactPointsIndex; p < previousContactPointsIndex + previousNbContactPoints; p++) { + const uint32 previousContactPointsIndex = previousContactPair.contactPointsIndex; + const uint32 previousNbContactPoints = previousContactPair.nbToTalContactPoints; + for (uint32 p=previousContactPointsIndex; p < previousContactPointsIndex + previousNbContactPoints; p++) { - ContactPoint& previousContactPoint = (*mPreviousContactPoints)[p]; + const ContactPoint& previousContactPoint = (*mPreviousContactPoints)[p]; // If the previous contact point is very close to th current one - const decimal distSquare = (currentContactPoint.getLocalPointOnShape1() - previousContactPoint.getLocalPointOnShape1()).lengthSquare(); - if (distSquare <= mWorld->mConfig.persistentContactDistanceThreshold * mWorld->mConfig.persistentContactDistanceThreshold) { + const decimal distSquare = (currentContactPointLocalShape1 - previousContactPoint.getLocalPointOnShape1()).lengthSquare(); + if (distSquare <= persistentContactDistThresholdSqr) { // Transfer data from the previous contact point to the current one currentContactPoint.setPenetrationImpulse(previousContactPoint.getPenetrationImpulse()); @@ -963,10 +1116,10 @@ void CollisionDetectionSystem::removeCollider(Collider* collider) { assert(mMapBroadPhaseIdToColliderEntity.containsKey(colliderBroadPhaseId)); // Remove all the overlapping pairs involving this collider - List& overlappingPairs = mCollidersComponents.getOverlappingPairs(collider->getEntity()); + Array& overlappingPairs = mCollidersComponents.getOverlappingPairs(collider->getEntity()); while(overlappingPairs.size() > 0) { - // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved + // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds array of the two bodies involved // Remove the overlapping pair mOverlappingPairs.removePair(overlappingPairs[0]); @@ -979,9 +1132,7 @@ void CollisionDetectionSystem::removeCollider(Collider* collider) { } // Ray casting method -void CollisionDetectionSystem::raycast(RaycastCallback* raycastCallback, - const Ray& ray, - unsigned short raycastWithCategoryMaskBits) const { +void CollisionDetectionSystem::raycast(RaycastCallback* raycastCallback, const Ray& ray, unsigned short raycastWithCategoryMaskBits) const { RP3D_PROFILE("CollisionDetectionSystem::raycast()", mProfiler); @@ -994,145 +1145,183 @@ void CollisionDetectionSystem::raycast(RaycastCallback* raycastCallback, // Convert the potential contact into actual contacts void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo, - List& potentialContactPoints, - Map* mapPairIdToContactPairIndex, - List& potentialContactManifolds, - List* contactPairs, - Map>& mapBodyToContactPairs) { + Array& potentialContactPoints, + Array& potentialContactManifolds, + Map& mapPairIdToContactPairIndex, + Array* contactPairs) { RP3D_PROFILE("CollisionDetectionSystem::processPotentialContacts()", mProfiler); - // For each narrow phase info object - for(uint i=0; i < narrowPhaseInfoBatch.getNbObjects(); i++) { + const uint32 nbObjects = narrowPhaseInfoBatch.getNbObjects(); - if (updateLastFrameInfo) { - narrowPhaseInfoBatch.lastFrameCollisionInfos[i]->wasColliding = narrowPhaseInfoBatch.isColliding[i]; + if (updateLastFrameInfo) { + + // For each narrow phase info object + for(uint32 i=0; i < nbObjects; i++) { + + narrowPhaseInfoBatch.narrowPhaseInfos[i].lastFrameCollisionInfo->wasColliding = narrowPhaseInfoBatch.narrowPhaseInfos[i].isColliding; // The previous frame collision info is now valid - narrowPhaseInfoBatch.lastFrameCollisionInfos[i]->isValid = true; + narrowPhaseInfoBatch.narrowPhaseInfos[i].lastFrameCollisionInfo->isValid = true; } + } - const uint64 pairId = narrowPhaseInfoBatch.overlappingPairIds[i]; - const uint64 pairIndex = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; + // For each narrow phase info object + for(uint32 i=0; i < nbObjects; i++) { // If the two colliders are colliding - if (narrowPhaseInfoBatch.isColliding[i]) { + if (narrowPhaseInfoBatch.narrowPhaseInfos[i].isColliding) { - mOverlappingPairs.mCollidingInCurrentFrame[pairIndex] = true; + const uint64 pairId = narrowPhaseInfoBatch.narrowPhaseInfos[i].overlappingPairId; + OverlappingPairs::OverlappingPair* overlappingPair = mOverlappingPairs.getOverlappingPair(pairId); + assert(overlappingPair != nullptr); - // If there is not already a contact pair for this overlapping pair - auto it = mapPairIdToContactPairIndex->find(pairId); - ContactPair* pairContact = nullptr; - if (it == mapPairIdToContactPairIndex->end()) { + overlappingPair->collidingInCurrentFrame = true; - // Create a new ContactPair + const Entity collider1Entity = narrowPhaseInfoBatch.narrowPhaseInfos[i].colliderEntity1; + const Entity collider2Entity = narrowPhaseInfoBatch.narrowPhaseInfos[i].colliderEntity2; - const Entity collider1Entity = narrowPhaseInfoBatch.colliderEntities1[i]; - const Entity collider2Entity = narrowPhaseInfoBatch.colliderEntities2[i]; + const uint32 collider1Index = mCollidersComponents.getEntityIndex(collider1Entity); + const uint32 collider2Index = mCollidersComponents.getEntityIndex(collider2Entity); - const uint32 collider1Index = mCollidersComponents.getEntityIndex(collider1Entity); - const uint32 collider2Index = mCollidersComponents.getEntityIndex(collider2Entity); + const Entity body1Entity = mCollidersComponents.mBodiesEntities[collider1Index]; + const Entity body2Entity = mCollidersComponents.mBodiesEntities[collider2Index]; - const Entity body1Entity = mCollidersComponents.mBodiesEntities[collider1Index]; - const Entity body2Entity = mCollidersComponents.mBodiesEntities[collider2Index]; + // If we have a convex vs convex collision (if we consider the base collision shapes of the colliders) + if (mCollidersComponents.mCollisionShapes[collider1Index]->isConvex() && mCollidersComponents.mCollisionShapes[collider2Index]->isConvex()) { + + // Create a new ContactPair const bool isTrigger = mCollidersComponents.mIsTrigger[collider1Index] || mCollidersComponents.mIsTrigger[collider2Index]; assert(!mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity)); - const uint newContactPairIndex = contactPairs->size(); - ContactPair overlappingPairContact(pairId, body1Entity, body2Entity, - collider1Entity, collider2Entity, - newContactPairIndex, mOverlappingPairs.getCollidingInPreviousFrame(pairId), isTrigger, mMemoryManager.getHeapAllocator()); - contactPairs->add(overlappingPairContact); - pairContact = &((*contactPairs)[newContactPairIndex]); - mapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); - - auto itbodyContactPairs = mapBodyToContactPairs.find(body1Entity); - if (itbodyContactPairs != mapBodyToContactPairs.end()) { - itbodyContactPairs->second.add(newContactPairIndex); - } - else { - List contactPairs(mMemoryManager.getPoolAllocator(), 1); - contactPairs.add(newContactPairIndex); - mapBodyToContactPairs.add(Pair>(body1Entity, contactPairs)); - } - itbodyContactPairs = mapBodyToContactPairs.find(body2Entity); - if (itbodyContactPairs != mapBodyToContactPairs.end()) { - itbodyContactPairs->second.add(newContactPairIndex); - } - else { - List contactPairs(mMemoryManager.getPoolAllocator(), 1); - contactPairs.add(newContactPairIndex); - mapBodyToContactPairs.add(Pair>(body2Entity, contactPairs)); + const uint32 newContactPairIndex = static_cast(contactPairs->size()); + + contactPairs->emplace(pairId, body1Entity, body2Entity, collider1Entity, collider2Entity, + newContactPairIndex, overlappingPair->collidingInPreviousFrame, isTrigger); + + ContactPair* pairContact = &((*contactPairs)[newContactPairIndex]); + + // Create a new potential contact manifold for the overlapping pair + uint32 contactManifoldIndex = static_cast(potentialContactManifolds.size()); + potentialContactManifolds.emplace(pairId); + ContactManifoldInfo& contactManifoldInfo = potentialContactManifolds[contactManifoldIndex]; + + const uint32 contactPointIndexStart = static_cast(potentialContactPoints.size()); + + // Add the potential contacts + for (uint32 j=0; j < narrowPhaseInfoBatch.narrowPhaseInfos[i].nbContactPoints; j++) { + + if (contactManifoldInfo.nbPotentialContactPoints < NB_MAX_CONTACT_POINTS_IN_POTENTIAL_MANIFOLD) { + + // Add the contact point to the manifold + contactManifoldInfo.potentialContactPointsIndices[contactManifoldInfo.nbPotentialContactPoints] = contactPointIndexStart + j; + contactManifoldInfo.nbPotentialContactPoints++; + + // Add the contact point to the array of potential contact points + const ContactPointInfo& contactPoint = narrowPhaseInfoBatch.narrowPhaseInfos[i].contactPoints[j]; + + potentialContactPoints.add(contactPoint); + } } + + // Add the contact manifold to the overlapping pair contact + assert(pairId == contactManifoldInfo.pairId); + pairContact->potentialContactManifoldsIndices[0] = contactManifoldIndex; + pairContact->nbPotentialContactManifolds = 1; } - else { // If a ContactPair already exists for this overlapping pair, we use this one + else { - assert(it->first == pairId); + // If there is not already a contact pair for this overlapping pair + auto it = mapPairIdToContactPairIndex.find(pairId); + ContactPair* pairContact = nullptr; + if (it == mapPairIdToContactPairIndex.end()) { - const uint pairContactIndex = it->second; - pairContact = &((*contactPairs)[pairContactIndex]); - } + // Create a new ContactPair - assert(pairContact != nullptr); + const bool isTrigger = mCollidersComponents.mIsTrigger[collider1Index] || mCollidersComponents.mIsTrigger[collider2Index]; - // Add the potential contacts - for (uint j=0; j < narrowPhaseInfoBatch.contactPoints[i].size(); j++) { + assert(!mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity)); - const ContactPointInfo& contactPoint = *(narrowPhaseInfoBatch.contactPoints[i][j]); + const uint32 newContactPairIndex = static_cast(contactPairs->size()); + contactPairs->emplace(pairId, body1Entity, body2Entity, collider1Entity, collider2Entity, + newContactPairIndex, overlappingPair->collidingInPreviousFrame , isTrigger); + pairContact = &((*contactPairs)[newContactPairIndex]); + mapPairIdToContactPairIndex.add(Pair(pairId, newContactPairIndex)); - // Add the contact point to the list of potential contact points - const uint contactPointIndex = static_cast(potentialContactPoints.size()); + } + else { // If a ContactPair already exists for this overlapping pair, we use this one - potentialContactPoints.add(contactPoint); + assert(it->first == pairId); - bool similarManifoldFound = false; + const uint32 pairContactIndex = it->second; + pairContact = &((*contactPairs)[pairContactIndex]); + } - // For each contact manifold of the overlapping pair - for (uint m=0; m < pairContact->potentialContactManifoldsIndices.size(); m++) { + assert(pairContact != nullptr); - uint contactManifoldIndex = pairContact->potentialContactManifoldsIndices[m]; + // Add the potential contacts + for (uint32 j=0; j < narrowPhaseInfoBatch.narrowPhaseInfos[i].nbContactPoints; j++) { - // Get the first contact point of the current manifold - assert(potentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices.size() > 0); - const uint manifoldContactPointIndex = potentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices[0]; - const ContactPointInfo& manifoldContactPoint = potentialContactPoints[manifoldContactPointIndex]; + const ContactPointInfo& contactPoint = narrowPhaseInfoBatch.narrowPhaseInfos[i].contactPoints[j]; - // If we have found a corresponding manifold for the new contact point - // (a manifold with a similar contact normal direction) - if (manifoldContactPoint.normal.dot(contactPoint.normal) >= mWorld->mConfig.cosAngleSimilarContactManifold) { + // Add the contact point to the array of potential contact points + const uint32 contactPointIndex = static_cast(potentialContactPoints.size()); - // Add the contact point to the manifold - potentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices.add(contactPointIndex); + potentialContactPoints.add(contactPoint); - similarManifoldFound = true; + bool similarManifoldFound = false; - break; + // For each contact manifold of the overlapping pair + for (uint32 m=0; m < pairContact->nbPotentialContactManifolds; m++) { + + uint32 contactManifoldIndex = pairContact->potentialContactManifoldsIndices[m]; + + if (potentialContactManifolds[contactManifoldIndex].nbPotentialContactPoints < NB_MAX_CONTACT_POINTS_IN_POTENTIAL_MANIFOLD) { + + // Get the first contact point of the current manifold + assert(potentialContactManifolds[contactManifoldIndex].nbPotentialContactPoints > 0); + const uint manifoldContactPointIndex = potentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices[0]; + const ContactPointInfo& manifoldContactPoint = potentialContactPoints[manifoldContactPointIndex]; + + // If we have found a corresponding manifold for the new contact point + // (a manifold with a similar contact normal direction) + if (manifoldContactPoint.normal.dot(contactPoint.normal) >= mWorld->mConfig.cosAngleSimilarContactManifold) { + + // Add the contact point to the manifold + potentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices[potentialContactManifolds[contactManifoldIndex].nbPotentialContactPoints] = contactPointIndex; + potentialContactManifolds[contactManifoldIndex].nbPotentialContactPoints++; + + similarManifoldFound = true; + + break; + } + } } - } - // If we have not found a manifold with a similar contact normal for the contact point - if (!similarManifoldFound) { + // If we have not found a manifold with a similar contact normal for the contact point + if (!similarManifoldFound && pairContact->nbPotentialContactManifolds < NB_MAX_POTENTIAL_CONTACT_MANIFOLDS) { - // Create a new contact manifold for the overlapping pair - ContactManifoldInfo contactManifoldInfo(pairId, mMemoryManager.getPoolAllocator()); + // Create a new potential contact manifold for the overlapping pair + uint32 contactManifoldIndex = static_cast(potentialContactManifolds.size()); + potentialContactManifolds.emplace(pairId); + ContactManifoldInfo& contactManifoldInfo = potentialContactManifolds[contactManifoldIndex]; - // Add the contact point to the manifold - contactManifoldInfo.potentialContactPointsIndices.add(contactPointIndex); + // Add the contact point to the manifold + contactManifoldInfo.potentialContactPointsIndices[0] = contactPointIndex; + contactManifoldInfo.nbPotentialContactPoints = 1; - assert(pairContact != nullptr); + assert(pairContact != nullptr); - // Add the potential contact manifold - uint contactManifoldIndex = static_cast(potentialContactManifolds.size()); - potentialContactManifolds.add(contactManifoldInfo); + // Add the contact manifold to the overlapping pair contact + assert(pairContact->pairId == contactManifoldInfo.pairId); + pairContact->potentialContactManifoldsIndices[pairContact->nbPotentialContactManifolds] = contactManifoldIndex; + pairContact->nbPotentialContactManifolds++; + } - // Add the contact manifold to the overlapping pair contact - assert(pairContact->pairId == contactManifoldInfo.pairId); - pairContact->potentialContactManifoldsIndices.add(contactManifoldIndex); + assert(pairContact->nbPotentialContactManifolds > 0); } - - assert(pairContact->potentialContactManifoldsIndices.size() > 0); } narrowPhaseInfoBatch.resetContactPoints(i); @@ -1141,24 +1330,25 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na } // Clear the obsolete manifolds and contact points and reduce the number of contacts points of the remaining manifolds -void CollisionDetectionSystem::reducePotentialContactManifolds(List* contactPairs, - List& potentialContactManifolds, - const List& potentialContactPoints) const { +void CollisionDetectionSystem::reducePotentialContactManifolds(Array* contactPairs, + Array& potentialContactManifolds, + const Array& potentialContactPoints) const { RP3D_PROFILE("CollisionDetectionSystem::reducePotentialContactManifolds()", mProfiler); // Reduce the number of potential contact manifolds in a contact pair - for (uint i=0; i < contactPairs->size(); i++) { + const uint32 nbContactPairs = static_cast(contactPairs->size()); + for (uint32 i=0; i < nbContactPairs; i++) { ContactPair& contactPair = (*contactPairs)[i]; // While there are too many manifolds in the contact pair - while(contactPair.potentialContactManifoldsIndices.size() > mWorld->mConfig.nbMaxContactManifolds) { + while(contactPair.nbPotentialContactManifolds > NB_MAX_CONTACT_MANIFOLDS) { // Look for a manifold with the smallest contact penetration depth. decimal minDepth = DECIMAL_LARGEST; int minDepthManifoldIndex = -1; - for (uint j=0; j < contactPair.potentialContactManifoldsIndices.size(); j++) { + for (uint32 j=0; j < contactPair.nbPotentialContactManifolds; j++) { ContactManifoldInfo& manifold = potentialContactManifolds[contactPair.potentialContactManifoldsIndices[j]]; @@ -1173,45 +1363,46 @@ void CollisionDetectionSystem::reducePotentialContactManifolds(List // Remove the non optimal manifold assert(minDepthManifoldIndex >= 0); - contactPair.potentialContactManifoldsIndices.removeAt(minDepthManifoldIndex); + contactPair.removePotentialManifoldAtIndex(minDepthManifoldIndex); } } // Reduce the number of potential contact points in the manifolds - for (uint i=0; i < contactPairs->size(); i++) { + for (uint32 i=0; i < nbContactPairs; i++) { const ContactPair& pairContact = (*contactPairs)[i]; // For each potential contact manifold - for (uint j=0; j < pairContact.potentialContactManifoldsIndices.size(); j++) { + for (uint32 j=0; j < pairContact.nbPotentialContactManifolds; j++) { ContactManifoldInfo& manifold = potentialContactManifolds[pairContact.potentialContactManifoldsIndices[j]]; // If there are two many contact points in the manifold - if (manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD) { - - Entity collider1 = mOverlappingPairs.mColliders1[mOverlappingPairs.mMapPairIdToPairIndex[manifold.pairId]]; + if (manifold.nbPotentialContactPoints > MAX_CONTACT_POINTS_IN_MANIFOLD) { - Transform shape1LocalToWorldTransoform = mCollidersComponents.getLocalToWorldTransform(collider1); + Transform shape1LocalToWorldTransoform = mCollidersComponents.getLocalToWorldTransform(pairContact.collider1Entity); // Reduce the number of contact points in the manifold reduceContactPoints(manifold, shape1LocalToWorldTransoform, potentialContactPoints); } - assert(manifold.potentialContactPointsIndices.size() <= MAX_CONTACT_POINTS_IN_MANIFOLD); + assert(manifold.nbPotentialContactPoints <= MAX_CONTACT_POINTS_IN_MANIFOLD); + + // Remove the duplicated contact points in the manifold (if any) + removeDuplicatedContactPointsInManifold(manifold, potentialContactPoints); } } } // Return the largest depth of all the contact points of a potential manifold decimal CollisionDetectionSystem::computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold, - const List& potentialContactPoints) const { + const Array& potentialContactPoints) const { decimal largestDepth = 0.0f; - assert(manifold.potentialContactPointsIndices.size() > 0); + assert(manifold.nbPotentialContactPoints > 0); - for (uint i=0; i < manifold.potentialContactPointsIndices.size(); i++) { + for (uint32 i=0; i < manifold.nbPotentialContactPoints; i++) { decimal depth = potentialContactPoints[manifold.potentialContactPointsIndices[i]].penetrationDepth; if (depth > largestDepth) { @@ -1227,20 +1418,24 @@ decimal CollisionDetectionSystem::computePotentialManifoldLargestContactDepth(co // "Contacts Creation" GDC presentation. This method will reduce the number of // contact points to a maximum of 4 points (but it can be less). void CollisionDetectionSystem::reduceContactPoints(ContactManifoldInfo& manifold, const Transform& shape1ToWorldTransform, - const List& potentialContactPoints) const { + const Array& potentialContactPoints) const { - assert(manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD); + assert(manifold.nbPotentialContactPoints > MAX_CONTACT_POINTS_IN_MANIFOLD); // The following algorithm only works to reduce to a maximum of 4 contact points assert(MAX_CONTACT_POINTS_IN_MANIFOLD == 4); - // List of the candidate contact points indices in the manifold. Every time that we have found a - // point we want to keep, we will remove it from this list - List candidatePointsIndices(manifold.potentialContactPointsIndices); + // Array of the candidate contact points indices in the manifold. Every time that we have found a + // point we want to keep, we will remove it from this array + uint candidatePointsIndices[NB_MAX_CONTACT_POINTS_IN_POTENTIAL_MANIFOLD]; + uint8 nbCandidatePoints = manifold.nbPotentialContactPoints; + for (uint8 i=0 ; i < manifold.nbPotentialContactPoints; i++) { + candidatePointsIndices[i] = manifold.potentialContactPointsIndices[i]; + } int8 nbReducedPoints = 0; - uint pointsToKeepIndices[MAX_CONTACT_POINTS_IN_MANIFOLD]; + uint32 pointsToKeepIndices[MAX_CONTACT_POINTS_IN_MANIFOLD]; for (int8 i=0; i (-minArea)) { isPreviousAreaPositive = true; pointsToKeepIndices[2] = candidatePointsIndices[thirdPointMaxAreaIndex]; - candidatePointsIndices.removeAt(thirdPointMaxAreaIndex); + removeItemAtInArray(candidatePointsIndices, thirdPointMaxAreaIndex, nbCandidatePoints); } else { isPreviousAreaPositive = false; pointsToKeepIndices[2] = candidatePointsIndices[thirdPointMinAreaIndex]; - candidatePointsIndices.removeAt(thirdPointMinAreaIndex); + removeItemAtInArray(candidatePointsIndices, thirdPointMinAreaIndex, nbCandidatePoints); } nbReducedPoints = 3; @@ -1355,7 +1551,7 @@ void CollisionDetectionSystem::reduceContactPoints(ContactManifoldInfo& manifold decimal area; // For each remaining candidate points - for (uint i=0; i < candidatePointsIndices.size(); i++) { + for (uint32 i=0; i < nbCandidatePoints; i++) { const ContactPointInfo& element = potentialContactPoints[candidatePointsIndices[i]]; @@ -1364,10 +1560,10 @@ void CollisionDetectionSystem::reduceContactPoints(ContactManifoldInfo& manifold assert(candidatePointsIndices[i] != pointsToKeepIndices[2]); // For each edge of the triangle made by the first three points - for (uint j=0; j<3; j++) { + for (uint32 j=0; j<3; j++) { - uint edgeVertex1Index = j; - uint edgeVertex2Index = j < 2 ? j + 1 : 0; + uint32 edgeVertex1Index = j; + uint32 edgeVertex2Index = j < 2 ? j + 1 : 0; const ContactPointInfo& pointToKeepEdgeV1 = potentialContactPoints[pointsToKeepIndices[edgeVertex1Index]]; const ContactPointInfo& pointToKeepEdgeV2 = potentialContactPoints[pointsToKeepIndices[edgeVertex2Index]]; @@ -1392,14 +1588,53 @@ void CollisionDetectionSystem::reduceContactPoints(ContactManifoldInfo& manifold } } pointsToKeepIndices[3] = candidatePointsIndices[elementIndexToKeep]; - candidatePointsIndices.removeAt(elementIndexToKeep); + removeItemAtInArray(candidatePointsIndices, elementIndexToKeep, nbCandidatePoints); // Only keep the four selected contact points in the manifold - manifold.potentialContactPointsIndices.clear(); - manifold.potentialContactPointsIndices.add(pointsToKeepIndices[0]); - manifold.potentialContactPointsIndices.add(pointsToKeepIndices[1]); - manifold.potentialContactPointsIndices.add(pointsToKeepIndices[2]); - manifold.potentialContactPointsIndices.add(pointsToKeepIndices[3]); + manifold.potentialContactPointsIndices[0] = pointsToKeepIndices[0]; + manifold.potentialContactPointsIndices[1] = pointsToKeepIndices[1]; + manifold.potentialContactPointsIndices[2] = pointsToKeepIndices[2]; + manifold.potentialContactPointsIndices[3] = pointsToKeepIndices[3]; + manifold.nbPotentialContactPoints = 4; +} + +// Remove an element in an array (and replace it by the last one in the array) +void CollisionDetectionSystem::removeItemAtInArray(uint array[], uint8 index, uint8& arraySize) const { + assert(index < arraySize); + assert(arraySize > 0); + array[index] = array[arraySize - 1]; + arraySize--; +} + +// Remove the duplicated contact points in a given contact manifold +void CollisionDetectionSystem::removeDuplicatedContactPointsInManifold(ContactManifoldInfo& manifold, + const Array& potentialContactPoints) const { + + RP3D_PROFILE("CollisionDetectionSystem::removeDuplicatedContactPointsInManifold()", mProfiler); + + const decimal distThresholdSqr = SAME_CONTACT_POINT_DISTANCE_THRESHOLD * SAME_CONTACT_POINT_DISTANCE_THRESHOLD; + + // For each contact point of the manifold + for (uint32 i=0; i < manifold.nbPotentialContactPoints; i++) { + for (uint32 j=i+1; j < manifold.nbPotentialContactPoints; j++) { + + const ContactPointInfo& point1 = potentialContactPoints[manifold.potentialContactPointsIndices[i]]; + const ContactPointInfo& point2 = potentialContactPoints[manifold.potentialContactPointsIndices[j]]; + + // Compute the distance between the two contact points + const decimal distSqr = (point2.localPoint1 - point1.localPoint1).lengthSquare(); + + // We have a found a duplicated contact point + if (distSqr < distThresholdSqr) { + + // Remove the duplicated contact point + manifold.potentialContactPointsIndices[j] = manifold.potentialContactPointsIndices[manifold.nbPotentialContactPoints-1]; + manifold.nbPotentialContactPoints--; + + j--; + } + } + } } // Report contacts and triggers @@ -1424,8 +1659,8 @@ void CollisionDetectionSystem::reportContactsAndTriggers() { } // Report all contacts to the user -void CollisionDetectionSystem::reportContacts(CollisionCallback& callback, List* contactPairs, - List* manifolds, List* contactPoints, List& lostContactPairs) { +void CollisionDetectionSystem::reportContacts(CollisionCallback& callback, Array* contactPairs, + Array* manifolds, Array* contactPoints, Array& lostContactPairs) { RP3D_PROFILE("CollisionDetectionSystem::reportContacts()", mProfiler); @@ -1440,7 +1675,7 @@ void CollisionDetectionSystem::reportContacts(CollisionCallback& callback, List< } // Report all triggers to the user -void CollisionDetectionSystem::reportTriggers(EventListener& eventListener, List* contactPairs, List& lostContactPairs) { +void CollisionDetectionSystem::reportTriggers(EventListener& eventListener, Array* contactPairs, Array& lostContactPairs) { RP3D_PROFILE("CollisionDetectionSystem::reportTriggers()", mProfiler); @@ -1455,7 +1690,7 @@ void CollisionDetectionSystem::reportTriggers(EventListener& eventListener, List } // Report all contacts for debug rendering -void CollisionDetectionSystem::reportDebugRenderingContacts(List* contactPairs, List* manifolds, List* contactPoints, List& lostContactPairs) { +void CollisionDetectionSystem::reportDebugRenderingContacts(Array* contactPairs, Array* manifolds, Array* contactPoints, Array& lostContactPairs) { RP3D_PROFILE("CollisionDetectionSystem::reportDebugRenderingContacts()", mProfiler); @@ -1478,8 +1713,8 @@ bool CollisionDetectionSystem::testOverlap(CollisionBody* body1, CollisionBody* computeBroadPhase(); // Filter the overlapping pairs to get only the ones with the selected body involved - List convexPairs(mMemoryManager.getPoolAllocator()); - List concavePairs(mMemoryManager.getPoolAllocator()); + Array convexPairs(mMemoryManager.getPoolAllocator()); + Array concavePairs(mMemoryManager.getPoolAllocator()); filterOverlappingPairs(body1->getEntity(), body2->getEntity(), convexPairs, concavePairs); if (convexPairs.size() > 0 || concavePairs.size() > 0) { @@ -1518,8 +1753,8 @@ void CollisionDetectionSystem::testOverlap(CollisionBody* body, OverlapCallback& computeBroadPhase(); // Filter the overlapping pairs to get only the ones with the selected body involved - List convexPairs(mMemoryManager.getPoolAllocator()); - List concavePairs(mMemoryManager.getPoolAllocator()); + Array convexPairs(mMemoryManager.getPoolAllocator()); + Array concavePairs(mMemoryManager.getPoolAllocator()); filterOverlappingPairs(body->getEntity(), convexPairs, concavePairs); if (convexPairs.size() > 0 || concavePairs.size() > 0) { @@ -1541,8 +1776,8 @@ void CollisionDetectionSystem::testCollision(CollisionBody* body1, CollisionBody computeBroadPhase(); // Filter the overlapping pairs to get only the ones with the selected body involved - List convexPairs(mMemoryManager.getPoolAllocator()); - List concavePairs(mMemoryManager.getPoolAllocator()); + Array convexPairs(mMemoryManager.getPoolAllocator()); + Array concavePairs(mMemoryManager.getPoolAllocator()); filterOverlappingPairs(body1->getEntity(), body2->getEntity(), convexPairs, concavePairs); if (convexPairs.size() > 0 || concavePairs.size() > 0) { @@ -1564,8 +1799,8 @@ void CollisionDetectionSystem::testCollision(CollisionBody* body, CollisionCallb computeBroadPhase(); // Filter the overlapping pairs to get only the ones with the selected body involved - List convexPairs(mMemoryManager.getPoolAllocator()); - List concavePairs(mMemoryManager.getPoolAllocator()); + Array convexPairs(mMemoryManager.getPoolAllocator()); + Array concavePairs(mMemoryManager.getPoolAllocator()); filterOverlappingPairs(body->getEntity(), convexPairs, concavePairs); if (convexPairs.size() > 0 || concavePairs.size() > 0) { @@ -1594,42 +1829,59 @@ void CollisionDetectionSystem::testCollision(CollisionCallback& callback) { } // Filter the overlapping pairs to keep only the pairs where a given body is involved -void CollisionDetectionSystem::filterOverlappingPairs(Entity bodyEntity, List& convexPairs, List& concavePairs) const { +void CollisionDetectionSystem::filterOverlappingPairs(Entity bodyEntity, Array& convexPairs, Array& concavePairs) const { - // For each possible collision pair of bodies - for (uint i=0; i < mOverlappingPairs.getNbPairs(); i++) { + // For each convex pairs + const uint32 nbConvexPairs = static_cast(mOverlappingPairs.mConvexPairs.size()); + for (uint32 i=0; i < nbConvexPairs; i++) { - if (mCollidersComponents.getBody(mOverlappingPairs.mColliders1[i]) == bodyEntity || - mCollidersComponents.getBody(mOverlappingPairs.mColliders2[i]) == bodyEntity) { + if (mCollidersComponents.getBody(mOverlappingPairs.mConvexPairs[i].collider1) == bodyEntity || + mCollidersComponents.getBody(mOverlappingPairs.mConvexPairs[i].collider2) == bodyEntity) { - if (i < mOverlappingPairs.getNbConvexVsConvexPairs()) { - convexPairs.add(mOverlappingPairs.mPairIds[i]); - } - else { - concavePairs.add(mOverlappingPairs.mPairIds[i]); - } + convexPairs.add(mOverlappingPairs.mConvexPairs[i].pairID); + } + } + + // For each concave pairs + const uint32 nbConcavePairs = static_cast(mOverlappingPairs.mConcavePairs.size()); + for (uint32 i=0; i < nbConcavePairs; i++) { + + if (mCollidersComponents.getBody(mOverlappingPairs.mConcavePairs[i].collider1) == bodyEntity || + mCollidersComponents.getBody(mOverlappingPairs.mConcavePairs[i].collider2) == bodyEntity) { + + concavePairs.add(mOverlappingPairs.mConcavePairs[i].pairID); } } } // Filter the overlapping pairs to keep only the pairs where two given bodies are involved -void CollisionDetectionSystem::filterOverlappingPairs(Entity body1Entity, Entity body2Entity, List& convexPairs, List& concavePairs) const { +void CollisionDetectionSystem::filterOverlappingPairs(Entity body1Entity, Entity body2Entity, Array& convexPairs, Array& concavePairs) const { - // For each possible collision pair of bodies - for (uint i=0; i < mOverlappingPairs.getNbPairs(); i++) { + // For each convex pair + const uint32 nbConvexPairs = static_cast(mOverlappingPairs.mConvexPairs.size()); + for (uint32 i=0; i < nbConvexPairs; i++) { - const Entity collider1Body = mCollidersComponents.getBody(mOverlappingPairs.mColliders1[i]); - const Entity collider2Body = mCollidersComponents.getBody(mOverlappingPairs.mColliders2[i]); + const Entity collider1Body = mCollidersComponents.getBody(mOverlappingPairs.mConvexPairs[i].collider1); + const Entity collider2Body = mCollidersComponents.getBody(mOverlappingPairs.mConvexPairs[i].collider2); if ((collider1Body == body1Entity && collider2Body == body2Entity) || (collider1Body == body2Entity && collider2Body == body1Entity)) { - if (i < mOverlappingPairs.getNbConvexVsConvexPairs()) { - convexPairs.add(mOverlappingPairs.mPairIds[i]); - } - else { - concavePairs.add(mOverlappingPairs.mPairIds[i]); - } + convexPairs.add(mOverlappingPairs.mConvexPairs[i].pairID); + } + } + + // For each concave pair + const uint32 nbConcavePairs = static_cast(mOverlappingPairs.mConcavePairs.size()); + for (uint32 i=0; i < nbConcavePairs; i++) { + + const Entity collider1Body = mCollidersComponents.getBody(mOverlappingPairs.mConcavePairs[i].collider1); + const Entity collider2Body = mCollidersComponents.getBody(mOverlappingPairs.mConcavePairs[i].collider2); + + if ((collider1Body == body1Entity && collider2Body == body2Entity) || + (collider1Body == body2Entity && collider2Body == body1Entity)) { + + concavePairs.add(mOverlappingPairs.mConcavePairs[i].pairID); } } } diff --git a/src/systems/ConstraintSolverSystem.cpp b/src/systems/ConstraintSolverSystem.cpp index 6dac9bad2..96731f8f8 100644 --- a/src/systems/ConstraintSolverSystem.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index f384a78aa..1cfba2901 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -34,6 +34,7 @@ #include #include #include +#include using namespace reactphysics3d; using namespace std; @@ -61,7 +62,7 @@ ContactSolverSystem::ContactSolverSystem(MemoryManager& memoryManager, PhysicsWo } // Initialize the contact constraints -void ContactSolverSystem::init(List* contactManifolds, List* contactPoints, decimal timeStep) { +void ContactSolverSystem::init(Array* contactManifolds, Array* contactPoints, decimal timeStep) { mAllContactManifolds = contactManifolds; mAllContactPoints = contactPoints; @@ -70,8 +71,8 @@ void ContactSolverSystem::init(List* contactManifolds, Listsize(); - uint nbContactPoints = mAllContactPoints->size(); + const uint32 nbContactManifolds = static_cast(mAllContactManifolds->size()); + const uint32 nbContactPoints = static_cast(mAllContactPoints->size()); mNbContactManifolds = 0; mNbContactPoints = 0; @@ -90,7 +91,8 @@ void ContactSolverSystem::init(List* contactManifolds, List 0) { initializeForIsland(i); @@ -109,35 +111,31 @@ void ContactSolverSystem::reset() { } // Initialize the constraint solver for a given island -void ContactSolverSystem::initializeForIsland(uint islandIndex) { +void ContactSolverSystem::initializeForIsland(uint32 islandIndex) { RP3D_PROFILE("ContactSolver::initializeForIsland()", mProfiler); - assert(mIslands.bodyEntities[islandIndex].size() > 0); + assert(mIslands.nbBodiesInIsland[islandIndex] > 0); assert(mIslands.nbContactManifolds[islandIndex] > 0); // For each contact manifold of the island - uint contactManifoldsIndex = mIslands.contactManifoldsIndices[islandIndex]; - uint nbContactManifolds = mIslands.nbContactManifolds[islandIndex]; - for (uint m=contactManifoldsIndex; m < contactManifoldsIndex + nbContactManifolds; m++) { + const uint32 contactManifoldsIndex = mIslands.contactManifoldsIndices[islandIndex]; + const uint32 nbContactManifolds = mIslands.nbContactManifolds[islandIndex]; + for (uint32 m=contactManifoldsIndex; m < contactManifoldsIndex + nbContactManifolds; m++) { ContactManifold& externalManifold = (*mAllContactManifolds)[m]; assert(externalManifold.nbContactPoints > 0); + const uint32 rigidBodyIndex1 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity1); + const uint32 rigidBodyIndex2 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity2); + // Get the two bodies of the contact - RigidBody* body1 = static_cast(mBodyComponents.getBody(externalManifold.bodyEntity1)); - RigidBody* body2 = static_cast(mBodyComponents.getBody(externalManifold.bodyEntity2)); - assert(body1 != nullptr); - assert(body2 != nullptr); assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity1)); assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity2)); - const uint rigidBodyIndex1 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity1); - const uint rigidBodyIndex2 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity2); - - Collider* collider1 = mColliderComponents.getCollider(externalManifold.colliderEntity1); - Collider* collider2 = mColliderComponents.getCollider(externalManifold.colliderEntity2); + const uint32 collider1Index = mColliderComponents.getEntityIndex(externalManifold.colliderEntity1); + const uint32 collider2Index = mColliderComponents.getEntityIndex(externalManifold.colliderEntity2); // Get the position of the two bodies const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[rigidBodyIndex1]; @@ -147,13 +145,16 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { new (mContactConstraints + mNbContactManifolds) ContactManifoldSolver(); mContactConstraints[mNbContactManifolds].rigidBodyComponentIndexBody1 = rigidBodyIndex1; mContactConstraints[mNbContactManifolds].rigidBodyComponentIndexBody2 = rigidBodyIndex2; - mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = RigidBody::getWorldInertiaTensorInverse(mWorld, externalManifold.bodyEntity1); - mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = RigidBody::getWorldInertiaTensorInverse(mWorld, externalManifold.bodyEntity2); + mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = mRigidBodyComponents.mInverseInertiaTensorsWorld[rigidBodyIndex1]; + mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = mRigidBodyComponents.mInverseInertiaTensorsWorld[rigidBodyIndex2]; mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex1]; mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex2]; + mContactConstraints[mNbContactManifolds].linearLockAxisFactorBody1 = mRigidBodyComponents.mLinearLockAxisFactors[rigidBodyIndex1]; + mContactConstraints[mNbContactManifolds].linearLockAxisFactorBody2 = mRigidBodyComponents.mLinearLockAxisFactors[rigidBodyIndex2]; + mContactConstraints[mNbContactManifolds].angularLockAxisFactorBody1 = mRigidBodyComponents.mAngularLockAxisFactors[rigidBodyIndex1]; + mContactConstraints[mNbContactManifolds].angularLockAxisFactorBody2 = mRigidBodyComponents.mAngularLockAxisFactors[rigidBodyIndex2]; mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.nbContactPoints; - mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(collider1, collider2); - mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(collider1, collider2); + mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(mColliderComponents.mMaterials[collider1Index], mColliderComponents.mMaterials[collider2Index]); mContactConstraints[mNbContactManifolds].externalContactManifold = &externalManifold; mContactConstraints[mNbContactManifolds].normal.setToZero(); mContactConstraints[mNbContactManifolds].frictionPointBody1.setToZero(); @@ -165,21 +166,25 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { const Vector3& v2 = mRigidBodyComponents.mLinearVelocities[rigidBodyIndex2]; const Vector3& w2 = mRigidBodyComponents.mAngularVelocities[rigidBodyIndex2]; + const Transform& collider1LocalToWorldTransform = mColliderComponents.mLocalToWorldTransforms[collider1Index]; + const Transform& collider2LocalToWorldTransform = mColliderComponents.mLocalToWorldTransforms[collider2Index]; + // For each contact point of the contact manifold assert(externalManifold.nbContactPoints > 0); - uint contactPointsStartIndex = externalManifold.contactPointsIndex; - uint nbContactPoints = static_cast(externalManifold.nbContactPoints); - for (uint c=contactPointsStartIndex; c < contactPointsStartIndex + nbContactPoints; c++) { + const uint32 contactPointsStartIndex = externalManifold.contactPointsIndex; + const uint32 nbContactPoints = static_cast(externalManifold.nbContactPoints); + for (uint32 c=contactPointsStartIndex; c < contactPointsStartIndex + nbContactPoints; c++) { ContactPoint& externalContact = (*mAllContactPoints)[c]; - // Get the contact point on the two bodies - Vector3 p1 = mColliderComponents.getLocalToWorldTransform(externalManifold.colliderEntity1) * externalContact.getLocalPointOnShape1(); - Vector3 p2 = mColliderComponents.getLocalToWorldTransform(externalManifold.colliderEntity2) * externalContact.getLocalPointOnShape2(); - new (mContactPoints + mNbContactPoints) ContactPointSolver(); mContactPoints[mNbContactPoints].externalContact = &externalContact; mContactPoints[mNbContactPoints].normal = externalContact.getNormal(); + + // Get the contact point on the two bodies + const Vector3 p1 = collider1LocalToWorldTransform * externalContact.getLocalPointOnShape1(); + const Vector3 p2 = collider2LocalToWorldTransform * externalContact.getLocalPointOnShape2(); + mContactPoints[mNbContactPoints].r1.x = p1.x - x1.x; mContactPoints[mNbContactPoints].r1.y = p1.y - x1.y; mContactPoints[mNbContactPoints].r1.z = p1.z - x1.z; @@ -200,13 +205,13 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { mContactConstraints[mNbContactManifolds].frictionPointBody2.z += p2.z; // Compute the velocity difference - //deltaV = v2 + w2.cross(mContactPoints[mNbContactPoints].r2) - v1 - w1.cross(mContactPoints[mNbContactPoints].r1); + // deltaV = v2 + w2.cross(mContactPoints[mNbContactPoints].r2) - v1 - w1.cross(mContactPoints[mNbContactPoints].r1); Vector3 deltaV(v2.x + w2.y * mContactPoints[mNbContactPoints].r2.z - w2.z * mContactPoints[mNbContactPoints].r2.y - - v1.x - w1.y * mContactPoints[mNbContactPoints].r1.z - w1.z * mContactPoints[mNbContactPoints].r1.y, + - v1.x - w1.y * mContactPoints[mNbContactPoints].r1.z + w1.z * mContactPoints[mNbContactPoints].r1.y, v2.y + w2.z * mContactPoints[mNbContactPoints].r2.x - w2.x * mContactPoints[mNbContactPoints].r2.z - - v1.y - w1.z * mContactPoints[mNbContactPoints].r1.x - w1.x * mContactPoints[mNbContactPoints].r1.z, + - v1.y - w1.z * mContactPoints[mNbContactPoints].r1.x + w1.x * mContactPoints[mNbContactPoints].r1.z, v2.z + w2.x * mContactPoints[mNbContactPoints].r2.y - w2.y * mContactPoints[mNbContactPoints].r2.x - - v1.z - w1.x * mContactPoints[mNbContactPoints].r1.y - w1.y * mContactPoints[mNbContactPoints].r1.x); + - v1.z - w1.x * mContactPoints[mNbContactPoints].r1.y + w1.y * mContactPoints[mNbContactPoints].r1.x); // r1CrossN = mContactPoints[mNbContactPoints].r1.cross(mContactPoints[mNbContactPoints].normal); Vector3 r1CrossN(mContactPoints[mNbContactPoints].r1.y * mContactPoints[mNbContactPoints].normal.z - @@ -241,7 +246,7 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { decimal deltaVDotN = deltaV.x * mContactPoints[mNbContactPoints].normal.x + deltaV.y * mContactPoints[mNbContactPoints].normal.y + deltaV.z * mContactPoints[mNbContactPoints].normal.z; - const decimal restitutionFactor = computeMixedRestitutionFactor(collider1, collider2); + const decimal restitutionFactor = computeMixedRestitutionFactor(mColliderComponents.mMaterials[collider1Index], mColliderComponents.mMaterials[collider2Index]); if (deltaVDotN < -mRestitutionVelocityThreshold) { mContactPoints[mNbContactPoints].restitutionBias = restitutionFactor * deltaVDotN; } @@ -253,8 +258,8 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { mNbContactPoints++; } - mContactConstraints[mNbContactManifolds].frictionPointBody1 /=static_cast(mContactConstraints[mNbContactManifolds].nbContacts); - mContactConstraints[mNbContactManifolds].frictionPointBody2 /=static_cast(mContactConstraints[mNbContactManifolds].nbContacts); + mContactConstraints[mNbContactManifolds].frictionPointBody1 /= static_cast(mContactConstraints[mNbContactManifolds].nbContacts); + mContactConstraints[mNbContactManifolds].frictionPointBody2 /= static_cast(mContactConstraints[mNbContactManifolds].nbContacts); mContactConstraints[mNbContactManifolds].r1Friction.x = mContactConstraints[mNbContactManifolds].frictionPointBody1.x - x1.x; mContactConstraints[mNbContactManifolds].r1Friction.y = mContactConstraints[mNbContactManifolds].frictionPointBody1.y - x1.y; mContactConstraints[mNbContactManifolds].r1Friction.z = mContactConstraints[mNbContactManifolds].frictionPointBody1.z - x1.z; @@ -269,39 +274,21 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { mContactConstraints[mNbContactManifolds].friction2Impulse = externalManifold.frictionImpulse2; mContactConstraints[mNbContactManifolds].frictionTwistImpulse = externalManifold.frictionTwistImpulse; - // Compute the inverse K matrix for the rolling resistance constraint - bool isBody1DynamicType = body1->getType() == BodyType::DYNAMIC; - bool isBody2DynamicType = body2->getType() == BodyType::DYNAMIC; - mContactConstraints[mNbContactManifolds].inverseRollingResistance.setToZero(); - if (mContactConstraints[mNbContactManifolds].rollingResistanceFactor > 0 && (isBody1DynamicType || isBody2DynamicType)) { - - mContactConstraints[mNbContactManifolds].inverseRollingResistance = mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 + mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2; - decimal det = mContactConstraints[mNbContactManifolds].inverseRollingResistance.getDeterminant(); - - // If the matrix is not inversible - if (approxEqual(det, decimal(0.0))) { - mContactConstraints[mNbContactManifolds].inverseRollingResistance.setToZero(); - } - else { - mContactConstraints[mNbContactManifolds].inverseRollingResistance = mContactConstraints[mNbContactManifolds].inverseRollingResistance.getInverse(); - } - } - mContactConstraints[mNbContactManifolds].normal.normalize(); // deltaVFrictionPoint = v2 + w2.cross(mContactConstraints[mNbContactManifolds].r2Friction) - // v1 - w1.cross(mContactConstraints[mNbContactManifolds].r1Friction); Vector3 deltaVFrictionPoint(v2.x + w2.y * mContactConstraints[mNbContactManifolds].r2Friction.z - w2.z * mContactConstraints[mNbContactManifolds].r2Friction.y - - v1.x - w1.y * mContactConstraints[mNbContactManifolds].r1Friction.z - + v1.x - w1.y * mContactConstraints[mNbContactManifolds].r1Friction.z + w1.z * mContactConstraints[mNbContactManifolds].r1Friction.y, v2.y + w2.z * mContactConstraints[mNbContactManifolds].r2Friction.x - w2.x * mContactConstraints[mNbContactManifolds].r2Friction.z - - v1.y - w1.z * mContactConstraints[mNbContactManifolds].r1Friction.x - + v1.y - w1.z * mContactConstraints[mNbContactManifolds].r1Friction.x + w1.x * mContactConstraints[mNbContactManifolds].r1Friction.z, v2.z + w2.x * mContactConstraints[mNbContactManifolds].r2Friction.y - w2.y * mContactConstraints[mNbContactManifolds].r2Friction.x - - v1.z - w1.x * mContactConstraints[mNbContactManifolds].r1Friction.y - + v1.z - w1.x * mContactConstraints[mNbContactManifolds].r1Friction.y + w1.y * mContactConstraints[mNbContactManifolds].r1Friction.x); // Compute the friction vectors @@ -343,19 +330,21 @@ void ContactSolverSystem::warmStart() { RP3D_PROFILE("ContactSolver::warmStart()", mProfiler); - uint contactPointIndex = 0; + uint32 contactPointIndex = 0; // For each constraint - for (uint c=0; c SLOP) biasPenetrationDepth = -(beta/mTimeStep) * - max(0.0f, float(mContactPoints[contactPointIndex].penetrationDepth - SLOP)); + if (mContactPoints[contactPointIndex].penetrationDepth > SLOP) { + biasPenetrationDepth = -(beta/mTimeStep) * std::max(0.0f, float(mContactPoints[contactPointIndex].penetrationDepth - SLOP)); + } decimal b = biasPenetrationDepth + mContactPoints[contactPointIndex].restitutionBias; // Compute the Lagrange multiplier lambda @@ -554,22 +544,22 @@ void ContactSolverSystem::solve() { mContactPoints[contactPointIndex].normal.z * deltaLambda); // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulse.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulse.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulse.z; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].x -= mContactConstraints[c].massInverseBody1 * linearImpulse.x * mContactConstraints[c].linearLockAxisFactorBody1.x; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].y -= mContactConstraints[c].massInverseBody1 * linearImpulse.y * mContactConstraints[c].linearLockAxisFactorBody1.y; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].z -= mContactConstraints[c].massInverseBody1 * linearImpulse.z * mContactConstraints[c].linearLockAxisFactorBody1.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * deltaLambda; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * deltaLambda; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * deltaLambda; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * mContactConstraints[c].angularLockAxisFactorBody1.x * deltaLambda; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * mContactConstraints[c].angularLockAxisFactorBody1.y * deltaLambda; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * mContactConstraints[c].angularLockAxisFactorBody1.z * deltaLambda; // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulse.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulse.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulse.z; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].x += mContactConstraints[c].massInverseBody2 * linearImpulse.x * mContactConstraints[c].linearLockAxisFactorBody2.x; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].y += mContactConstraints[c].massInverseBody2 * linearImpulse.y * mContactConstraints[c].linearLockAxisFactorBody2.y; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].z += mContactConstraints[c].massInverseBody2 * linearImpulse.z * mContactConstraints[c].linearLockAxisFactorBody2.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * deltaLambda; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * deltaLambda; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * deltaLambda; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * mContactConstraints[c].angularLockAxisFactorBody2.x * deltaLambda; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * mContactConstraints[c].angularLockAxisFactorBody2.y * deltaLambda; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * mContactConstraints[c].angularLockAxisFactorBody2.z * deltaLambda; sumPenetrationImpulse += mContactPoints[contactPointIndex].penetrationImpulse; @@ -577,10 +567,10 @@ void ContactSolverSystem::solve() { if (mIsSplitImpulseActive) { // Split impulse (position correction) - const Vector3& v1Split = mRigidBodyComponents.mSplitLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1]; - const Vector3& w1Split = mRigidBodyComponents.mSplitAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1]; - const Vector3& v2Split = mRigidBodyComponents.mSplitLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2]; - const Vector3& w2Split = mRigidBodyComponents.mSplitAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2]; + const Vector3& v1Split = mRigidBodyComponents.mSplitLinearVelocities[rigidBody1Index]; + const Vector3& w1Split = mRigidBodyComponents.mSplitAngularVelocities[rigidBody1Index]; + const Vector3& v2Split = mRigidBodyComponents.mSplitLinearVelocities[rigidBody2Index]; + const Vector3& w2Split = mRigidBodyComponents.mSplitAngularVelocities[rigidBody2Index]; //Vector3 deltaVSplit = v2Split + w2Split.cross(mContactPoints[contactPointIndex].r2) - v1Split - w1Split.cross(mContactPoints[contactPointIndex].r1); Vector3 deltaVSplit(v2Split.x + w2Split.y * mContactPoints[contactPointIndex].r2.z - w2Split.z * mContactPoints[contactPointIndex].r2.y - v1Split.x - @@ -605,22 +595,22 @@ void ContactSolverSystem::solve() { mContactPoints[contactPointIndex].normal.z * deltaLambdaSplit); // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mSplitLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulse.x; - mRigidBodyComponents.mSplitLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulse.y; - mRigidBodyComponents.mSplitLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulse.z; + mRigidBodyComponents.mSplitLinearVelocities[rigidBody1Index].x -= mContactConstraints[c].massInverseBody1 * linearImpulse.x * mContactConstraints[c].linearLockAxisFactorBody1.x; + mRigidBodyComponents.mSplitLinearVelocities[rigidBody1Index].y -= mContactConstraints[c].massInverseBody1 * linearImpulse.y * mContactConstraints[c].linearLockAxisFactorBody1.y; + mRigidBodyComponents.mSplitLinearVelocities[rigidBody1Index].z -= mContactConstraints[c].massInverseBody1 * linearImpulse.z * mContactConstraints[c].linearLockAxisFactorBody1.z; - mRigidBodyComponents.mSplitAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * deltaLambdaSplit; - mRigidBodyComponents.mSplitAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * deltaLambdaSplit; - mRigidBodyComponents.mSplitAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * deltaLambdaSplit; + mRigidBodyComponents.mSplitAngularVelocities[rigidBody1Index].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * mContactConstraints[c].angularLockAxisFactorBody1.x * deltaLambdaSplit; + mRigidBodyComponents.mSplitAngularVelocities[rigidBody1Index].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * mContactConstraints[c].angularLockAxisFactorBody1.y * deltaLambdaSplit; + mRigidBodyComponents.mSplitAngularVelocities[rigidBody1Index].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * mContactConstraints[c].angularLockAxisFactorBody1.z * deltaLambdaSplit; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mSplitLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulse.x; - mRigidBodyComponents.mSplitLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulse.y; - mRigidBodyComponents.mSplitLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulse.z; + mRigidBodyComponents.mSplitLinearVelocities[rigidBody2Index].x += mContactConstraints[c].massInverseBody2 * linearImpulse.x * mContactConstraints[c].linearLockAxisFactorBody2.x; + mRigidBodyComponents.mSplitLinearVelocities[rigidBody2Index].y += mContactConstraints[c].massInverseBody2 * linearImpulse.y * mContactConstraints[c].linearLockAxisFactorBody2.y; + mRigidBodyComponents.mSplitLinearVelocities[rigidBody2Index].z += mContactConstraints[c].massInverseBody2 * linearImpulse.z * mContactConstraints[c].linearLockAxisFactorBody2.z; - mRigidBodyComponents.mSplitAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * deltaLambdaSplit; - mRigidBodyComponents.mSplitAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * deltaLambdaSplit; - mRigidBodyComponents.mSplitAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * deltaLambdaSplit; + mRigidBodyComponents.mSplitAngularVelocities[rigidBody2Index].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * mContactConstraints[c].angularLockAxisFactorBody2.x * deltaLambdaSplit; + mRigidBodyComponents.mSplitAngularVelocities[rigidBody2Index].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * mContactConstraints[c].angularLockAxisFactorBody2.y * deltaLambdaSplit; + mRigidBodyComponents.mSplitAngularVelocities[rigidBody2Index].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * mContactConstraints[c].angularLockAxisFactorBody2.z * deltaLambdaSplit; } contactPointIndex++; @@ -662,20 +652,25 @@ void ContactSolverSystem::solve() { mContactConstraints[c].r2CrossT1.y * deltaLambda, mContactConstraints[c].r2CrossT1.z * deltaLambda); - // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x * mContactConstraints[c].linearLockAxisFactorBody1.x; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y * mContactConstraints[c].linearLockAxisFactorBody1.y; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z * mContactConstraints[c].linearLockAxisFactorBody1.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + Vector3 angularVelocity1 = mContactConstraints[c].angularLockAxisFactorBody1 * (mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1); + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].x += angularVelocity1.x; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].y += angularVelocity1.y; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].z += angularVelocity1.z; // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x * mContactConstraints[c].linearLockAxisFactorBody2.x; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y * mContactConstraints[c].linearLockAxisFactorBody2.y; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z * mContactConstraints[c].linearLockAxisFactorBody2.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + Vector3 angularVelocity2 = mContactConstraints[c].angularLockAxisFactorBody2 * (mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2); + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].x += angularVelocity2.x; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].y += angularVelocity2.y; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].z += angularVelocity2.z; // ------ Second friction constraint at the center of the contact manifold ----- // @@ -713,16 +708,24 @@ void ContactSolverSystem::solve() { angularImpulseBody2.z = mContactConstraints[c].r2CrossT2.z * deltaLambda; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x * mContactConstraints[c].linearLockAxisFactorBody1.x; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y * mContactConstraints[c].linearLockAxisFactorBody1.y; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody1Index].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z * mContactConstraints[c].linearLockAxisFactorBody1.z; + + angularVelocity1 = mContactConstraints[c].angularLockAxisFactorBody1 * (mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1); + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].x += angularVelocity1.x; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].y += angularVelocity1.y; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].z += angularVelocity1.z; // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x * mContactConstraints[c].linearLockAxisFactorBody2.x; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y * mContactConstraints[c].linearLockAxisFactorBody2.y; + mRigidBodyComponents.mConstrainedLinearVelocities[rigidBody2Index].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z * mContactConstraints[c].linearLockAxisFactorBody2.z; + + angularVelocity2 = mContactConstraints[c].angularLockAxisFactorBody2 * (mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2); + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].x += angularVelocity2.x; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].y += angularVelocity2.y; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].z += angularVelocity2.z; // ------ Twist friction constraint at the center of the contact manifol ------ // @@ -745,67 +748,29 @@ void ContactSolverSystem::solve() { angularImpulseBody2.z = mContactConstraints[c].normal.z * deltaLambda; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] -= mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody2; + angularVelocity1 = mContactConstraints[c].angularLockAxisFactorBody1 * (mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody2); + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].x -= angularVelocity1.x; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].y -= angularVelocity1.y; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody1Index].z -= angularVelocity1.z; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; - - // --------- Rolling resistance constraint at the center of the contact manifold --------- // - - if (mContactConstraints[c].rollingResistanceFactor > 0) { - - // Compute J*v - const Vector3 JvRolling = w2 - w1; - - // Compute the Lagrange multiplier lambda - Vector3 deltaLambdaRolling = mContactConstraints[c].inverseRollingResistance * (-JvRolling); - decimal rollingLimit = mContactConstraints[c].rollingResistanceFactor * sumPenetrationImpulse; - Vector3 lambdaTempRolling = mContactConstraints[c].rollingResistanceImpulse; - mContactConstraints[c].rollingResistanceImpulse = clamp(mContactConstraints[c].rollingResistanceImpulse + - deltaLambdaRolling, rollingLimit); - deltaLambdaRolling = mContactConstraints[c].rollingResistanceImpulse - lambdaTempRolling; - - // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] -= mContactConstraints[c].inverseInertiaTensorBody1 * deltaLambdaRolling; - - // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * deltaLambdaRolling; - } + angularVelocity2 = mContactConstraints[c].angularLockAxisFactorBody2 * (mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2); + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].x += angularVelocity2.x; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].y += angularVelocity2.y; + mRigidBodyComponents.mConstrainedAngularVelocities[rigidBody2Index].z += angularVelocity2.z; } } -// Compute the collision restitution factor from the restitution factor of each collider -decimal ContactSolverSystem::computeMixedRestitutionFactor(Collider* collider1, Collider* collider2) const { - decimal restitution1 = collider1->getMaterial().getBounciness(); - decimal restitution2 = collider2->getMaterial().getBounciness(); - - // Return the largest restitution factor - return (restitution1 > restitution2) ? restitution1 : restitution2; -} - -// Compute the mixed friction coefficient from the friction coefficient of each collider -decimal ContactSolverSystem::computeMixedFrictionCoefficient(Collider* collider1, Collider* collider2) const { - - // Use the geometric mean to compute the mixed friction coefficient - return std::sqrt(collider1->getMaterial().getFrictionCoefficient() * - collider2->getMaterial().getFrictionCoefficient()); -} - -// Compute th mixed rolling resistance factor between two colliders -inline decimal ContactSolverSystem::computeMixedRollingResistance(Collider* collider1, Collider* collider2) const { - return decimal(0.5f) * (collider1->getMaterial().getRollingResistance() + collider2->getMaterial().getRollingResistance()); -} - // Store the computed impulses to use them to // warm start the solver at the next iteration void ContactSolverSystem::storeImpulses() { RP3D_PROFILE("ContactSolver::storeImpulses()", mProfiler); - uint contactPointIndex = 0; + uint32 contactPointIndex = 0; // For each contact manifold - for (uint c=0; cfrictionImpulse1 = mContactConstraints[c].friction1Impulse; mContactConstraints[c].externalContactManifold->frictionImpulse2 = mContactConstraints[c].friction2Impulse; mContactConstraints[c].externalContactManifold->frictionTwistImpulse = mContactConstraints[c].frictionTwistImpulse; - mContactConstraints[c].externalContactManifold->rollingResistanceImpulse = mContactConstraints[c].rollingResistanceImpulse; mContactConstraints[c].externalContactManifold->frictionVector1 = mContactConstraints[c].frictionVector1; mContactConstraints[c].externalContactManifold->frictionVector2 = mContactConstraints[c].frictionVector2; } @@ -825,22 +789,20 @@ void ContactSolverSystem::storeImpulses() { // Compute the two unit orthogonal vectors "t1" and "t2" that span the tangential friction plane // for a contact manifold. The two vectors have to be such that : t1 x t2 = contactNormal. -void ContactSolverSystem::computeFrictionVectors(const Vector3& deltaVelocity, - ContactManifoldSolver& contact) const { +void ContactSolverSystem::computeFrictionVectors(const Vector3& deltaVelocity, ContactManifoldSolver& contact) const { RP3D_PROFILE("ContactSolver::computeFrictionVectors()", mProfiler); assert(contact.normal.length() > decimal(0.0)); // Compute the velocity difference vector in the tangential plane - Vector3 normalVelocity(deltaVelocity.x * contact.normal.x * contact.normal.x, - deltaVelocity.y * contact.normal.y * contact.normal.y, - deltaVelocity.z * contact.normal.z * contact.normal.z); + decimal deltaVDotNormal = deltaVelocity.dot(contact.normal); + Vector3 normalVelocity = deltaVDotNormal * contact.normal; Vector3 tangentVelocity(deltaVelocity.x - normalVelocity.x, deltaVelocity.y - normalVelocity.y, deltaVelocity.z - normalVelocity.z); // If the velocty difference in the tangential plane is not zero - decimal lengthTangentVelocity = tangentVelocity.length(); + const decimal lengthTangentVelocity = tangentVelocity.length(); if (lengthTangentVelocity > MACHINE_EPSILON) { // Compute the first friction vector in the direction of the tangent @@ -855,5 +817,5 @@ void ContactSolverSystem::computeFrictionVectors(const Vector3& deltaVelocity, // The second friction vector is computed by the cross product of the first // friction vector and the contact normal - contact.frictionVector2 = contact.normal.cross(contact.frictionVector1).getUnit(); + contact.frictionVector2 = contact.normal.cross(contact.frictionVector1); } diff --git a/src/systems/DynamicsSystem.cpp b/src/systems/DynamicsSystem.cpp index fae61e826..e222766ef 100644 --- a/src/systems/DynamicsSystem.cpp +++ b/src/systems/DynamicsSystem.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -47,7 +47,8 @@ void DynamicsSystem::integrateRigidBodiesPositions(decimal timeStep, bool isSpli const decimal isSplitImpulseFactor = isSplitImpulseActive ? decimal(1.0) : decimal(0.0); - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + const uint32 nbRigidBodyComponents = mRigidBodyComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbRigidBodyComponents; i++) { // Get the constrained velocity Vector3 newLinVelocity = mRigidBodyComponents.mConstrainedLinearVelocities[i]; @@ -74,7 +75,8 @@ void DynamicsSystem::updateBodiesState() { RP3D_PROFILE("DynamicsSystem::updateBodiesState()", mProfiler); - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + const uint32 nbRigidBodyComponents = mRigidBodyComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbRigidBodyComponents; i++) { // Update the linear and angular velocity of the body mRigidBodyComponents.mLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i]; @@ -89,7 +91,7 @@ void DynamicsSystem::updateBodiesState() { } // Update the position of the body (using the new center of mass and new orientation) - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + for (uint32 i=0; i < nbRigidBodyComponents; i++) { Transform& transform = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]); const Vector3& centerOfMassWorld = mRigidBodyComponents.mCentersOfMassWorld[i]; @@ -98,7 +100,8 @@ void DynamicsSystem::updateBodiesState() { } // Update the local-to-world transform of the colliders - for (uint32 i=0; i < mColliderComponents.getNbEnabledComponents(); i++) { + const uint32 nbColliderComponents = mColliderComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbColliderComponents; i++) { // Update the local-to-world transform of the collider mColliderComponents.mLocalToWorldTransforms[i] = mTransformComponents.getTransform(mColliderComponents.mBodiesEntities[i]) * @@ -119,7 +122,8 @@ void DynamicsSystem::integrateRigidBodiesVelocities(decimal timeStep) { resetSplitVelocities(); // Integration component velocities using force/torque - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + const uint32 nbEnabledRigidBodyComponents = mRigidBodyComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbEnabledRigidBodyComponents; i++) { assert(mRigidBodyComponents.mSplitLinearVelocities[i] == Vector3(0, 0, 0)); assert(mRigidBodyComponents.mSplitAngularVelocities[i] == Vector3(0, 0, 0)); @@ -128,46 +132,51 @@ void DynamicsSystem::integrateRigidBodiesVelocities(decimal timeStep) { const Vector3& angularVelocity = mRigidBodyComponents.mAngularVelocities[i]; // Integrate the external force to get the new velocity of the body - mRigidBodyComponents.mConstrainedLinearVelocities[i] = linearVelocity + timeStep * - mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mExternalForces[i]; - mRigidBodyComponents.mConstrainedAngularVelocities[i] = angularVelocity + timeStep * - RigidBody::getWorldInertiaTensorInverse(mWorld, mRigidBodyComponents.mBodiesEntities[i]) * mRigidBodyComponents.mExternalTorques[i]; + mRigidBodyComponents.mConstrainedLinearVelocities[i] = linearVelocity + timeStep * mRigidBodyComponents.mInverseMasses[i] * + mRigidBodyComponents.mLinearLockAxisFactors[i] * mRigidBodyComponents.mExternalForces[i]; + mRigidBodyComponents.mConstrainedAngularVelocities[i] = angularVelocity + timeStep * mRigidBodyComponents.mAngularLockAxisFactors[i] * + (mRigidBodyComponents.mInverseInertiaTensorsWorld[i] * mRigidBodyComponents.mExternalTorques[i]); } // Apply gravity force if (mIsGravityEnabled) { - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + const uint32 nbRigidBodyComponents = mRigidBodyComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbRigidBodyComponents; i++) { // If the gravity has to be applied to this rigid body if (mRigidBodyComponents.mIsGravityEnabled[i]) { // Integrate the gravity force mRigidBodyComponents.mConstrainedLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i] + timeStep * - mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mMasses[i] * mGravity; + mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mLinearLockAxisFactors[i] * + mRigidBodyComponents.mMasses[i] * mGravity; } } } // Apply the velocity damping // Damping force : F_c = -c' * v (c=damping factor) - // Equation : m * dv/dt = -c' * v - // => dv/dt = -c * v (with c=c'/m) - // => dv/dt + c * v = 0 + // Differential Equation : m * dv/dt = -c' * v + // => dv/dt = -c * v (with c=c'/m) + // => dv/dt + c * v = 0 // Solution : v(t) = v0 * e^(-c * t) // => v(t + dt) = v0 * e^(-c(t + dt)) - // = v0 * e^(-ct) * e^(-c * dt) + // = v0 * e^(-c * t) * e^(-c * dt) // = v(t) * e^(-c * dt) // => v2 = v1 * e^(-c * dt) - // Using Taylor Serie for e^(-x) : e^x ~ 1 + x + x^2/2! + ... - // => e^(-x) ~ 1 - x - // => v2 = v1 * (1 - c * dt) - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + // Using Padé's approximation of the exponential function: + // Reference: https://mathworld.wolfram.com/PadeApproximant.html + // e^x ~ 1 / (1 - x) + // => e^(-c * dt) ~ 1 / (1 + c * dt) + // => v2 = v1 * 1 / (1 + c * dt) + const uint32 nbRigidBodyComponents = mRigidBodyComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbRigidBodyComponents; i++) { const decimal linDampingFactor = mRigidBodyComponents.mLinearDampings[i]; const decimal angDampingFactor = mRigidBodyComponents.mAngularDampings[i]; - const decimal linearDamping = std::pow(decimal(1.0) - linDampingFactor, timeStep); - const decimal angularDamping = std::pow(decimal(1.0) - angDampingFactor, timeStep); + const decimal linearDamping = decimal(1.0) / (decimal(1.0) + linDampingFactor * timeStep); + const decimal angularDamping = decimal(1.0) / (decimal(1.0) + angDampingFactor * timeStep); mRigidBodyComponents.mConstrainedLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i] * linearDamping; mRigidBodyComponents.mConstrainedAngularVelocities[i] = mRigidBodyComponents.mConstrainedAngularVelocities[i] * angularDamping; } @@ -177,7 +186,8 @@ void DynamicsSystem::integrateRigidBodiesVelocities(decimal timeStep) { void DynamicsSystem::resetBodiesForceAndTorque() { // For each body of the world - for (uint32 i=0; i < mRigidBodyComponents.getNbComponents(); i++) { + const uint32 nbRigidBodyComponents = mRigidBodyComponents.getNbComponents(); + for (uint32 i=0; i < nbRigidBodyComponents; i++) { mRigidBodyComponents.mExternalForces[i].setToZero(); mRigidBodyComponents.mExternalTorques[i].setToZero(); } @@ -186,7 +196,8 @@ void DynamicsSystem::resetBodiesForceAndTorque() { // Reset the split velocities of the bodies void DynamicsSystem::resetSplitVelocities() { - for(uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + const uint32 nbRigidBodyComponents = mRigidBodyComponents.getNbEnabledComponents(); + for(uint32 i=0; i < nbRigidBodyComponents; i++) { mRigidBodyComponents.mSplitLinearVelocities[i].setToZero(); mRigidBodyComponents.mSplitAngularVelocities[i].setToZero(); } diff --git a/src/systems/SolveBallAndSocketJointSystem.cpp b/src/systems/SolveBallAndSocketJointSystem.cpp index f481d3197..8d092138f 100644 --- a/src/systems/SolveBallAndSocketJointSystem.cpp +++ b/src/systems/SolveBallAndSocketJointSystem.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -27,6 +27,7 @@ #include #include #include +#include using namespace reactphysics3d; @@ -47,44 +48,37 @@ SolveBallAndSocketJointSystem::SolveBallAndSocketJointSystem(PhysicsWorld& world // Initialize before solving the constraint void SolveBallAndSocketJointSystem::initBeforeSolve() { + const decimal biasFactor = (BETA / mTimeStep); + // For each joint - for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbJoints = mBallAndSocketJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbJoints; i++) { const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); assert(!mRigidBodyComponents.getIsEntityDisabled(body1Entity)); assert(!mRigidBodyComponents.getIsEntityDisabled(body2Entity)); // Get the inertia tensor of bodies - mBallAndSocketJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); - mBallAndSocketJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); - } + mBallAndSocketJointComponents.mI1[i] = mRigidBodyComponents.mInverseInertiaTensorsWorld[componentIndexBody1]; + mBallAndSocketJointComponents.mI2[i] = mRigidBodyComponents.mInverseInertiaTensorsWorld[componentIndexBody2]; - // For each joint - for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); - const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); + const Transform& transformBody1 = mTransformComponents.getTransform(body1Entity); + const Transform& transformBody2 = mTransformComponents.getTransform(body2Entity); + const Quaternion& orientationBody1 = transformBody1.getOrientation(); + const Quaternion& orientationBody2 = transformBody2.getOrientation(); // Compute the vector from body center to the anchor point in world-space - mBallAndSocketJointComponents.mR1World[i] = orientationBody1 * mBallAndSocketJointComponents.mLocalAnchorPointBody1[i]; - mBallAndSocketJointComponents.mR2World[i] = orientationBody2 * mBallAndSocketJointComponents.mLocalAnchorPointBody2[i]; - } - - // For each joint - for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + mBallAndSocketJointComponents.mR1World[i] = orientationBody1 * (mBallAndSocketJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]); + mBallAndSocketJointComponents.mR2World[i] = orientationBody2 * (mBallAndSocketJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]); // Compute the corresponding skew-symmetric matrices const Vector3& r1World = mBallAndSocketJointComponents.mR1World[i]; @@ -92,13 +86,6 @@ void SolveBallAndSocketJointSystem::initBeforeSolve() { Matrix3x3 skewSymmetricMatrixU1 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); Matrix3x3 skewSymmetricMatrixU2 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); - // Compute the matrix K=JM^-1J^t (3x3 matrix) const decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; const decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; @@ -113,41 +100,58 @@ void SolveBallAndSocketJointSystem::initBeforeSolve() { // Compute the inverse mass matrix K^-1 mBallAndSocketJointComponents.mInverseMassMatrix[i].setToZero(); - if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || - mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - mBallAndSocketJointComponents.mInverseMassMatrix[i] = massMatrix.getInverse(); + decimal massMatrixDeterminant = massMatrix.getDeterminant(); + if (std::abs(massMatrixDeterminant) > MACHINE_EPSILON) { + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mBallAndSocketJointComponents.mInverseMassMatrix[i] = massMatrix.getInverse(massMatrixDeterminant); + } } - } - - const decimal biasFactor = (BETA / mTimeStep); - - // For each joint - for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - const Vector3& r1World = mBallAndSocketJointComponents.mR1World[i]; - const Vector3& r2World = mBallAndSocketJointComponents.mR2World[i]; - - const Vector3& x1 = mRigidBodyComponents.getCenterOfMassWorld(body1Entity); - const Vector3& x2 = mRigidBodyComponents.getCenterOfMassWorld(body2Entity); + const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[componentIndexBody1]; + const Vector3& x2 = mRigidBodyComponents.mCentersOfMassWorld[componentIndexBody2]; // Compute the bias "b" of the constraint mBallAndSocketJointComponents.mBiasVector[i].setToZero(); - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mBallAndSocketJointComponents.mBiasVector[i] = biasFactor * (x2 + r2World - x1 - r1World); } - } - // If warm-starting is not enabled - if (!mIsWarmStartingActive) { + const Vector3 r1WorldUnit = r1World.getUnit(); + const Vector3 r2WorldUnit = r2World.getUnit(); + mBallAndSocketJointComponents.mConeLimitACrossB[i] = r1WorldUnit.cross(-r2WorldUnit); - // For each joint - for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + // Compute the current angle around the hinge axis + decimal coneAngle = computeCurrentConeHalfAngle(r1WorldUnit, -r2WorldUnit); + + // Check if the cone limit constraints is violated or not + decimal coneLimitError = mBallAndSocketJointComponents.mConeLimitHalfAngle[i] - coneAngle; + bool oldIsConeLimitViolated = mBallAndSocketJointComponents.mIsConeLimitViolated[i]; + bool isConeLimitViolated = coneLimitError < 0; + mBallAndSocketJointComponents.mIsConeLimitViolated[i] = isConeLimitViolated; + if (!isConeLimitViolated || isConeLimitViolated != oldIsConeLimitViolated) { + mBallAndSocketJointComponents.mConeLimitImpulse[i] = decimal(0.0); + } + + // If the cone limit is enabled + if (mBallAndSocketJointComponents.mIsConeLimitEnabled[i]) { + + // Compute the inverse of the mass matrix K=JM^-1J^t for the cone limit + decimal inverseMassMatrixConeLimit = mBallAndSocketJointComponents.mConeLimitACrossB[i].dot(mBallAndSocketJointComponents.mI1[i] * mBallAndSocketJointComponents.mConeLimitACrossB[i]) + + mBallAndSocketJointComponents.mConeLimitACrossB[i].dot(mBallAndSocketJointComponents.mI2[i] * mBallAndSocketJointComponents.mConeLimitACrossB[i]); + inverseMassMatrixConeLimit = (inverseMassMatrixConeLimit > decimal(0.0)) ? + decimal(1.0) / inverseMassMatrixConeLimit : decimal(0.0); + mBallAndSocketJointComponents.mInverseMassMatrixConeLimit[i] = inverseMassMatrixConeLimit; + + // Compute the bias "b" of the lower limit constraint + mBallAndSocketJointComponents.mBConeLimit[i] = decimal(0.0); + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + mBallAndSocketJointComponents.mBConeLimit[i] = biasFactor * coneLimitError; + } + } + + // If warm-starting is not enabled + if (!mIsWarmStartingActive) { // Reset the accumulated impulse mBallAndSocketJointComponents.mImpulse[i].setToZero(); @@ -159,12 +163,14 @@ void SolveBallAndSocketJointSystem::initBeforeSolve() { void SolveBallAndSocketJointSystem::warmstart() { // For each joint component - for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbJoints = mBallAndSocketJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbJoints; i++) { const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); @@ -182,19 +188,28 @@ void SolveBallAndSocketJointSystem::warmstart() { const Matrix3x3& i2 = mBallAndSocketJointComponents.mI2[i]; // Compute the impulse P=J^T * lambda for the body 1 - const Vector3 linearImpulseBody1 = -mBallAndSocketJointComponents.mImpulse[i]; - const Vector3 angularImpulseBody1 = mBallAndSocketJointComponents.mImpulse[i].cross(r1World); + Vector3 linearImpulseBody1 = -mBallAndSocketJointComponents.mImpulse[i]; + Vector3 angularImpulseBody1 = mBallAndSocketJointComponents.mImpulse[i].cross(r1World); + + // Compute the impulse P=J^T * lambda for the lower and upper limits constraints + const Vector3 coneLimitImpulse = mBallAndSocketJointComponents.mConeLimitImpulse[i] * mBallAndSocketJointComponents.mConeLimitACrossB[i]; + + // Compute the impulse P=J^T * lambda for the cone limit constraint of body 1 + angularImpulseBody1 += coneLimitImpulse; // Apply the impulse to the body 1 - v1 += mRigidBodyComponents.mInverseMasses[componentIndexBody1] * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; + v1 += mRigidBodyComponents.mInverseMasses[componentIndexBody1] * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); // Compute the impulse P=J^T * lambda for the body 2 - const Vector3 angularImpulseBody2 = -mBallAndSocketJointComponents.mImpulse[i].cross(r2World); + Vector3 angularImpulseBody2 = -mBallAndSocketJointComponents.mImpulse[i].cross(r2World); + + // Compute the impulse P=J^T * lambda for the cone limit constraint of body 2 + angularImpulseBody2 += -coneLimitImpulse; // Apply the impulse to the body to the body 2 - v2 += mRigidBodyComponents.mInverseMasses[componentIndexBody2] * mBallAndSocketJointComponents.mImpulse[i]; - w2 += i2 * angularImpulseBody2; + v2 += mRigidBodyComponents.mInverseMasses[componentIndexBody2] * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * mBallAndSocketJointComponents.mImpulse[i]; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * angularImpulseBody2); } } @@ -202,12 +217,14 @@ void SolveBallAndSocketJointSystem::warmstart() { void SolveBallAndSocketJointSystem::solveVelocityConstraint() { // For each joint component - for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbJoints = mBallAndSocketJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbJoints; i++) { const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); @@ -221,6 +238,39 @@ void SolveBallAndSocketJointSystem::solveVelocityConstraint() { const Matrix3x3& i1 = mBallAndSocketJointComponents.mI1[i]; const Matrix3x3& i2 = mBallAndSocketJointComponents.mI2[i]; + // --------------- Limits Constraints --------------- // + + if (mBallAndSocketJointComponents.mIsConeLimitEnabled[i]) { + + // If the cone limit is violated + if (mBallAndSocketJointComponents.mIsConeLimitViolated[i]) { + + // Compute J*v for the cone limit constraine + const decimal JvConeLimit = mBallAndSocketJointComponents.mConeLimitACrossB[i].dot(w1 - w2); + + // Compute the Lagrange multiplier lambda for the cone limit constraint + decimal deltaLambdaConeLimit = mBallAndSocketJointComponents.mInverseMassMatrixConeLimit[i] * (-JvConeLimit -mBallAndSocketJointComponents.mBConeLimit[i]); + decimal lambdaTemp = mBallAndSocketJointComponents.mConeLimitImpulse[i]; + mBallAndSocketJointComponents.mConeLimitImpulse[i] = std::max(mBallAndSocketJointComponents.mConeLimitImpulse[i] + deltaLambdaConeLimit, decimal(0.0)); + deltaLambdaConeLimit = mBallAndSocketJointComponents.mConeLimitImpulse[i] - lambdaTemp; + + // Compute the impulse P=J^T * lambda for the lower limit constraint of body 1 + const Vector3 angularImpulseBody1 = deltaLambdaConeLimit * mBallAndSocketJointComponents.mConeLimitACrossB[i]; + + // Apply the impulse to the body 1 + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); + + // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 + const Vector3 angularImpulseBody2 = -deltaLambdaConeLimit * mBallAndSocketJointComponents.mConeLimitACrossB[i]; + + // Apply the impulse to the body 2 + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * angularImpulseBody2); + + } + } + + // --------------- Joint Constraints --------------- // + // Compute J*v const Vector3 Jv = v2 + w2.cross(mBallAndSocketJointComponents.mR2World[i]) - v1 - w1.cross(mBallAndSocketJointComponents.mR1World[i]); @@ -233,15 +283,15 @@ void SolveBallAndSocketJointSystem::solveVelocityConstraint() { const Vector3 angularImpulseBody1 = deltaLambda.cross(mBallAndSocketJointComponents.mR1World[i]); // Apply the impulse to the body 1 - v1 += mRigidBodyComponents.mInverseMasses[componentIndexBody1] * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; + v1 += mRigidBodyComponents.mInverseMasses[componentIndexBody1] * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); // Compute the impulse P=J^T * lambda for the body 2 const Vector3 angularImpulseBody2 = -deltaLambda.cross(mBallAndSocketJointComponents.mR2World[i]); // Apply the impulse to the body 2 - v2 += mRigidBodyComponents.mInverseMasses[componentIndexBody2] * deltaLambda; - w2 += i2 * angularImpulseBody2; + v2 += mRigidBodyComponents.mInverseMasses[componentIndexBody2] * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * deltaLambda; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * angularImpulseBody2); } } @@ -249,55 +299,37 @@ void SolveBallAndSocketJointSystem::solveVelocityConstraint() { void SolveBallAndSocketJointSystem::solvePositionConstraint() { // For each joint component - for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbEnabledJoints = mBallAndSocketJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbEnabledJoints; i++) { const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // If the error position correction technique is not the non-linear-gauss-seidel, we do // do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; - // Recompute the inverse inertia tensors - mBallAndSocketJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); - mBallAndSocketJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); - } - - // For each joint component - for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); - const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; + Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + // Recompute the world inverse inertia tensors + RigidBody::computeWorldInertiaTensorInverse(q1.getMatrix(), mRigidBodyComponents.mInverseInertiaTensorsLocal[componentIndexBody1], + mBallAndSocketJointComponents.mI1[i]); - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + RigidBody::computeWorldInertiaTensorInverse(q2.getMatrix(), mRigidBodyComponents.mInverseInertiaTensorsLocal[componentIndexBody2], + mBallAndSocketJointComponents.mI2[i]); // Compute the vector from body center to the anchor point in world-space - mBallAndSocketJointComponents.mR1World[i] = mRigidBodyComponents.getConstrainedOrientation(body1Entity) * - mBallAndSocketJointComponents.mLocalAnchorPointBody1[i]; - mBallAndSocketJointComponents.mR2World[i] = mRigidBodyComponents.getConstrainedOrientation(body2Entity) * - mBallAndSocketJointComponents.mLocalAnchorPointBody2[i]; - } - - // For each joint component - for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; - - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; - - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + mBallAndSocketJointComponents.mR1World[i] = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1] * + (mBallAndSocketJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]); + mBallAndSocketJointComponents.mR2World[i] = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2] * + (mBallAndSocketJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]); const Vector3& r1World = mBallAndSocketJointComponents.mR1World[i]; const Vector3& r2World = mBallAndSocketJointComponents.mR2World[i]; @@ -310,6 +342,54 @@ void SolveBallAndSocketJointSystem::solvePositionConstraint() { const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + // --------------- Limits Constraints --------------- // + + if (mBallAndSocketJointComponents.mIsConeLimitEnabled[i]) { + + // Check if the cone limit constraints is violated or not + const Vector3 r1WorldUnit = r1World.getUnit(); + const Vector3 r2WorldUnit = r2World.getUnit(); + mBallAndSocketJointComponents.mConeLimitACrossB[i] = r1WorldUnit.cross(-r2WorldUnit); + decimal coneAngle = computeCurrentConeHalfAngle(r1WorldUnit, -r2WorldUnit); + decimal coneLimitError = mBallAndSocketJointComponents.mConeLimitHalfAngle[i] - coneAngle; + mBallAndSocketJointComponents.mIsConeLimitViolated[i] = coneLimitError < 0; + + // If the cone limit is violated + if (mBallAndSocketJointComponents.mIsConeLimitViolated[i]) { + + // Compute the inverse of the mass matrix K=JM^-1J^t for the cone limit (1x1 matrix) + decimal inverseMassMatrixConeLimit = mBallAndSocketJointComponents.mConeLimitACrossB[i].dot(mBallAndSocketJointComponents.mI1[i] * mBallAndSocketJointComponents.mConeLimitACrossB[i]) + + mBallAndSocketJointComponents.mConeLimitACrossB[i].dot(mBallAndSocketJointComponents.mI2[i] * mBallAndSocketJointComponents.mConeLimitACrossB[i]); + mBallAndSocketJointComponents.mInverseMassMatrixConeLimit[i] = (inverseMassMatrixConeLimit > decimal(0.0)) ? + decimal(1.0) / inverseMassMatrixConeLimit : decimal(0.0); + + // Compute the Lagrange multiplier lambda for the cone limit constraint + decimal lambdaConeLimit = mBallAndSocketJointComponents.mInverseMassMatrixConeLimit[i] * (-coneLimitError ); + + // Compute the impulse P=J^T * lambda of body 1 + const Vector3 angularImpulseBody1 = lambdaConeLimit * mBallAndSocketJointComponents.mConeLimitACrossB[i]; + + // Compute the pseudo velocity of body 1 + const Vector3 w1 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mBallAndSocketJointComponents.mI1[i] * angularImpulseBody1); + + // Update the body position/orientation of body 1 + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse P=J^T * lambda of body 2 + const Vector3 angularImpulseBody2 = -lambdaConeLimit * mBallAndSocketJointComponents.mConeLimitACrossB[i]; + + // Compute the pseudo velocity of body 2 + const Vector3 w2 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mBallAndSocketJointComponents.mI2[i] * angularImpulseBody2); + + // Update the body position/orientation of body 2 + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } + } + + // --------------- Joint Constraints --------------- // + // Recompute the inverse mass matrix K=J^TM^-1J of of the 3 translation constraints decimal inverseMassBodies = inverseMassBody1 + inverseMassBody2; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, @@ -318,71 +398,49 @@ void SolveBallAndSocketJointSystem::solvePositionConstraint() { skewSymmetricMatrixU1 * mBallAndSocketJointComponents.mI1[i] * skewSymmetricMatrixU1.getTranspose() + skewSymmetricMatrixU2 * mBallAndSocketJointComponents.mI2[i] * skewSymmetricMatrixU2.getTranspose(); mBallAndSocketJointComponents.mInverseMassMatrix[i].setToZero(); - if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || - mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - mBallAndSocketJointComponents.mInverseMassMatrix[i] = massMatrix.getInverse(); - } - } - - // For each joint component - for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; - - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; - - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + decimal massMatrixDeterminant = massMatrix.getDeterminant(); + if (std::abs(massMatrixDeterminant) > MACHINE_EPSILON) { - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); - - Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; - Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; - - const Vector3& r1World = mBallAndSocketJointComponents.mR1World[i]; - const Vector3& r2World = mBallAndSocketJointComponents.mR2World[i]; - - // Compute the constraint error (value of the C(x) function) - const Vector3 constraintError = (x2 + r2World - x1 - r1World); + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mBallAndSocketJointComponents.mInverseMassMatrix[i] = massMatrix.getInverse(massMatrixDeterminant); + } - // Compute the Lagrange multiplier lambda - // TODO : Do not solve the system by computing the inverse each time and multiplying with the - // right-hand side vector but instead use a method to directly solve the linear system. - const Vector3 lambda = mBallAndSocketJointComponents.mInverseMassMatrix[i] * (-constraintError); + Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; + Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; - // Compute the impulse of body 1 - const Vector3 linearImpulseBody1 = -lambda; - const Vector3 angularImpulseBody1 = lambda.cross(r1World); + // Compute the constraint error (value of the C(x) function) + const Vector3 constraintError = (x2 + r2World - x1 - r1World); - // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; - const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + // Compute the Lagrange multiplier lambda + // TODO : Do not solve the system by computing the inverse each time and multiplying with the + // right-hand side vector but instead use a method to directly solve the linear system. + const Vector3 lambda = mBallAndSocketJointComponents.mInverseMassMatrix[i] * (-constraintError); - // Compute the pseudo velocity of body 1 - const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - const Vector3 w1 = mBallAndSocketJointComponents.mI1[i] * angularImpulseBody1; + // Compute the impulse of body 1 + const Vector3 linearImpulseBody1 = -lambda; + const Vector3 angularImpulseBody1 = lambda.cross(r1World); - Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; - Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; + // Compute the pseudo velocity of body 1 + const Vector3 v1 = inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + const Vector3 w1 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mBallAndSocketJointComponents.mI1[i] * angularImpulseBody1); - // Update the body center of mass and orientation of body 1 - x1 += v1; - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); + // Update the body center of mass and orientation of body 1 + x1 += v1; + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); - // Compute the impulse of body 2 - const Vector3 angularImpulseBody2 = -lambda.cross(r2World); + // Compute the impulse of body 2 + const Vector3 angularImpulseBody2 = -lambda.cross(r2World); - // Compute the pseudo velocity of body 2 - const Vector3 v2 = inverseMassBody2 * lambda; - const Vector3 w2 = mBallAndSocketJointComponents.mI2[i] * angularImpulseBody2; + // Compute the pseudo velocity of body 2 + const Vector3 v2 = inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * lambda; + const Vector3 w2 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mBallAndSocketJointComponents.mI2[i] * angularImpulseBody2); - // Update the body position/orientation of body 2 - x2 += v2; - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); + // Update the body position/orientation of body 2 + x2 += v2; + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } } } diff --git a/src/systems/SolveFixedJointSystem.cpp b/src/systems/SolveFixedJointSystem.cpp index 7143bb433..0bea9ce55 100644 --- a/src/systems/SolveFixedJointSystem.cpp +++ b/src/systems/SolveFixedJointSystem.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -47,56 +47,40 @@ SolveFixedJointSystem::SolveFixedJointSystem(PhysicsWorld& world, RigidBodyCompo // Initialize before solving the constraint void SolveFixedJointSystem::initBeforeSolve() { + const decimal biasFactor = BETA / mTimeStep; + // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbJoints = mFixedJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbJoints; i++) { const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); assert(!mRigidBodyComponents.getIsEntityDisabled(body1Entity)); assert(!mRigidBodyComponents.getIsEntityDisabled(body2Entity)); // Get the inertia tensor of bodies - mFixedJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); - mFixedJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); - } - - // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + mFixedJointComponents.mI1[i] = mRigidBodyComponents.mInverseInertiaTensorsWorld[componentIndexBody1]; + mFixedJointComponents.mI2[i] = mRigidBodyComponents.mInverseInertiaTensorsWorld[componentIndexBody2]; const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); // Compute the vector from body center to the anchor point in world-space - mFixedJointComponents.mR1World[i] = orientationBody1 * mFixedJointComponents.mLocalAnchorPointBody1[i]; - mFixedJointComponents.mR2World[i] = orientationBody2 * mFixedJointComponents.mLocalAnchorPointBody2[i]; - } - - // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + mFixedJointComponents.mR1World[i] = orientationBody1 * (mFixedJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]); + mFixedJointComponents.mR2World[i] = orientationBody2 * (mFixedJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]); // Compute the corresponding skew-symmetric matrices Matrix3x3 skewSymmetricMatrixU1 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mFixedJointComponents.mR1World[i]); Matrix3x3 skewSymmetricMatrixU2 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mFixedJointComponents.mR2World[i]); - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); - // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints const decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; const decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; @@ -109,80 +93,47 @@ void SolveFixedJointSystem::initBeforeSolve() { // Compute the inverse mass matrix K^-1 for the 3 translation constraints mFixedJointComponents.mInverseMassMatrixTranslation[i].setToZero(); - if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || - mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - mFixedJointComponents.mInverseMassMatrixTranslation[i] = massMatrix.getInverse(); + decimal massMatrixDeterminant = massMatrix.getDeterminant(); + if (std::abs(massMatrixDeterminant) > MACHINE_EPSILON) { + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mFixedJointComponents.mInverseMassMatrixTranslation[i] = massMatrix.getInverse(massMatrixDeterminant); + } } - } - - const decimal biasFactor = BETA / mTimeStep; - - // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); // Get the bodies positions and orientations - const Vector3& x1 = mRigidBodyComponents.getCenterOfMassWorld(body1Entity); - const Vector3& x2 = mRigidBodyComponents.getCenterOfMassWorld(body2Entity); + const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[componentIndexBody1]; + const Vector3& x2 = mRigidBodyComponents.mCentersOfMassWorld[componentIndexBody2]; const Vector3& r1World = mFixedJointComponents.mR1World[i]; const Vector3& r2World = mFixedJointComponents.mR2World[i]; // Compute the bias "b" of the constraint for the 3 translation constraints mFixedJointComponents.mBiasTranslation[i].setToZero(); - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mFixedJointComponents.mBiasTranslation[i] = biasFactor * (x2 + r2World - x1 - r1World); } - } - - // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation contraints (3x3 matrix) mFixedJointComponents.mInverseMassMatrixRotation[i] = mFixedJointComponents.mI1[i] + mFixedJointComponents.mI2[i]; - if (mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mFixedJointComponents.mInverseMassMatrixRotation[i] = mFixedJointComponents.mInverseMassMatrixRotation[i].getInverse(); + decimal massMatrixRotationDeterminant = mFixedJointComponents.mInverseMassMatrixRotation[i].getDeterminant(); + if (std::abs(massMatrixRotationDeterminant) > MACHINE_EPSILON) { + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mFixedJointComponents.mInverseMassMatrixRotation[i] = mFixedJointComponents.mInverseMassMatrixRotation[i].getInverse(massMatrixRotationDeterminant); + } } - } - - // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); // Compute the bias "b" for the 3 rotation constraints mFixedJointComponents.mBiasRotation[i].setToZero(); - const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); - const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); - - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { const Quaternion qError = orientationBody2 * mFixedJointComponents.mInitOrientationDifferenceInv[i] * orientationBody1.getInverse(); mFixedJointComponents.mBiasRotation[i] = biasFactor * decimal(2.0) * qError.getVectorV(); } - } - // If warm-starting is not enabled - if (!mIsWarmStartingActive) { - - // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + // If warm-starting is not enabled + if (!mIsWarmStartingActive) { // Reset the accumulated impulses mFixedJointComponents.mImpulseTranslation[i].setToZero(); @@ -195,13 +146,15 @@ void SolveFixedJointSystem::initBeforeSolve() { void SolveFixedJointSystem::warmstart() { // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbJoints = mFixedJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbJoints; i++) { const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); @@ -232,8 +185,8 @@ void SolveFixedJointSystem::warmstart() { const Matrix3x3& i1 = mFixedJointComponents.mI1[i]; // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; + v1 += inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); // Compute the impulse P=J^T * lambda for the 3 translation constraints for body 2 Vector3 angularImpulseBody2 = -impulseTranslation.cross(r2World); @@ -244,8 +197,8 @@ void SolveFixedJointSystem::warmstart() { const Matrix3x3& i2 = mFixedJointComponents.mI2[i]; // Apply the impulse to the body 2 - v2 += inverseMassBody2 * impulseTranslation; - w2 += i2 * angularImpulseBody2; + v2 += inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * impulseTranslation; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * angularImpulseBody2); } } @@ -253,13 +206,15 @@ void SolveFixedJointSystem::warmstart() { void SolveFixedJointSystem::solveVelocityConstraint() { // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbJoints = mFixedJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbJoints; i++) { const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); @@ -295,8 +250,8 @@ void SolveFixedJointSystem::solveVelocityConstraint() { const Matrix3x3& i1 = mFixedJointComponents.mI1[i]; // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; + v1 += inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); // Compute the impulse P=J^T * lambda for body 2 const Vector3 angularImpulseBody2 = -deltaLambda.cross(r2World); @@ -304,8 +259,8 @@ void SolveFixedJointSystem::solveVelocityConstraint() { const Matrix3x3& i2 = mFixedJointComponents.mI2[i]; // Apply the impulse to the body 2 - v2 += inverseMassBody2 * deltaLambda; - w2 += i2 * angularImpulseBody2; + v2 += inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * deltaLambda; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * angularImpulseBody2); // --------------- Rotation Constraints --------------- // @@ -323,10 +278,10 @@ void SolveFixedJointSystem::solveVelocityConstraint() { angularImpulseBody1 = -deltaLambda2; // Apply the impulse to the body 1 - w1 += i1 * angularImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); // Apply the impulse to the body 2 - w2 += i2 * deltaLambda2; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * deltaLambda2); } } @@ -334,60 +289,37 @@ void SolveFixedJointSystem::solveVelocityConstraint() { void SolveFixedJointSystem::solvePositionConstraint() { // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbEnabledJoints = mFixedJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbEnabledJoints; i++) { const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // If the error position correction technique is not the non-linear-gauss-seidel, we do // do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - // Recompute the inverse inertia tensors - mFixedJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); - mFixedJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); - } - - // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; - - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); // Get the bodies positions and orientations - const Quaternion& q1 = mRigidBodyComponents.getConstrainedOrientation(body1Entity); - const Quaternion& q2 = mRigidBodyComponents.getConstrainedOrientation(body2Entity); - - // Compute the vector from body center to the anchor point in world-space - mFixedJointComponents.mR1World[i] = q1 * mFixedJointComponents.getLocalAnchorPointBody1(jointEntity); - mFixedJointComponents.mR2World[i] = q2 * mFixedJointComponents.getLocalAnchorPointBody2(jointEntity); - } - - // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; + Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; - const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + // Recompute the world inverse inertia tensors + RigidBody::computeWorldInertiaTensorInverse(q1.getMatrix(), mRigidBodyComponents.getInertiaTensorLocalInverse(body1Entity), + mFixedJointComponents.mI1[i]); - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + RigidBody::computeWorldInertiaTensorInverse(q2.getMatrix(), mRigidBodyComponents.getInertiaTensorLocalInverse(body2Entity), + mFixedJointComponents.mI2[i]); - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + // Compute the vector from body center to the anchor point in world-space + mFixedJointComponents.mR1World[i] = q1 * (mFixedJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]); + mFixedJointComponents.mR2World[i] = q2 * (mFixedJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]); // Get the inverse mass and inverse inertia tensors of the bodies decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; @@ -410,127 +342,108 @@ void SolveFixedJointSystem::solvePositionConstraint() { skewSymmetricMatrixU1 * mFixedJointComponents.mI1[i] * skewSymmetricMatrixU1.getTranspose() + skewSymmetricMatrixU2 * mFixedJointComponents.mI2[i] * skewSymmetricMatrixU2.getTranspose(); mFixedJointComponents.mInverseMassMatrixTranslation[i].setToZero(); - if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || - mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - mFixedJointComponents.mInverseMassMatrixTranslation[i] = massMatrix.getInverse(); + decimal massMatrixDeterminant = massMatrix.getDeterminant(); + if (std::abs(massMatrixDeterminant) > MACHINE_EPSILON) { + + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mFixedJointComponents.mInverseMassMatrixTranslation[i] = massMatrix.getInverse(massMatrixDeterminant); + } + + Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; + Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; + // Compute position error for the 3 translation constraints + const Vector3 errorTranslation = x2 + r2World - x1 - r1World; + + // Compute the Lagrange multiplier lambda + const Vector3 lambdaTranslation = mFixedJointComponents.mInverseMassMatrixTranslation[i] * (-errorTranslation); + + // Compute the impulse of body 1 + Vector3 linearImpulseBody1 = -lambdaTranslation; + Vector3 angularImpulseBody1 = lambdaTranslation.cross(r1World); + + // Compute the pseudo velocity of body 1 + const Vector3 v1 = inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + Vector3 w1 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mFixedJointComponents.mI1[i] * angularImpulseBody1); + + // Update the body position/orientation of body 1 + x1 += v1; + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse of body 2 + Vector3 angularImpulseBody2 = -lambdaTranslation.cross(r2World); + + // Compute the pseudo velocity of body 2 + const Vector3 v2 = inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * lambdaTranslation; + Vector3 w2 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mFixedJointComponents.mI2[i] * angularImpulseBody2); + + // Update the body position/orientation of body 2 + x2 += v2; + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); } - } - - // For each joint - for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; - - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - const Vector3& r1World = mFixedJointComponents.mR1World[i]; - const Vector3& r2World = mFixedJointComponents.mR2World[i]; - - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); - - Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; - Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; - Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; - Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; - - // Compute position error for the 3 translation constraints - const Vector3 errorTranslation = x2 + r2World - x1 - r1World; - - // Compute the Lagrange multiplier lambda - const Vector3 lambdaTranslation = mFixedJointComponents.mInverseMassMatrixTranslation[i] * (-errorTranslation); - - // Compute the impulse of body 1 - Vector3 linearImpulseBody1 = -lambdaTranslation; - Vector3 angularImpulseBody1 = lambdaTranslation.cross(r1World); - - const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; - - // Compute the pseudo velocity of body 1 - const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - Vector3 w1 = mFixedJointComponents.mI2[i] * angularImpulseBody1; - - // Update the body position/orientation of body 1 - x1 += v1; - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse of body 2 - Vector3 angularImpulseBody2 = -lambdaTranslation.cross(r2World); - - const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; - - // Compute the pseudo velocity of body 2 - const Vector3 v2 = inverseMassBody2 * lambdaTranslation; - Vector3 w2 = mFixedJointComponents.mI2[i] * angularImpulseBody2; - - // Update the body position/orientation of body 2 - x2 += v2; - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); // --------------- Rotation Constraints --------------- // // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation // contraints (3x3 matrix) mFixedJointComponents.mInverseMassMatrixRotation[i] = mFixedJointComponents.mI1[i] + mFixedJointComponents.mI2[i]; - if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || - mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - mFixedJointComponents.mInverseMassMatrixRotation[i] = mFixedJointComponents.mInverseMassMatrixRotation[i].getInverse(); + decimal massMatrixRotationDeterminant = mFixedJointComponents.mInverseMassMatrixRotation[i].getDeterminant(); + if (std::abs(massMatrixRotationDeterminant) > MACHINE_EPSILON) { + + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mFixedJointComponents.mInverseMassMatrixRotation[i] = mFixedJointComponents.mInverseMassMatrixRotation[i].getInverse(massMatrixRotationDeterminant); + } + + // Calculate difference in rotation + // + // The rotation should be: + // + // q2 = q1 r0 + // + // But because of drift the actual rotation is: + // + // q2 = qError q1 r0 + // <=> qError = q2 r0^-1 q1^-1 + // + // Where: + // q1 = current rotation of body 1 + // q2 = current rotation of body 2 + // qError = error that needs to be reduced to zero + Quaternion qError = q2 * mFixedJointComponents.mInitOrientationDifferenceInv[i] * q1.getInverse(); + + // A quaternion can be seen as: + // + // q = [sin(theta / 2) * v, cos(theta/2)] + // + // Where: + // v = rotation vector + // theta = rotation angle + // + // If we assume theta is small (error is small) then sin(x) = x so an approximation of the error angles is: + const Vector3 errorRotation = decimal(2.0) * qError.getVectorV(); + + // Compute the Lagrange multiplier lambda for the 3 rotation constraints + Vector3 lambdaRotation = mFixedJointComponents.mInverseMassMatrixRotation[i] * (-errorRotation); + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 + Vector3 angularImpulseBody1 = -lambdaRotation; + + // Compute the pseudo velocity of body 1 + Vector3 w1 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mFixedJointComponents.mI1[i] * angularImpulseBody1); + + // Update the body position/orientation of body 1 + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the pseudo velocity of body 2 + Vector3 w2 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mFixedJointComponents.mI2[i] * lambdaRotation); + + // Update the body position/orientation of body 2 + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); } - - // Calculate difference in rotation - // - // The rotation should be: - // - // q2 = q1 r0 - // - // But because of drift the actual rotation is: - // - // q2 = qError q1 r0 - // <=> qError = q2 r0^-1 q1^-1 - // - // Where: - // q1 = current rotation of body 1 - // q2 = current rotation of body 2 - // qError = error that needs to be reduced to zero - Quaternion qError = q2 * mFixedJointComponents.mInitOrientationDifferenceInv[i] * q1.getInverse(); - - // A quaternion can be seen as: - // - // q = [sin(theta / 2) * v, cos(theta/2)] - // - // Where: - // v = rotation vector - // theta = rotation angle - // - // If we assume theta is small (error is small) then sin(x) = x so an approximation of the error angles is: - const Vector3 errorRotation = decimal(2.0) * qError.getVectorV(); - - // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector3 lambdaRotation = mFixedJointComponents.mInverseMassMatrixRotation[i] * (-errorRotation); - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 - angularImpulseBody1 = -lambdaRotation; - - // Compute the pseudo velocity of body 1 - w1 = mFixedJointComponents.mI1[i] * angularImpulseBody1; - - // Update the body position/orientation of body 1 - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the pseudo velocity of body 2 - w2 = mFixedJointComponents.mI2[i] * lambdaRotation; - - // Update the body position/orientation of body 2 - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); } } diff --git a/src/systems/SolveHingeJointSystem.cpp b/src/systems/SolveHingeJointSystem.cpp index cd89b3fab..d1865c732 100644 --- a/src/systems/SolveHingeJointSystem.cpp +++ b/src/systems/SolveHingeJointSystem.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -47,53 +47,35 @@ SolveHingeJointSystem::SolveHingeJointSystem(PhysicsWorld& world, RigidBodyCompo // Initialize before solving the constraint void SolveHingeJointSystem::initBeforeSolve() { + const decimal biasFactor = (BETA / mTimeStep); + // For each joint - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbJoints = mHingeJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbJoints; i++) { const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); assert(!mRigidBodyComponents.getIsEntityDisabled(body1Entity)); assert(!mRigidBodyComponents.getIsEntityDisabled(body2Entity)); // Get the inertia tensor of bodies - mHingeJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); - mHingeJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); - } - - // For each joint - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + mHingeJointComponents.mI1[i] = mRigidBodyComponents.mInverseInertiaTensorsWorld[componentIndexBody1]; + mHingeJointComponents.mI2[i] = mRigidBodyComponents.mInverseInertiaTensorsWorld[componentIndexBody2]; const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); // Compute the vector from body center to the anchor point in world-space - mHingeJointComponents.mR1World[i] = orientationBody1 * mHingeJointComponents.mLocalAnchorPointBody1[i]; - mHingeJointComponents.mR2World[i] = orientationBody2 * mHingeJointComponents.mLocalAnchorPointBody2[i]; - } - - const decimal biasFactor = (BETA / mTimeStep); - - // For each joint - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); - const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); + mHingeJointComponents.mR1World[i] = orientationBody1 * (mHingeJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]); + mHingeJointComponents.mR2World[i] = orientationBody2 * (mHingeJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]); // Compute vectors needed in the Jacobian Vector3& a1 = mHingeJointComponents.mA1[i]; @@ -109,27 +91,14 @@ void SolveHingeJointSystem::initBeforeSolve() { // Compute the bias "b" of the rotation constraints mHingeJointComponents.mBiasRotation[i].setToZero(); - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mHingeJointComponents.mBiasRotation[i] = biasFactor * Vector2(a1.dot(b2), a1.dot(c2)); } - } - - // For each joint - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); // Compute the corresponding skew-symmetric matrices Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mHingeJointComponents.mR1World[i]); Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mHingeJointComponents.mR2World[i]); - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); - // Compute the inverse mass matrix K=JM^-1J^t for the 3 translation constraints (3x3 matrix) decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; @@ -141,40 +110,23 @@ void SolveHingeJointSystem::initBeforeSolve() { skewSymmetricMatrixU2 * mHingeJointComponents.mI2[i] * skewSymmetricMatrixU2.getTranspose(); Matrix3x3& inverseMassMatrixTranslation = mHingeJointComponents.mInverseMassMatrixTranslation[i]; inverseMassMatrixTranslation.setToZero(); - if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || - mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - mHingeJointComponents.mInverseMassMatrixTranslation[i] = massMatrix.getInverse(); + decimal massMatrixDeterminant = massMatrix.getDeterminant(); + if (std::abs(massMatrixDeterminant) > MACHINE_EPSILON) { + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mHingeJointComponents.mInverseMassMatrixTranslation[i] = massMatrix.getInverse(massMatrixDeterminant); + } } - } - - // For each joint - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); // Get the bodies positions and orientations - const Vector3& x1 = mRigidBodyComponents.getCenterOfMassWorld(body1Entity); - const Vector3& x2 = mRigidBodyComponents.getCenterOfMassWorld(body2Entity); + const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[componentIndexBody1]; + const Vector3& x2 = mRigidBodyComponents.mCentersOfMassWorld[componentIndexBody2]; // Compute the bias "b" of the translation constraints mHingeJointComponents.mBiasTranslation[i].setToZero(); - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mHingeJointComponents.mBiasTranslation[i] = biasFactor * (x2 + mHingeJointComponents.mR2World[i] - x1 - mHingeJointComponents.mR1World[i]); } - } - - // For each joint - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); const Matrix3x3& i1 = mHingeJointComponents.mI1[i]; const Matrix3x3& i2 = mHingeJointComponents.mI2[i]; @@ -192,17 +144,16 @@ void SolveHingeJointSystem::initBeforeSolve() { const decimal el22 = c2CrossA1.dot(i1C2CrossA1) + c2CrossA1.dot(i2C2CrossA1); const Matrix2x2 matrixKRotation(el11, el12, el21, el22); mHingeJointComponents.mInverseMassMatrixRotation[i].setToZero(); - if (mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mHingeJointComponents.mInverseMassMatrixRotation[i] = matrixKRotation.getInverse(); + decimal matrixKRotationDeterminant = matrixKRotation.getDeterminant(); + if (std::abs(matrixKRotationDeterminant) > MACHINE_EPSILON) { + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mHingeJointComponents.mInverseMassMatrixRotation[i] = matrixKRotation.getInverse(matrixKRotationDeterminant); + } } - } - - // If warm-starting is not enabled - if (!mIsWarmStartingActive) { - // For each joint - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + // If warm-starting is not enabled + if (!mIsWarmStartingActive) { // Reset all the accumulated impulses mHingeJointComponents.mImpulseTranslation[i].setToZero(); @@ -211,19 +162,6 @@ void SolveHingeJointSystem::initBeforeSolve() { mHingeJointComponents.mImpulseUpperLimit[i] = decimal(0.0); mHingeJointComponents.mImpulseMotor[i] = decimal(0.0); } - } - - // For each joint - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); - const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); // Compute the current angle around the hinge axis decimal hingeAngle = computeCurrentHingeAngle(jointEntity, orientationBody1, orientationBody2); @@ -261,13 +199,13 @@ void SolveHingeJointSystem::initBeforeSolve() { // Compute the bias "b" of the lower limit constraint mHingeJointComponents.mBLowerLimit[i] = decimal(0.0); - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mHingeJointComponents.mBLowerLimit[i] = biasFactor * lowerLimitError; } // Compute the bias "b" of the upper limit constraint mHingeJointComponents.mBUpperLimit[i] = decimal(0.0); - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mHingeJointComponents.mBUpperLimit[i] = biasFactor * upperLimitError; } } @@ -279,13 +217,15 @@ void SolveHingeJointSystem::initBeforeSolve() { void SolveHingeJointSystem::warmstart() { // For each joint component - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbJoints = mHingeJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbJoints; i++) { const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); @@ -332,8 +272,8 @@ void SolveHingeJointSystem::warmstart() { angularImpulseBody1 += motorImpulse; // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mHingeJointComponents.mI1[i] * angularImpulseBody1; + v1 += inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mHingeJointComponents.mI1[i] * angularImpulseBody1); // Compute the impulse P=J^T * lambda for the 3 translation constraints of body 2 Vector3 angularImpulseBody2 = -impulseTranslation.cross(mHingeJointComponents.mR2World[i]); @@ -348,8 +288,8 @@ void SolveHingeJointSystem::warmstart() { angularImpulseBody2 += -motorImpulse; // Apply the impulse to the body 2 - v2 += inverseMassBody2 * impulseTranslation; - w2 += mHingeJointComponents.mI2[i] * angularImpulseBody2; + v2 += inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * impulseTranslation; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mHingeJointComponents.mI2[i] * angularImpulseBody2); } } @@ -357,13 +297,15 @@ void SolveHingeJointSystem::warmstart() { void SolveHingeJointSystem::solveVelocityConstraint() { // For each joint component - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbJoints = mHingeJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbJoints; i++) { const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); @@ -388,57 +330,6 @@ void SolveHingeJointSystem::solveVelocityConstraint() { const decimal inverseMassMatrixLimitMotor = mHingeJointComponents.mInverseMassMatrixLimitMotor[i]; - // --------------- Translation Constraints --------------- // - - // Compute J*v - const Vector3 JvTranslation = v2 + w2.cross(r2World) - v1 - w1.cross(r1World); - - // Compute the Lagrange multiplier lambda - const Vector3 deltaLambdaTranslation = mHingeJointComponents.mInverseMassMatrixTranslation[i] * - (-JvTranslation - mHingeJointComponents.mBiasTranslation[i]); - mHingeJointComponents.mImpulseTranslation[i] += deltaLambdaTranslation; - - // Compute the impulse P=J^T * lambda of body 1 - const Vector3 linearImpulseBody1 = -deltaLambdaTranslation; - Vector3 angularImpulseBody1 = deltaLambdaTranslation.cross(r1World); - - // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda of body 2 - Vector3 angularImpulseBody2 = -deltaLambdaTranslation.cross(r2World); - - // Apply the impulse to the body 2 - v2 += inverseMassBody2 * deltaLambdaTranslation; - w2 += i2 * angularImpulseBody2; - - // --------------- Rotation Constraints --------------- // - - const Vector3& b2CrossA1 = mHingeJointComponents.mB2CrossA1[i]; - const Vector3& c2CrossA1 = mHingeJointComponents.mC2CrossA1[i]; - - // Compute J*v for the 2 rotation constraints - const Vector2 JvRotation(-b2CrossA1.dot(w1) + b2CrossA1.dot(w2), - -c2CrossA1.dot(w1) + c2CrossA1.dot(w2)); - - // Compute the Lagrange multiplier lambda for the 2 rotation constraints - Vector2 deltaLambdaRotation = mHingeJointComponents.mInverseMassMatrixRotation[i] * - (-JvRotation - mHingeJointComponents.mBiasRotation[i]); - mHingeJointComponents.mImpulseRotation[i] += deltaLambdaRotation; - - // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 1 - angularImpulseBody1 = -b2CrossA1 * deltaLambdaRotation.x - c2CrossA1 * deltaLambdaRotation.y; - - // Apply the impulse to the body 1 - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 2 - angularImpulseBody2 = b2CrossA1 * deltaLambdaRotation.x + c2CrossA1 * deltaLambdaRotation.y; - - // Apply the impulse to the body 2 - w2 += i2 * angularImpulseBody2; - // --------------- Limits Constraints --------------- // if (mHingeJointComponents.mIsLimitEnabled[i]) { @@ -459,13 +350,13 @@ void SolveHingeJointSystem::solveVelocityConstraint() { const Vector3 angularImpulseBody1 = -deltaLambdaLower * a1; // Apply the impulse to the body 1 - w1 += i1 * angularImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 const Vector3 angularImpulseBody2 = deltaLambdaLower * a1; // Apply the impulse to the body 2 - w2 += i2 * angularImpulseBody2; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * angularImpulseBody2); } // If the upper limit is violated @@ -484,13 +375,13 @@ void SolveHingeJointSystem::solveVelocityConstraint() { const Vector3 angularImpulseBody1 = deltaLambdaUpper * a1; // Apply the impulse to the body 1 - w1 += i1 * angularImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); // Compute the impulse P=J^T * lambda for the upper limit constraint of body 2 const Vector3 angularImpulseBody2 = -deltaLambdaUpper * a1; // Apply the impulse to the body 2 - w2 += i2 * angularImpulseBody2; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * angularImpulseBody2); } } @@ -513,105 +404,84 @@ void SolveHingeJointSystem::solveVelocityConstraint() { const Vector3 angularImpulseBody1 = -deltaLambdaMotor * a1; // Apply the impulse to the body 1 - w1 += i1 * angularImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); // Compute the impulse P=J^T * lambda for the motor of body 2 const Vector3 angularImpulseBody2 = deltaLambdaMotor * a1; // Apply the impulse to the body 2 - w2 += i2 * angularImpulseBody2; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * angularImpulseBody2); } - } -} - -// Solve the position constraint (for position error correction) -void SolveHingeJointSystem::solvePositionConstraint() { - // For each joint component - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; - - // If the error position correction technique is not the non-linear-gauss-seidel, we do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; - - // Get the bodies entities - Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - // Recompute the inverse inertia tensors - mHingeJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); - mHingeJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); - } + // --------------- Joint Rotation Constraints --------------- // - // For each joint component - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + const Vector3& b2CrossA1 = mHingeJointComponents.mB2CrossA1[i]; + const Vector3& c2CrossA1 = mHingeJointComponents.mC2CrossA1[i]; - const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + // Compute J*v for the 2 rotation constraints + const Vector2 JvRotation(-b2CrossA1.dot(w1) + b2CrossA1.dot(w2), + -c2CrossA1.dot(w1) + c2CrossA1.dot(w2)); - // If the error position correction technique is not the non-linear-gauss-seidel, we do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + // Compute the Lagrange multiplier lambda for the 2 rotation constraints + Vector2 deltaLambdaRotation = mHingeJointComponents.mInverseMassMatrixRotation[i] * + (-JvRotation - mHingeJointComponents.mBiasRotation[i]); + mHingeJointComponents.mImpulseRotation[i] += deltaLambdaRotation; - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 1 + Vector3 angularImpulseBody1 = -b2CrossA1 * deltaLambdaRotation.x - c2CrossA1 * deltaLambdaRotation.y; - const Quaternion& q1 = mRigidBodyComponents.getConstrainedOrientation(body1Entity); - const Quaternion& q2 = mRigidBodyComponents.getConstrainedOrientation(body2Entity); + // Apply the impulse to the body 1 + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); - // Compute the vector from body center to the anchor point in world-space - mHingeJointComponents.mR1World[i] = q1 * mHingeJointComponents.mLocalAnchorPointBody1[i]; - mHingeJointComponents.mR2World[i] = q2 * mHingeJointComponents.mLocalAnchorPointBody2[i]; - } + // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 2 + Vector3 angularImpulseBody2 = b2CrossA1 * deltaLambdaRotation.x + c2CrossA1 * deltaLambdaRotation.y; - // For each joint component - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + // Apply the impulse to the body 2 + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * angularImpulseBody2); - const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + // --------------- Joint Translation Constraints --------------- // - // If the error position correction technique is not the non-linear-gauss-seidel, we do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + // Compute J*v + const Vector3 JvTranslation = v2 + w2.cross(r2World) - v1 - w1.cross(r1World); - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + // Compute the Lagrange multiplier lambda + const Vector3 deltaLambdaTranslation = mHingeJointComponents.mInverseMassMatrixTranslation[i] * + (-JvTranslation - mHingeJointComponents.mBiasTranslation[i]); + mHingeJointComponents.mImpulseTranslation[i] += deltaLambdaTranslation; - // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mHingeJointComponents.mR1World[i]); - Matrix3x3 skewSymmetricMatrixU2 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mHingeJointComponents.mR2World[i]); + // Compute the impulse P=J^T * lambda of body 1 + const Vector3 linearImpulseBody1 = -deltaLambdaTranslation; + angularImpulseBody1 = deltaLambdaTranslation.cross(r1World); - // --------------- Translation Constraints --------------- // + // Apply the impulse to the body 1 + v1 += inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + // Compute the impulse P=J^T * lambda of body 2 + angularImpulseBody2 = -deltaLambdaTranslation.cross(r2World); - // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints - const decimal body1InverseMass = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; - const decimal body2InverseMass = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; - decimal inverseMassBodies = body1InverseMass + body2InverseMass; - Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, - 0, inverseMassBodies, 0, - 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * mHingeJointComponents.mI1[i] * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * mHingeJointComponents.mI2[i] * skewSymmetricMatrixU2.getTranspose(); - mHingeJointComponents.mInverseMassMatrixTranslation[i].setToZero(); - if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || - mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - mHingeJointComponents.mInverseMassMatrixTranslation[i] = massMatrix.getInverse(); - } + // Apply the impulse to the body 2 + v2 += inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * deltaLambdaTranslation; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * angularImpulseBody2); } +} + +// Solve the position constraint (for position error correction) +void SolveHingeJointSystem::solvePositionConstraint() { // For each joint component - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbEnabledJoints = mHingeJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbEnabledJoints; i++) { const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // If the error position correction technique is not the non-linear-gauss-seidel, we do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); @@ -619,6 +489,22 @@ void SolveHingeJointSystem::solvePositionConstraint() { Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; + // Recompute the world inverse inertia tensors + RigidBody::computeWorldInertiaTensorInverse(q1.getMatrix(), mRigidBodyComponents.mInverseInertiaTensorsLocal[componentIndexBody1], + mHingeJointComponents.mI1[i]); + + RigidBody::computeWorldInertiaTensorInverse(q2.getMatrix(), mRigidBodyComponents.mInverseInertiaTensorsLocal[componentIndexBody2], + mHingeJointComponents.mI2[i]); + + // Compute the vector from body center to the anchor point in world-space + mHingeJointComponents.mR1World[i] = q1 * (mHingeJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]); + mHingeJointComponents.mR2World[i] = q2 * (mHingeJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]); + + // Compute the corresponding skew-symmetric matrices + Matrix3x3 skewSymmetricMatrixU1 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mHingeJointComponents.mR1World[i]); + Matrix3x3 skewSymmetricMatrixU2 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mHingeJointComponents.mR2World[i]); + + Vector3& b2CrossA1 = mHingeJointComponents.mB2CrossA1[i]; Vector3& c2CrossA1 = mHingeJointComponents.mC2CrossA1[i]; @@ -637,108 +523,6 @@ void SolveHingeJointSystem::solvePositionConstraint() { c2CrossA1 = c2.cross(a1); mHingeJointComponents.mC2CrossA1[i] = c2CrossA1; - Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; - Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; - - // Compute position error for the 3 translation constraints - const Vector3 errorTranslation = x2 + mHingeJointComponents.mR2World[i] - x1 - mHingeJointComponents.mR1World[i]; - - // Compute the Lagrange multiplier lambda - const Vector3 lambdaTranslation = mHingeJointComponents.mInverseMassMatrixTranslation[i] * (-errorTranslation); - - // Compute the impulse of body 1 - Vector3 linearImpulseBody1 = -lambdaTranslation; - Vector3 angularImpulseBody1 = lambdaTranslation.cross(mHingeJointComponents.mR1World[i]); - - // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; - decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; - - // Compute the pseudo velocity of body 1 - const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - Vector3 w1 = mHingeJointComponents.mI1[i] * angularImpulseBody1; - - // Update the body position/orientation of body 1 - x1 += v1; - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse of body 2 - Vector3 angularImpulseBody2 = -lambdaTranslation.cross(mHingeJointComponents.mR2World[i]); - - // Compute the pseudo velocity of body 2 - const Vector3 v2 = inverseMassBody2 * lambdaTranslation; - Vector3 w2 = mHingeJointComponents.mI2[i] * angularImpulseBody2; - - // Update the body position/orientation of body 2 - x2 += v2; - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - - // --------------- Rotation Constraints --------------- // - - // Compute the inverse mass matrix K=JM^-1J^t for the 2 rotation constraints (2x2 matrix) - Vector3 I1B2CrossA1 = mHingeJointComponents.mI1[i] * b2CrossA1; - Vector3 I1C2CrossA1 = mHingeJointComponents.mI1[i] * c2CrossA1; - Vector3 I2B2CrossA1 = mHingeJointComponents.mI2[i] * b2CrossA1; - Vector3 I2C2CrossA1 = mHingeJointComponents.mI2[i] * c2CrossA1; - const decimal el11 = b2CrossA1.dot(I1B2CrossA1) + - b2CrossA1.dot(I2B2CrossA1); - const decimal el12 = b2CrossA1.dot(I1C2CrossA1) + - b2CrossA1.dot(I2C2CrossA1); - const decimal el21 = c2CrossA1.dot(I1B2CrossA1) + - c2CrossA1.dot(I2B2CrossA1); - const decimal el22 = c2CrossA1.dot(I1C2CrossA1) + - c2CrossA1.dot(I2C2CrossA1); - const Matrix2x2 matrixKRotation(el11, el12, el21, el22); - mHingeJointComponents.mInverseMassMatrixRotation[i].setToZero(); - if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || - mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - mHingeJointComponents.mInverseMassMatrixRotation[i] = matrixKRotation.getInverse(); - } - - // Compute the position error for the 3 rotation constraints - const Vector2 errorRotation = Vector2(a1.dot(b2), a1.dot(c2)); - - // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector2 lambdaRotation = mHingeJointComponents.mInverseMassMatrixRotation[i] * (-errorRotation); - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 - angularImpulseBody1 = -b2CrossA1 * lambdaRotation.x - c2CrossA1 * lambdaRotation.y; - - // Compute the pseudo velocity of body 1 - w1 = mHingeJointComponents.mI1[i] * angularImpulseBody1; - - // Update the body position/orientation of body 1 - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse of body 2 - angularImpulseBody2 = b2CrossA1 * lambdaRotation.x + c2CrossA1 * lambdaRotation.y; - - // Compute the pseudo velocity of body 2 - w2 = mHingeJointComponents.mI2[i] * angularImpulseBody2; - - // Update the body position/orientation of body 2 - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - } - - // For each joint component - for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; - - // If the error position correction technique is not the non-linear-gauss-seidel, we do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - Quaternion& q1 = mRigidBodyComponents.getConstrainedOrientation(body1Entity); - Quaternion& q2 = mRigidBodyComponents.getConstrainedOrientation(body2Entity); - // Compute the current angle around the hinge axis const decimal hingeAngle = computeCurrentHingeAngle(jointEntity, q1, q2); @@ -774,7 +558,7 @@ void SolveHingeJointSystem::solvePositionConstraint() { const Vector3 angularImpulseBody1 = -lambdaLowerLimit * a1; // Compute the pseudo velocity of body 1 - const Vector3 w1 = mHingeJointComponents.mI1[i] * angularImpulseBody1; + const Vector3 w1 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mHingeJointComponents.mI1[i] * angularImpulseBody1); // Update the body position/orientation of body 1 q1 += Quaternion(0, w1) * q1 * decimal(0.5); @@ -784,7 +568,7 @@ void SolveHingeJointSystem::solvePositionConstraint() { const Vector3 angularImpulseBody2 = lambdaLowerLimit * a1; // Compute the pseudo velocity of body 2 - const Vector3 w2 = mHingeJointComponents.mI2[i] * angularImpulseBody2; + const Vector3 w2 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mHingeJointComponents.mI2[i] * angularImpulseBody2); // Update the body position/orientation of body 2 q2 += Quaternion(0, w2) * q2 * decimal(0.5); @@ -801,7 +585,7 @@ void SolveHingeJointSystem::solvePositionConstraint() { const Vector3 angularImpulseBody1 = lambdaUpperLimit * a1; // Compute the pseudo velocity of body 1 - const Vector3 w1 = mHingeJointComponents.mI1[i] * angularImpulseBody1; + const Vector3 w1 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mHingeJointComponents.mI1[i] * angularImpulseBody1); // Update the body position/orientation of body 1 q1 += Quaternion(0, w1) * q1 * decimal(0.5); @@ -811,13 +595,124 @@ void SolveHingeJointSystem::solvePositionConstraint() { const Vector3 angularImpulseBody2 = -lambdaUpperLimit * a1; // Compute the pseudo velocity of body 2 - const Vector3 w2 = mHingeJointComponents.mI2[i] * angularImpulseBody2; + const Vector3 w2 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mHingeJointComponents.mI2[i] * angularImpulseBody2); // Update the body position/orientation of body 2 q2 += Quaternion(0, w2) * q2 * decimal(0.5); q2.normalize(); } } + + // --------------- Rotation Constraints --------------- // + + // Compute the inverse mass matrix K=JM^-1J^t for the 2 rotation constraints (2x2 matrix) + Vector3 I1B2CrossA1 = mHingeJointComponents.mI1[i] * b2CrossA1; + Vector3 I1C2CrossA1 = mHingeJointComponents.mI1[i] * c2CrossA1; + Vector3 I2B2CrossA1 = mHingeJointComponents.mI2[i] * b2CrossA1; + Vector3 I2C2CrossA1 = mHingeJointComponents.mI2[i] * c2CrossA1; + const decimal el11 = b2CrossA1.dot(I1B2CrossA1) + + b2CrossA1.dot(I2B2CrossA1); + const decimal el12 = b2CrossA1.dot(I1C2CrossA1) + + b2CrossA1.dot(I2C2CrossA1); + const decimal el21 = c2CrossA1.dot(I1B2CrossA1) + + c2CrossA1.dot(I2B2CrossA1); + const decimal el22 = c2CrossA1.dot(I1C2CrossA1) + + c2CrossA1.dot(I2C2CrossA1); + const Matrix2x2 matrixKRotation(el11, el12, el21, el22); + mHingeJointComponents.mInverseMassMatrixRotation[i].setToZero(); + decimal matrixDeterminant = matrixKRotation.getDeterminant(); + if (std::abs(matrixDeterminant) > MACHINE_EPSILON) { + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mHingeJointComponents.mInverseMassMatrixRotation[i] = matrixKRotation.getInverse(matrixDeterminant); + } + + // Compute the position error for the 3 rotation constraints + const Vector2 errorRotation = Vector2(a1.dot(b2), a1.dot(c2)); + + // Compute the Lagrange multiplier lambda for the 3 rotation constraints + Vector2 lambdaRotation = mHingeJointComponents.mInverseMassMatrixRotation[i] * (-errorRotation); + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 + Vector3 angularImpulseBody1 = -b2CrossA1 * lambdaRotation.x - c2CrossA1 * lambdaRotation.y; + + // Compute the pseudo velocity of body 1 + Vector3 w1 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mHingeJointComponents.mI1[i] * angularImpulseBody1); + + // Update the body position/orientation of body 1 + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse of body 2 + Vector3 angularImpulseBody2 = b2CrossA1 * lambdaRotation.x + c2CrossA1 * lambdaRotation.y; + + // Compute the pseudo velocity of body 2 + Vector3 w2 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mHingeJointComponents.mI2[i] * angularImpulseBody2); + + // Update the body position/orientation of body 2 + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } + + // --------------- Translation Constraints --------------- // + + // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints + const decimal body1InverseMass = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal body2InverseMass = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + decimal inverseMassBodies = body1InverseMass + body2InverseMass; + Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, + 0, inverseMassBodies, 0, + 0, 0, inverseMassBodies) + + skewSymmetricMatrixU1 * mHingeJointComponents.mI1[i] * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * mHingeJointComponents.mI2[i] * skewSymmetricMatrixU2.getTranspose(); + mHingeJointComponents.mInverseMassMatrixTranslation[i].setToZero(); + matrixDeterminant = massMatrix.getDeterminant(); + if (std::abs(matrixDeterminant) > MACHINE_EPSILON) { + + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mHingeJointComponents.mInverseMassMatrixTranslation[i] = massMatrix.getInverse(matrixDeterminant); + } + + + Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; + Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; + + // Compute position error for the 3 translation constraints + const Vector3 errorTranslation = x2 + mHingeJointComponents.mR2World[i] - x1 - mHingeJointComponents.mR1World[i]; + + // Compute the Lagrange multiplier lambda + const Vector3 lambdaTranslation = mHingeJointComponents.mInverseMassMatrixTranslation[i] * (-errorTranslation); + + // Compute the impulse of body 1 + Vector3 linearImpulseBody1 = -lambdaTranslation; + Vector3 angularImpulseBody1 = lambdaTranslation.cross(mHingeJointComponents.mR1World[i]); + + // Get the inverse mass and inverse inertia tensors of the bodies + decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + // Compute the pseudo velocity of body 1 + const Vector3 v1 = inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + Vector3 w1 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mHingeJointComponents.mI1[i] * angularImpulseBody1); + + // Update the body position/orientation of body 1 + x1 += v1; + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse of body 2 + Vector3 angularImpulseBody2 = -lambdaTranslation.cross(mHingeJointComponents.mR2World[i]); + + // Compute the pseudo velocity of body 2 + const Vector3 v2 = inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * lambdaTranslation; + Vector3 w2 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mHingeJointComponents.mI2[i] * angularImpulseBody2); + + // Update the body position/orientation of body 2 + x2 += v2; + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } } } @@ -828,10 +723,10 @@ decimal SolveHingeJointSystem::computeNormalizedAngle(decimal angle) const { angle = std::fmod(angle, PI_TIMES_2); // Convert it into the range [-pi; pi] - if (angle < -PI) { + if (angle < -PI_RP3D) { return angle + PI_TIMES_2; } - else if (angle > PI) { + else if (angle > PI_RP3D) { return angle - PI_TIMES_2; } else { @@ -847,13 +742,13 @@ decimal SolveHingeJointSystem::computeCorrespondingAngleNearLimits(decimal input return inputAngle; } else if (inputAngle > upperLimitAngle) { - decimal diffToUpperLimit = std::fabs(computeNormalizedAngle(inputAngle - upperLimitAngle)); - decimal diffToLowerLimit = std::fabs(computeNormalizedAngle(inputAngle - lowerLimitAngle)); + decimal diffToUpperLimit = std::abs(computeNormalizedAngle(inputAngle - upperLimitAngle)); + decimal diffToLowerLimit = std::abs(computeNormalizedAngle(inputAngle - lowerLimitAngle)); return (diffToUpperLimit > diffToLowerLimit) ? (inputAngle - PI_TIMES_2) : inputAngle; } else if (inputAngle < lowerLimitAngle) { - decimal diffToUpperLimit = std::fabs(computeNormalizedAngle(upperLimitAngle - inputAngle)); - decimal diffToLowerLimit = std::fabs(computeNormalizedAngle(lowerLimitAngle - inputAngle)); + decimal diffToUpperLimit = std::abs(computeNormalizedAngle(upperLimitAngle - inputAngle)); + decimal diffToLowerLimit = std::abs(computeNormalizedAngle(lowerLimitAngle - inputAngle)); return (diffToUpperLimit > diffToLowerLimit) ? inputAngle : (inputAngle + PI_TIMES_2); } else { diff --git a/src/systems/SolveSliderJointSystem.cpp b/src/systems/SolveSliderJointSystem.cpp index d68645f70..482773d70 100644 --- a/src/systems/SolveSliderJointSystem.cpp +++ b/src/systems/SolveSliderJointSystem.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -47,73 +47,42 @@ SolveSliderJointSystem::SolveSliderJointSystem(PhysicsWorld& world, RigidBodyCom // Initialize before solving the constraint void SolveSliderJointSystem::initBeforeSolve() { + const decimal biasFactor = (BETA / mTimeStep); + // For each joint - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbJoints = mSliderJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbJoints; i++) { const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); assert(!mRigidBodyComponents.getIsEntityDisabled(body1Entity)); assert(!mRigidBodyComponents.getIsEntityDisabled(body2Entity)); // Get the inertia tensor of bodies - mSliderJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); - mSliderJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); - } - - // For each joint - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + mSliderJointComponents.mI1[i] = mRigidBodyComponents.mInverseInertiaTensorsWorld[componentIndexBody1]; + mSliderJointComponents.mI2[i] = mRigidBodyComponents.mInverseInertiaTensorsWorld[componentIndexBody2]; const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); // Vector from body center to the anchor point - mSliderJointComponents.mR1[i] = orientationBody1 * mSliderJointComponents.mLocalAnchorPointBody1[i]; - mSliderJointComponents.mR2[i] = orientationBody2 * mSliderJointComponents.mLocalAnchorPointBody2[i]; - } - - // For each joint - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; - - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); + mSliderJointComponents.mR1[i] = orientationBody1 * (mSliderJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]); + mSliderJointComponents.mR2[i] = orientationBody2 * (mSliderJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]); // Compute the two orthogonal vectors to the slider axis in world-space mSliderJointComponents.mSliderAxisWorld[i] = orientationBody1 * mSliderJointComponents.mSliderAxisBody1[i]; mSliderJointComponents.mSliderAxisWorld[i].normalize(); - } - - // For each joint - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { mSliderJointComponents.mN1[i] = mSliderJointComponents.mSliderAxisWorld[i].getOneUnitOrthogonalVector(); mSliderJointComponents.mN2[i] = mSliderJointComponents.mSliderAxisWorld[i].cross(mSliderJointComponents.mN1[i]); - } - - const decimal biasFactor = (BETA / mTimeStep); - - // For each joint - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[componentIndexBody1]; const Vector3& x2 = mRigidBodyComponents.mCentersOfMassWorld[componentIndexBody2]; @@ -147,7 +116,7 @@ void SolveSliderJointSystem::initBeforeSolve() { // Compute the bias "b" of the translation constraint mSliderJointComponents.mBiasTranslation[i].setToZero(); - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mSliderJointComponents.mBiasTranslation[i].x = u.dot(mSliderJointComponents.mN1[i]); mSliderJointComponents.mBiasTranslation[i].y = u.dot(mSliderJointComponents.mN2[i]); mSliderJointComponents.mBiasTranslation[i] *= biasFactor; @@ -173,35 +142,21 @@ void SolveSliderJointSystem::initBeforeSolve() { // Compute the bias "b" of the lower limit constraint mSliderJointComponents.mBLowerLimit[i] = decimal(0.0); - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mSliderJointComponents.mBLowerLimit[i] = biasFactor * lowerLimitError; } // Compute the bias "b" of the upper limit constraint mSliderJointComponents.mBUpperLimit[i] = decimal(0.0); - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mSliderJointComponents.mBUpperLimit[i] = biasFactor * upperLimitError; } } - } - - // For each joint - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { // Compute the cross products used in the Jacobians mSliderJointComponents.mR2CrossN1[i] = mSliderJointComponents.mR2[i].cross(mSliderJointComponents.mN1[i]); mSliderJointComponents.mR2CrossN2[i] = mSliderJointComponents.mR2[i].cross(mSliderJointComponents.mN2[i]); mSliderJointComponents.mR2CrossSliderAxis[i] = mSliderJointComponents.mR2[i].cross(mSliderJointComponents.mSliderAxisWorld[i]); - } - - // For each joint - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); const Vector3& r2CrossN1 = mSliderJointComponents.mR2CrossN1[i]; const Vector3& r2CrossN2 = mSliderJointComponents.mR2CrossN2[i]; @@ -211,9 +166,6 @@ void SolveSliderJointSystem::initBeforeSolve() { const Matrix3x3& i1 = mSliderJointComponents.mI1[i]; const Matrix3x3& i2 = mSliderJointComponents.mI2[i]; - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); - // Compute the inverse of the mass matrix K=JM^-1J^t for the 2 translation // constraints (2x2 matrix) const decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; @@ -233,37 +185,30 @@ void SolveSliderJointSystem::initBeforeSolve() { r2CrossN2.dot(I2R2CrossN2); Matrix2x2 matrixKTranslation(el11, el12, el21, el22); mSliderJointComponents.mInverseMassMatrixTranslation[i].setToZero(); - if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || - mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + decimal matrixKTranslationDeterminant = matrixKTranslation.getDeterminant(); + if (std::abs(matrixKTranslationDeterminant) > MACHINE_EPSILON) { + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - mSliderJointComponents.mInverseMassMatrixTranslation[i] = matrixKTranslation.getInverse(); + mSliderJointComponents.mInverseMassMatrixTranslation[i] = matrixKTranslation.getInverse(matrixKTranslationDeterminant); + } } // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation // contraints (3x3 matrix) mSliderJointComponents.mInverseMassMatrixRotation[i] = i1 + i2; - if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || - mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + decimal massMatrixRotationDeterminant = mSliderJointComponents.mInverseMassMatrixRotation[i].getDeterminant(); + if (std::abs(massMatrixRotationDeterminant) > MACHINE_EPSILON) { + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - mSliderJointComponents.mInverseMassMatrixRotation[i] = mSliderJointComponents.mInverseMassMatrixRotation[i].getInverse(); + mSliderJointComponents.mInverseMassMatrixRotation[i] = mSliderJointComponents.mInverseMassMatrixRotation[i].getInverse(massMatrixRotationDeterminant); + } } - } - - // For each joint - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); - const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); // Compute the bias "b" of the rotation constraint mSliderJointComponents.mBiasRotation[i].setToZero(); - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { const Quaternion qError = orientationBody2 * mSliderJointComponents.mInitOrientationDifferenceInv[i] * orientationBody1.getInverse(); mSliderJointComponents.mBiasRotation[i] = biasFactor * decimal(2.0) * qError.getVectorV(); } @@ -271,8 +216,8 @@ void SolveSliderJointSystem::initBeforeSolve() { // If the motor is enabled if (mSliderJointComponents.mIsMotorEnabled[i]) { - const decimal body1MassInverse = mRigidBodyComponents.getMassInverse(body1Entity); - const decimal body2MassInverse = mRigidBodyComponents.getMassInverse(body2Entity); + const decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; const decimal sumInverseMass = body1MassInverse + body2MassInverse; // Compute the inverse of mass matrix K=JM^-1J^t for the motor (1x1 matrix) @@ -280,13 +225,9 @@ void SolveSliderJointSystem::initBeforeSolve() { mSliderJointComponents.mInverseMassMatrixMotor[i] = (mSliderJointComponents.mInverseMassMatrixMotor[i] > decimal(0.0)) ? decimal(1.0) / mSliderJointComponents.mInverseMassMatrixMotor[i] : decimal(0.0); } - } - - // If warm-starting is not enabled - if (!mIsWarmStartingActive) { - // For each joint - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + // If warm-starting is not enabled + if (!mIsWarmStartingActive) { // Reset all the accumulated impulses mSliderJointComponents.mImpulseTranslation[i].setToZero(); @@ -302,13 +243,15 @@ void SolveSliderJointSystem::initBeforeSolve() { void SolveSliderJointSystem::warmstart() { // For each joint component - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbJoints = mSliderJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbJoints; i++) { const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); @@ -352,8 +295,8 @@ void SolveSliderJointSystem::warmstart() { linearImpulseBody1 += impulseMotor; // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mSliderJointComponents.mI1[i] * angularImpulseBody1; + v1 += inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mSliderJointComponents.mI1[i] * angularImpulseBody1); // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 Vector3 linearImpulseBody2 = n1 * impulseTranslation.x + n2 * impulseTranslation.y; @@ -371,8 +314,8 @@ void SolveSliderJointSystem::warmstart() { linearImpulseBody2 += -impulseMotor; // Apply the impulse to the body 2 - v2 += inverseMassBody2 * linearImpulseBody2; - w2 += mSliderJointComponents.mI2[i] * angularImpulseBody2; + v2 += inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * linearImpulseBody2; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mSliderJointComponents.mI2[i] * angularImpulseBody2); } } @@ -380,13 +323,15 @@ void SolveSliderJointSystem::warmstart() { void SolveSliderJointSystem::solveVelocityConstraint() { // For each joint component - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbJoints = mSliderJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbJoints; i++) { const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); @@ -412,93 +357,6 @@ void SolveSliderJointSystem::solveVelocityConstraint() { decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; - // --------------- Translation Constraints --------------- // - - // Compute J*v for the 2 translation constraints - const decimal el1 = -n1.dot(v1) - w1.dot(r1PlusUCrossN1) + - n1.dot(v2) + w2.dot(r2CrossN1); - const decimal el2 = -n2.dot(v1) - w1.dot(r1PlusUCrossN2) + - n2.dot(v2) + w2.dot(r2CrossN2); - const Vector2 JvTranslation(el1, el2); - - // Compute the Lagrange multiplier lambda for the 2 translation constraints - Vector2 deltaLambda = mSliderJointComponents.mInverseMassMatrixTranslation[i] * (-JvTranslation - mSliderJointComponents.mBiasTranslation[i]); - mSliderJointComponents.mImpulseTranslation[i] += deltaLambda; - - // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 - const Vector3 linearImpulseBody1 = -n1 * deltaLambda.x - n2 * deltaLambda.y; - Vector3 angularImpulseBody1 = -r1PlusUCrossN1 * deltaLambda.x - - r1PlusUCrossN2 * deltaLambda.y; - - // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 - const Vector3 linearImpulseBody2 = n1 * deltaLambda.x + n2 * deltaLambda.y; - Vector3 angularImpulseBody2 = r2CrossN1 * deltaLambda.x + r2CrossN2 * deltaLambda.y; - - // Apply the impulse to the body 2 - v2 += inverseMassBody2 * linearImpulseBody2; - w2 += i2 * angularImpulseBody2; - } - - // For each joint component - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); - - // --------------- Rotation Constraints --------------- // - - Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; - Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; - - // Compute J*v for the 3 rotation constraints - const Vector3 JvRotation = w2 - w1; - - // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector3 deltaLambda2 = mSliderJointComponents.mInverseMassMatrixRotation[i] * - (-JvRotation - mSliderJointComponents.getBiasRotation(jointEntity)); - mSliderJointComponents.mImpulseRotation[i] += deltaLambda2; - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 - Vector3 angularImpulseBody1 = -deltaLambda2; - - // Apply the impulse to the body to body 1 - w1 += mSliderJointComponents.mI1[i] * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 - Vector3 angularImpulseBody2 = deltaLambda2; - - // Apply the impulse to the body 2 - w2 += mSliderJointComponents.mI2[i] * angularImpulseBody2; - } - - // For each joint component - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); - - Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody1]; - Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody2]; - - decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; - decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; - const Vector3& r2CrossSliderAxis = mSliderJointComponents.mR2CrossSliderAxis[i]; const Vector3& r1PlusUCrossSliderAxis = mSliderJointComponents.mR1PlusUCrossSliderAxis[i]; @@ -531,16 +389,16 @@ void SolveSliderJointSystem::solveVelocityConstraint() { const Vector3 angularImpulseBody1 = -deltaLambdaLower * r1PlusUCrossSliderAxis; // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mSliderJointComponents.mI1[i] * angularImpulseBody1; + v1 += inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mSliderJointComponents.mI1[i] * angularImpulseBody1); // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 const Vector3 linearImpulseBody2 = deltaLambdaLower * sliderAxisWorld; const Vector3 angularImpulseBody2 = deltaLambdaLower * r2CrossSliderAxis; // Apply the impulse to the body 2 - v2 += inverseMassBody2 * linearImpulseBody2; - w2 += mSliderJointComponents.mI2[i] * angularImpulseBody2; + v2 += inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * linearImpulseBody2; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mSliderJointComponents.mI2[i] * angularImpulseBody2); } // If the upper limit is violated @@ -561,16 +419,16 @@ void SolveSliderJointSystem::solveVelocityConstraint() { const Vector3 angularImpulseBody1 = deltaLambdaUpper * r1PlusUCrossSliderAxis; // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mSliderJointComponents.mI1[i] * angularImpulseBody1; + v1 += inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mSliderJointComponents.mI1[i] * angularImpulseBody1); // Compute the impulse P=J^T * lambda for the upper limit constraint of body 2 const Vector3 linearImpulseBody2 = -deltaLambdaUpper * sliderAxisWorld; const Vector3 angularImpulseBody2 = -deltaLambdaUpper * r2CrossSliderAxis; // Apply the impulse to the body 2 - v2 += inverseMassBody2 * linearImpulseBody2; - w2 += mSliderJointComponents.mI2[i] * angularImpulseBody2; + v2 += inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * linearImpulseBody2; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mSliderJointComponents.mI2[i] * angularImpulseBody2); } } @@ -592,75 +450,104 @@ void SolveSliderJointSystem::solveVelocityConstraint() { const Vector3 linearImpulseBody1 = deltaLambdaMotor * sliderAxisWorld; // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; + v1 += inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; // Compute the impulse P=J^T * lambda for the motor of body 2 const Vector3 linearImpulseBody2 = -deltaLambdaMotor * sliderAxisWorld; // Apply the impulse to the body 2 - v2 += inverseMassBody2 * linearImpulseBody2; + v2 += inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * linearImpulseBody2; } - } -} -// Solve the position constraint (for position error correction) -void SolveSliderJointSystem::solvePositionConstraint() { + // --------------- Rotation Constraints --------------- // - // For each joint component - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + // Compute J*v for the 3 rotation constraints + const Vector3 JvRotation = w2 - w1; - const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + // Compute the Lagrange multiplier lambda for the 3 rotation constraints + Vector3 deltaLambda2 = mSliderJointComponents.mInverseMassMatrixRotation[i] * + (-JvRotation - mSliderJointComponents.getBiasRotation(jointEntity)); + mSliderJointComponents.mImpulseRotation[i] += deltaLambda2; - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 + Vector3 angularImpulseBody1 = -deltaLambda2; - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + // Apply the impulse to the body 1 + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mSliderJointComponents.mI1[i] * angularImpulseBody1); - // Recompute the inverse inertia tensors - mSliderJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); - mSliderJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); - } + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 + Vector3 angularImpulseBody2 = deltaLambda2; - // For each joint component - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + // Apply the impulse to the body 2 + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mSliderJointComponents.mI2[i] * angularImpulseBody2); - const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + // --------------- Translation Constraints --------------- // - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + // Compute J*v for the 2 translation constraints + const decimal el1 = -n1.dot(v1) - w1.dot(r1PlusUCrossN1) + + n1.dot(v2) + w2.dot(r2CrossN1); + const decimal el2 = -n2.dot(v1) - w1.dot(r1PlusUCrossN2) + + n2.dot(v2) + w2.dot(r2CrossN2); + const Vector2 JvTranslation(el1, el2); - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + // Compute the Lagrange multiplier lambda for the 2 translation constraints + const Vector2 deltaLambda = mSliderJointComponents.mInverseMassMatrixTranslation[i] * (-JvTranslation - mSliderJointComponents.mBiasTranslation[i]); + mSliderJointComponents.mImpulseTranslation[i] += deltaLambda; - const Quaternion& q1 = mRigidBodyComponents.getConstrainedOrientation(body1Entity); - const Quaternion& q2 = mRigidBodyComponents.getConstrainedOrientation(body2Entity); + // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 + const Vector3 linearImpulseBody1 = -n1 * deltaLambda.x - n2 * deltaLambda.y; + angularImpulseBody1 = -r1PlusUCrossN1 * deltaLambda.x - + r1PlusUCrossN2 * deltaLambda.y; - // Vector from body center to the anchor point - mSliderJointComponents.mR1[i] = q1 * mSliderJointComponents.mLocalAnchorPointBody1[i]; - mSliderJointComponents.mR2[i] = q2 * mSliderJointComponents.mLocalAnchorPointBody2[i]; + // Apply the impulse to the body 1 + v1 += inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + w1 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); + + // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 + const Vector3 linearImpulseBody2 = -linearImpulseBody1; + angularImpulseBody2 = r2CrossN1 * deltaLambda.x + r2CrossN2 * deltaLambda.y; + + // Apply the impulse to the body 2 + v2 += inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * linearImpulseBody2; + w2 += mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * angularImpulseBody2); } +} + +// Solve the position constraint (for position error correction) +void SolveSliderJointSystem::solvePositionConstraint() { // For each joint component - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + const uint32 nbEnabledJoints = mSliderJointComponents.getNbEnabledComponents(); + for (uint32 i=0; i < nbEnabledJoints; i++) { const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + const uint32 jointIndex = mJointComponents.getEntityIndex(jointEntity); // If the error position correction technique is not the non-linear-gauss-seidel, we do // do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + if (mJointComponents.mPositionCorrectionTechniques[jointIndex] != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + const Entity body1Entity = mJointComponents.mBody1Entities[jointIndex]; + const Entity body2Entity = mJointComponents.mBody2Entities[jointIndex]; const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; + Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; + + // Recompute the world inverse inertia tensors + RigidBody::computeWorldInertiaTensorInverse(q1.getMatrix(), mRigidBodyComponents.mInverseInertiaTensorsLocal[componentIndexBody1], + mSliderJointComponents.mI1[i]); + + RigidBody::computeWorldInertiaTensorInverse(q2.getMatrix(), mRigidBodyComponents.mInverseInertiaTensorsLocal[componentIndexBody2], + mSliderJointComponents.mI2[i]); + + // Vector from body center to the anchor point + mSliderJointComponents.mR1[i] = q1 * (mSliderJointComponents.mLocalAnchorPointBody1[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody1]); + mSliderJointComponents.mR2[i] = q2 * (mSliderJointComponents.mLocalAnchorPointBody2[i] - mRigidBodyComponents.mCentersOfMassLocal[componentIndexBody2]); + // Get the inverse mass and inverse inertia tensors of the bodies const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; @@ -677,9 +564,6 @@ void SolveSliderJointSystem::solvePositionConstraint() { // Compute the vector u (difference between anchor points) const Vector3 u = x2 + r2 - x1 - r1; - Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; - Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; - // Compute the two orthogonal vectors to the slider axis in world-space mSliderJointComponents.mSliderAxisWorld[i] = q1 * mSliderJointComponents.mSliderAxisBody1[i]; mSliderJointComponents.mSliderAxisWorld[i].normalize(); @@ -707,153 +591,6 @@ void SolveSliderJointSystem::solvePositionConstraint() { const Vector3& r1PlusUCrossN1 = mSliderJointComponents.mR1PlusUCrossN1[i]; const Vector3& r1PlusUCrossN2 = mSliderJointComponents.mR1PlusUCrossN2[i]; - // --------------- Translation Constraints --------------- // - - const Matrix3x3& i1 = mSliderJointComponents.getI1(jointEntity); - const Matrix3x3& i2 = mSliderJointComponents.getI2(jointEntity); - - // Recompute the inverse of the mass matrix K=JM^-1J^t for the 2 translation - // constraints (2x2 matrix) - const decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; - const decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; - decimal sumInverseMass = body1MassInverse + body2MassInverse; - Vector3 I1R1PlusUCrossN1 = i1 * r1PlusUCrossN1; - Vector3 I1R1PlusUCrossN2 = i1 * r1PlusUCrossN2; - Vector3 I2R2CrossN1 = i2 * r2CrossN1; - Vector3 I2R2CrossN2 = i2 * r2CrossN2; - const decimal el11 = sumInverseMass + r1PlusUCrossN1.dot(I1R1PlusUCrossN1) + - r2CrossN1.dot(I2R2CrossN1); - const decimal el12 = r1PlusUCrossN1.dot(I1R1PlusUCrossN2) + - r2CrossN1.dot(I2R2CrossN2); - const decimal el21 = r1PlusUCrossN2.dot(I1R1PlusUCrossN1) + - r2CrossN2.dot(I2R2CrossN1); - const decimal el22 = sumInverseMass + r1PlusUCrossN2.dot(I1R1PlusUCrossN2) + - r2CrossN2.dot(I2R2CrossN2); - Matrix2x2 matrixKTranslation(el11, el12, el21, el22); - mSliderJointComponents.mInverseMassMatrixTranslation[i].setToZero(); - if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - - mSliderJointComponents.mInverseMassMatrixTranslation[i] = matrixKTranslation.getInverse(); - } - - // Compute the position error for the 2 translation constraints - const Vector2 translationError(u.dot(n1), u.dot(n2)); - - // Compute the Lagrange multiplier lambda for the 2 translation constraints - Vector2 lambdaTranslation = mSliderJointComponents.mInverseMassMatrixTranslation[i] * (-translationError); - - // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 - const Vector3 linearImpulseBody1 = -n1 * lambdaTranslation.x - n2 * lambdaTranslation.y; - Vector3 angularImpulseBody1 = -r1PlusUCrossN1 * lambdaTranslation.x - - r1PlusUCrossN2 * lambdaTranslation.y; - - // Apply the impulse to the body 1 - const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - Vector3 w1 = i1 * angularImpulseBody1; - - // Update the body position/orientation of body 1 - x1 += v1; - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 - const Vector3 linearImpulseBody2 = n1 * lambdaTranslation.x + n2 * lambdaTranslation.y; - Vector3 angularImpulseBody2 = r2CrossN1 * lambdaTranslation.x + r2CrossN2 * lambdaTranslation.y; - - // Apply the impulse to the body 2 - const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; - Vector3 w2 = i2 * angularImpulseBody2; - - // Update the body position/orientation of body 2 - x2 += v2; - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - } - - // For each joint component - for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { - - const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; - - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; - - // Get the bodies entities - const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); - const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - - const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); - const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); - - Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; - Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; - - // Get the velocities - Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; - Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; - - // --------------- Rotation Constraints --------------- // - - // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation - // contraints (3x3 matrix) - mSliderJointComponents.mInverseMassMatrixRotation[i] = mSliderJointComponents.mI1[i] + mSliderJointComponents.mI2[i]; - if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - - mSliderJointComponents.mInverseMassMatrixRotation[i] = mSliderJointComponents.mInverseMassMatrixRotation[i].getInverse(); - } - - // Calculate difference in rotation - // - // The rotation should be: - // - // q2 = q1 r0 - // - // But because of drift the actual rotation is: - // - // q2 = qError q1 r0 - // <=> qError = q2 r0^-1 q1^-1 - // - // Where: - // q1 = current rotation of body 1 - // q2 = current rotation of body 2 - // qError = error that needs to be reduced to zero - Quaternion qError = q2 * mSliderJointComponents.mInitOrientationDifferenceInv[i] * q1.getInverse(); - - // A quaternion can be seen as: - // - // q = [sin(theta / 2) * v, cos(theta/2)] - // - // Where: - // v = rotation vector - // theta = rotation angle - // - // If we assume theta is small (error is small) then sin(x) = x so an approximation of the error angles is: - const Vector3 errorRotation = decimal(2.0) * qError.getVectorV(); - - // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector3 lambdaRotation = mSliderJointComponents.mInverseMassMatrixRotation[i] * (-errorRotation); - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 - Vector3 angularImpulseBody1 = -lambdaRotation; - - // Apply the impulse to the body 1 - w1 = mSliderJointComponents.mI1[i] * angularImpulseBody1; - - // Update the body position/orientation of body 1 - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 - Vector3 angularImpulseBody2 = lambdaRotation; - - // Apply the impulse to the body 2 - w2 = mSliderJointComponents.mI2[i] * angularImpulseBody2; - - // Update the body position/orientation of body 2 - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - // --------------- Limits Constraints --------------- // if (mSliderJointComponents.mIsLimitEnabled[i]) { @@ -896,8 +633,8 @@ void SolveSliderJointSystem::solvePositionConstraint() { const Vector3 angularImpulseBody1 = -lambdaLowerLimit * r1PlusUCrossSliderAxis; // Apply the impulse to the body 1 - const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - const Vector3 w1 = mSliderJointComponents.mI1[i] * angularImpulseBody1; + const Vector3 v1 = inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + const Vector3 w1 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mSliderJointComponents.mI1[i] * angularImpulseBody1); // Update the body position/orientation of body 1 x1 += v1; @@ -909,8 +646,8 @@ void SolveSliderJointSystem::solvePositionConstraint() { const Vector3 angularImpulseBody2 = lambdaLowerLimit * r2CrossSliderAxis; // Apply the impulse to the body 2 - const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; - const Vector3 w2 = mSliderJointComponents.mI2[i] * angularImpulseBody2; + const Vector3 v2 = inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * linearImpulseBody2; + const Vector3 w2 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mSliderJointComponents.mI2[i] * angularImpulseBody2); // Update the body position/orientation of body 2 x2 += v2; @@ -935,8 +672,8 @@ void SolveSliderJointSystem::solvePositionConstraint() { const Vector3 angularImpulseBody1 = lambdaUpperLimit * r1PlusUCrossSliderAxis; // Apply the impulse to the body 1 - const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - const Vector3 w1 = mSliderJointComponents.mI1[i] * angularImpulseBody1; + const Vector3 v1 = inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + const Vector3 w1 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mSliderJointComponents.mI1[i] * angularImpulseBody1); // Update the body position/orientation of body 1 x1 += v1; @@ -948,8 +685,8 @@ void SolveSliderJointSystem::solvePositionConstraint() { const Vector3 angularImpulseBody2 = -lambdaUpperLimit * r2CrossSliderAxis; // Apply the impulse to the body 2 - const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; - const Vector3 w2 = mSliderJointComponents.mI2[i] * angularImpulseBody2; + const Vector3 v2 = inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * linearImpulseBody2; + const Vector3 w2 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mSliderJointComponents.mI2[i] * angularImpulseBody2); // Update the body position/orientation of body 2 x2 += v2; @@ -957,5 +694,136 @@ void SolveSliderJointSystem::solvePositionConstraint() { q2.normalize(); } } + + // --------------- Rotation Constraints --------------- // + + // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation + // contraints (3x3 matrix) + mSliderJointComponents.mInverseMassMatrixRotation[i] = mSliderJointComponents.mI1[i] + mSliderJointComponents.mI2[i]; + decimal massMatrixRotationDeterminant = mSliderJointComponents.mInverseMassMatrixRotation[i].getDeterminant(); + if (std::abs(massMatrixRotationDeterminant) > MACHINE_EPSILON) { + + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + + mSliderJointComponents.mInverseMassMatrixRotation[i] = mSliderJointComponents.mInverseMassMatrixRotation[i].getInverse(massMatrixRotationDeterminant); + } + + // Calculate difference in rotation + // + // The rotation should be: + // + // q2 = q1 r0 + // + // But because of drift the actual rotation is: + // + // q2 = qError q1 r0 + // <=> qError = q2 r0^-1 q1^-1 + // + // Where: + // q1 = current rotation of body 1 + // q2 = current rotation of body 2 + // qError = error that needs to be reduced to zero + Quaternion qError = q2 * mSliderJointComponents.mInitOrientationDifferenceInv[i] * q1.getInverse(); + + // A quaternion can be seen as: + // + // q = [sin(theta / 2) * v, cos(theta/2)] + // + // Where: + // v = rotation vector + // theta = rotation angle + // + // If we assume theta is small (error is small) then sin(x) = x so an approximation of the error angles is: + const Vector3 errorRotation = decimal(2.0) * qError.getVectorV(); + + // Compute the Lagrange multiplier lambda for the 3 rotation constraints + Vector3 lambdaRotation = mSliderJointComponents.mInverseMassMatrixRotation[i] * (-errorRotation); + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 + Vector3 angularImpulseBody1 = -lambdaRotation; + + // Apply the impulse to the body 1 + Vector3 w1 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (mSliderJointComponents.mI1[i] * angularImpulseBody1); + + // Update the body position/orientation of body 1 + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 + Vector3 angularImpulseBody2 = lambdaRotation; + + // Apply the impulse to the body 2 + Vector3 w2 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (mSliderJointComponents.mI2[i] * angularImpulseBody2); + + // Update the body position/orientation of body 2 + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } + + // --------------- Translation Constraints --------------- // + + const Matrix3x3& i1 = mSliderJointComponents.getI1(jointEntity); + const Matrix3x3& i2 = mSliderJointComponents.getI2(jointEntity); + + // Recompute the inverse of the mass matrix K=JM^-1J^t for the 2 translation + // constraints (2x2 matrix) + const decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + decimal sumInverseMass = body1MassInverse + body2MassInverse; + Vector3 I1R1PlusUCrossN1 = i1 * r1PlusUCrossN1; + Vector3 I1R1PlusUCrossN2 = i1 * r1PlusUCrossN2; + Vector3 I2R2CrossN1 = i2 * r2CrossN1; + Vector3 I2R2CrossN2 = i2 * r2CrossN2; + const decimal el11 = sumInverseMass + r1PlusUCrossN1.dot(I1R1PlusUCrossN1) + + r2CrossN1.dot(I2R2CrossN1); + const decimal el12 = r1PlusUCrossN1.dot(I1R1PlusUCrossN2) + + r2CrossN1.dot(I2R2CrossN2); + const decimal el21 = r1PlusUCrossN2.dot(I1R1PlusUCrossN1) + + r2CrossN2.dot(I2R2CrossN1); + const decimal el22 = sumInverseMass + r1PlusUCrossN2.dot(I1R1PlusUCrossN2) + + r2CrossN2.dot(I2R2CrossN2); + Matrix2x2 matrixKTranslation(el11, el12, el21, el22); + mSliderJointComponents.mInverseMassMatrixTranslation[i].setToZero(); + decimal matrixKTranslationDeterminant = matrixKTranslation.getDeterminant(); + if (std::abs(matrixKTranslationDeterminant) > MACHINE_EPSILON) { + + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + + mSliderJointComponents.mInverseMassMatrixTranslation[i] = matrixKTranslation.getInverse(matrixKTranslationDeterminant); + } + + // Compute the position error for the 2 translation constraints + const Vector2 translationError(u.dot(n1), u.dot(n2)); + + // Compute the Lagrange multiplier lambda for the 2 translation constraints + Vector2 lambdaTranslation = mSliderJointComponents.mInverseMassMatrixTranslation[i] * (-translationError); + + // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 + const Vector3 linearImpulseBody1 = -n1 * lambdaTranslation.x - n2 * lambdaTranslation.y; + Vector3 angularImpulseBody1 = -r1PlusUCrossN1 * lambdaTranslation.x - + r1PlusUCrossN2 * lambdaTranslation.y; + + // Apply the impulse to the body 1 + const Vector3 v1 = inverseMassBody1 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody1] * linearImpulseBody1; + Vector3 w1 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody1] * (i1 * angularImpulseBody1); + + // Update the body position/orientation of body 1 + x1 += v1; + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 + const Vector3 linearImpulseBody2 = n1 * lambdaTranslation.x + n2 * lambdaTranslation.y; + Vector3 angularImpulseBody2 = r2CrossN1 * lambdaTranslation.x + r2CrossN2 * lambdaTranslation.y; + + // Apply the impulse to the body 2 + const Vector3 v2 = inverseMassBody2 * mRigidBodyComponents.mLinearLockAxisFactors[componentIndexBody2] * linearImpulseBody2; + Vector3 w2 = mRigidBodyComponents.mAngularLockAxisFactors[componentIndexBody2] * (i2 * angularImpulseBody2); + + // Update the body position/orientation of body 2 + x2 += v2; + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } } } diff --git a/src/utils/DebugRenderer.cpp b/src/utils/DebugRenderer.cpp index 4e1533f78..4e8e86675 100644 --- a/src/utils/DebugRenderer.cpp +++ b/src/utils/DebugRenderer.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -124,16 +124,16 @@ void DebugRenderer::drawSphere(const Vector3& position, decimal radius, uint32 c Vector3 vertices[(NB_SECTORS_SPHERE + 1) * (NB_STACKS_SPHERE + 1) + (NB_SECTORS_SPHERE + 1)]; // Vertices - const decimal sectorStep = 2 * PI / NB_SECTORS_SPHERE; - const decimal stackStep = PI / NB_STACKS_SPHERE; + const decimal sectorStep = 2 * PI_RP3D / NB_SECTORS_SPHERE; + const decimal stackStep = PI_RP3D / NB_STACKS_SPHERE; - for (uint i = 0; i <= NB_STACKS_SPHERE; i++) { + for (uint32 i = 0; i <= NB_STACKS_SPHERE; i++) { - const decimal stackAngle = PI / 2 - i * stackStep; + const decimal stackAngle = PI_RP3D / 2 - i * stackStep; const decimal radiusCosStackAngle = radius * std::cos(stackAngle); const decimal z = radius * std::sin(stackAngle); - for (uint j = 0; j <= NB_SECTORS_SPHERE; j++) { + for (uint32 j = 0; j <= NB_SECTORS_SPHERE; j++) { const decimal sectorAngle = j * sectorStep; const decimal x = radiusCosStackAngle * std::cos(sectorAngle); @@ -144,12 +144,12 @@ void DebugRenderer::drawSphere(const Vector3& position, decimal radius, uint32 c } // Faces - for (uint i = 0; i < NB_STACKS_SPHERE; i++) { + for (uint32 i = 0; i < NB_STACKS_SPHERE; i++) { - uint a1 = i * (NB_SECTORS_SPHERE + 1); - uint a2 = a1 + NB_SECTORS_SPHERE + 1; + uint32 a1 = i * (NB_SECTORS_SPHERE + 1); + uint32 a2 = a1 + NB_SECTORS_SPHERE + 1; - for (uint j = 0; j < NB_SECTORS_SPHERE; j++, a1++, a2++) { + for (uint32 j = 0; j < NB_SECTORS_SPHERE; j++, a1++, a2++) { // 2 triangles per sector except for the first and last stacks @@ -171,26 +171,26 @@ void DebugRenderer::drawCapsule(const Transform& transform, decimal radius, deci Vector3 vertices[(NB_SECTORS_SPHERE + 1) * (NB_STACKS_SPHERE + 1) + (NB_SECTORS_SPHERE + 1)]; - const decimal halfHeight = 0.5 * height; + const decimal halfHeight = decimal(0.5) * height; // Use an even number of stacks - const uint nbStacks = NB_STACKS_SPHERE % 2 == 0 ? NB_STACKS_SPHERE : NB_STACKS_SPHERE - 1; - const uint nbHalfStacks = nbStacks / 2; + const uint32 nbStacks = NB_STACKS_SPHERE % 2 == 0 ? NB_STACKS_SPHERE : NB_STACKS_SPHERE - 1; + const uint32 nbHalfStacks = nbStacks / 2; // Vertices - const decimal sectorStep = 2 * PI / NB_SECTORS_SPHERE; - const decimal stackStep = PI / nbStacks; + const decimal sectorStep = 2 * PI_RP3D / NB_SECTORS_SPHERE; + const decimal stackStep = PI_RP3D / nbStacks; - uint vertexIndex = 0; + uint32 vertexIndex = 0; // Top cap sphere vertices - for (uint i = 0; i <= nbHalfStacks; i++) { + for (uint32 i = 0; i <= nbHalfStacks; i++) { - const decimal stackAngle = PI / 2 - i * stackStep; + const decimal stackAngle = PI_RP3D / 2 - i * stackStep; const decimal radiusCosStackAngle = radius * std::cos(stackAngle); const decimal y = radius * std::sin(stackAngle); - for (uint j = 0; j <= NB_SECTORS_SPHERE; j++) { + for (uint32 j = 0; j <= NB_SECTORS_SPHERE; j++) { const decimal sectorAngle = j * sectorStep; const decimal x = radiusCosStackAngle * std::sin(sectorAngle); @@ -204,13 +204,13 @@ void DebugRenderer::drawCapsule(const Transform& transform, decimal radius, deci } // Bottom cap sphere vertices - for (uint i = 0; i <= nbHalfStacks; i++) { + for (uint32 i = 0; i <= nbHalfStacks; i++) { - const decimal stackAngle = PI / 2 - (nbHalfStacks + i) * stackStep; + const decimal stackAngle = PI_RP3D / 2 - (nbHalfStacks + i) * stackStep; const decimal radiusCosStackAngle = radius * std::cos(stackAngle); const decimal y = radius * std::sin(stackAngle); - for (uint j = 0; j <= NB_SECTORS_SPHERE; j++) { + for (uint32 j = 0; j <= NB_SECTORS_SPHERE; j++) { const decimal sectorAngle = j * sectorStep; const decimal x = radiusCosStackAngle * std::sin(sectorAngle); @@ -224,12 +224,12 @@ void DebugRenderer::drawCapsule(const Transform& transform, decimal radius, deci } // Faces of the top cap sphere - for (uint i = 0; i < nbHalfStacks; i++) { + for (uint32 i = 0; i < nbHalfStacks; i++) { - uint a1 = i * (NB_SECTORS_SPHERE + 1); - uint a2 = a1 + NB_SECTORS_SPHERE + 1; + uint32 a1 = i * (NB_SECTORS_SPHERE + 1); + uint32 a2 = a1 + NB_SECTORS_SPHERE + 1; - for (uint j = 0; j < NB_SECTORS_SPHERE; j++, a1++, a2++) { + for (uint32 j = 0; j < NB_SECTORS_SPHERE; j++, a1++, a2++) { // 2 triangles per sector except for the first stack @@ -243,12 +243,12 @@ void DebugRenderer::drawCapsule(const Transform& transform, decimal radius, deci } // Faces of the bottom cap sphere - for (uint i = 0; i < nbHalfStacks; i++) { + for (uint32 i = 0; i < nbHalfStacks; i++) { - uint a1 = (nbHalfStacks + 1) * (NB_SECTORS_SPHERE + 1) + i * (NB_SECTORS_SPHERE + 1); - uint a2 = a1 + NB_SECTORS_SPHERE + 1; + uint32 a1 = (nbHalfStacks + 1) * (NB_SECTORS_SPHERE + 1) + i * (NB_SECTORS_SPHERE + 1); + uint32 a2 = a1 + NB_SECTORS_SPHERE + 1; - for (uint j = 0; j < NB_SECTORS_SPHERE; j++, a1++, a2++) { + for (uint32 j = 0; j < NB_SECTORS_SPHERE; j++, a1++, a2++) { // 2 triangles per sector except for the last stack @@ -262,11 +262,12 @@ void DebugRenderer::drawCapsule(const Transform& transform, decimal radius, deci } // Faces of the cylinder between the two spheres - uint a1 = nbHalfStacks * (NB_SECTORS_SPHERE + 1); - uint a2 = a1 + NB_SECTORS_SPHERE + 1; - for (uint i = 0; i < NB_SECTORS_SPHERE; i++, a1++, a2++) { + uint32 a1 = nbHalfStacks * (NB_SECTORS_SPHERE + 1); + uint32 a2 = a1 + NB_SECTORS_SPHERE + 1; + for (uint32 i = 0; i < NB_SECTORS_SPHERE; i++, a1++, a2++) { mTriangles.add(DebugTriangle(vertices[a1 + 1], vertices[a2], vertices[a2 + 1], color)); + mTriangles.add(DebugTriangle(vertices[a1], vertices[a2], vertices[a1 + 1], color)); } } @@ -280,11 +281,12 @@ void DebugRenderer::drawConvexMesh(const Transform& transform, const ConvexMeshS assert(face.faceVertices.size() >= 3); // Perform a fan triangulation of the convex polygon face - for (uint32 v = 2; v < face.faceVertices.size(); v++) { + const uint32 nbFaceVertices = static_cast(face.faceVertices.size()); + for (uint32 v = 2; v < nbFaceVertices; v++) { - uint v1Index = face.faceVertices[v - 2]; - uint v2Index = face.faceVertices[v - 1]; - uint v3Index = face.faceVertices[v]; + uint32 v1Index = face.faceVertices[v - 2]; + uint32 v2Index = face.faceVertices[v - 1]; + uint32 v3Index = face.faceVertices[v]; Vector3 v1 = convexMesh->getVertexPosition(v1Index); Vector3 v2 = convexMesh->getVertexPosition(v2Index); @@ -303,10 +305,10 @@ void DebugRenderer::drawConvexMesh(const Transform& transform, const ConvexMeshS void DebugRenderer::drawConcaveMeshShape(const Transform& transform, const ConcaveMeshShape* concaveMeshShape, uint32 color) { // For each sub-part of the mesh - for (uint p = 0; p < concaveMeshShape->getNbSubparts(); p++) { + for (uint32 p = 0; p < concaveMeshShape->getNbSubparts(); p++) { // For each triangle of the sub-part - for (uint t = 0; t < concaveMeshShape->getNbTriangles(p); t++) { + for (uint32 t = 0; t < concaveMeshShape->getNbTriangles(p); t++) { Vector3 triangleVertices[3]; concaveMeshShape->getTriangleVertices(p, t, triangleVertices); @@ -399,11 +401,11 @@ void DebugRenderer::computeDebugRenderingPrimitives(const PhysicsWorld& world) { const bool drawColliderBroadphaseAABB = getIsDebugItemDisplayed(DebugItem::COLLIDER_BROADPHASE_AABB); const bool drawCollisionShape = getIsDebugItemDisplayed(DebugItem::COLLISION_SHAPE); - const uint nbCollisionBodies = world.getNbCollisionBodies(); - const uint nbRigidBodies = world.getNbRigidBodies(); + const uint32 nbCollisionBodies = world.getNbCollisionBodies(); + const uint32 nbRigidBodies = world.getNbRigidBodies(); // For each body of the world - for (uint b = 0; b < nbCollisionBodies + nbRigidBodies; b++) { + for (uint32 b = 0; b < nbCollisionBodies + nbRigidBodies; b++) { // Get a body const CollisionBody* body = b < nbCollisionBodies ? world.getCollisionBody(b) : world.getRigidBody(b - nbCollisionBodies); @@ -411,7 +413,7 @@ void DebugRenderer::computeDebugRenderingPrimitives(const PhysicsWorld& world) { if (body->isActive()) { // For each collider of the body - for (uint c = 0; c < body->getNbColliders(); c++) { + for (uint32 c = 0; c < body->getNbColliders(); c++) { // Get a collider const Collider* collider = body->getCollider(c); @@ -447,14 +449,14 @@ void DebugRenderer::onContact(const CollisionCallback::CallbackData& callbackDat if (getIsDebugItemDisplayed(DebugItem::CONTACT_POINT) || getIsDebugItemDisplayed(DebugItem::CONTACT_NORMAL)) { // For each contact pair - for (uint p = 0; p < callbackData.getNbContactPairs(); p++) { + for (uint32 p = 0; p < callbackData.getNbContactPairs(); p++) { CollisionCallback::ContactPair contactPair = callbackData.getContactPair(p); if (contactPair.getEventType() != CollisionCallback::ContactPair::EventType::ContactExit) { // For each contact point of the contact pair - for (uint c = 0; c < contactPair.getNbContactPoints(); c++) { + for (uint32 c = 0; c < contactPair.getNbContactPoints(); c++) { CollisionCallback::ContactPoint contactPoint = contactPair.getContactPoint(c); diff --git a/src/utils/DefaultLogger.cpp b/src/utils/DefaultLogger.cpp index bb1a2dd20..aff4f1629 100644 --- a/src/utils/DefaultLogger.cpp +++ b/src/utils/DefaultLogger.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -79,7 +79,7 @@ void DefaultLogger::addStreamDestination(std::ostream& outputStream, uint logLev void DefaultLogger::removeAllDestinations() { // Delete all the destinations - for (uint i=0; igetSizeBytes(); diff --git a/src/utils/Profiler.cpp b/src/utils/Profiler.cpp index 3fd278414..7ef3e7ec5 100644 --- a/src/utils/Profiler.cpp +++ b/src/utils/Profiler.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2022 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -36,7 +36,7 @@ using namespace reactphysics3d; // Constructor ProfileNode::ProfileNode(const char* name, ProfileNode* parentNode) - :mName(name), mNbTotalCalls(0), mStartingTime(0), mTotalTime(0), + :mName(name), mNbTotalCalls(0), mStartingTime(), mTotalTime(0), mRecursionCounter(0), mParentNode(parentNode), mChildNode(nullptr), mSiblingNode(nullptr) { reset(); @@ -79,7 +79,7 @@ void ProfileNode::enterBlockOfCode() { // Get the current system time to initialize the starting time of // the profiling of the current block of code - mStartingTime = Timer::getCurrentSystemTime() * 1000.0L; + mStartingTime = clock::now(); } mRecursionCounter++; @@ -92,7 +92,7 @@ bool ProfileNode::exitBlockOfCode() { if (mRecursionCounter == 0 && mNbTotalCalls != 0) { // Get the current system time - long double currentTime = Timer::getCurrentSystemTime() * 1000.0L; + std::chrono::time_point currentTime = std::chrono::high_resolution_clock::now(); // Increase the total elasped time in the current block of code mTotalTime += currentTime - mStartingTime; @@ -105,7 +105,7 @@ bool ProfileNode::exitBlockOfCode() { // Reset the profiling of the node void ProfileNode::reset() { mNbTotalCalls = 0; - mTotalTime = 0.0L; + mTotalTime = std::chrono::duration::zero(); // Reset the child node if (mChildNode != nullptr) { @@ -161,7 +161,7 @@ Profiler::Profiler() :mRootNode("Root", nullptr) { mCurrentNode = &mRootNode; mNbDestinations = 0; mNbAllocatedDestinations = 0; - mProfilingStartTime = Timer::getCurrentSystemTime() * 1000.0L; + mProfilingStartTime = clock::now(); mFrameCounter = 0; allocatedDestinations(1); @@ -215,7 +215,7 @@ void Profiler::reset() { mRootNode.reset(); mRootNode.enterBlockOfCode(); mFrameCounter = 0; - mProfilingStartTime = Timer::getCurrentSystemTime() * 1000.0L; + mProfilingStartTime = clock::now(); } // Print the report of the profiler in a given output stream @@ -283,27 +283,27 @@ void Profiler::printRecursiveNodeReport(ProfileNodeIterator* iterator, return; } - long double parentTime = iterator->isRoot() ? getElapsedTimeSinceStart() : + std::chrono::duration parentTime = iterator->isRoot() ? getElapsedTimeSinceStart() : iterator->getCurrentParentTotalTime(); - long double accumulatedTime = 0.0L; + std::chrono::duration accumulatedTime = std::chrono::duration::zero(); uint nbFrames = Profiler::getNbFrames(); for (int i=0; igetCurrentParentName() << - " (total running time : " << parentTime << " ms) ---" << std::endl; + " (total running time : " << parentTime.count() << " ms) ---" << std::endl; // Recurse over the children of the current node int nbChildren = 0; for (int i=0; !iterator->isEnd(); i++, iterator->next()) { nbChildren++; - long double currentTotalTime = iterator->getCurrentTotalTime(); + std::chrono::duration currentTotalTime = iterator->getCurrentTotalTime(); accumulatedTime += currentTotalTime; - long double fraction = parentTime > std::numeric_limits::epsilon() ? - (currentTotalTime / parentTime) * 100.0L : 0.0L; + long double fraction = parentTime.count() > std::numeric_limits::epsilon() ? + (currentTotalTime.count() / parentTime.count()) * 100.0L : 0.0L; for (int j=0; jgetCurrentName() << " : " << - fraction << " % | " << (currentTotalTime / (long double) (nbFrames)) << + fraction << " % | " << (currentTotalTime.count() / (long double) (nbFrames)) << " ms/frame (" << iterator->getCurrentNbTotalCalls() << " calls)" << std::endl; } @@ -312,10 +312,10 @@ void Profiler::printRecursiveNodeReport(ProfileNodeIterator* iterator, outputStream << "Something is wrong !" << std::endl; } for (int i=0; i std::numeric_limits::epsilon() ? + long double percentage = parentTime.count() > std::numeric_limits::epsilon() ? ((parentTime - accumulatedTime) / parentTime) * 100.0L : 0.0L; - long double difference = parentTime - accumulatedTime; - outputStream << "| Unaccounted : " << difference << " ms (" << percentage << " %)" << std::endl; + std::chrono::duration difference = parentTime - accumulatedTime; + outputStream << "| Unaccounted : " << difference.count() << " ms (" << percentage << " %)" << std::endl; for (int i=0; ienterChild(i); diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 804f7cb8b..3bfb5f8e3 100755 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -15,7 +15,7 @@ set (RP3D_TESTS_HEADERS "tests/collision/TestPointInside.h" "tests/collision/TestRaycast.h" "tests/collision/TestTriangleVertexArray.h" - "tests/containers/TestList.h" + "tests/containers/TestArray.h" "tests/containers/TestMap.h" "tests/containers/TestSet.h" "tests/containers/TestStack.h" @@ -27,6 +27,7 @@ set (RP3D_TESTS_HEADERS "tests/mathematics/TestTransform.h" "tests/mathematics/TestVector2.h" "tests/mathematics/TestVector3.h" + "tests/engine/TestRigidBody.h" ) # Source files diff --git a/test/main.cpp b/test/main.cpp index 6a9650395..311547ba3 100644 --- a/test/main.cpp +++ b/test/main.cpp @@ -39,11 +39,12 @@ #include "tests/collision/TestDynamicAABBTree.h" #include "tests/collision/TestHalfEdgeStructure.h" #include "tests/collision/TestTriangleVertexArray.h" -#include "tests/containers/TestList.h" +#include "tests/containers/TestArray.h" #include "tests/containers/TestMap.h" #include "tests/containers/TestSet.h" #include "tests/containers/TestDeque.h" #include "tests/containers/TestStack.h" +#include "tests/engine/TestRigidBody.h" using namespace reactphysics3d; @@ -53,9 +54,9 @@ int main() { // ---------- Containers tests ---------- // - testSuite.addTest(new TestList("List")); - testSuite.addTest(new TestMap("Map")); testSuite.addTest(new TestSet("Set")); + testSuite.addTest(new TestArray("Array")); + testSuite.addTest(new TestMap("Map")); testSuite.addTest(new TestDeque("Deque")); testSuite.addTest(new TestStack("Stack")); @@ -79,6 +80,11 @@ int main() { testSuite.addTest(new TestDynamicAABBTree("DynamicAABBTree")); testSuite.addTest(new TestHalfEdgeStructure("HalfEdgeStructure")); + + // ---------- Engine tests ---------- // + + testSuite.addTest(new TestRigidBody("RigidBody")); + // Run the tests testSuite.run(); diff --git a/test/tests/collision/TestAABB.h b/test/tests/collision/TestAABB.h index d51972dd0..2383d87e3 100644 --- a/test/tests/collision/TestAABB.h +++ b/test/tests/collision/TestAABB.h @@ -286,14 +286,31 @@ class TestAABB : public Test { Ray ray7(Vector3(-4, 6, -100), Vector3(-4, 6, -11), 0.6); Ray ray8(Vector3(-403, -432, -100), Vector3(134, 643, 23)); - rp3d_test(mAABB1.testRayIntersect(ray1)); - rp3d_test(!mAABB1.testRayIntersect(ray2)); - rp3d_test(mAABB1.testRayIntersect(ray3)); - rp3d_test(mAABB1.testRayIntersect(ray4)); - rp3d_test(mAABB1.testRayIntersect(ray5)); - rp3d_test(mAABB1.testRayIntersect(ray6)); - rp3d_test(!mAABB1.testRayIntersect(ray7)); - rp3d_test(!mAABB1.testRayIntersect(ray8)); + const Vector3 ray1Direction = ray1.point2 - ray1.point1; + const Vector3 ray1DirectionInv(decimal(1.0) / ray1Direction.x, decimal(1.0) / ray1Direction.y, decimal(1.0) / ray1Direction.z); + const Vector3 ray2Direction = ray2.point2 - ray2.point1; + const Vector3 ray2DirectionInv(decimal(1.0) / ray2Direction.x, decimal(1.0) / ray2Direction.y, decimal(1.0) / ray2Direction.z); + const Vector3 ray3Direction = ray3.point2 - ray3.point1; + const Vector3 ray3DirectionInv(decimal(1.0) / ray3Direction.x, decimal(1.0) / ray3Direction.y, decimal(1.0) / ray3Direction.z); + const Vector3 ray4Direction = ray4.point2 - ray4.point1; + const Vector3 ray4DirectionInv(decimal(1.0) / ray4Direction.x, decimal(1.0) / ray4Direction.y, decimal(1.0) / ray4Direction.z); + const Vector3 ray5Direction = ray5.point2 - ray5.point1; + const Vector3 ray5DirectionInv(decimal(1.0) / ray5Direction.x, decimal(1.0) / ray5Direction.y, decimal(1.0) / ray5Direction.z); + const Vector3 ray6Direction = ray6.point2 - ray6.point1; + const Vector3 ray6DirectionInv(decimal(1.0) / ray6Direction.x, decimal(1.0) / ray6Direction.y, decimal(1.0) / ray6Direction.z); + const Vector3 ray7Direction = ray7.point2 - ray7.point1; + const Vector3 ray7DirectionInv(decimal(1.0) / ray7Direction.x, decimal(1.0) / ray7Direction.y, decimal(1.0) / ray7Direction.z); + const Vector3 ray8Direction = ray8.point2 - ray8.point1; + const Vector3 ray8DirectionInv(decimal(1.0) / ray8Direction.x, decimal(1.0) / ray8Direction.y, decimal(1.0) / ray8Direction.z); + + rp3d_test(mAABB1.testRayIntersect(ray1.point1, ray1DirectionInv, decimal(1.0))); + rp3d_test(!mAABB1.testRayIntersect(ray2.point1, ray2DirectionInv, decimal(1.0))); + rp3d_test(mAABB1.testRayIntersect(ray3.point1, ray3DirectionInv, decimal(1.0))); + rp3d_test(mAABB1.testRayIntersect(ray4.point1, ray4DirectionInv, decimal(1.0))); + rp3d_test(mAABB1.testRayIntersect(ray5.point1, ray5DirectionInv, decimal(1.0))); + rp3d_test(mAABB1.testRayIntersect(ray6.point1, ray6DirectionInv, decimal(1.0))); + rp3d_test(!mAABB1.testRayIntersect(ray7.point1, ray7DirectionInv, decimal(1.0))); + rp3d_test(!mAABB1.testRayIntersect(ray8.point1, ray8DirectionInv, decimal(1.0))); } }; diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h index 4c02d49ca..9c472389e 100644 --- a/test/tests/collision/TestCollisionWorld.h +++ b/test/tests/collision/TestCollisionWorld.h @@ -70,7 +70,7 @@ struct ContactPairData { std::vector contactPoints; - uint getNbContactPoints() const { + uint32 getNbContactPoints() const { return contactPoints.size(); } @@ -79,8 +79,7 @@ struct ContactPairData { std::vector::const_iterator it; for (it = contactPoints.cbegin(); it != contactPoints.cend(); ++it) { - Vector3 vec = it->localPointBody1; - if (it->isContactPointSimilarTo(localPointBody1, localPointBody2, penetrationDepth)) { + if (it->isContactPointSimilarTo(localPointBody1, localPointBody2, penetrationDepth, epsilon)) { return true; } } @@ -127,7 +126,7 @@ struct CollisionData { std::vector::const_iterator it; for (it = contactPairs.cbegin(); it != contactPairs.cend(); ++it) { - if (it->hasContactPointSimilarTo(localPointBody1, localPointBody2, penetrationDepth)) { + if (it->hasContactPointSimilarTo(localPointBody1, localPointBody2, penetrationDepth, epsilon)) { return true; } } @@ -189,7 +188,7 @@ class WorldCollisionCallback : public CollisionCallback CollisionData collisionData; // For each contact pair - for (uint p=0; p < callbackData.getNbContactPairs(); p++) { + for (uint32 p=0; p < callbackData.getNbContactPairs(); p++) { ContactPairData contactPairData; ContactPair contactPair = callbackData.getContactPair(p); @@ -198,7 +197,7 @@ class WorldCollisionCallback : public CollisionCallback collisionData.colliders = std::make_pair(contactPair.getCollider1(), contactPair.getCollider2()); // For each contact point - for (uint c=0; c < contactPair.getNbContactPoints(); c++) { + for (uint32 c=0; c < contactPair.getNbContactPoints(); c++) { ContactPoint contactPoint = contactPair.getContactPoint(c); @@ -231,7 +230,7 @@ class WorldOverlapCallback : public OverlapCallback { virtual void onOverlap(CallbackData& callbackData) override { // For each overlapping pair - for (uint i=0; i < callbackData.getNbOverlappingPairs(); i++) { + for (uint32 i=0; i < callbackData.getNbOverlappingPairs(); i++) { OverlapPair overlapPair = callbackData.getOverlappingPair(i); mOverlapBodies.push_back(std::make_pair(overlapPair.getBody1(), overlapPair.getBody2())); @@ -244,7 +243,7 @@ class WorldOverlapCallback : public OverlapCallback { bool hasOverlapWithBody(CollisionBody* collisionBody) const { - for (uint i=0; i < mOverlapBodies.size(); i++) { + for (uint32 i=0; i < mOverlapBodies.size(); i++) { if (mOverlapBodies[i].first == collisionBody || mOverlapBodies[i].second == collisionBody) { return true; @@ -310,11 +309,11 @@ class TestCollisionWorld : public Test { PolygonVertexArray::PolygonFace* mConvexMeshPolygonFaces; TriangleVertexArray* mConcaveMeshTriangleVertexArray; - Vector3 mConvexMesh1CubeVertices[8]; - Vector3 mConvexMesh2CubeVertices[8]; + float mConvexMesh1CubeVertices[8 * 3]; + float mConvexMesh2CubeVertices[8 * 3]; int mConvexMeshCubeIndices[24]; - Vector3 mConcaveMeshPlaneVertices[36]; + float mConcaveMeshPlaneVertices[36 * 3]; int mConcaveMeshPlaneIndices[25 * 2 * 3]; TriangleMesh* mConcaveTriangleMesh; @@ -368,30 +367,30 @@ class TestCollisionWorld : public Test { mCapsuleCollider2 = mCapsuleBody2->addCollider(mCapsuleShape2, Transform::identity()); // ---------- Convex Meshes ---------- // - mConvexMesh1CubeVertices[0] = Vector3(-3, -3, 3); - mConvexMesh1CubeVertices[1] = Vector3(3, -3, 3); - mConvexMesh1CubeVertices[2] = Vector3(3, -3, -3); - mConvexMesh1CubeVertices[3] = Vector3(-3, -3, -3); - mConvexMesh1CubeVertices[4] = Vector3(-3, 3, 3); - mConvexMesh1CubeVertices[5] = Vector3(3, 3, 3); - mConvexMesh1CubeVertices[6] = Vector3(3, 3, -3); - mConvexMesh1CubeVertices[7] = Vector3(-3, 3, -3); - - mConvexMeshCubeIndices[0] = 0; mConvexMeshCubeIndices[1] = 3; mConvexMeshCubeIndices[2] = 2; mConvexMeshCubeIndices[3] = 1; - mConvexMeshCubeIndices[4] = 4; mConvexMeshCubeIndices[5] = 5; mConvexMeshCubeIndices[6] = 6; mConvexMeshCubeIndices[7] = 7; - mConvexMeshCubeIndices[8] = 0; mConvexMeshCubeIndices[9] = 1; mConvexMeshCubeIndices[10] = 5; mConvexMeshCubeIndices[11] = 4; - mConvexMeshCubeIndices[12] = 1; mConvexMeshCubeIndices[13] = 2; mConvexMeshCubeIndices[14] = 6; mConvexMeshCubeIndices[15] = 5; - mConvexMeshCubeIndices[16] = 2; mConvexMeshCubeIndices[17] = 3; mConvexMeshCubeIndices[18] = 7; mConvexMeshCubeIndices[19] = 6; - mConvexMeshCubeIndices[20] = 0; mConvexMeshCubeIndices[21] = 4; mConvexMeshCubeIndices[22] = 7; mConvexMeshCubeIndices[23] = 3; + mConvexMesh1CubeVertices[0] = -3; mConvexMesh1CubeVertices[1] = -3; mConvexMesh1CubeVertices[2] = 3; + mConvexMesh1CubeVertices[3] = 3; mConvexMesh1CubeVertices[4] = -3; mConvexMesh1CubeVertices[5] = 3; + mConvexMesh1CubeVertices[6] = 3; mConvexMesh1CubeVertices[7] = -3; mConvexMesh1CubeVertices[8] = -3; + mConvexMesh1CubeVertices[9] = -3; mConvexMesh1CubeVertices[10] = -3; mConvexMesh1CubeVertices[11] = -3; + mConvexMesh1CubeVertices[12] = -3; mConvexMesh1CubeVertices[13] = 3; mConvexMesh1CubeVertices[14] = 3; + mConvexMesh1CubeVertices[15] = 3; mConvexMesh1CubeVertices[16] = 3; mConvexMesh1CubeVertices[17] = 3; + mConvexMesh1CubeVertices[18] = 3; mConvexMesh1CubeVertices[19] = 3; mConvexMesh1CubeVertices[20] = -3; + mConvexMesh1CubeVertices[21] = -3; mConvexMesh1CubeVertices[22] = 3; mConvexMesh1CubeVertices[23] = -3; + + mConvexMeshCubeIndices[0] = 0; mConvexMeshCubeIndices[1] = 3; mConvexMeshCubeIndices[2] = 2; mConvexMeshCubeIndices[3] = 1; + mConvexMeshCubeIndices[4] = 4; mConvexMeshCubeIndices[5] = 5; mConvexMeshCubeIndices[6] = 6; mConvexMeshCubeIndices[7] = 7; + mConvexMeshCubeIndices[8] = 0; mConvexMeshCubeIndices[9] = 1; mConvexMeshCubeIndices[10] = 5; mConvexMeshCubeIndices[11] = 4; + mConvexMeshCubeIndices[12] = 1; mConvexMeshCubeIndices[13] = 2; mConvexMeshCubeIndices[14] = 6; mConvexMeshCubeIndices[15] = 5; + mConvexMeshCubeIndices[16] = 2; mConvexMeshCubeIndices[17] = 3; mConvexMeshCubeIndices[18] = 7; mConvexMeshCubeIndices[19] = 6; + mConvexMeshCubeIndices[20] = 0; mConvexMeshCubeIndices[21] = 4; mConvexMeshCubeIndices[22] = 7; mConvexMeshCubeIndices[23] = 3; mConvexMeshPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[6]; rp3d::PolygonVertexArray::PolygonFace* face = mConvexMeshPolygonFaces; for (int f = 0; f < 6; f++) { - face->indexBase = f * 4; + face->indexBase = f * 4; face->nbVertices = 4; face++; } - mConvexMesh1PolygonVertexArray = new rp3d::PolygonVertexArray(8, &(mConvexMesh1CubeVertices[0]), sizeof(Vector3), + mConvexMesh1PolygonVertexArray = new rp3d::PolygonVertexArray(8, &(mConvexMesh1CubeVertices[0]), 3 * sizeof(float), &(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces, rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); @@ -401,16 +400,16 @@ class TestCollisionWorld : public Test { mConvexMeshBody1 = mWorld->createCollisionBody(convexMeshTransform1); mConvexMeshCollider1 = mConvexMeshBody1->addCollider(mConvexMeshShape1, Transform::identity()); - mConvexMesh2CubeVertices[0] = Vector3(-4, -2, 8); - mConvexMesh2CubeVertices[1] = Vector3(4, -2, 8); - mConvexMesh2CubeVertices[2] = Vector3(4, -2, -8); - mConvexMesh2CubeVertices[3] = Vector3(-4, -2, -8); - mConvexMesh2CubeVertices[4] = Vector3(-4, 2, 8); - mConvexMesh2CubeVertices[5] = Vector3(4, 2, 8); - mConvexMesh2CubeVertices[6] = Vector3(4, 2, -8); - mConvexMesh2CubeVertices[7] = Vector3(-4, 2, -8); + mConvexMesh2CubeVertices[0] = -4; mConvexMesh2CubeVertices[1] = -2; mConvexMesh2CubeVertices[2] = 8; + mConvexMesh2CubeVertices[3] = 4; mConvexMesh2CubeVertices[4] = -2; mConvexMesh2CubeVertices[5] = 8; + mConvexMesh2CubeVertices[6] = 4; mConvexMesh2CubeVertices[7] = -2; mConvexMesh2CubeVertices[8] = -8; + mConvexMesh2CubeVertices[9] = -4; mConvexMesh2CubeVertices[10] = -2; mConvexMesh2CubeVertices[11] = -8; + mConvexMesh2CubeVertices[12] = -4; mConvexMesh2CubeVertices[13] = 2; mConvexMesh2CubeVertices[14] = 8; + mConvexMesh2CubeVertices[15] = 4; mConvexMesh2CubeVertices[16] = 2; mConvexMesh2CubeVertices[17] = 8; + mConvexMesh2CubeVertices[18] = 4; mConvexMesh2CubeVertices[19] = 2; mConvexMesh2CubeVertices[20] = -8; + mConvexMesh2CubeVertices[21] = -4; mConvexMesh2CubeVertices[22] = 2; mConvexMesh2CubeVertices[23] = -8; - mConvexMesh2PolygonVertexArray = new rp3d::PolygonVertexArray(8, &(mConvexMesh2CubeVertices[0]), sizeof(Vector3), + mConvexMesh2PolygonVertexArray = new rp3d::PolygonVertexArray(8, &(mConvexMesh2CubeVertices[0]), 3 * sizeof(float), &(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces, rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); @@ -423,30 +422,32 @@ class TestCollisionWorld : public Test { // ---------- Concave Meshes ---------- // for (int i = 0; i < 6; i++) { for (int j = 0; j < 6; j++) { - mConcaveMeshPlaneVertices[i * 6 + j] = Vector3(-2.5f + i, 0, -2.5f + j); - } + mConcaveMeshPlaneVertices[i * 6 * 3 + j * 3] = -2.5f + i; + mConcaveMeshPlaneVertices[i * 6 * 3+ (j * 3) + 1] = 0; + mConcaveMeshPlaneVertices[i * 6 * 3+ (j * 3) + 2] = -2.5f + j; + } } int triangleIndex = 0; for (int i = 0; i < 5; i++) { for (int j = 0; j < 5; j++) { // Triangle 1 - mConcaveMeshPlaneIndices[triangleIndex * 3] = i * 6 + j; - mConcaveMeshPlaneIndices[triangleIndex * 3 + 1] = (i+1) * 6 + (j+1); - mConcaveMeshPlaneIndices[triangleIndex * 3 + 2] = i * 6 + (j+1); + mConcaveMeshPlaneIndices[triangleIndex * 3] = i * 6+ j; + mConcaveMeshPlaneIndices[triangleIndex * 3 + 1] = (i+1) * 6 + (j+1); + mConcaveMeshPlaneIndices[triangleIndex * 3 + 2] = i * 6+ (j+1); triangleIndex++; // Triangle 2 - mConcaveMeshPlaneIndices[triangleIndex * 3] = i * 6 + j; - mConcaveMeshPlaneIndices[triangleIndex * 3 + 1] = (i+1) * 6 + j; + mConcaveMeshPlaneIndices[triangleIndex * 3] = i * 6+ j; + mConcaveMeshPlaneIndices[triangleIndex * 3 + 1] = (i+1) * 6 + j; mConcaveMeshPlaneIndices[triangleIndex * 3 + 2] = (i+1) * 6 + (j+1); triangleIndex++; } } - mConcaveMeshTriangleVertexArray = new rp3d::TriangleVertexArray(36, &(mConcaveMeshPlaneVertices[0]), sizeof(Vector3), - 25, &(mConcaveMeshPlaneIndices[0]), 3 * sizeof(int), - rp3d::TriangleVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, + mConcaveMeshTriangleVertexArray = new rp3d::TriangleVertexArray(36, &(mConcaveMeshPlaneVertices[0]), 3 * sizeof(float), + 50, &(mConcaveMeshPlaneIndices[0]), 3 * sizeof(int), + rp3d::TriangleVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, rp3d::TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE); // Add the triangle vertex array of the subpart to the triangle mesh @@ -610,7 +611,7 @@ class TestCollisionWorld : public Test { Transform initTransform2 = mSphereBody2->getTransform(); Transform transform1(Vector3(10, 20, 50), Quaternion::identity()); - Transform transform2(Vector3(17, 20, 50), Quaternion::fromEulerAngles(rp3d::PI / 8.0f, rp3d::PI / 4.0f, rp3d::PI / 16.0f)); + Transform transform2(Vector3(17, 20, 50), Quaternion::fromEulerAngles(rp3d::PI_RP3D / 8.0f, rp3d::PI_RP3D / 4.0f, rp3d::PI_RP3D / 16.0f)); // Move spheres to collide with each other mSphereBody1->setTransform(transform1); @@ -2200,7 +2201,7 @@ class TestCollisionWorld : public Test { *********************************************************************************/ Transform transform1(Vector3(10, 20, 50), Quaternion::identity()); - Transform transform2(Vector3(17, 21, 50), Quaternion::fromEulerAngles(0, 0, rp3d::PI * 0.5f)); + Transform transform2(Vector3(17, 21, 50), Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D * 0.5f)); // Move spheres to collide with each other mBoxBody1->setTransform(transform1); @@ -2315,7 +2316,7 @@ class TestCollisionWorld : public Test { *********************************************************************************/ Transform transform1(Vector3(10, 20, 50), Quaternion::identity()); - Transform transform2(Vector3(17, 21, 50), Quaternion::fromEulerAngles(0, 0, rp3d::PI * 0.5f)); + Transform transform2(Vector3(17, 21, 50), Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D * 0.5f)); // Move spheres to collide with each other mConvexMeshBody1->setTransform(transform1); @@ -2432,7 +2433,7 @@ class TestCollisionWorld : public Test { Transform transform1(Vector3(10, 22, 50), Quaternion::identity()); Transform transform2(Vector3(10, 20, 50), Quaternion::identity()); - // Move spheres to collide with each other + // Move bodies to collide with each other mBoxBody1->setTransform(transform1); mConcaveMeshBody->setTransform(transform2); @@ -2524,7 +2525,7 @@ class TestCollisionWorld : public Test { Transform initTransform2 = mConcaveMeshBody->getTransform(); /******************************************************************************** - * Test Box vs Concave Mesh + * Test Convex Mesh vs Concave Mesh *********************************************************************************/ Transform transform1(Vector3(10, 22, 50), Quaternion::identity()); @@ -2626,7 +2627,7 @@ class TestCollisionWorld : public Test { *********************************************************************************/ Transform transform1(Vector3(10, 20, 50), Quaternion::identity()); - Transform transform2(Vector3(16, 23, 50), Quaternion::fromEulerAngles(0, 0, rp3d::PI * 0.5f)); + Transform transform2(Vector3(16, 23, 50), Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D * 0.5f)); // Move spheres to collide with each other mCapsuleBody1->setTransform(transform1); @@ -2732,7 +2733,7 @@ class TestCollisionWorld : public Test { *********************************************************************************/ transform1 = Transform(Vector3(10, 20, 50), Quaternion::identity()); - transform2 = Transform(Vector3(10, 27, 50), Quaternion::fromEulerAngles(0, 0, rp3d::PI * 0.5f)); + transform2 = Transform(Vector3(10, 27, 50), Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D * 0.5f)); // Move spheres to collide with each other mCapsuleBody1->setTransform(transform1); diff --git a/test/tests/collision/TestDynamicAABBTree.h b/test/tests/collision/TestDynamicAABBTree.h index 69b876beb..4187736f3 100755 --- a/test/tests/collision/TestDynamicAABBTree.h +++ b/test/tests/collision/TestDynamicAABBTree.h @@ -44,7 +44,7 @@ class DynamicTreeRaycastCallback : public DynamicAABBTreeRaycastCallback { std::vector mHitNodes; // Called when the AABB of a leaf node is hit by a ray - virtual decimal raycastBroadPhaseShape(int32 nodeId, const Ray& ray) override { + virtual decimal raycastBroadPhaseShape(int32 nodeId, const Ray& /*ray*/) override { mHitNodes.push_back(nodeId); return 1.0; } @@ -76,7 +76,7 @@ class DefaultTestTreeAllocator : public MemoryAllocator { } /// Release previously allocated memory. - virtual void release(void* pointer, size_t size) override { + virtual void release(void* pointer, size_t /*size*/) override { free(pointer); } }; @@ -126,7 +126,7 @@ class TestDynamicAABBTree : public Test { } - bool isOverlapping(int nodeId, const List& overlappingNodes) const { + bool isOverlapping(int nodeId, const Array& overlappingNodes) const { return std::find(overlappingNodes.begin(), overlappingNodes.end(), nodeId) != overlappingNodes.end(); } @@ -223,7 +223,7 @@ class TestDynamicAABBTree : public Test { // ---------- Tests ---------- // - List overlappingNodes(mAllocator); + Array overlappingNodes(mAllocator); // AABB overlapping nothing overlappingNodes.clear(); diff --git a/test/tests/collision/TestHalfEdgeStructure.h b/test/tests/collision/TestHalfEdgeStructure.h index 447c1c978..ffb7543ef 100644 --- a/test/tests/collision/TestHalfEdgeStructure.h +++ b/test/tests/collision/TestHalfEdgeStructure.h @@ -71,17 +71,17 @@ class TestHalfEdgeStructure : public Test { cubeStructure.addVertex(7); // Faces - List face0(mAllocator, 4); + Array face0(mAllocator, 4); face0.add(0); face0.add(1); face0.add(2); face0.add(3); - List face1(mAllocator, 4); + Array face1(mAllocator, 4); face1.add(1); face1.add(5); face1.add(6); face1.add(2); - List face2(mAllocator, 4); + Array face2(mAllocator, 4); face2.add(5); face2.add(4); face2.add(7); face2.add(6); - List face3(mAllocator, 4); + Array face3(mAllocator, 4); face3.add(4); face3.add(0); face3.add(3); face3.add(7); - List face4(mAllocator, 4); + Array face4(mAllocator, 4); face4.add(0); face4.add(4); face4.add(5); face4.add(1); - List face5(mAllocator, 4); + Array face5(mAllocator, 4); face5.add(2); face5.add(6); face5.add(7); face5.add(3); cubeStructure.addFace(face0); @@ -141,19 +141,19 @@ class TestHalfEdgeStructure : public Test { rp3d_test(cubeStructure.getHalfEdge(cubeStructure.getVertex(7).edgeIndex).vertexIndex == 7); // Test faces - for (uint f=0; f<6; f++) { + for (uint32 f=0; f<6; f++) { rp3d_test(cubeStructure.getHalfEdge(cubeStructure.getFace(f).edgeIndex).faceIndex == f); } // Test edges - for (uint f=0; f<6; f++) { + for (uint32 f=0; f<6; f++) { - uint edgeIndex = cubeStructure.getFace(f).edgeIndex; - const uint firstEdgeIndex = edgeIndex; + uint32 edgeIndex = cubeStructure.getFace(f).edgeIndex; + const uint32 firstEdgeIndex = edgeIndex; // For each half-edge of the face - for (uint e=0; e<4; e++) { + for (uint32 e=0; e<4; e++) { rp3d::HalfEdgeStructure::Edge edge = cubeStructure.getHalfEdge(edgeIndex); @@ -171,7 +171,7 @@ class TestHalfEdgeStructure : public Test { void testTetrahedron() { // Create the half-edge structure for a tetrahedron - std::vector> faces; + std::vector> faces; rp3d::HalfEdgeStructure tetrahedron(mAllocator, 4, 4, 12); // Vertices @@ -188,13 +188,13 @@ class TestHalfEdgeStructure : public Test { tetrahedron.addVertex(3); // Faces - List face0(mAllocator, 3); + Array face0(mAllocator, 3); face0.add(0); face0.add(1); face0.add(2); - List face1(mAllocator, 3); + Array face1(mAllocator, 3); face1.add(0); face1.add(3); face1.add(1); - List face2(mAllocator, 3); + Array face2(mAllocator, 3); face2.add(1); face2.add(3); face2.add(2); - List face3(mAllocator, 3); + Array face3(mAllocator, 3); face3.add(0); face3.add(2); face3.add(3); tetrahedron.addFace(face0); @@ -232,18 +232,18 @@ class TestHalfEdgeStructure : public Test { rp3d_test(tetrahedron.getHalfEdge(tetrahedron.getVertex(3).edgeIndex).vertexIndex == 3); // Test faces - for (uint f=0; f<4; f++) { + for (uint32 f=0; f<4; f++) { rp3d_test(tetrahedron.getHalfEdge(tetrahedron.getFace(f).edgeIndex).faceIndex == f); } // Test edges - for (uint f=0; f<4; f++) { + for (uint32 f=0; f<4; f++) { - uint edgeIndex = tetrahedron.getFace(f).edgeIndex; - const uint firstEdgeIndex = edgeIndex; + uint32 edgeIndex = tetrahedron.getFace(f).edgeIndex; + const uint32 firstEdgeIndex = edgeIndex; // For each half-edge of the face - for (uint e=0; e<3; e++) { + for (uint32 e=0; e<3; e++) { rp3d::HalfEdgeStructure::Edge edge = tetrahedron.getHalfEdge(edgeIndex); diff --git a/test/tests/collision/TestPointInside.h b/test/tests/collision/TestPointInside.h index 9170a2d8e..f5203f2fa 100644 --- a/test/tests/collision/TestPointInside.h +++ b/test/tests/collision/TestPointInside.h @@ -65,7 +65,7 @@ class TestPointInside : public Test { CollisionBody* mCylinderBody; CollisionBody* mCompoundBody; - Vector3 mConvexMeshCubeVertices[8]; + float mConvexMeshCubeVertices[8 * 3]; int mConvexMeshCubeIndices[24]; PolygonVertexArray* mConvexMeshPolygonVertexArray; PolyhedronMesh* mConvexMeshPolyhedronMesh; @@ -101,7 +101,7 @@ class TestPointInside : public Test { // Body transform Vector3 position(-3, 2, 7); - Quaternion orientation = Quaternion::fromEulerAngles(PI / 5, PI / 6, PI / 7); + Quaternion orientation = Quaternion::fromEulerAngles(PI_RP3D / 5, PI_RP3D / 6, PI_RP3D / 7); mBodyTransform = Transform(position, orientation); // Create the bodies @@ -117,7 +117,7 @@ class TestPointInside : public Test { // Collision shape transform Vector3 shapePosition(1, -4, -3); - Quaternion shapeOrientation = Quaternion::fromEulerAngles(3 * PI / 6 , -PI / 8, PI / 3); + Quaternion shapeOrientation = Quaternion::fromEulerAngles(3 * PI_RP3D / 6 , -PI_RP3D / 8, PI_RP3D / 3); mShapeTransform = Transform(shapePosition, shapeOrientation); // Compute the the transform from a local shape point to world-space @@ -133,14 +133,14 @@ class TestPointInside : public Test { mCapsuleShape = mPhysicsCommon.createCapsuleShape(3, 10); mCapsuleCollider = mCapsuleBody->addCollider(mCapsuleShape, mShapeTransform); - mConvexMeshCubeVertices[0] = Vector3(-2, -3, 4); - mConvexMeshCubeVertices[1] = Vector3(2, -3, 4); - mConvexMeshCubeVertices[2] = Vector3(2, -3, -4); - mConvexMeshCubeVertices[3] = Vector3(-2, -3, -4); - mConvexMeshCubeVertices[4] = Vector3(-2, 3, 4); - mConvexMeshCubeVertices[5] = Vector3(2, 3, 4); - mConvexMeshCubeVertices[6] = Vector3(2, 3, -4); - mConvexMeshCubeVertices[7] = Vector3(-2, 3, -4); + mConvexMeshCubeVertices[0] = -2; mConvexMeshCubeVertices[1] = -3; mConvexMeshCubeVertices[2] = 4; + mConvexMeshCubeVertices[3] = 2; mConvexMeshCubeVertices[4] = -3; mConvexMeshCubeVertices[5] = 4; + mConvexMeshCubeVertices[6] = 2; mConvexMeshCubeVertices[7] = -3; mConvexMeshCubeVertices[8] = -4; + mConvexMeshCubeVertices[9] = -2; mConvexMeshCubeVertices[10] = -3; mConvexMeshCubeVertices[11] = -4; + mConvexMeshCubeVertices[12] = -2; mConvexMeshCubeVertices[13] = 3; mConvexMeshCubeVertices[14] = 4; + mConvexMeshCubeVertices[15] = 2; mConvexMeshCubeVertices[16] = 3; mConvexMeshCubeVertices[17] = 4; + mConvexMeshCubeVertices[18] = 2; mConvexMeshCubeVertices[19] = 3; mConvexMeshCubeVertices[20] = -4; + mConvexMeshCubeVertices[21] = -2; mConvexMeshCubeVertices[22] = 3; mConvexMeshCubeVertices[23] = -4; mConvexMeshCubeIndices[0] = 0; mConvexMeshCubeIndices[1] = 3; mConvexMeshCubeIndices[2] = 2; mConvexMeshCubeIndices[3] = 1; mConvexMeshCubeIndices[4] = 4; mConvexMeshCubeIndices[5] = 5; mConvexMeshCubeIndices[6] = 6; mConvexMeshCubeIndices[7] = 7; @@ -156,7 +156,7 @@ class TestPointInside : public Test { face->nbVertices = 4; face++; } - mConvexMeshPolygonVertexArray = new PolygonVertexArray(8, &(mConvexMeshCubeVertices[0]), sizeof(Vector3), + mConvexMeshPolygonVertexArray = new PolygonVertexArray(8, &(mConvexMeshCubeVertices[0]), 3 * sizeof(float), &(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces, PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); @@ -167,7 +167,7 @@ class TestPointInside : public Test { // Compound shape is a capsule and a sphere Vector3 positionShape2(Vector3(4, 2, -3)); - Quaternion orientationShape2 = Quaternion::fromEulerAngles(-3 * PI / 8, 1.5 * PI/ 3, PI / 13); + Quaternion orientationShape2 = Quaternion::fromEulerAngles(-3 * PI_RP3D / 8, 1.5 * PI_RP3D/ 3, PI_RP3D / 13); Transform shapeTransform2(positionShape2, orientationShape2); mLocalShape2ToWorld = mBodyTransform * shapeTransform2; mCompoundBody->addCollider(mCapsuleShape, mShapeTransform); diff --git a/test/tests/collision/TestRaycast.h b/test/tests/collision/TestRaycast.h index 51f6f7de1..b9d680a1e 100644 --- a/test/tests/collision/TestRaycast.h +++ b/test/tests/collision/TestRaycast.h @@ -159,7 +159,7 @@ class TestRaycast : public Test { PolygonVertexArray::PolygonFace mPolygonFaces[6]; PolygonVertexArray* mPolygonVertexArray; PolyhedronMesh* mPolyhedronMesh; - Vector3 mPolyhedronVertices[8]; + float mPolyhedronVertices[8 * 3]; int mPolyhedronIndices[4 * 6]; public : @@ -176,7 +176,7 @@ class TestRaycast : public Test { // Body transform Vector3 position(-3, 2, 7); - Quaternion orientation = Quaternion::fromEulerAngles(PI / 5, PI / 6, PI / 7); + Quaternion orientation = Quaternion::fromEulerAngles(PI_RP3D / 5, PI_RP3D / 6, PI_RP3D / 7); mBodyTransform = Transform(position, orientation); // Create the bodies @@ -191,7 +191,7 @@ class TestRaycast : public Test { // Collision shape transform Vector3 shapePosition(1, -4, -3); - Quaternion shapeOrientation = Quaternion::fromEulerAngles(3 * PI / 6 , -PI / 8, PI / 3); + Quaternion shapeOrientation = Quaternion::fromEulerAngles(3 * PI_RP3D / 6 , -PI_RP3D / 8, PI_RP3D / 3); mShapeTransform = Transform(shapePosition, shapeOrientation); // Compute the the transform from a local shape point to world-space @@ -207,14 +207,14 @@ class TestRaycast : public Test { mCapsuleShape = mPhysicsCommon.createCapsuleShape(2, 5); mCapsuleCollider = mCapsuleBody->addCollider(mCapsuleShape, mShapeTransform); - mPolyhedronVertices[0] = Vector3(-2, -3, 4); - mPolyhedronVertices[1] = Vector3(2, -3, 4); - mPolyhedronVertices[2] = Vector3(2, -3, -4); - mPolyhedronVertices[3] = Vector3(-2, -3, -4); - mPolyhedronVertices[4] = Vector3(-2, 3, 4); - mPolyhedronVertices[5] = Vector3(2, 3, 4); - mPolyhedronVertices[6] = Vector3(2, 3, -4); - mPolyhedronVertices[7] = Vector3(-2, 3, -4); + mPolyhedronVertices[0] = -2; mPolyhedronVertices[1] = -3; mPolyhedronVertices[2] = 4; + mPolyhedronVertices[3] = 2; mPolyhedronVertices[4] = -3; mPolyhedronVertices[5] = 4; + mPolyhedronVertices[6] = 2; mPolyhedronVertices[7] = -3; mPolyhedronVertices[8] = -4; + mPolyhedronVertices[9] = -2; mPolyhedronVertices[10] = -3; mPolyhedronVertices[11] = -4; + mPolyhedronVertices[12] = -2; mPolyhedronVertices[13] = 3; mPolyhedronVertices[14] = 4; + mPolyhedronVertices[15] = 2; mPolyhedronVertices[16] = 3; mPolyhedronVertices[17] = 4; + mPolyhedronVertices[18] = 2; mPolyhedronVertices[19] = 3; mPolyhedronVertices[20] = -4; + mPolyhedronVertices[21] = -2; mPolyhedronVertices[22] = 3; mPolyhedronVertices[23] = -4; mPolyhedronIndices[0] = 0; mPolyhedronIndices[1] = 3; mPolyhedronIndices[2] = 2; mPolyhedronIndices[3] = 1; mPolyhedronIndices[4] = 4; mPolyhedronIndices[5] = 5; mPolyhedronIndices[6] = 6; mPolyhedronIndices[7] = 7; @@ -232,7 +232,7 @@ class TestRaycast : public Test { } // Create the polygon vertex array - mPolygonVertexArray = new PolygonVertexArray(8, mPolyhedronVertices, sizeof(Vector3), + mPolygonVertexArray = new PolygonVertexArray(8, mPolyhedronVertices, 3 * sizeof(float), mPolyhedronIndices, sizeof(int), 6, mPolygonFaces, PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); @@ -243,7 +243,7 @@ class TestRaycast : public Test { // Compound shape is a cylinder and a sphere Vector3 positionShape2(Vector3(4, 2, -3)); - Quaternion orientationShape2 = Quaternion::fromEulerAngles(-3 *PI / 8, 1.5 * PI/ 3, PI / 13); + Quaternion orientationShape2 = Quaternion::fromEulerAngles(-3 * PI_RP3D / 8, 1.5 * PI_RP3D/ 3, PI_RP3D / 13); Transform shapeTransform2(positionShape2, orientationShape2); mLocalShape2ToWorld = mBodyTransform * shapeTransform2; mCompoundCapsuleCollider = mCompoundBody->addCollider(mCapsuleShape, mShapeTransform); diff --git a/test/tests/collision/TestTriangleVertexArray.h b/test/tests/collision/TestTriangleVertexArray.h index 49161d23e..376af1af0 100644 --- a/test/tests/collision/TestTriangleVertexArray.h +++ b/test/tests/collision/TestTriangleVertexArray.h @@ -46,7 +46,7 @@ class TestTriangleVertexArray : public Test { float mVertices1[4*3]; double mVertices2[4*3]; float mNormals2[4*3]; - uint mIndices1[6]; + uint32 mIndices1[6]; short mIndices2[6]; TriangleVertexArray* mTriangleVertexArray1; TriangleVertexArray* mTriangleVertexArray2; @@ -114,7 +114,7 @@ class TestTriangleVertexArray : public Test { // Create triangle vertex array with automatic normals computation mTriangleVertexArray1 = new TriangleVertexArray(4, static_cast(mVertices1), 3 * sizeof(float), - 2, static_cast(mIndices1), 3 * sizeof(uint), + 2, static_cast(mIndices1), 3 * sizeof(uint32), TriangleVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE); @@ -151,14 +151,14 @@ class TestTriangleVertexArray : public Test { // Get triangle indices - uint triangle0Indices[3]; + uint32 triangle0Indices[3]; mTriangleVertexArray1->getTriangleVerticesIndices(0, triangle0Indices); rp3d_test(triangle0Indices[0] == mIndices1[0]); rp3d_test(triangle0Indices[1] == mIndices1[1]); rp3d_test(triangle0Indices[2] == mIndices1[2]); - uint triangle1Indices[3]; + uint32 triangle1Indices[3]; mTriangleVertexArray1->getTriangleVerticesIndices(1, triangle1Indices); rp3d_test(triangle1Indices[0] == mIndices1[3]); diff --git a/test/tests/containers/TestArray.h b/test/tests/containers/TestArray.h new file mode 100644 index 000000000..053b3372b --- /dev/null +++ b/test/tests/containers/TestArray.h @@ -0,0 +1,449 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef TEST_ARRAY_H +#define TEST_ARRAY_H + +// Libraries +#include "Test.h" +#include +#include + +/// Reactphysics3D namespace +namespace reactphysics3d { + +// Class TestArray +/** + * Unit test for the Array class + */ +class TestArray : public Test { + + private : + + // ---------- Atributes ---------- // + + DefaultAllocator mAllocator; + + public : + + // ---------- Methods ---------- // + + /// Constructor + TestArray(const std::string& name) : Test(name) { + + } + + /// Run the tests + void run() { + + testConstructors(); + testAddRemoveClear(); + testAssignment(); + testIndexing(); + testFind(); + testEquality(); + testReserve(); + testIterators(); + } + + void testConstructors() { + + // ----- Constructors ----- // + + Array array1(mAllocator); + rp3d_test(array1.capacity() == 0); + rp3d_test(array1.size() == 0); + + Array array2(mAllocator, 100); + rp3d_test(array2.capacity() == 100); + rp3d_test(array2.size() == 0); + + Array array3(mAllocator); + array3.add(1); + array3.add(2); + array3.add(3); + rp3d_test(array3.capacity() == 4); + rp3d_test(array3.size() == 3); + + // ----- Copy Constructors ----- // + + Array array4(array1); + rp3d_test(array4.capacity() == 0); + rp3d_test(array4.size() == 0); + + Array array5(array3); + rp3d_test(array5.capacity() == array3.capacity()); + rp3d_test(array5.size() == array3.size()); + for (uint32 i=0; i arra6(mAllocator, 20); + rp3d_test(arra6.capacity() == 20); + for (uint32 i=0; i<20; i++) { + arra6.add("test"); + } + rp3d_test(arra6.capacity() == 20); + arra6.add("test"); + rp3d_test(arra6.capacity() == 40); + } + + void testAddRemoveClear() { + + // ----- Test add() ----- // + + Array array1(mAllocator); + array1.add(4); + rp3d_test(array1.size() == 1); + rp3d_test(array1[0] == 4); + array1.add(9); + rp3d_test(array1.size() == 2); + rp3d_test(array1[0] == 4); + rp3d_test(array1[1] == 9); + + const int arraySize = 15; + int arrayTest[arraySize] = {3, 145, -182, 34, 12, 95, -1834, 4143, -111, -111, 4343, 234, 22983, -3432, 753}; + Array array2(mAllocator); + for (uint32 i=0; i array3(mAllocator); + array3.add(1); + array3.add(2); + array3.add(3); + array3.add(4); + + auto it = array3.removeAt(3); + rp3d_test(array3.size() == 3); + rp3d_test(array3.capacity() == 4); + rp3d_test(it == array3.end()); + rp3d_test(array3[0] == 1); + rp3d_test(array3[1] == 2); + rp3d_test(array3[2] == 3); + + it = array3.removeAt(1); + rp3d_test(array3.size() == 2); + rp3d_test(array3.capacity() == 4); + rp3d_test(array3[0] == 1); + rp3d_test(array3[1] == 3); + rp3d_test(*it == 3); + + array3.removeAt(0); + rp3d_test(array3.size() == 1); + rp3d_test(array3.capacity() == 4); + rp3d_test(array3[0] == 3); + + it = array3.removeAt(0); + rp3d_test(array3.size() == 0); + rp3d_test(array3.capacity() == 4); + rp3d_test(it == array3.end()); + + array3.add(1); + array3.add(2); + array3.add(3); + it = array3.begin(); + array3.remove(it); + rp3d_test(array3.size() == 2); + rp3d_test(array3[0] == 2); + rp3d_test(array3[1] == 3); + it = array3.find(3); + array3.remove(it); + rp3d_test(array3.size() == 1); + rp3d_test(array3[0] == 2); + + array3.add(5); + array3.add(6); + array3.add(7); + it = array3.remove(7); + rp3d_test(it == array3.end()); + rp3d_test(array3.size() == 3); + it = array3.remove(5); + rp3d_test((*it) == 6); + + // ----- Test addRange() ----- // + + Array array4(mAllocator); + array4.add(1); + array4.add(2); + array4.add(3); + + Array array5(mAllocator); + array5.add(4); + array5.add(5); + + Array array6(mAllocator); + array6.addRange(array5); + rp3d_test(array6.size() == array5.size()); + rp3d_test(array6[0] == 4); + rp3d_test(array6[1] == 5); + + array4.addRange(array5); + rp3d_test(array4.size() == 3 + array5.size()); + rp3d_test(array4[0] == 1); + rp3d_test(array4[1] == 2); + rp3d_test(array4[2] == 3); + rp3d_test(array4[3] == 4); + rp3d_test(array4[4] == 5); + + // ----- Test clear() ----- // + + Array array7(mAllocator); + array7.add("test1"); + array7.add("test2"); + array7.add("test3"); + array7.clear(); + rp3d_test(array7.size() == 0); + array7.add("new"); + rp3d_test(array7.size() == 1); + rp3d_test(array7[0] == "new"); + + // ----- Test removeAtAndReplaceByLast() ----- // + + Array array8(mAllocator); + array8.add(1); + array8.add(2); + array8.add(3); + array8.add(4); + array8.removeAtAndReplaceByLast(1); + rp3d_test(array8.size() == 3); + rp3d_test(array8[0] == 1); + rp3d_test(array8[1] == 4); + rp3d_test(array8[2] == 3); + array8.removeAtAndReplaceByLast(2); + rp3d_test(array8.size() == 2); + rp3d_test(array8[0] == 1); + rp3d_test(array8[1] == 4); + array8.removeAtAndReplaceByLast(0); + rp3d_test(array8.size() == 1); + rp3d_test(array8[0] == 4); + array8.removeAtAndReplaceByLast(0); + rp3d_test(array8.size() == 0); + } + + void testAssignment() { + + Array array1(mAllocator); + array1.add(1); + array1.add(2); + array1.add(3); + + Array array2(mAllocator); + array2.add(5); + array2.add(6); + + Array array3(mAllocator); + Array array4(mAllocator); + array4.add(1); + array4.add(2); + + Array array5(mAllocator); + array5.add(1); + array5.add(2); + array5.add(3); + + array3 = array2; + rp3d_test(array2.size() == array3.size()); + rp3d_test(array2[0] == array3[0]); + rp3d_test(array2[1] == array3[1]); + + array4 = array1; + rp3d_test(array4.size() == array1.size()) + rp3d_test(array4[0] == array1[0]); + rp3d_test(array4[1] == array1[1]); + rp3d_test(array4[2] == array1[2]); + + array5 = array2; + rp3d_test(array5.size() == array2.size()); + rp3d_test(array5[0] == array2[0]); + rp3d_test(array5[1] == array2[1]); + } + + void testIndexing() { + + Array array1(mAllocator); + array1.add(1); + array1.add(2); + array1.add(3); + + rp3d_test(array1[0] == 1); + rp3d_test(array1[1] == 2); + rp3d_test(array1[2] == 3); + + array1[0] = 6; + array1[1] = 7; + array1[2] = 8; + + rp3d_test(array1[0] == 6); + rp3d_test(array1[1] == 7); + rp3d_test(array1[2] == 8); + + const int a = array1[0]; + const int b = array1[1]; + rp3d_test(a == 6); + rp3d_test(b == 7); + + array1[0]++; + array1[1]++; + rp3d_test(array1[0] == 7); + rp3d_test(array1[1] == 8); + } + + void testFind() { + + Array array1(mAllocator); + array1.add(1); + array1.add(2); + array1.add(3); + array1.add(4); + array1.add(5); + + rp3d_test(array1.find(1) == array1.begin()); + rp3d_test(*(array1.find(2)) == 2); + rp3d_test(*(array1.find(5)) == 5); + } + + void testEquality() { + + Array array1(mAllocator); + array1.add(1); + array1.add(2); + array1.add(3); + + Array array2(mAllocator); + array2.add(1); + array2.add(2); + + Array array3(mAllocator); + array3.add(1); + array3.add(2); + array3.add(3); + + Array array4(mAllocator); + array4.add(1); + array4.add(5); + array4.add(3); + + rp3d_test(array1 == array1); + rp3d_test(array1 != array2); + rp3d_test(array1 == array3); + rp3d_test(array1 != array4); + rp3d_test(array2 != array4); + } + + void testReserve() { + + Array array1(mAllocator); + array1.reserve(10); + rp3d_test(array1.size() == 0); + rp3d_test(array1.capacity() == 10); + array1.add(1); + array1.add(2); + rp3d_test(array1.capacity() == 10); + rp3d_test(array1.size() == 2); + rp3d_test(array1[0] == 1); + rp3d_test(array1[1] == 2); + + array1.reserve(1); + rp3d_test(array1.capacity() == 10); + + array1.reserve(100); + rp3d_test(array1.capacity() == 100); + rp3d_test(array1[0] == 1); + rp3d_test(array1[1] == 2); + } + + void testIterators() { + + Array array1(mAllocator); + + rp3d_test(array1.begin() == array1.end()); + + array1.add(5); + array1.add(6); + array1.add(8); + array1.add(-1); + + Array::Iterator itBegin = array1.begin(); + Array::Iterator itEnd = array1.end(); + Array::Iterator it = array1.begin(); + + rp3d_test(itBegin < itEnd); + rp3d_test(itBegin <= itEnd); + rp3d_test(itEnd > itBegin); + rp3d_test(itEnd >= itBegin); + + rp3d_test(itBegin == it); + rp3d_test(*it == 5); + rp3d_test(*(it++) == 5); + rp3d_test(*it == 6); + rp3d_test(*(it--) == 6); + rp3d_test(*it == 5); + rp3d_test(*(++it) == 6); + rp3d_test(*it == 6); + rp3d_test(*(--it) == 5); + rp3d_test(*it == 5); + rp3d_test(it == itBegin); + + it = array1.end(); + rp3d_test(it == itEnd); + it--; + rp3d_test(*it == -1); + it++; + rp3d_test(it == itEnd); + + Array array2(mAllocator); + for (auto it = array1.begin(); it != array1.end(); ++it) { + array2.add(*it); + } + + rp3d_test(array1 == array2); + + it = itBegin; + rp3d_test(*(it + 2) == 8); + it += 2; + rp3d_test(*it == 8); + rp3d_test(*(it - 2) == 5); + it -= 2; + rp3d_test(*it == 5); + rp3d_test((itEnd - itBegin) == 4); + + it = itBegin; + *it = 19; + rp3d_test(*it == 19); + } + + }; + +} + +#endif diff --git a/test/tests/containers/TestDeque.h b/test/tests/containers/TestDeque.h index 545771ec2..3c4ad07e4 100644 --- a/test/tests/containers/TestDeque.h +++ b/test/tests/containers/TestDeque.h @@ -87,7 +87,7 @@ class TestDeque : public Test { rp3d_test(deque4.size() == deque2.size()); Deque::Iterator it3 = deque2.begin(); Deque::Iterator it5 = deque4.begin(); - for (uint i=0; i deque5(mAllocator); - for (uint i=0; i<300; i++) { + for (uint32 i=0; i<300; i++) { deque5.addBack("test"); } diff --git a/test/tests/containers/TestList.h b/test/tests/containers/TestList.h deleted file mode 100644 index 5190e3418..000000000 --- a/test/tests/containers/TestList.h +++ /dev/null @@ -1,427 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2016 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef TEST_LIST_H -#define TEST_LIST_H - -// Libraries -#include "Test.h" -#include -#include - -/// Reactphysics3D namespace -namespace reactphysics3d { - -// Class TestList -/** - * Unit test for the List class - */ -class TestList : public Test { - - private : - - // ---------- Atributes ---------- // - - DefaultAllocator mAllocator; - - public : - - // ---------- Methods ---------- // - - /// Constructor - TestList(const std::string& name) : Test(name) { - - } - - /// Run the tests - void run() { - - testConstructors(); - testAddRemoveClear(); - testAssignment(); - testIndexing(); - testFind(); - testEquality(); - testReserve(); - testIterators(); - } - - void testConstructors() { - - // ----- Constructors ----- // - - List list1(mAllocator); - rp3d_test(list1.capacity() == 0); - rp3d_test(list1.size() == 0); - - List list2(mAllocator, 100); - rp3d_test(list2.capacity() == 100); - rp3d_test(list2.size() == 0); - - List list3(mAllocator); - list3.add(1); - list3.add(2); - list3.add(3); - rp3d_test(list3.capacity() == 4); - rp3d_test(list3.size() == 3); - - // ----- Copy Constructors ----- // - - List list4(list1); - rp3d_test(list4.capacity() == 0); - rp3d_test(list4.size() == 0); - - List list5(list3); - rp3d_test(list5.capacity() == list3.size()); - rp3d_test(list5.size() == list3.size()); - for (uint i=0; i list6(mAllocator, 20); - rp3d_test(list6.capacity() == 20); - for (uint i=0; i<20; i++) { - list6.add("test"); - } - rp3d_test(list6.capacity() == 20); - list6.add("test"); - rp3d_test(list6.capacity() == 40); - } - - void testAddRemoveClear() { - - // ----- Test add() ----- // - - List list1(mAllocator); - list1.add(4); - rp3d_test(list1.size() == 1); - rp3d_test(list1[0] == 4); - list1.add(9); - rp3d_test(list1.size() == 2); - rp3d_test(list1[0] == 4); - rp3d_test(list1[1] == 9); - - const int arraySize = 15; - int arrayTest[arraySize] = {3, 145, -182, 34, 12, 95, -1834, 4143, -111, -111, 4343, 234, 22983, -3432, 753}; - List list2(mAllocator); - for (uint i=0; i list3(mAllocator); - list3.add(1); - list3.add(2); - list3.add(3); - list3.add(4); - - auto it = list3.removeAt(3); - rp3d_test(list3.size() == 3); - rp3d_test(list3.capacity() == 4); - rp3d_test(it == list3.end()); - rp3d_test(list3[0] == 1); - rp3d_test(list3[1] == 2); - rp3d_test(list3[2] == 3); - - it = list3.removeAt(1); - rp3d_test(list3.size() == 2); - rp3d_test(list3.capacity() == 4); - rp3d_test(list3[0] == 1); - rp3d_test(list3[1] == 3); - rp3d_test(*it == 3); - - list3.removeAt(0); - rp3d_test(list3.size() == 1); - rp3d_test(list3.capacity() == 4); - rp3d_test(list3[0] == 3); - - it = list3.removeAt(0); - rp3d_test(list3.size() == 0); - rp3d_test(list3.capacity() == 4); - rp3d_test(it == list3.end()); - - list3.add(1); - list3.add(2); - list3.add(3); - it = list3.begin(); - list3.remove(it); - rp3d_test(list3.size() == 2); - rp3d_test(list3[0] == 2); - rp3d_test(list3[1] == 3); - it = list3.find(3); - list3.remove(it); - rp3d_test(list3.size() == 1); - rp3d_test(list3[0] == 2); - - list3.add(5); - list3.add(6); - list3.add(7); - it = list3.remove(7); - rp3d_test(it == list3.end()); - rp3d_test(list3.size() == 3); - it = list3.remove(5); - rp3d_test((*it) == 6); - - // ----- Test addRange() ----- // - - List list4(mAllocator); - list4.add(1); - list4.add(2); - list4.add(3); - - List list5(mAllocator); - list5.add(4); - list5.add(5); - - List list6(mAllocator); - list6.addRange(list5); - rp3d_test(list6.size() == list5.size()); - rp3d_test(list6[0] == 4); - rp3d_test(list6[1] == 5); - - list4.addRange(list5); - rp3d_test(list4.size() == 3 + list5.size()); - rp3d_test(list4[0] == 1); - rp3d_test(list4[1] == 2); - rp3d_test(list4[2] == 3); - rp3d_test(list4[3] == 4); - rp3d_test(list4[4] == 5); - - // ----- Test clear() ----- // - - List list7(mAllocator); - list7.add("test1"); - list7.add("test2"); - list7.add("test3"); - list7.clear(); - rp3d_test(list7.size() == 0); - list7.add("new"); - rp3d_test(list7.size() == 1); - rp3d_test(list7[0] == "new"); - } - - void testAssignment() { - - List list1(mAllocator); - list1.add(1); - list1.add(2); - list1.add(3); - - List list2(mAllocator); - list2.add(5); - list2.add(6); - - List list3(mAllocator); - List list4(mAllocator); - list4.add(1); - list4.add(2); - - List list5(mAllocator); - list5.add(1); - list5.add(2); - list5.add(3); - - list3 = list2; - rp3d_test(list2.size() == list3.size()); - rp3d_test(list2[0] == list3[0]); - rp3d_test(list2[1] == list3[1]); - - list4 = list1; - rp3d_test(list4.size() == list1.size()) - rp3d_test(list4[0] == list1[0]); - rp3d_test(list4[1] == list1[1]); - rp3d_test(list4[2] == list1[2]); - - list5 = list2; - rp3d_test(list5.size() == list2.size()); - rp3d_test(list5[0] == list2[0]); - rp3d_test(list5[1] == list2[1]); - } - - void testIndexing() { - - List list1(mAllocator); - list1.add(1); - list1.add(2); - list1.add(3); - - rp3d_test(list1[0] == 1); - rp3d_test(list1[1] == 2); - rp3d_test(list1[2] == 3); - - list1[0] = 6; - list1[1] = 7; - list1[2] = 8; - - rp3d_test(list1[0] == 6); - rp3d_test(list1[1] == 7); - rp3d_test(list1[2] == 8); - - const int a = list1[0]; - const int b = list1[1]; - rp3d_test(a == 6); - rp3d_test(b == 7); - - list1[0]++; - list1[1]++; - rp3d_test(list1[0] == 7); - rp3d_test(list1[1] == 8); - } - - void testFind() { - - List list1(mAllocator); - list1.add(1); - list1.add(2); - list1.add(3); - list1.add(4); - list1.add(5); - - rp3d_test(list1.find(1) == list1.begin()); - rp3d_test(*(list1.find(2)) == 2); - rp3d_test(*(list1.find(5)) == 5); - } - - void testEquality() { - - List list1(mAllocator); - list1.add(1); - list1.add(2); - list1.add(3); - - List list2(mAllocator); - list2.add(1); - list2.add(2); - - List list3(mAllocator); - list3.add(1); - list3.add(2); - list3.add(3); - - List list4(mAllocator); - list4.add(1); - list4.add(5); - list4.add(3); - - rp3d_test(list1 == list1); - rp3d_test(list1 != list2); - rp3d_test(list1 == list3); - rp3d_test(list1 != list4); - rp3d_test(list2 != list4); - } - - void testReserve() { - - List list1(mAllocator); - list1.reserve(10); - rp3d_test(list1.size() == 0); - rp3d_test(list1.capacity() == 10); - list1.add(1); - list1.add(2); - rp3d_test(list1.capacity() == 10); - rp3d_test(list1.size() == 2); - rp3d_test(list1[0] == 1); - rp3d_test(list1[1] == 2); - - list1.reserve(1); - rp3d_test(list1.capacity() == 10); - - list1.reserve(100); - rp3d_test(list1.capacity() == 100); - rp3d_test(list1[0] == 1); - rp3d_test(list1[1] == 2); - } - - void testIterators() { - - List list1(mAllocator); - - rp3d_test(list1.begin() == list1.end()); - - list1.add(5); - list1.add(6); - list1.add(8); - list1.add(-1); - - List::Iterator itBegin = list1.begin(); - List::Iterator itEnd = list1.end(); - List::Iterator it = list1.begin(); - - rp3d_test(itBegin < itEnd); - rp3d_test(itBegin <= itEnd); - rp3d_test(itEnd > itBegin); - rp3d_test(itEnd >= itBegin); - - rp3d_test(itBegin == it); - rp3d_test(*it == 5); - rp3d_test(*(it++) == 5); - rp3d_test(*it == 6); - rp3d_test(*(it--) == 6); - rp3d_test(*it == 5); - rp3d_test(*(++it) == 6); - rp3d_test(*it == 6); - rp3d_test(*(--it) == 5); - rp3d_test(*it == 5); - rp3d_test(it == itBegin); - - it = list1.end(); - rp3d_test(it == itEnd); - it--; - rp3d_test(*it == -1); - it++; - rp3d_test(it == itEnd); - - List list2(mAllocator); - for (auto it = list1.begin(); it != list1.end(); ++it) { - list2.add(*it); - } - - rp3d_test(list1 == list2); - - it = itBegin; - rp3d_test(*(it + 2) == 8); - it += 2; - rp3d_test(*it == 8); - rp3d_test(*(it - 2) == 5); - it -= 2; - rp3d_test(*it == 5); - rp3d_test((itEnd - itBegin) == 4); - - it = itBegin; - *it = 19; - rp3d_test(*it == 19); - } - - }; - -} - -#endif diff --git a/test/tests/containers/TestMap.h b/test/tests/containers/TestMap.h index 9ede266a2..0a4035458 100644 --- a/test/tests/containers/TestMap.h +++ b/test/tests/containers/TestMap.h @@ -49,7 +49,7 @@ namespace std { template <> struct hash { - size_t operator()(const reactphysics3d::TestKey& key) const { + size_t operator()(const reactphysics3d::TestKey& /*key*/) const { return 1; } }; @@ -221,10 +221,12 @@ class TestMap : public Test { map3.add(Pair(3, 30)); rp3d_test(map3.size() == 3); it = map3.begin(); - map3.remove(it++); - rp3d_test(!map3.containsKey(1)); + it = map3.remove(it); rp3d_test(map3.size() == 2); - rp3d_test(it->second == 20); + it = map3.remove(it); + rp3d_test(map3.size() == 1); + it = map3.remove(it); + rp3d_test(map3.size() == 0); map3.add(Pair(56, 32)); map3.add(Pair(23, 89)); @@ -419,7 +421,7 @@ class TestMap : public Test { rp3d_test(itBegin == it); - int size = 0; + size_t size = 0; for (auto it = map1.begin(); it != map1.end(); ++it) { rp3d_test(map1.containsKey(it->first)); size++; diff --git a/test/tests/containers/TestSet.h b/test/tests/containers/TestSet.h index 0d1f40910..9df7864b3 100644 --- a/test/tests/containers/TestSet.h +++ b/test/tests/containers/TestSet.h @@ -49,7 +49,7 @@ namespace std { template <> struct hash { - size_t operator()(const reactphysics3d::TestValueSet& value) const { + size_t operator()(const reactphysics3d::TestValueSet& /*value*/) const { return 1; } }; @@ -231,10 +231,12 @@ class TestSet : public Test { set3.add(3); rp3d_test(set3.size() == 3); auto it = set3.begin(); - set3.remove(it++); - rp3d_test(!set3.contains(1)); + it = set3.remove(it); rp3d_test(set3.size() == 2); - rp3d_test(*it == 2); + it = set3.remove(it); + rp3d_test(set3.size() == 1); + it = set3.remove(it); + rp3d_test(set3.size() == 0); set3.add(6); set3.add(7); @@ -413,7 +415,7 @@ class TestSet : public Test { rp3d_test(itBegin == it); - int size = 0; + size_t size = 0; for (auto it = set1.begin(); it != set1.end(); ++it) { rp3d_test(set1.contains(*it)); size++; @@ -432,18 +434,18 @@ class TestSet : public Test { set1.add(3); set1.add(4); - List list1 = set1.toList(mAllocator); - rp3d_test(list1.size() == 4); - rp3d_test(list1.find(1) != list1.end()); - rp3d_test(list1.find(2) != list1.end()); - rp3d_test(list1.find(3) != list1.end()); - rp3d_test(list1.find(4) != list1.end()); - rp3d_test(list1.find(5) == list1.end()); - rp3d_test(list1.find(6) == list1.end()); + Array array1 = set1.toArray(mAllocator); + rp3d_test(array1.size() == 4); + rp3d_test(array1.find(1) != array1.end()); + rp3d_test(array1.find(2) != array1.end()); + rp3d_test(array1.find(3) != array1.end()); + rp3d_test(array1.find(4) != array1.end()); + rp3d_test(array1.find(5) == array1.end()); + rp3d_test(array1.find(6) == array1.end()); Set set2(mAllocator); - List list2 = set2.toList(mAllocator); - rp3d_test(list2.size() == 0); + Array array2 = set2.toArray(mAllocator); + rp3d_test(array2.size() == 0); } }; diff --git a/test/tests/engine/TestRigidBody.h b/test/tests/engine/TestRigidBody.h new file mode 100644 index 000000000..70bb00e88 --- /dev/null +++ b/test/tests/engine/TestRigidBody.h @@ -0,0 +1,318 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef TEST_RIGIDBODY_H +#define TEST_RIGIDBODY_H + +// Libraries +#include + +/// Reactphysics3D namespace +namespace reactphysics3d { + +// Class TestRigidBody +/** + * Unit test for the RigidBody class. + */ +class TestRigidBody : public Test { + + private : + + // ---------- Atributes ---------- // + + PhysicsCommon mPhysicsCommon; + PhysicsWorld* mWorld; + + RigidBody* mRigidBody1; + RigidBody* mRigidBody2Box; + RigidBody* mRigidBody2Sphere; + RigidBody* mRigidBody2Convex; + RigidBody* mRigidBody3; + + Collider* mBoxCollider; + Collider* mSphereCollider; + Collider* mConvexMeshCollider; + + PolygonVertexArray* mConvexMeshPolygonVertexArray; + PolyhedronMesh* mConvexMeshPolyhedronMesh; + PolygonVertexArray::PolygonFace* mConvexMeshPolygonFaces; + float mConvexMeshCubeVertices[8 * 3]; + int mConvexMeshCubeIndices[24]; + + public : + + // ---------- Methods ---------- // + + /// Constructor + TestRigidBody(const std::string& name) : Test(name) { + + mWorld = mPhysicsCommon.createPhysicsWorld(); + + const Transform transform1(Vector3(1, 2, 3), Quaternion::identity()); + mRigidBody1 = mWorld->createRigidBody(transform1); + + // Box + + const Transform transform2(Vector3(0, 0, 0), Quaternion::identity()); + mRigidBody2Box = mWorld->createRigidBody(transform2); + BoxShape* boxShape = mPhysicsCommon.createBoxShape(Vector3(2, 2, 2)); + mBoxCollider = mRigidBody2Box->addCollider(boxShape, Transform::identity()); + + // Sphere + + mRigidBody2Sphere = mWorld->createRigidBody(transform2); + SphereShape* sphereShape = mPhysicsCommon.createSphereShape(4); + mSphereCollider = mRigidBody2Sphere->addCollider(sphereShape, Transform::identity()); + + // Convex Meshes (in the shape of a box) + + mConvexMeshCubeVertices[0] = -3; mConvexMeshCubeVertices[1] = -3; mConvexMeshCubeVertices[2] = 3; + mConvexMeshCubeVertices[3] = 3; mConvexMeshCubeVertices[4] = -3; mConvexMeshCubeVertices[5] = 3; + mConvexMeshCubeVertices[6] = 3; mConvexMeshCubeVertices[7] = -3; mConvexMeshCubeVertices[8] = -3; + mConvexMeshCubeVertices[9] = -3; mConvexMeshCubeVertices[10] = -3; mConvexMeshCubeVertices[11] = -3; + mConvexMeshCubeVertices[12] = -3; mConvexMeshCubeVertices[13] = 3; mConvexMeshCubeVertices[14] = 3; + mConvexMeshCubeVertices[15] = 3; mConvexMeshCubeVertices[16] = 3; mConvexMeshCubeVertices[17] = 3; + mConvexMeshCubeVertices[18] = 3; mConvexMeshCubeVertices[19] = 3; mConvexMeshCubeVertices[20] = -3; + mConvexMeshCubeVertices[21] = -3; mConvexMeshCubeVertices[22] = 3; mConvexMeshCubeVertices[23] = -3; + + mConvexMeshCubeIndices[0] = 0; mConvexMeshCubeIndices[1] = 3; mConvexMeshCubeIndices[2] = 2; mConvexMeshCubeIndices[3] = 1; + mConvexMeshCubeIndices[4] = 4; mConvexMeshCubeIndices[5] = 5; mConvexMeshCubeIndices[6] = 6; mConvexMeshCubeIndices[7] = 7; + mConvexMeshCubeIndices[8] = 0; mConvexMeshCubeIndices[9] = 1; mConvexMeshCubeIndices[10] = 5; mConvexMeshCubeIndices[11] = 4; + mConvexMeshCubeIndices[12] = 1; mConvexMeshCubeIndices[13] = 2; mConvexMeshCubeIndices[14] = 6; mConvexMeshCubeIndices[15] = 5; + mConvexMeshCubeIndices[16] = 2; mConvexMeshCubeIndices[17] = 3; mConvexMeshCubeIndices[18] = 7; mConvexMeshCubeIndices[19] = 6; + mConvexMeshCubeIndices[20] = 0; mConvexMeshCubeIndices[21] = 4; mConvexMeshCubeIndices[22] = 7; mConvexMeshCubeIndices[23] = 3; + + mConvexMeshPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[6]; + rp3d::PolygonVertexArray::PolygonFace* face = mConvexMeshPolygonFaces; + for (int f = 0; f < 6; f++) { + face->indexBase = f * 4; + face->nbVertices = 4; + face++; + } + mConvexMeshPolygonVertexArray = new rp3d::PolygonVertexArray(8, &(mConvexMeshCubeVertices[0]), 3 * sizeof(float), + &(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces, + rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, + rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); + mConvexMeshPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mConvexMeshPolygonVertexArray); + ConvexMeshShape* convexMeshShape = mPhysicsCommon.createConvexMeshShape(mConvexMeshPolyhedronMesh); + Transform transform3(Vector3(10, 0, 0), Quaternion::identity()); + mRigidBody2Convex = mWorld->createRigidBody(transform3); + mConvexMeshCollider = mRigidBody2Convex->addCollider(convexMeshShape, Transform::identity()); + + // Rigidbody 3 + + const decimal angleRad = 20 * PI_RP3D / 180.0; + const Transform transform4(Vector3(1, 2, 3), Quaternion::fromEulerAngles(angleRad, angleRad, angleRad)); + mRigidBody3 = mWorld->createRigidBody(transform4); + BoxShape* boxShape3 = mPhysicsCommon.createBoxShape(Vector3(2, 2, 2)); + mRigidBody3->addCollider(boxShape3, Transform::identity()); + } + + /// Destructor + virtual ~TestRigidBody() { + + mWorld->destroyRigidBody(mRigidBody1); + mWorld->destroyRigidBody(mRigidBody2Box); + mWorld->destroyRigidBody(mRigidBody2Sphere); + + delete[] mConvexMeshPolygonFaces; + delete mConvexMeshPolygonVertexArray; + } + + /// Run the tests + void run() { + testGettersSetters(); + testMassPropertiesMethods(); + testApplyForcesAndTorques(); + } + + void testGettersSetters() { + + mRigidBody1->setMass(34); + rp3d_test(mRigidBody1->getMass() == 34); + + mRigidBody1->setLinearDamping(0.6); + rp3d_test(approxEqual(mRigidBody1->getLinearDamping(), 0.6)); + + mRigidBody1->setAngularDamping(0.6); + rp3d_test(approxEqual(mRigidBody1->getAngularDamping(), 0.6)); + + mRigidBody1->setLinearLockAxisFactor(Vector3(0.2, 0.3, 0.4)); + rp3d_test(approxEqual(mRigidBody1->getLinearLockAxisFactor(), Vector3(0.2, 0.3, 0.4))); + + mRigidBody1->setAngularLockAxisFactor(Vector3(0.2, 0.3, 0.4)); + rp3d_test(approxEqual(mRigidBody1->getAngularLockAxisFactor(), Vector3(0.2, 0.3, 0.4))); + + mRigidBody1->setLinearVelocity(Vector3(2, 3, 4)); + rp3d_test(approxEqual(mRigidBody1->getLinearVelocity(), Vector3(2, 3, 4))); + + mRigidBody1->setAngularVelocity(Vector3(2, 3, 4)); + rp3d_test(approxEqual(mRigidBody1->getAngularVelocity(), Vector3(2, 3, 4))); + + mRigidBody1->setTransform(Transform(Vector3(5, 4, 3), Quaternion::fromEulerAngles(1.7, 1.8, 1.9))); + rp3d_test(approxEqual(mRigidBody1->getTransform().getPosition(), Vector3(5, 4, 3))); + rp3d_test(approxEqual(mRigidBody1->getTransform().getOrientation().x, Quaternion::fromEulerAngles(1.7, 1.8, 1.9).x)); + rp3d_test(approxEqual(mRigidBody1->getTransform().getOrientation().y, Quaternion::fromEulerAngles(1.7, 1.8, 1.9).y)); + rp3d_test(approxEqual(mRigidBody1->getTransform().getOrientation().z, Quaternion::fromEulerAngles(1.7, 1.8, 1.9).z)); + rp3d_test(approxEqual(mRigidBody1->getTransform().getOrientation().w, Quaternion::fromEulerAngles(1.7, 1.8, 1.9).w)); + + mRigidBody1->setLocalCenterOfMass(Vector3(10, 20, 30)); + rp3d_test(approxEqual(mRigidBody1->getLocalCenterOfMass(), Vector3(10, 20, 30))); + + mRigidBody1->setType(BodyType::KINEMATIC); + rp3d_test(mRigidBody1->getType() == BodyType::KINEMATIC); + + mRigidBody1->setLocalInertiaTensor(Vector3(2, 4, 6)); + rp3d_test(approxEqual(mRigidBody1->getLocalInertiaTensor(), Vector3(2, 4, 6))); + } + + void testMassPropertiesMethods() { + + // Box collider + mBoxCollider->getMaterial().setMassDensity(3); + mRigidBody2Box->updateMassFromColliders(); + rp3d_test(approxEqual(mRigidBody2Box->getMass(), 64 * 3)); + + mRigidBody2Box->setLocalCenterOfMass(Vector3(1, 2, 3)); + mRigidBody2Box->setMass(1); + mRigidBody2Box->updateMassPropertiesFromColliders(); + rp3d_test(approxEqual(mRigidBody2Box->getMass(), 64 * 3)); + rp3d_test(approxEqual(mRigidBody2Box->getLocalCenterOfMass(), Vector3::zero())); + + mRigidBody2Box->setLocalCenterOfMass(Vector3(1, 2, 3)); + mRigidBody2Box->updateLocalCenterOfMassFromColliders(); + rp3d_test(approxEqual(mRigidBody2Box->getLocalCenterOfMass(), Vector3::zero())); + + mRigidBody2Box->setLocalInertiaTensor(Vector3(1, 2, 3)); + mRigidBody2Box->updateLocalInertiaTensorFromColliders(); + decimal tensorBox = 1.0 / 6.0 * 64 * 3 * 4 * 4; + rp3d_test(approxEqual(mRigidBody2Box->getLocalInertiaTensor(), Vector3(tensorBox, tensorBox, tensorBox))); + + // Sphere collider + mSphereCollider->getMaterial().setMassDensity(3); + mRigidBody2Sphere->updateMassFromColliders(); + const decimal sphereMass = 4.0 / 3.0 * PI_RP3D * 64 * 3; + rp3d_test(approxEqual(mRigidBody2Sphere->getMass(), sphereMass)); + + mRigidBody2Sphere->setLocalCenterOfMass(Vector3(1, 2, 3)); + mRigidBody2Sphere->setMass(1); + mRigidBody2Sphere->updateMassPropertiesFromColliders(); + rp3d_test(approxEqual(mRigidBody2Sphere->getMass(), sphereMass)); + rp3d_test(approxEqual(mRigidBody2Sphere->getLocalCenterOfMass(), Vector3::zero())); + + mRigidBody2Sphere->setLocalCenterOfMass(Vector3(1, 2, 3)); + mRigidBody2Sphere->updateLocalCenterOfMassFromColliders(); + rp3d_test(approxEqual(mRigidBody2Sphere->getLocalCenterOfMass(), Vector3::zero())); + + mRigidBody2Sphere->setLocalInertiaTensor(Vector3(1, 2, 3)); + mRigidBody2Sphere->updateLocalInertiaTensorFromColliders(); + const decimal tensorSphere = 2.0 / 5.0 * sphereMass * 4 * 4; + rp3d_test(approxEqual(mRigidBody2Sphere->getLocalInertiaTensor(), Vector3(tensorSphere, tensorSphere, tensorSphere))); + + // Convex mesh collider + mConvexMeshCollider->getMaterial().setMassDensity(3); + mRigidBody2Convex->updateMassFromColliders(); + rp3d_test(approxEqual(mRigidBody2Convex->getMass(), 648)); + + mRigidBody2Convex->setLocalCenterOfMass(Vector3(1, 2, 3)); + mRigidBody2Convex->setMass(1); + mConvexMeshCollider->getMaterial().setMassDensity(2); + mRigidBody2Convex->updateMassPropertiesFromColliders(); + rp3d_test(approxEqual(mRigidBody2Convex->getMass(), 432)); + rp3d_test(approxEqual(mRigidBody2Convex->getLocalCenterOfMass(), Vector3::zero())); + + mRigidBody2Convex->setLocalCenterOfMass(Vector3(1, 2, 3)); + mRigidBody2Convex->updateLocalCenterOfMassFromColliders(); + rp3d_test(approxEqual(mRigidBody2Convex->getLocalCenterOfMass(), Vector3::zero())); + + mRigidBody2Convex->setLocalInertiaTensor(Vector3(1, 2, 3)); + mRigidBody2Convex->updateLocalInertiaTensorFromColliders(); + tensorBox = 1.0 / 6.0 * 432 * 6 * 6; + rp3d_test(approxEqual(mRigidBody2Convex->getLocalInertiaTensor(), Vector3(tensorBox, tensorBox, tensorBox))); + } + + void testApplyForcesAndTorques() { + + const Transform& worldTransform = mRigidBody3->getTransform(); + const Quaternion orientation = worldTransform.getOrientation(); + + mRigidBody3->applyLocalForceAtCenterOfMass(Vector3(4, 5, 6)); + rp3d_test(approxEqual(mRigidBody3->getForce(), orientation * Vector3(4, 5, 6))); + rp3d_test(approxEqual(mRigidBody3->getTorque(), orientation * Vector3::zero())); + + mRigidBody3->resetForce(); + mRigidBody3->resetTorque(); + + mRigidBody3->applyWorldForceAtCenterOfMass(Vector3(4, 5, 6)); + rp3d_test(approxEqual(mRigidBody3->getForce(), Vector3(4, 5, 6))); + rp3d_test(approxEqual(mRigidBody3->getTorque(), Vector3::zero())); + mRigidBody3->resetForce(); + mRigidBody3->resetTorque(); + + mRigidBody3->applyLocalForceAtLocalPosition(Vector3(0, 0, 3), Vector3(2, 0, 0)); + rp3d_test(approxEqual(mRigidBody3->getForce(), orientation * Vector3(0, 0, 3))); + + rp3d_test(approxEqual(mRigidBody3->getTorque(), orientation * Vector3(0, -3 * 2, 0), decimal(0.0001))); + mRigidBody3->resetForce(); + mRigidBody3->resetTorque(); + + rp3d_test(approxEqual(mRigidBody3->getForce(), Vector3::zero())); + rp3d_test(approxEqual(mRigidBody3->getTorque(), Vector3::zero())); + + mRigidBody3->applyLocalForceAtWorldPosition(Vector3(0, 0, 3), worldTransform * Vector3(2, 0, 0)); + rp3d_test(approxEqual(mRigidBody3->getForce(), orientation * Vector3(0, 0, 3))); + rp3d_test(approxEqual(mRigidBody3->getTorque(), orientation * Vector3(0, -3 * 2, 0), decimal(0.0001))); + mRigidBody3->resetForce(); + mRigidBody3->resetTorque(); + + mRigidBody3->applyWorldForceAtLocalPosition(orientation * Vector3(0, 0, 3), Vector3(2, 0, 0)); + rp3d_test(approxEqual(mRigidBody3->getForce(), orientation * Vector3(0, 0, 3))); + rp3d_test(approxEqual(mRigidBody3->getTorque(), orientation * Vector3(0, -3 * 2, 0), decimal(0.0001))); + mRigidBody3->resetForce(); + mRigidBody3->resetTorque(); + + mRigidBody3->applyWorldForceAtWorldPosition(orientation * Vector3(0, 0, 3), worldTransform * Vector3(2, 0, 0)); + rp3d_test(approxEqual(mRigidBody3->getForce(), orientation * Vector3(0, 0, 3))); + rp3d_test(approxEqual(mRigidBody3->getTorque(), orientation * Vector3(0, -3 * 2, 0), decimal(0.0001))); + mRigidBody3->resetForce(); + mRigidBody3->resetTorque(); + + mRigidBody3->applyWorldTorque(Vector3(0, 4, 0)); + rp3d_test(approxEqual(mRigidBody3->getForce(), Vector3::zero())); + rp3d_test(approxEqual(mRigidBody3->getTorque(), Vector3(0, 4, 0), decimal(0.0001))); + mRigidBody3->resetForce(); + mRigidBody3->resetTorque(); + + mRigidBody3->applyLocalTorque(Vector3(0, 4, 0)); + rp3d_test(approxEqual(mRigidBody3->getForce(), Vector3::zero())); + rp3d_test(approxEqual(mRigidBody3->getTorque(), orientation * Vector3(0, 4, 0), decimal(0.0001))); + mRigidBody3->resetForce(); + mRigidBody3->resetTorque(); + } + }; + +} + +#endif diff --git a/test/tests/mathematics/TestMathematicsFunctions.h b/test/tests/mathematics/TestMathematicsFunctions.h index 5a8c56239..fa5b738aa 100644 --- a/test/tests/mathematics/TestMathematicsFunctions.h +++ b/test/tests/mathematics/TestMathematicsFunctions.h @@ -27,8 +27,9 @@ #define TEST_MATHEMATICS_FUNCTIONS_H // Libraries -#include +#include #include +#include /// Reactphysics3D namespace namespace reactphysics3d { @@ -186,12 +187,12 @@ class TestMathematicsFunctions : public Test { segmentVertices.push_back(Vector3(-6, 3, 0)); segmentVertices.push_back(Vector3(8, 3, 0)); - List planesNormals(mAllocator, 2); - List planesPoints(mAllocator, 2); + Array planesNormals(mAllocator, 2); + Array planesPoints(mAllocator, 2); planesNormals.add(Vector3(-1, 0, 0)); planesPoints.add(Vector3(4, 0, 0)); - List clipSegmentVertices = clipSegmentWithPlanes(segmentVertices[0], segmentVertices[1], + Array clipSegmentVertices = clipSegmentWithPlanes(segmentVertices[0], segmentVertices[1], planesPoints, planesNormals, mAllocator); rp3d_test(clipSegmentVertices.size() == 2); rp3d_test(approxEqual(clipSegmentVertices[0].x, -6, 0.000001)); @@ -235,14 +236,14 @@ class TestMathematicsFunctions : public Test { rp3d_test(clipSegmentVertices.size() == 0); // Test clipPolygonWithPlanes() - List polygonVertices(mAllocator); + Array polygonVertices(mAllocator); polygonVertices.add(Vector3(-4, 2, 0)); polygonVertices.add(Vector3(7, 2, 0)); polygonVertices.add(Vector3(7, 4, 0)); polygonVertices.add(Vector3(-4, 4, 0)); - List polygonPlanesNormals(mAllocator); - List polygonPlanesPoints(mAllocator); + Array polygonPlanesNormals(mAllocator); + Array polygonPlanesPoints(mAllocator); polygonPlanesNormals.add(Vector3(1, 0, 0)); polygonPlanesPoints.add(Vector3(0, 0, 0)); polygonPlanesNormals.add(Vector3(0, 1, 0)); @@ -252,7 +253,13 @@ class TestMathematicsFunctions : public Test { polygonPlanesNormals.add(Vector3(0, -1, 0)); polygonPlanesPoints.add(Vector3(10, 5, 0)); - List clipPolygonVertices = clipPolygonWithPlanes(polygonVertices, polygonPlanesPoints, polygonPlanesNormals, mAllocator); + Array clipPolygonVertices(mAllocator); + for (size_t i=0; i < polygonPlanesPoints.size(); i++) { + + clipPolygonVertices.clear(); + clipPolygonWithPlane(polygonVertices, polygonPlanesPoints[i], polygonPlanesNormals[i], clipPolygonVertices); + polygonVertices = clipPolygonVertices; + } rp3d_test(clipPolygonVertices.size() == 4); rp3d_test(approxEqual(clipPolygonVertices[0].x, 0, 0.000001)); rp3d_test(approxEqual(clipPolygonVertices[0].y, 2, 0.000001)); @@ -267,6 +274,33 @@ class TestMathematicsFunctions : public Test { rp3d_test(approxEqual(clipPolygonVertices[3].y, 4, 0.000001)); rp3d_test(approxEqual(clipPolygonVertices[3].z, 0, 0.000001)); + // Test isPowerOfTwo() + rp3d_test(!isPowerOfTwo(0)); + rp3d_test(!isPowerOfTwo(3)); + rp3d_test(!isPowerOfTwo(144)); + rp3d_test(!isPowerOfTwo(13)); + rp3d_test(!isPowerOfTwo(18)); + rp3d_test(!isPowerOfTwo(1000)); + + rp3d_test(isPowerOfTwo(1)); + rp3d_test(isPowerOfTwo(2)); + rp3d_test(isPowerOfTwo(4)); + rp3d_test(isPowerOfTwo(8)); + rp3d_test(isPowerOfTwo(256)); + rp3d_test(isPowerOfTwo(1024)); + rp3d_test(isPowerOfTwo(2048)); + + // Test nextPowerOfTwo32Bits() + rp3d_test(nextPowerOfTwo64Bits(0) == 1); + rp3d_test(nextPowerOfTwo64Bits(1) == 1); + rp3d_test(nextPowerOfTwo64Bits(2) == 2); + rp3d_test(nextPowerOfTwo64Bits(3) == 4); + rp3d_test(nextPowerOfTwo64Bits(5) == 8); + rp3d_test(nextPowerOfTwo64Bits(6) == 8); + rp3d_test(nextPowerOfTwo64Bits(7) == 8); + rp3d_test(nextPowerOfTwo64Bits(1000) == 1024); + rp3d_test(nextPowerOfTwo64Bits(129) == 256); + rp3d_test(nextPowerOfTwo64Bits(260) == 512); } }; diff --git a/test/tests/mathematics/TestQuaternion.h b/test/tests/mathematics/TestQuaternion.h index 042aa5771..385773ec1 100644 --- a/test/tests/mathematics/TestQuaternion.h +++ b/test/tests/mathematics/TestQuaternion.h @@ -56,8 +56,8 @@ class TestQuaternion : public Test { /// Constructor TestQuaternion(const std::string& name) : Test(name), mIdentity(Quaternion::identity()) { - decimal sinA = sin(decimal(PI/8.0)); - decimal cosA = cos(decimal(PI/8.0)); + decimal sinA = sin(decimal(PI_RP3D/8.0)); + decimal cosA = cos(decimal(PI_RP3D/8.0)); Vector3 vector(2, 3, 4); vector.normalize(); mQuaternion1 = Quaternion(vector.x * sinA, vector.y * sinA, vector.z * sinA, cosA); @@ -102,12 +102,9 @@ class TestQuaternion : public Test { rp3d_test(approxEqual(original[2][1], converted[2][1], 0.0001)); rp3d_test(approxEqual(original[2][2], converted[2][2], 0.0001)); - std::cout << original.to_string() << std::endl; - std::cout << converted.to_string() << std::endl; - // Test conversion from Euler angles to quaternion - const decimal PI_OVER_2 = PI * decimal(0.5); + const decimal PI_OVER_2 = PI_RP3D * decimal(0.5); const decimal PI_OVER_4 = PI_OVER_2 * decimal(0.5); Quaternion quaternion5 = Quaternion::fromEulerAngles(PI_OVER_2, 0, 0); Quaternion quaternionTest5(std::sin(PI_OVER_4), 0, 0, std::cos(PI_OVER_4)); @@ -204,7 +201,7 @@ class TestQuaternion : public Test { Vector3 originalAxis = Vector3(2, 3, 4).getUnit(); mQuaternion1.getRotationAngleAxis(angle, axis); rp3d_test(approxEqual(axis.x, originalAxis.x)); - rp3d_test(approxEqual(angle, decimal(PI/4.0), decimal(10e-6))); + rp3d_test(approxEqual(angle, decimal(PI_RP3D/4.0), decimal(10e-6))); // Test the method that returns the corresponding matrix Matrix3x3 matrix = mQuaternion1.getMatrix(); @@ -222,14 +219,14 @@ class TestQuaternion : public Test { Quaternion test2 = Quaternion::slerp(quatStart, quatEnd, 1.0); rp3d_test(test1 == quatStart); rp3d_test(test2 == quatEnd); - decimal sinA = sin(decimal(PI/4.0)); - decimal cosA = cos(decimal(PI/4.0)); + decimal sinA = sin(decimal(PI_RP3D/4.0)); + decimal cosA = cos(decimal(PI_RP3D/4.0)); Quaternion quat(sinA, 0, 0, cosA); Quaternion test3 = Quaternion::slerp(mIdentity, quat, decimal(0.5)); - rp3d_test(approxEqual(test3.x, sin(decimal(PI/8.0)))); + rp3d_test(approxEqual(test3.x, sin(decimal(PI_RP3D/8.0)))); rp3d_test(approxEqual(test3.y, 0.0)); rp3d_test(approxEqual(test3.z, 0.0)); - rp3d_test(approxEqual(test3.w, cos(decimal(PI/8.0)), decimal(10e-6))); + rp3d_test(approxEqual(test3.w, cos(decimal(PI_RP3D/8.0)), decimal(10e-6))); } /// Test overloaded operators diff --git a/test/tests/mathematics/TestTransform.h b/test/tests/mathematics/TestTransform.h index cb020df99..0c267cdbc 100644 --- a/test/tests/mathematics/TestTransform.h +++ b/test/tests/mathematics/TestTransform.h @@ -53,6 +53,8 @@ class TestTransform : public Test { /// Second example transform Transform mTransform2; + const float mEpsilon = 0.0001; + public : // ---------- Methods ---------- // @@ -65,12 +67,12 @@ class TestTransform : public Test { Vector3 unitVec(1, 1, 1); unitVec.normalize(); - decimal sinA = std::sin(PI/8.0f); - decimal cosA = std::cos(PI/8.0f); + decimal sinA = std::sin(PI_RP3D/8.0f); + decimal cosA = std::cos(PI_RP3D/8.0f); mTransform1 = Transform(Vector3(4, 5, 6), Quaternion(sinA * unitVec, cosA)); - decimal sinB = std::sin(PI/3.0f); - decimal cosB = std::cos(PI/3.0f); + decimal sinB = std::sin(PI_RP3D/3.0f); + decimal cosB = std::cos(PI_RP3D/3.0f); mTransform2 = Transform(Vector3(8, 45, -6), Quaternion(sinB * unitVec, cosB)); } @@ -137,22 +139,22 @@ class TestTransform : public Test { transform.setFromOpenGL(openglMatrix); decimal openglMatrix2[16]; transform.getOpenGLMatrix(openglMatrix2); - rp3d_test(approxEqual(openglMatrix2[0], orientation[0][0])); - rp3d_test(approxEqual(openglMatrix2[1], orientation[1][0])); - rp3d_test(approxEqual(openglMatrix2[2], orientation[2][0])); - rp3d_test(approxEqual(openglMatrix2[3], 0)); - rp3d_test(approxEqual(openglMatrix2[4], orientation[0][1])); - rp3d_test(approxEqual(openglMatrix2[5], orientation[1][1])); - rp3d_test(approxEqual(openglMatrix2[6], orientation[2][1])); - rp3d_test(approxEqual(openglMatrix2[7], 0)); - rp3d_test(approxEqual(openglMatrix2[8], orientation[0][2])); - rp3d_test(approxEqual(openglMatrix2[9], orientation[1][2])); - rp3d_test(approxEqual(openglMatrix2[10], orientation[2][2])); - rp3d_test(approxEqual(openglMatrix2[11], 0)); - rp3d_test(approxEqual(openglMatrix2[12], position.x)); - rp3d_test(approxEqual(openglMatrix2[13], position.y)); - rp3d_test(approxEqual(openglMatrix2[14], position.z)); - rp3d_test(approxEqual(openglMatrix2[15], 1)); + rp3d_test(approxEqual(openglMatrix2[0], orientation[0][0], mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[1], orientation[1][0], mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[2], orientation[2][0], mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[3], 0, mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[4], orientation[0][1], mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[5], orientation[1][1], mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[6], orientation[2][1], mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[7], 0, mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[8], orientation[0][2], mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[9], orientation[1][2], mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[10], orientation[2][2], mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[11], 0, mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[12], position.x, mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[13], position.y, mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[14], position.z, mEpsilon)); + rp3d_test(approxEqual(openglMatrix2[15], 1, mEpsilon)); } /// Test the method to interpolate transforms @@ -162,10 +164,10 @@ class TestTransform : public Test { rp3d_test(transformStart == mTransform1); rp3d_test(transformEnd == mTransform2); - decimal sinA = sin(PI/3.0f); - decimal cosA = cos(PI/3.0f); - decimal sinB = sin(PI/6.0f); - decimal cosB = cos(PI/6.0f); + decimal sinA = sin(PI_RP3D/3.0f); + decimal cosA = cos(PI_RP3D/3.0f); + decimal sinB = sin(PI_RP3D/6.0f); + decimal cosB = cos(PI_RP3D/6.0f); Transform transform1(Vector3(4, 5, 6), Quaternion::identity()); Transform transform2(Vector3(8, 11, 16), Quaternion(sinA, sinA, sinA, cosA)); Transform transform = Transform::interpolateTransforms(transform1, transform2, 0.5); diff --git a/testbed/CMakeLists.txt b/testbed/CMakeLists.txt index ffb813c55..4b6ebfb43 100755 --- a/testbed/CMakeLists.txt +++ b/testbed/CMakeLists.txt @@ -8,6 +8,7 @@ project(Testbed) set(NANOGUI_BUILD_EXAMPLES OFF CACHE BOOL " " FORCE) set(NANOGUI_BUILD_PYTHON OFF CACHE BOOL " " FORCE) set(NANOGUI_INSTALL OFF CACHE BOOL " " FORCE) +set(NANOGUI_BACKEND OpenGL CACHE BOOL " " FORCE) # ---- Make sure to recursively clone all the git submodules for external libraries (nanogui) --- # find_package(Git QUIET) @@ -90,7 +91,8 @@ set(TESTBED_SOURCES src/SceneDemo.h src/SceneDemo.cpp src/Timer.h - src/Timer.cpp + src/TestbedLogger.h + src/TestbedLogger.cpp ) # Common source files @@ -123,6 +125,12 @@ set(COMMON_SOURCES # Examples scenes source files set(SCENES_SOURCES + scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.h + scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.cpp + scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.h + scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.cpp + scenes/hingejointschain/HingeJointsChainScene.h + scenes/hingejointschain/HingeJointsChainScene.cpp scenes/cubes/CubesScene.h scenes/cubes/CubesScene.cpp scenes/joints/JointsScene.h @@ -141,6 +149,22 @@ set(SCENES_SOURCES scenes/cubestack/CubeStackScene.cpp scenes/pile/PileScene.h scenes/pile/PileScene.cpp + scenes/boxtower/BoxTowerScene.h + scenes/boxtower/BoxTowerScene.cpp + scenes/bridge/BridgeScene.h + scenes/bridge/BridgeScene.cpp + scenes/fixedjoint/FixedJointScene.h + scenes/fixedjoint/FixedJointScene.cpp + scenes/ballandsocketjoint/BallAndSocketJointScene.h + scenes/ballandsocketjoint/BallAndSocketJointScene.cpp + scenes/hingejoint/HingeJointScene.h + scenes/hingejoint/HingeJointScene.cpp + scenes/sliderjoint/SliderJointScene.h + scenes/sliderjoint/SliderJointScene.cpp + scenes/ragdoll/RagdollScene.h + scenes/ragdoll/RagdollScene.cpp + scenes/rope/RopeScene.h + scenes/rope/RopeScene.cpp ) # Create the executable diff --git a/testbed/common/Box.cpp b/testbed/common/Box.cpp index 99b91af20..3cc5b32ce 100644 --- a/testbed/common/Box.cpp +++ b/testbed/common/Box.cpp @@ -40,7 +40,7 @@ int Box::totalNbBoxes = 0; // Constructor Box::Box(bool createRigidBody, const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath) - : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") { + : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj"), mPhysicsWorld(world) { // Initialize the size of the box mSize[0] = size.x * 0.5f; @@ -97,6 +97,13 @@ Box::~Box() { mVBONormals.destroy(); mVAO.destroy(); } + rp3d::RigidBody* body = dynamic_cast(mBody); + if (body != nullptr) { + mPhysicsWorld->destroyRigidBody(body); + } + else { + mPhysicsWorld->destroyCollisionBody(mBody); + } mPhysicsCommon.destroyBoxShape(mBoxShape); totalNbBoxes--; } diff --git a/testbed/common/Box.h b/testbed/common/Box.h index e1aefd000..bb4a95eeb 100644 --- a/testbed/common/Box.h +++ b/testbed/common/Box.h @@ -47,6 +47,8 @@ class Box : public PhysicsObject { /// Scaling matrix (applied to a cube to obtain the correct box dimensions) openglframework::Matrix4 mScalingMatrix; + rp3d::PhysicsWorld* mPhysicsWorld; + /// Vertex Buffer Object for the vertices data static openglframework::VertexBufferObject mVBOVertices; diff --git a/testbed/common/Capsule.cpp b/testbed/common/Capsule.cpp index 2c3b43584..d99920d17 100644 --- a/testbed/common/Capsule.cpp +++ b/testbed/common/Capsule.cpp @@ -34,9 +34,9 @@ openglframework::VertexArrayObject Capsule::mVAO; int Capsule::totalNbCapsules = 0; // Constructor -Capsule::Capsule(bool createRigidBody, float radius, float height, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::PhysicsWorld* physicsWorld, +Capsule::Capsule(bool createRigidBody, float radius, float height, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshFolderPath) - : PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) { + : PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height), mPhysicsWorld(physicsWorld) { // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0, @@ -91,7 +91,16 @@ Capsule::~Capsule() { mVBOTextureCoords.destroy(); mVAO.destroy(); } + + rp3d::RigidBody* body = dynamic_cast(mBody); + if (body != nullptr) { + mPhysicsWorld->destroyRigidBody(body); + } + else { + mPhysicsWorld->destroyCollisionBody(mBody); + } mPhysicsCommon.destroyCapsuleShape(mCapsuleShape); + totalNbCapsules--; } diff --git a/testbed/common/Capsule.h b/testbed/common/Capsule.h index 8df832d09..d7f7f4540 100644 --- a/testbed/common/Capsule.h +++ b/testbed/common/Capsule.h @@ -51,7 +51,9 @@ class Capsule : public PhysicsObject { rp3d::CapsuleShape* mCapsuleShape; rp3d::Collider* mCollider; - /// Vertex Buffer Object for the vertices data + rp3d::PhysicsWorld* mPhysicsWorld; + + /// Vertex Buffer Object for the vertices data static openglframework::VertexBufferObject mVBOVertices; /// Vertex Buffer Object for the normals data diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp index fce0bdfbb..40c351560 100644 --- a/testbed/common/ConcaveMesh.cpp +++ b/testbed/common/ConcaveMesh.cpp @@ -27,13 +27,17 @@ #include "ConcaveMesh.h" // Constructor -ConcaveMesh::ConcaveMesh(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) - : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), +ConcaveMesh::ConcaveMesh(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, + const std::string& meshPath, const rp3d::Vector3& scaling) + : PhysicsObject(physicsCommon, meshPath), mPhysicsWorld(physicsWorld), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { // Compute the scaling matrix - mScalingMatrix = openglframework::Matrix4::identity(); + mScalingMatrix = openglframework::Matrix4(scaling.x, 0, 0, 0, + 0, scaling.y, 0, 0, + 0, 0, scaling.z, 0, + 0, 0, 0, 1); mPhysicsTriangleMesh = mPhysicsCommon.createTriangleMesh(); @@ -53,7 +57,7 @@ ConcaveMesh::ConcaveMesh(bool createRigidBody, reactphysics3d::PhysicsCommon& ph // Create the collision shape for the rigid body (convex mesh shape) and // do not forget to delete it at the end - mConcaveShape = mPhysicsCommon.createConcaveMeshShape(mPhysicsTriangleMesh); + mConcaveShape = mPhysicsCommon.createConcaveMeshShape(mPhysicsTriangleMesh, scaling); mPreviousTransform = rp3d::Transform::identity(); @@ -93,6 +97,13 @@ ConcaveMesh::~ConcaveMesh() { mVBOTextureCoords.destroy(); mVAO.destroy(); + rp3d::RigidBody* body = dynamic_cast(mBody); + if (body != nullptr) { + mPhysicsWorld->destroyRigidBody(body); + } + else { + mPhysicsWorld->destroyCollisionBody(mBody); + } mPhysicsCommon.destroyConcaveMeshShape(mConcaveShape); } diff --git a/testbed/common/ConcaveMesh.h b/testbed/common/ConcaveMesh.h index 9dc25aa01..1e455f128 100644 --- a/testbed/common/ConcaveMesh.h +++ b/testbed/common/ConcaveMesh.h @@ -42,6 +42,8 @@ class ConcaveMesh : public PhysicsObject { rp3d::ConcaveMeshShape* mConcaveShape; rp3d::Collider* mCollider; + rp3d::PhysicsWorld* mPhysicsWorld; + /// Scaling matrix openglframework::Matrix4 mScalingMatrix; @@ -73,7 +75,8 @@ class ConcaveMesh : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - ConcaveMesh(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); + ConcaveMesh(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, + const std::string& meshPath, const reactphysics3d::Vector3& scaling = rp3d::Vector3(1, 1, 1)); /// Destructor virtual ~ConcaveMesh() override; diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp index 511206028..9f0937012 100755 --- a/testbed/common/ConvexMesh.cpp +++ b/testbed/common/ConvexMesh.cpp @@ -28,13 +28,17 @@ #include // Constructor -ConvexMesh::ConvexMesh(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) - : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), +ConvexMesh::ConvexMesh(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, + const std::string& meshPath, const rp3d::Vector3& scaling) + : PhysicsObject(physicsCommon, meshPath), mPhysicsWorld(physicsWorld), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { // Compute the scaling matrix - mScalingMatrix = openglframework::Matrix4::identity(); + mScalingMatrix = openglframework::Matrix4(scaling.x, 0, 0, 0, + 0, scaling.y, 0, 0, + 0, 0, scaling.z, 0, + 0, 0, 0, 1); // Polygon faces descriptions for the polyhedron mPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[getNbFaces(0)]; @@ -71,7 +75,7 @@ ConvexMesh::ConvexMesh(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, // Create the collision shape for the rigid body (convex mesh shape) and do // not forget to delete it at the end - mConvexShape = mPhysicsCommon.createConvexMeshShape(mPolyhedronMesh); + mConvexShape = mPhysicsCommon.createConvexMeshShape(mPolyhedronMesh, scaling); mPreviousTransform = rp3d::Transform::identity(); @@ -88,7 +92,6 @@ ConvexMesh::ConvexMesh(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, mCollider = mBody->addCollider(mConvexShape, rp3d::Transform::identity()); } - // Create the VBOs and VAO createVBOAndVAO(); @@ -108,6 +111,14 @@ ConvexMesh::~ConvexMesh() { mVBOTextureCoords.destroy(); mVAO.destroy(); + rp3d::RigidBody* body = dynamic_cast(mBody); + if (body != nullptr) { + mPhysicsWorld->destroyRigidBody(body); + } + else { + mPhysicsWorld->destroyCollisionBody(mBody); + } + mPhysicsCommon.destroyConvexMeshShape(mConvexShape); mPhysicsCommon.destroyPolyhedronMesh(mPolyhedronMesh); delete mPolygonVertexArray; @@ -232,7 +243,7 @@ void ConvexMesh::createVBOAndVAO() { // Return the index of a given vertex in the mesh int ConvexMesh::findVertexIndex(const std::vector& vertices, const openglframework::Vector3& vertex) { - for (int i = 0; i < vertices.size(); i++) { + for (size_t i = 0; i < vertices.size(); i++) { if (vertices[i] == vertex) { return i; } diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h index 342b9a13e..bc8bd0c49 100644 --- a/testbed/common/ConvexMesh.h +++ b/testbed/common/ConvexMesh.h @@ -48,6 +48,8 @@ class ConvexMesh : public PhysicsObject { rp3d::ConvexMeshShape* mConvexShape; rp3d::Collider* mCollider; + rp3d::PhysicsWorld* mPhysicsWorld; + /// Scaling matrix openglframework::Matrix4 mScalingMatrix; @@ -86,7 +88,8 @@ class ConvexMesh : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - ConvexMesh(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); + ConvexMesh(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, + const std::string& meshPath, const reactphysics3d::Vector3& scaling = rp3d::Vector3(1, 1, 1)); /// Destructor virtual ~ConvexMesh() override; diff --git a/testbed/common/Dumbbell.cpp b/testbed/common/Dumbbell.cpp index 56433cb18..0f753a767 100644 --- a/testbed/common/Dumbbell.cpp +++ b/testbed/common/Dumbbell.cpp @@ -35,7 +35,7 @@ int Dumbbell::totalNbDumbbells = 0; // Constructor Dumbbell::Dumbbell(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshFolderPath) - : PhysicsObject(physicsCommon, meshFolderPath + "dumbbell.obj") { + : PhysicsObject(physicsCommon, meshFolderPath + "dumbbell.obj"), mPhysicsWorld(physicsWorld) { // Identity scaling matrix mScalingMatrix.setToIdentity(); @@ -112,6 +112,14 @@ Dumbbell::~Dumbbell() { mVBOTextureCoords.destroy(); mVAO.destroy(); } + + rp3d::RigidBody* body = dynamic_cast(mBody); + if (body != nullptr) { + mPhysicsWorld->destroyRigidBody(body); + } + else { + mPhysicsWorld->destroyCollisionBody(mBody); + } mPhysicsCommon.destroySphereShape(mSphereShape); mPhysicsCommon.destroyCapsuleShape(mCapsuleShape); totalNbDumbbells--; diff --git a/testbed/common/Dumbbell.h b/testbed/common/Dumbbell.h index 1b9196630..ce2364d42 100644 --- a/testbed/common/Dumbbell.h +++ b/testbed/common/Dumbbell.h @@ -48,6 +48,8 @@ class Dumbbell : public PhysicsObject { rp3d::Collider* mColliderSphere1; rp3d::Collider* mColliderSphere2; + rp3d::PhysicsWorld* mPhysicsWorld; + /// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions) openglframework::Matrix4 mScalingMatrix; diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp index ad5b15b9d..2e88dc3e6 100644 --- a/testbed/common/HeightField.cpp +++ b/testbed/common/HeightField.cpp @@ -29,13 +29,13 @@ // Constructor HeightField::HeightField(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld) - : PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER), + : PhysicsObject(physicsCommon), mPhysicsWorld(physicsWorld), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { // Compute the scaling matrix //mScalingMatrix = openglframework::Matrix4::identity(); - mScalingMatrix = openglframework::Matrix4(2, 0, 0, 0, 0, 2, 0, 0, 0, 0, 2, 0, 0, 0, 0, 1); + mScalingMatrix = openglframework::Matrix4(0.5, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 1); // Generate the height field generateHeightField(); @@ -47,7 +47,7 @@ HeightField::HeightField(bool createRigidBody, reactphysics3d::PhysicsCommon& ph // do not forget to delete it at the end mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight, mHeightData, rp3d::HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE); - mHeightFieldShape->setScale(rp3d::Vector3(2, 2, 2)); + mHeightFieldShape->setScale(rp3d::Vector3(0.5, 0.5, 0.5)); mPreviousTransform = rp3d::Transform::identity(); @@ -83,6 +83,13 @@ HeightField::~HeightField() { mVBOTextureCoords.destroy(); mVAO.destroy(); + rp3d::RigidBody* body = dynamic_cast(mBody); + if (body != nullptr) { + mPhysicsWorld->destroyRigidBody(body); + } + else { + mPhysicsWorld->destroyCollisionBody(mBody); + } mPhysicsCommon.destroyHeightFieldShape(mHeightFieldShape); } diff --git a/testbed/common/HeightField.h b/testbed/common/HeightField.h index 5c43cda1f..d49b9a3c3 100644 --- a/testbed/common/HeightField.h +++ b/testbed/common/HeightField.h @@ -49,6 +49,8 @@ class HeightField : public PhysicsObject { rp3d::HeightFieldShape* mHeightFieldShape; rp3d::Collider* mCollider; + rp3d::PhysicsWorld* mPhysicsWorld; + /// Scaling matrix openglframework::Matrix4 mScalingMatrix; diff --git a/testbed/common/Sphere.cpp b/testbed/common/Sphere.cpp index 09bfefb6f..ee387bef2 100644 --- a/testbed/common/Sphere.cpp +++ b/testbed/common/Sphere.cpp @@ -36,7 +36,7 @@ int Sphere::totalNbSpheres = 0; // Constructor Sphere::Sphere(bool createRigidBody, float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, const std::string& meshFolderPath) - : PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) { + : PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius), mPhysicsWorld(world) { // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0, @@ -80,6 +80,7 @@ Sphere::Sphere(bool createRigidBody, float radius, rp3d::PhysicsCommon& physicsC Sphere::~Sphere() { if (totalNbSpheres == 1) { + // Destroy the mesh destroy(); @@ -90,6 +91,13 @@ Sphere::~Sphere() { mVBOTextureCoords.destroy(); mVAO.destroy(); } + rp3d::RigidBody* body = dynamic_cast(mBody); + if (body != nullptr) { + mPhysicsWorld->destroyRigidBody(body); + } + else { + mPhysicsWorld->destroyCollisionBody(mBody); + } mPhysicsCommon.destroySphereShape(mCollisionShape); totalNbSpheres--; } diff --git a/testbed/common/Sphere.h b/testbed/common/Sphere.h index ae49848e6..4994e5a34 100644 --- a/testbed/common/Sphere.h +++ b/testbed/common/Sphere.h @@ -45,6 +45,8 @@ class Sphere : public PhysicsObject { rp3d::SphereShape* mCollisionShape; rp3d::Collider* mCollider; + rp3d::PhysicsWorld* mPhysicsWorld; + /// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions) openglframework::Matrix4 mScalingMatrix; diff --git a/testbed/common/VisualContactPoint.cpp b/testbed/common/VisualContactPoint.cpp index 16bf32f88..c0a41d4c4 100644 --- a/testbed/common/VisualContactPoint.cpp +++ b/testbed/common/VisualContactPoint.cpp @@ -36,7 +36,7 @@ openglframework::Mesh VisualContactPoint::mMesh; bool VisualContactPoint::mStaticDataCreated = false; // Constructor -VisualContactPoint::VisualContactPoint(const openglframework::Vector3& position, const std::string& meshFolderPath, +VisualContactPoint::VisualContactPoint(const openglframework::Vector3& position, const openglframework::Vector3& normalLineEndPointLocal, const openglframework::Color& color) : mVBOVerticesNormalLine(GL_ARRAY_BUFFER), mColor(color) { diff --git a/testbed/common/VisualContactPoint.h b/testbed/common/VisualContactPoint.h index b540e7513..042fdf68b 100644 --- a/testbed/common/VisualContactPoint.h +++ b/testbed/common/VisualContactPoint.h @@ -88,8 +88,8 @@ class VisualContactPoint : public openglframework::Object3D { // -------------------- Methods -------------------- // /// Constructor - VisualContactPoint(const openglframework::Vector3& position, const std::string &meshFolderPath, - const openglframework::Vector3& normalLineEndPointLocal, const openglframework::Color& color); + VisualContactPoint(const openglframework::Vector3& position, const openglframework::Vector3& normalLineEndPointLocal, + const openglframework::Color& color); /// Destructor ~VisualContactPoint(); diff --git a/testbed/extern/nanogui b/testbed/extern/nanogui index 21e5cbc88..abd03f651 160000 --- a/testbed/extern/nanogui +++ b/testbed/extern/nanogui @@ -1 +1 @@ -Subproject commit 21e5cbc880b2e26b28b2a35085a9e6706da1e2a8 +Subproject commit abd03f651b2e8fd168c30a5301d5348712198776 diff --git a/testbed/meshes/castle.obj b/testbed/meshes/castle.obj new file mode 100644 index 000000000..2b4b60287 --- /dev/null +++ b/testbed/meshes/castle.obj @@ -0,0 +1,123770 @@ +# Blender v2.82 (sub 7) OBJ File: 'castle.blend' +# www.blender.org +o platform1_Mesh1_Model +v -4.864100 5.524123 11.245367 +v -4.864048 7.101427 11.245389 +v -4.841173 7.101427 11.190923 +v -4.841225 5.524123 11.190901 +v -4.917435 5.524127 11.222968 +v -4.917378 7.101432 11.222991 +v -4.894559 5.524127 11.168502 +v -4.894503 7.101432 11.168525 +v -5.074471 5.844800 11.486100 +v -5.074471 5.902527 11.486101 +v -5.034820 5.902527 11.502753 +v -5.034820 5.844800 11.502752 +v -4.915780 5.902588 11.108249 +v -4.915779 5.844860 11.108248 +v -4.876129 5.902588 11.124901 +v -4.876128 5.844860 11.124900 +v -5.123540 5.524127 11.072333 +v -5.123483 7.101432 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a/testbed/meshes/sandbox.obj +++ /dev/null @@ -1,116 +0,0 @@ -# Blender v2.79 (sub 0) OBJ File: '' -# www.blender.org -v -31.880749 -0.589469 22.622011 -v -25.786182 -0.589469 22.622011 -v -19.691614 -0.589469 22.622011 -v -13.597046 -0.589469 22.622011 -v -7.502479 -0.589469 22.622011 -v -1.407912 -0.589469 22.622011 -v 4.686658 -0.589469 22.622011 -v 10.781222 -0.589469 22.622011 -v -31.880749 -0.589469 16.527445 -v -25.786182 -0.589469 16.527445 -v -19.691614 -0.589469 16.527445 -v -13.597046 -0.589469 16.527445 -v -7.502479 -0.589469 16.527445 -v -1.407912 -0.589469 16.527445 -v 4.686658 -0.589469 16.527445 -v 10.781222 -0.589469 16.527445 -v -31.880749 -0.589469 10.432877 -v -25.786182 -0.589469 10.432877 -v -19.691614 -13.260081 10.432877 -v -13.597046 -13.260081 10.432877 -v -7.502479 -13.260081 10.432877 -v -1.407912 -13.260081 10.432877 -v 4.686658 -13.260081 10.432877 -v 10.781222 -0.589469 10.432877 -v -31.880749 -0.589469 4.338308 -v -25.786182 -0.589469 4.338308 -v -19.691614 -13.260081 4.338308 -v -13.597046 -13.260081 4.338308 -v -7.502479 -13.260081 4.338308 -v -1.407912 -13.260081 4.338308 -v 4.686658 -13.260081 4.338308 -v 10.781222 -0.589469 4.338308 -v -31.880749 -0.589469 -1.756259 -v -25.786182 -0.589469 -1.756259 -v -19.691614 -13.260081 -1.756259 -v -13.597046 -13.260081 -1.756259 -v -7.502479 -13.260081 -1.756259 -v -1.407912 -13.260081 -1.756259 -v 4.686658 -13.260081 -1.756259 -v 10.781222 -0.589469 -1.756259 -v -31.880749 -0.589469 -7.850826 -v -25.786182 -0.589469 -7.850826 -v -19.691614 -13.260081 -7.850826 -v -13.597046 -13.260081 -7.850826 -v -7.502479 -13.260081 -7.850826 -v -1.407912 -13.260081 -7.850826 -v 4.686658 -13.260081 -7.850826 -v 10.781222 -0.589469 -7.850826 -v -31.880749 -0.589469 -13.945395 -v -25.786182 -0.589469 -13.945395 -v -19.691614 -0.589469 -13.945395 -v -13.597046 -0.589469 -13.945395 -v -7.502479 -0.589469 -13.945395 -v -1.407912 -0.589469 -13.945395 -v 4.686658 -0.589469 -13.945395 -v 10.781222 -0.589469 -13.945395 -v -31.880749 -0.589469 -20.039961 -v -25.786182 -0.589469 -20.039961 -v -19.691614 -0.589469 -20.039961 -v -13.597046 -0.589469 -20.039961 -v -7.502479 -0.589469 -20.039961 -v -1.407912 -0.589469 -20.039961 -v 4.686658 -0.589469 -20.039961 -v 10.781222 -0.589469 -20.039961 -s off -f 1 2 10 9 -f 2 3 11 10 -f 3 4 12 11 -f 4 5 13 12 -f 5 6 14 13 -f 6 7 15 14 -f 7 8 16 15 -f 9 10 18 17 -f 10 11 19 18 -f 11 12 20 19 -f 12 13 21 20 -f 13 14 22 21 -f 14 15 23 22 -f 15 16 24 23 -f 17 18 26 25 -f 18 19 27 26 -f 19 20 28 27 -f 20 21 29 28 -f 21 22 30 29 -f 22 23 31 30 -f 23 24 32 31 -f 25 26 34 33 -f 26 27 35 34 -f 27 28 36 35 -f 28 29 37 36 -f 29 30 38 37 -f 30 31 39 38 -f 31 32 40 39 -f 33 34 42 41 -f 34 35 43 42 -f 35 36 44 43 -f 36 37 45 44 -f 37 38 46 45 -f 38 39 47 46 -f 39 40 48 47 -f 41 42 50 49 -f 42 43 51 50 -f 43 44 52 51 -f 44 45 53 52 -f 45 46 54 53 -f 46 47 55 54 -f 47 48 56 55 -f 49 50 58 57 -f 50 51 59 58 -f 51 52 60 59 -f 52 53 61 60 -f 53 54 62 61 -f 54 55 63 62 -f 55 56 64 63 diff --git a/testbed/opengl-framework/src/MeshReaderWriter.cpp b/testbed/opengl-framework/src/MeshReaderWriter.cpp index 321a1282d..f8dfdd84c 100644 --- a/testbed/opengl-framework/src/MeshReaderWriter.cpp +++ b/testbed/opengl-framework/src/MeshReaderWriter.cpp @@ -188,9 +188,6 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) { else { tmp = line.substr(found1+1); found2 = (int)tmp.find("/"); - if (found2 > 1000) { - int test = 2; - } // If the face definition is of the form "f vert1//normal1 vert2//normal2 ..." if(found2 == 0) { diff --git a/testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.cpp b/testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.cpp new file mode 100644 index 000000000..e325f658e --- /dev/null +++ b/testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.cpp @@ -0,0 +1,143 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "BallAndSocketJointScene.h" +#include + +// Namespaces +using namespace openglframework; +using namespace ballandsocketjointscene; + +// Constructor +BallAndSocketJointScene::BallAndSocketJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 5, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + setInitZoom(1); + resetCameraToViewAll(); + + mWorldSettings.worldName = name; +} + +// Destructor +BallAndSocketJointScene::~BallAndSocketJointScene() { + + destroyPhysicsWorld(); +} + +// Create the physics world +void BallAndSocketJointScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); + + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); + + // Create the Ball-and-Socket joint + createBallAndSocketJoint(); +} + +// Initialize the bodies positions +void BallAndSocketJointScene::initBodiesPositions() { + + mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 8, 0), rp3d::Quaternion::identity())); + mBox2->setTransform(rp3d::Transform(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity())); +} + +// Destroy the physics world +void BallAndSocketJointScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + delete mBox1; + delete mBox2; + + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} + +// Reset the scene +void BallAndSocketJointScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} + +// Create the boxes and joints for the Ball-and-Socket joint example +void BallAndSocketJointScene::createBallAndSocketJoint() { + + // --------------- Create the box 1 --------------- // + mBox1 = new Box(true, Vector3(4, 4, 4) , mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 8, 0), rp3d::Quaternion::identity())); + + // Set the box color + mBox1->setColor(mObjectColorDemo); + mBox1->setSleepingColor(mSleepingColorDemo); + + mBox1->getRigidBody()->setType(rp3d::BodyType::STATIC); + + mPhysicsObjects.push_back(mBox1); + + // --------------- Create the box 2 --------------- // + + mBox2 = new Box(true, Vector3(4, 8, 4), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox2->setTransform(rp3d::Transform(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity())); + + // Set the box color + mBox2->setColor(mObjectColorDemo); + mBox2->setSleepingColor(mSleepingColorDemo); + + mPhysicsObjects.push_back(mBox2); + + // --------------- Create the joint --------------- // + + // Create the joint info object + rp3d::RigidBody* body1 = mBox1->getRigidBody(); + rp3d::RigidBody* body2 = mBox2->getRigidBody(); + rp3d::Vector3 body1Position = body1->getTransform().getPosition(); + rp3d::Vector3 body2Position = body2->getTransform().getPosition(); + const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body1Position + body2Position); + rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace); + jointInfo.isCollisionEnabled = false; + + // Create the joint in the physics world + mJoint = dynamic_cast(mPhysicsWorld->createJoint(jointInfo)); + mJoint->setConeLimitHalfAngle(90.0 * rp3d::PI_RP3D / 180.0); + mJoint->enableConeLimit(true); + +} diff --git a/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h b/testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.h similarity index 51% rename from include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h rename to testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.h index 2312a2e2d..062cf5945 100644 --- a/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h +++ b/testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2016 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -23,56 +23,71 @@ * * ********************************************************************************/ -#ifndef REACTPHYSICS3D_CAPSULE_VS_CAPSULE_NARROW_PHASE_INFO_BATCH_H -#define REACTPHYSICS3D_CAPSULE_VS_CAPSULE_NARROW_PHASE_INFO_BATCH_H +#ifndef BALL_AND_SOCKET_JOINT_SCENE_H +#define BALL_AND_SOCKET_JOINT_SCENE_H // Libraries -#include +#include "openglframework.h" +#include +#include "Box.h" +#include "SceneDemo.h" -/// Namespace ReactPhysics3D -namespace reactphysics3d { +namespace ballandsocketjointscene { -// Struct CapsuleVsCapsuleNarrowPhaseInfoBatch -/** - * This structure collects all the potential collisions from the middle-phase algorithm - * that have to be tested during narrow-phase collision detection. This class collects all the - * capsule vs capsule collision detection tests. - */ -struct CapsuleVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { +// Constants +const float SCENE_RADIUS = 30.0f; +const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters +const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters +const int NB_BALLSOCKETJOINT_BOXES = 7; // Number of Ball-And-Socket chain boxes +const int NB_HINGE_BOXES = 7; // Number of Hinge chain boxes - public: +// Class BallAndSocketJointScene +class BallAndSocketJointScene : public SceneDemo { + + protected : + + // -------------------- Attributes -------------------- // + + /// First box + Box* mBox1; + + /// Second box + Box* mBox2; - /// List of radiuses for the first capsules - List capsule1Radiuses; + /// Ball-And-Socket joint + rp3d::BallAndSocketJoint* mJoint; - /// List of radiuses for the second capsules - List capsule2Radiuses; + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; - /// List of heights for the first capsules - List capsule1Heights; + // -------------------- Methods -------------------- // - /// List of heights for the second capsules - List capsule2Heights; + /// Create the Ball-and-Socket joint + void createBallAndSocketJoint(); + + public: + + // -------------------- Methods -------------------- // /// Constructor - CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); + BallAndSocketJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); /// Destructor - virtual ~CapsuleVsCapsuleNarrowPhaseInfoBatch() override = default; + virtual ~BallAndSocketJointScene() override ; - /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, - CollisionShape* shape2, const Transform& shape1Transform, - const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator& shapeAllocator) override; + /// Reset the scene + virtual void reset() override; - // Initialize the containers using cached capacity - virtual void reserveMemory() override; + /// Create the physics world + void createPhysicsWorld(); - /// Clear all the objects in the batch - virtual void clear() override; + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); }; } #endif - diff --git a/testbed/scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.cpp b/testbed/scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.cpp new file mode 100644 index 000000000..d75411606 --- /dev/null +++ b/testbed/scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.cpp @@ -0,0 +1,159 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "BallAndSocketJointsChainScene.h" +#include + +// Namespaces +using namespace openglframework; +using namespace ballandsocketjointschainscene; + +// Constructor +BallAndSocketJointsChainScene::BallAndSocketJointsChainScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { + + std::string meshFolderPath("meshes/"); + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 0, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.3); + resetCameraToViewAll(); + + mWorldSettings.worldName = name; +} + +// Destructor +BallAndSocketJointsChainScene::~BallAndSocketJointsChainScene() { + + destroyPhysicsWorld(); +} + +// Create the physics world +void BallAndSocketJointsChainScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); + + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); + + // Create all the spheres of the scene + for (int i=0; isetColor(mObjectColorDemo); + mSpheres[i]->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = mSpheres[i]->getCollider()->getMaterial(); + material.setBounciness(rp3d::decimal(0.0)); + + if (i == 0) { + mSpheres[i]->getRigidBody()->setType(rp3d::BodyType::STATIC); + } + + // Add the sphere the list of sphere in the scene + mPhysicsObjects.push_back(mSpheres[i]); + } + + // Set the position of the spheres before the joints creation + initBodiesPositions(); + + // Create the Ball-and-Socket joints + createJoints(); +} + +// Initialize the bodies positions +void BallAndSocketJointsChainScene::initBodiesPositions() { + + const float space = 0.5f; + + const rp3d::Quaternion initOrientation = rp3d::Quaternion::identity(); + + for (int i=0; isetTransform(transform); + } +} + +// Destroy the physics world +void BallAndSocketJointsChainScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + // Destroy all the physics objects of the scene + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + + // Destroy the object + delete (*it); + } + + mBallAndSocketJoints.clear(); + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} + +// Create the joints +void BallAndSocketJointsChainScene::createJoints() { + + for (int i=0; i < NB_SPHERES-1; i++) { + + // Create the joint info object + rp3d::RigidBody* body1 = mSpheres[i]->getRigidBody(); + rp3d::RigidBody* body2 = mSpheres[i+1]->getRigidBody(); + rp3d::Vector3 body1Position = body1->getTransform().getPosition(); + const rp3d::Vector3 anchorPointWorldSpace = body1Position; + rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace); + jointInfo.isCollisionEnabled = false; + rp3d::BallAndSocketJoint* joint = dynamic_cast( mPhysicsWorld->createJoint(jointInfo)); + mBallAndSocketJoints.push_back(joint); + } +} + +// Reset the scene +void BallAndSocketJointsChainScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} diff --git a/include/reactphysics3d/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h b/testbed/scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.h similarity index 54% rename from include/reactphysics3d/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h rename to testbed/scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.h index 63792c714..71f4fe36e 100644 --- a/include/reactphysics3d/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h +++ b/testbed/scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2016 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -23,50 +23,66 @@ * * ********************************************************************************/ -#ifndef REACTPHYSICS3D_SPHERE_VS_SPHERE_NARROW_PHASE_INFO_BATCH_H -#define REACTPHYSICS3D_SPHERE_VS_SPHERE_NARROW_PHASE_INFO_BATCH_H +#ifndef BALL_AND_SOCKET_JOINTS_CHAIN_SCENE_H +#define BALL_AND_SOCKET_JOINTS_CHAIN_SCENE_H // Libraries -#include +#include "openglframework.h" +#include +#include "Sphere.h" +#include "SceneDemo.h" -/// Namespace ReactPhysics3D -namespace reactphysics3d { +namespace ballandsocketjointschainscene { -// Struct SphereVsSphereNarrowPhaseInfoBatch -/** - * This structure collects all the potential collisions from the middle-phase algorithm - * that have to be tested during narrow-phase collision detection. This class collects all the - * sphere vs sphere collision detection tests. - */ -struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { +// Constants +const float SCENE_RADIUS = 60.0f; +const float SPHERE_RADIUS = 1.0f; +const int NB_SPHERES = 20; - public: +// Class BallAndSocketJointsChain scene +class BallAndSocketJointsChainScene : public SceneDemo { + + protected : + + // -------------------- Attributes -------------------- // + + /// Spheres in the Ball-And-Socket joint net + Sphere* mSpheres[NB_SPHERES]; + + /// Ball-And-Socket joints of the chain + std::vector mBallAndSocketJoints; + + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; - /// List of radiuses for the first spheres - List sphere1Radiuses; + // -------------------- Methods -------------------- // - /// List of radiuses for the second spheres - List sphere2Radiuses; + /// Create the joints + void createJoints(); + + public: + + // -------------------- Methods -------------------- // /// Constructor - SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); + BallAndSocketJointsChainScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); /// Destructor - virtual ~SphereVsSphereNarrowPhaseInfoBatch() override = default; + virtual ~BallAndSocketJointsChainScene() override ; - /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(uint64 airId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, - CollisionShape* shape2, const Transform& shape1Transform, - const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator& shapeAllocator) override; + /// Reset the scene + virtual void reset() override; - // Initialize the containers using cached capacity - virtual void reserveMemory() override; + /// Create the physics world + void createPhysicsWorld(); - /// Clear all the objects in the batch - virtual void clear() override; + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); }; } #endif - diff --git a/testbed/scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.cpp b/testbed/scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.cpp new file mode 100644 index 000000000..418f6e6e8 --- /dev/null +++ b/testbed/scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.cpp @@ -0,0 +1,194 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "BallAndSocketJointsNetScene.h" +#include + +// Namespaces +using namespace openglframework; +using namespace ballandsocketjointsnetscene; + +// Constructor +BallAndSocketJointsNetScene::BallAndSocketJointsNetScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { + + std::string meshFolderPath("meshes/"); + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 5, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.3); + resetCameraToViewAll(); + + // Gravity vector in the physics world + rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); + + rp3d::PhysicsWorld::WorldSettings worldSettings; + worldSettings.worldName = name; + + // Create the physics world for the physics simulation + rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); + physicsWorld->setEventListener(this); + mPhysicsWorld = physicsWorld; + + // Create all the spheres of the scene + for (int i=0; isetColor(mObjectColorDemo); + sphere->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = sphere->getCollider()->getMaterial(); + material.setBounciness(rp3d::decimal(0.0)); + + // Add the sphere the list of sphere in the scene + mNetSpheres[i][j] = sphere; + mPhysicsObjects.push_back(sphere); + } + } + + // Set the position of the spheres before the joints creation + reset(); + + // Create the Ball-and-Socket joints + createJoints(); + + // Create the main sphere + mMainSphere = new Sphere(true, 7, mPhysicsCommon, mPhysicsWorld, meshFolderPath); + mMainSphere->setColor(mObjectColorDemo); + mMainSphere->setSleepingColor(mSleepingColorDemo); + rp3d::Vector3 initPosition(0, 0, 0); + rp3d::Quaternion initOrientation = rp3d::Quaternion::identity(); + rp3d::Transform transform(initPosition, initOrientation); + mMainSphere->setTransform(transform); + mMainSphere->getRigidBody()->setType(rp3d::BodyType::STATIC); + rp3d::Material& material = mMainSphere->getCollider()->getMaterial(); + material.setBounciness(rp3d::decimal(0.0)); + mPhysicsObjects.push_back(mMainSphere); + + // Get the physics engine parameters + mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); + rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); + mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); + mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); + mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); + mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); + mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); + mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); + mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); +} + +// Destructor +BallAndSocketJointsNetScene::~BallAndSocketJointsNetScene() { + + // Destroy the joints + for (uint i=0; i < mBallAndSocketJoints.size(); i++) { + + mPhysicsWorld->destroyJoint(mBallAndSocketJoints[i]); + } + + // Destroy all the rigid bodies of the scene + for (int i=0; idestroyRigidBody(mNetSpheres[i][j]->getRigidBody()); + } + } + mPhysicsWorld->destroyRigidBody(mMainSphere->getRigidBody()); + + // Destroy the physics world + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); +} + +// Create the joints +void BallAndSocketJointsNetScene::createJoints() { + + for (int i=0; i 0) { + + // Create the joint info object + rp3d::RigidBody* body1 = mNetSpheres[i-1][j]->getRigidBody(); + rp3d::RigidBody* body2 = mNetSpheres[i][j]->getRigidBody(); + rp3d::Vector3 body2Position = body2->getTransform().getPosition(); + const rp3d::Vector3 anchorPointWorldSpace = body2Position; + rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace); + jointInfo.isCollisionEnabled = false; + rp3d::BallAndSocketJoint* joint = dynamic_cast( mPhysicsWorld->createJoint(jointInfo)); + mBallAndSocketJoints.push_back(joint); + } + + if (j > 0) { + + // Create the joint info object + rp3d::RigidBody* body1 = mNetSpheres[i][j-1]->getRigidBody(); + rp3d::RigidBody* body2 = mNetSpheres[i][j]->getRigidBody(); + rp3d::Vector3 body2Position = body2->getTransform().getPosition(); + const rp3d::Vector3 anchorPointWorldSpace = body2Position; + rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace); + jointInfo.isCollisionEnabled = false; + rp3d::BallAndSocketJoint* joint = dynamic_cast( mPhysicsWorld->createJoint(jointInfo)); + mBallAndSocketJoints.push_back(joint); + } + } + } +} + +// Reset the scene +void BallAndSocketJointsNetScene::reset() { + + SceneDemo::reset(); + + const float space = 0.5f; + const float startX = -(NB_ROWS_NET_SPHERES / 2.0f * (2.0 * SPHERE_RADIUS + space)); + const float startZ = -(NB_ROWS_NET_SPHERES / 2.0f * (2.0 * SPHERE_RADIUS + space)); + + const rp3d::Quaternion initOrientation = rp3d::Quaternion::identity(); + + for (int i=0; isetTransform(transform); + } + } +} diff --git a/src/engine/Timer.cpp b/testbed/scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.h similarity index 58% rename from src/engine/Timer.cpp rename to testbed/scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.h index aa29397b9..6c06ebdb1 100644 --- a/src/engine/Timer.cpp +++ b/testbed/scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2020 Daniel Chappuis * +* Copyright (c) 2010-2016 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -23,39 +23,57 @@ * * ********************************************************************************/ +#ifndef BALL_AND_SOCKET_JOINTS_NET_SCENE_H +#define BALL_AND_SOCKET_JOINTS_NET_SCENE_H + // Libraries -#include +#include "openglframework.h" +#include +#include "Sphere.h" +#include "SceneDemo.h" -// We want to use the ReactPhysics3D namespace -using namespace reactphysics3d; +namespace ballandsocketjointsnetscene { -// Constructor -Timer::Timer(double timeStep) : mTimeStep(timeStep), mLastUpdateTime(0), mDeltaTime(0), mIsRunning(false) { - assert(timeStep > 0.0); -} +// Constants +const float SCENE_RADIUS = 40.0f; +const float SPHERE_RADIUS = 0.5f; +const int NB_ROWS_NET_SPHERES = 20; -// Return the current time of the system in seconds -long double Timer::getCurrentSystemTime() { - - #if defined(WINDOWS_OS) - LARGE_INTEGER ticksPerSecond; - LARGE_INTEGER ticks; - QueryPerformanceFrequency(&ticksPerSecond); - QueryPerformanceCounter(&ticks); - return ((long double)(ticks.QuadPart) / (long double)(ticksPerSecond.QuadPart)); - #else - // Initialize the lastUpdateTime with the current time in seconds - timeval timeValue; - gettimeofday(&timeValue, nullptr); - return (timeValue.tv_sec + (timeValue.tv_usec / 1000000.0)); - #endif -} +// Class JointsScene +class BallAndSocketJointsNetScene : public SceneDemo { + + protected : + + // -------------------- Attributes -------------------- // + /// Spheres in the Ball-And-Socket joint net + Sphere* mNetSpheres[NB_ROWS_NET_SPHERES][NB_ROWS_NET_SPHERES]; + /// Main sphere + Sphere* mMainSphere; + /// Ball-And-Socket joints of the chain + std::vector mBallAndSocketJoints; + // -------------------- Methods -------------------- // + /// Create the joints + void createJoints(); + public: + // -------------------- Methods -------------------- // + /// Constructor + BallAndSocketJointsNetScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); + + /// Destructor + virtual ~BallAndSocketJointsNetScene() override ; + + /// Reset the scene + virtual void reset() override; +}; + +} +#endif diff --git a/testbed/scenes/boxtower/BoxTowerScene.cpp b/testbed/scenes/boxtower/BoxTowerScene.cpp new file mode 100644 index 000000000..0b2349ac5 --- /dev/null +++ b/testbed/scenes/boxtower/BoxTowerScene.cpp @@ -0,0 +1,173 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#define _USE_MATH_DEFINES +#include +#include "BoxTowerScene.h" + +// Namespaces +using namespace openglframework; +using namespace boxtowerscene; + +// Constructor +BoxTowerScene::BoxTowerScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { + + std::string meshFolderPath("meshes/"); + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 10, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.5); + resetCameraToViewAll(); + + // Gravity vector in the physics world + rp3d::Vector3 gravity(0, -9.81f, 0); + + mWorldSettings.worldName = name; +} + +// Destructor +BoxTowerScene::~BoxTowerScene() { + + destroyPhysicsWorld(); +} + +// Create the physics world +void BoxTowerScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); + + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); + + // Create all the boxes of the scene + for (int i=0; isetColor(mObjectColorDemo); + box->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = box->getCollider()->getMaterial(); + material.setBounciness(rp3d::decimal(0.2)); + + // Add the sphere the list of boxes in the scene + mBoxes.push_back(box); + mPhysicsObjects.push_back(box); + } + + // ---------- Create the floor --------- + + mFloor = new Box(true, FLOOR_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mPhysicsObjects.push_back(mFloor); + + // Set the box color + mFloor->setColor(mFloorColorDemo); + mFloor->setSleepingColor(mFloorColorDemo); + + // The floor must be a static rigid body + mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC); + + // Change the material properties of the rigid body + rp3d::Material& material = mFloor->getCollider()->getMaterial(); + material.setBounciness(rp3d::decimal(0.2)); +} + +// Initialize the bodies positions +void BoxTowerScene::initBodiesPositions() { + + float distFromCenter = 4.0f; + + bool rotated = false; + int floorIndex = 0; + + // Create all the boxes of the scene + for (uint i = 0; isetTransform(rp3d::Transform(position, orientation)); + + if (i % 2 == 1) { + rotated = !rotated; + floorIndex++; + } + } + + // ---------- Create the triangular mesh ---------- // + + mFloor->setTransform(rp3d::Transform::identity()); +} + +// Destroy the physics world +void BoxTowerScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + // Destroy all the physics objects of the scene + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + + // Destroy the object + delete (*it); + } + mBoxes.clear(); + mSpheres.clear(); + mCapsules.clear(); + mConvexMeshes.clear(); + mDumbbells.clear(); + + mPhysicsObjects.clear(); + + // Destroy the physics world + mPhysicsCommon.destroyPhysicsWorld(static_cast(mPhysicsWorld)); + mPhysicsWorld = nullptr; + } +} + +/// Reset the scene +void BoxTowerScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} diff --git a/testbed/scenes/boxtower/BoxTowerScene.h b/testbed/scenes/boxtower/BoxTowerScene.h new file mode 100644 index 000000000..e4c2cbb0f --- /dev/null +++ b/testbed/scenes/boxtower/BoxTowerScene.h @@ -0,0 +1,100 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef BOX_TOWER_SCENE_H +#define BOX_TOWER_SCENE_H + +// Libraries +#include "openglframework.h" +#include +#include "SceneDemo.h" +#include "Sphere.h" +#include "Box.h" +#include "Capsule.h" +#include "ConvexMesh.h" +#include "ConcaveMesh.h" +#include "Dumbbell.h" +#include "VisualContactPoint.h" + +namespace boxtowerscene { + +// Constants +const float SCENE_RADIUS = 30.0f; +const int NB_BOXES = 16; +const openglframework::Vector3 BOX_SIZE(2, 2, 16); +const openglframework::Vector3 FLOOR_SIZE(30, 0.5f, 30); // Floor dimensions in meters + +// Class BoxTowerScene +class BoxTowerScene : public SceneDemo { + + private : + + // -------------------- Attributes -------------------- // + + /// All the boxes of the scene + std::vector mBoxes; + + std::vector mSpheres; + + std::vector mCapsules; + + /// All the convex meshes of the scene + std::vector mConvexMeshes; + + /// All the dumbbell of the scene + std::vector mDumbbells; + + /// Box for the floor + Box* mFloor; + + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + + public: + + // -------------------- Methods -------------------- // + + /// Constructor + BoxTowerScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon &physicsCommon); + + /// Destructor + virtual ~BoxTowerScene() override; + + /// Reset the scene + virtual void reset() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); +}; + +} + +#endif diff --git a/testbed/scenes/bridge/BridgeScene.cpp b/testbed/scenes/bridge/BridgeScene.cpp new file mode 100644 index 000000000..33a868496 --- /dev/null +++ b/testbed/scenes/bridge/BridgeScene.cpp @@ -0,0 +1,239 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "BridgeScene.h" +#include + +// Namespaces +using namespace openglframework; +using namespace bridgescene; + +// Constructor +BridgeScene::BridgeScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { + + std::string meshFolderPath("meshes/"); + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 5, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.1); + resetCameraToViewAll(); + + mWorldSettings.worldName = name; +} + +// Destructor +BridgeScene::~BridgeScene() { + + destroyPhysicsWorld(); +} + +// Create the joints +void BridgeScene::createJoints() { + + for (int b=0; b < NB_BRIDGES; b++) { + + for (int i=0; i < NB_BOXES-1; i++) { + + const uint box1Index = b * NB_BOXES + i; + const uint box2Index = b * NB_BOXES + i + 1; + + // Create the joint info object + rp3d::RigidBody* body1 = mBoxes[box1Index]->getRigidBody(); + rp3d::RigidBody* body2 = mBoxes[box2Index]->getRigidBody(); + rp3d::Vector3 body1Position = body1->getTransform().getPosition(); + const rp3d::Vector3 anchorPointWorldSpace = body1Position + rp3d::Vector3(BOX_SIZE.x / 2.0f, 0, 0); + rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, rp3d::Vector3(0, 0, 1)); + jointInfo.isCollisionEnabled = false; + rp3d::HingeJoint* joint = dynamic_cast(mPhysicsWorld->createJoint(jointInfo)); + mHingeJoints.push_back(joint); + } + } +} + +// Update the physics simulation +void BridgeScene::updatePhysics() { + + SceneDemo::updatePhysics(); + + // Test if the joints of the last bridge should break or not + for (int i=0; i getReactionForce(mEngineSettings.timeStep.count()).lengthSquare() > 60000000) { + mPhysicsWorld->destroyJoint(joint); + mHingeJoints[jointIndex] = nullptr; + } + } + } +} + +// Create the physics world +void BridgeScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); + + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); + + for (int b=0; b < NB_BRIDGES; b++) { + + // Create all the boxes of the scene + for (int i=0; isetColor(mFloorColorDemo); + mBoxes[boxIndex]->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = mBoxes[boxIndex]->getCollider()->getMaterial(); + material.setBounciness(rp3d::decimal(0.0)); + + if (i == 0 || i == NB_BOXES-1) { + mBoxes[boxIndex]->getRigidBody()->setType(rp3d::BodyType::STATIC); + } + + // Add the box the list of boxes in the scene + mPhysicsObjects.push_back(mBoxes[boxIndex]); + } + } + + // Create all the spheres of the scene + for (int i=0; isetColor(mObjectColorDemo); + mSpheres[i]->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = mSpheres[i]->getCollider()->getMaterial(); + material.setBounciness(rp3d::decimal(0.2)); + mSpheres[i]->getRigidBody()->setMass(SPHERE_MASS); + + // Add the sphere the list of sphere in the scene + mPhysicsObjects.push_back(mSpheres[i]); + } + + // Set the position of the boxes before the joints creation + initBodiesPositions(); + + // Create the Ball-and-Socket joints + createJoints(); +} + +// Initialize the bodies positions +void BridgeScene::initBodiesPositions() { + + const rp3d::Quaternion initOrientation = rp3d::Quaternion::identity(); + + // Bridges + for (int b=0; b < NB_BRIDGES; b++) { + + for (int i=0; i < NB_BOXES; i++) { + + // Initial position and orientation of the rigid body + rp3d::Vector3 initPosition((-NB_BOXES/2 + i) * (BOX_SIZE.x + 0.2), + -7, + (-NB_BRIDGES/2 + b) * (BOX_SIZE.z + 4)); + rp3d::Transform transform(initPosition, initOrientation); + + // Create a box and a corresponding rigid in the physics world + mBoxes[b * NB_BOXES + i]->setTransform(transform); + } + } + + // Spheres + for (int i=0; i < NB_BRIDGES; i++) { + + // Initial position and orientation of the rigid body + rp3d::Vector3 initPosition(-12, + 10, + (-NB_BRIDGES/2 + i) * (BOX_SIZE.z + 4)); + + rp3d::Transform transform(initPosition, initOrientation); + + // Create a box and a corresponding rigid in the physics world + mSpheres[i]->setTransform(transform); + } + + // Destroy the joints + for (uint i=0; i < mHingeJoints.size(); i++) { + + if (mHingeJoints[i] != nullptr) { + mPhysicsWorld->destroyJoint(mHingeJoints[i]); + } + } + mHingeJoints.clear(); + + createJoints(); +} + +// Destroy the physics world +void BridgeScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + // Destroy all the physics objects of the scene + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + + // Destroy the object + delete (*it); + } + + mHingeJoints.clear(); + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} + +// Reset the scene +void BridgeScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} diff --git a/testbed/scenes/bridge/BridgeScene.h b/testbed/scenes/bridge/BridgeScene.h new file mode 100644 index 000000000..0b0b78963 --- /dev/null +++ b/testbed/scenes/bridge/BridgeScene.h @@ -0,0 +1,98 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef BRIDGE_SCENE_H +#define BRIDGE_SCENE_H + +// Libraries +#include "openglframework.h" +#include +#include "Box.h" +#include "Sphere.h" +#include "SceneDemo.h" + +namespace bridgescene { + +// Constants +const float SCENE_RADIUS = 60.0f; +const float SPHERE_RADIUS = 2.0f; +const float SPHERE_MASS = 40.0f; +const openglframework::Vector3 BOX_SIZE = openglframework::Vector3(2, 0.5, 4); +const int NB_BRIDGES = 4; +const int NB_BOXES = 16; + +// Class BridgeScene scene +class BridgeScene : public SceneDemo { + + protected : + + // -------------------- Attributes -------------------- // + + /// Boxes + Box* mBoxes[NB_BOXES * NB_BRIDGES]; + + /// Spheres + Sphere* mSpheres[NB_BRIDGES]; + + /// Hinge joints of the bridge + std::vector mHingeJoints; + + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + + // -------------------- Methods -------------------- // + + /// Create the joints + void createJoints(); + + public: + + // -------------------- Methods -------------------- // + + /// Constructor + BridgeScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); + + /// Destructor + virtual ~BridgeScene() override ; + + /// Update the physics simulation + virtual void updatePhysics() override; + + /// Reset the scene + virtual void reset() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); +}; + +} + +#endif diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp index 908e13364..5e19c24ac 100644 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -33,8 +33,8 @@ using namespace openglframework; using namespace collisiondetectionscene; // Constructor -CollisionDetectionScene::CollisionDetectionScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"), +CollisionDetectionScene::CollisionDetectionScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, SCENE_RADIUS, false), mMeshFolderPath("meshes/"), mContactManager(mPhongShader, mMeshFolderPath, mSnapshotsContactPoints), mAreNormalsDisplayed(false) { @@ -48,17 +48,12 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // Set the center of the scene setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.9); + resetCameraToViewAll(); rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; - // Logger - rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); - uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | - static_cast(rp3d::Logger::Level::Error); - defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); - mPhysicsCommon.setLogger(defaultLogger); - // Create the physics world for the physics simulation mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); @@ -111,7 +106,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Concave Mesh ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mConcaveMesh = new ConcaveMesh(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); + mConcaveMesh = new ConcaveMesh(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "castle.obj", rp3d::Vector3(0.3, 0.3, 0.3)); mAllShapes.push_back(mConcaveMesh); // Set the color @@ -184,36 +179,14 @@ void CollisionDetectionScene::reset() { // Destructor CollisionDetectionScene::~CollisionDetectionScene() { - // Destroy the box rigid body from the physics world - //mPhysicsWorld->destroyCollisionBody(mBox->getCollisionBody()); - //delete mBox; - - // Destroy the spheres - mPhysicsWorld->destroyCollisionBody(mSphere1->getCollisionBody()); delete mSphere1; - - mPhysicsWorld->destroyCollisionBody(mSphere2->getCollisionBody()); delete mSphere2; - - mPhysicsWorld->destroyCollisionBody(mCapsule1->getCollisionBody()); delete mCapsule1; - - mPhysicsWorld->destroyCollisionBody(mCapsule2->getCollisionBody()); delete mCapsule2; - - mPhysicsWorld->destroyCollisionBody(mBox1->getCollisionBody()); delete mBox1; - - mPhysicsWorld->destroyCollisionBody(mBox2->getCollisionBody()); delete mBox2; - - mPhysicsWorld->destroyCollisionBody(mConvexMesh->getCollisionBody()); delete mConvexMesh; - - mPhysicsWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody()); delete mConcaveMesh; - - mPhysicsWorld->destroyCollisionBody(mHeightField->getCollisionBody()); delete mHeightField; // Destroy the static data for the visual contact points @@ -249,7 +222,7 @@ void CollisionDetectionScene::selectNextShape() { } // Called when a keyboard event occurs -bool CollisionDetectionScene::keyboardEvent(int key, int scancode, int action, int mods) { +bool CollisionDetectionScene::keyboardEvent(int key, int /*scancode*/, int action, int /*mods*/) { // If the space key has been pressed if (key == GLFW_KEY_SPACE && action == GLFW_PRESS) { diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.h b/testbed/scenes/collisiondetection/CollisionDetectionScene.h index 83dc6befa..8149abfb5 100644 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.h +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.h @@ -71,7 +71,7 @@ class ContactManager : public rp3d::CollisionCallback { public: - ContactManager(openglframework::Shader& shader, const std::string& meshFolderPath, + ContactManager(openglframework::Shader& /*shader*/, const std::string& meshFolderPath, std::vector& contactPoints) : mMeshFolderPath(meshFolderPath), mContactPoints(contactPoints) { @@ -121,7 +121,7 @@ class CollisionDetectionScene : public SceneDemo { // -------------------- Methods -------------------- // /// Constructor - CollisionDetectionScene(const std::string& name, EngineSettings& settings); + CollisionDetectionScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); /// Destructor virtual ~CollisionDetectionScene() override; @@ -151,12 +151,12 @@ inline void CollisionDetectionScene::showHideNormals() { } // Enabled/Disable the shadow mapping -inline void CollisionDetectionScene::setIsShadowMappingEnabled(bool isShadowMappingEnabled) { +inline void CollisionDetectionScene::setIsShadowMappingEnabled(bool /*isShadowMappingEnabled*/) { SceneDemo::setIsShadowMappingEnabled(false); } // Display/Hide the contact points -inline void CollisionDetectionScene::setAreContactPointsDisplayed(bool display) { +inline void CollisionDetectionScene::setAreContactPointsDisplayed(bool /*display*/) { SceneDemo::setAreContactPointsDisplayed(true); } diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index 0cc97c8e0..05dee5421 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -31,39 +31,42 @@ using namespace openglframework; using namespace collisionshapesscene; // Constructor -CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, true, SCENE_RADIUS) { +CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { std::string meshFolderPath("meshes/"); // Compute the radius and the center of the scene - openglframework::Vector3 center(0, 5, 0); + openglframework::Vector3 center(0, 10, 0); // Set the center of the scene setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.5); + resetCameraToViewAll(); - // Gravity vector in the physics world - rp3d::Vector3 gravity(0, -9.81f, 0); + mWorldSettings.worldName = name; +} + +// Destructor +CollisionShapesScene::~CollisionShapesScene() { - rp3d::PhysicsWorld::WorldSettings worldSettings; - worldSettings.worldName = name; + destroyPhysicsWorld(); +} + +// Create the physics world +void CollisionShapesScene::createPhysicsWorld() { - // Logger - rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); - uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | - static_cast(rp3d::Logger::Level::Error); - defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); - mPhysicsCommon.setLogger(defaultLogger); + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); // Create the physics world for the physics simulation - rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); - physicsWorld->setEventListener(this); - mPhysicsWorld = physicsWorld; + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); for (int i=0; isetColor(mObjectColorDemo); @@ -79,7 +82,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Add the mesh the list of dumbbells in the scene mDumbbells.push_back(dumbbell); - mPhysicsObjects.push_back(dumbbell); + mPhysicsObjects.push_back(dumbbell); } // Create all the boxes of the scene @@ -98,17 +101,14 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Add the sphere the list of sphere in the scene mBoxes.push_back(box); - mPhysicsObjects.push_back(box); + mPhysicsObjects.push_back(box); } // Create all the spheres of the scene for (int i=0; igetCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); + Sphere* sphere = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the box color sphere->setColor(mObjectColorDemo); @@ -120,7 +120,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Add the sphere the list of sphere in the scene mSpheres.push_back(sphere); - mPhysicsObjects.push_back(sphere); + mPhysicsObjects.push_back(sphere); } // Create all the capsules of the scene @@ -128,9 +128,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Create a cylinder and a corresponding rigid in the physics world Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, - mPhysicsCommon, mPhysicsWorld, meshFolderPath); - - capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); + mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the box color capsule->setColor(mObjectColorDemo); @@ -142,14 +140,14 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Add the cylinder the list of sphere in the scene mCapsules.push_back(capsule); - mPhysicsObjects.push_back(capsule); + mPhysicsObjects.push_back(capsule); } // Create all the convex meshes of the scene for (int i=0; isetColor(mObjectColorDemo); @@ -161,13 +159,13 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Add the mesh the list of sphere in the scene mConvexMeshes.push_back(mesh); - mPhysicsObjects.push_back(mesh); + mPhysicsObjects.push_back(mesh); } // ---------- Create the floor --------- mFloor = new Box(true, FLOOR_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); - mPhysicsObjects.push_back(mFloor); + mPhysicsObjects.push_back(mFloor); // Set the box color mFloor->setColor(mFloorColorDemo); @@ -179,40 +177,10 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Change the material properties of the rigid body rp3d::Material& material = mFloor->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); - - // Get the physics engine parameters - mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); - rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); - mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); -} - -// Destructor -CollisionShapesScene::~CollisionShapesScene() { - - // Destroy all the physics objects of the scene - for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - - // Destroy the corresponding rigid body from the physics world - mPhysicsWorld->destroyRigidBody((*it)->getRigidBody()); - - // Destroy the object - delete (*it); - } - - // Destroy the physics world - mPhysicsCommon.destroyPhysicsWorld(static_cast(mPhysicsWorld)); } -/// Reset the scene -void CollisionShapesScene::reset() { - - SceneDemo::reset(); +// Initialize the bodies positions +void CollisionShapesScene::initBodiesPositions() { const float radius = 3.0f; @@ -279,3 +247,39 @@ void CollisionShapesScene::reset() { mFloor->setTransform(rp3d::Transform::identity()); } + +// Destroy the physics world +void CollisionShapesScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + // Destroy all the physics objects of the scene + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + + // Destroy the object + delete (*it); + } + + mBoxes.clear(); + mSpheres.clear(); + mCapsules.clear(); + mConvexMeshes.clear(); + mDumbbells.clear(); + + // Destroy the physics world + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + + mPhysicsObjects.clear(); + } +} + +/// Reset the scene +void CollisionShapesScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.h b/testbed/scenes/collisionshapes/CollisionShapesScene.h index e836111ec..04002495b 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.h +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.h @@ -56,7 +56,7 @@ const float CYLINDER_HEIGHT = 5.0f; const float CAPSULE_RADIUS = 1.0f; const float CAPSULE_HEIGHT = 1.0f; const float DUMBBELL_HEIGHT = 1.0f; -const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters +const openglframework::Vector3 FLOOR_SIZE(30, 0.5f, 30); // Floor dimensions in meters // Class CollisionShapesScene class CollisionShapesScene : public SceneDemo { @@ -81,18 +81,30 @@ class CollisionShapesScene : public SceneDemo { /// Box for the floor Box* mFloor; + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + public: // -------------------- Methods -------------------- // /// Constructor - CollisionShapesScene(const std::string& name, EngineSettings& settings); + CollisionShapesScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); /// Destructor virtual ~CollisionShapesScene() override; /// Reset the scene virtual void reset() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); }; } diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp index e08ef5408..c0ce171be 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp @@ -31,32 +31,36 @@ using namespace openglframework; using namespace trianglemeshscene; // Constructor -ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, true, SCENE_RADIUS) { +ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { std::string meshFolderPath("meshes/"); // Compute the radius and the center of the scene - openglframework::Vector3 center(0, 5, 0); + openglframework::Vector3 center(0, 15, 0); // Set the center of the scene setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.5); + resetCameraToViewAll(); - // Gravity vector in the physics world - rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); + mWorldSettings.worldName = name; +} + +// Destructor +ConcaveMeshScene::~ConcaveMeshScene() { - rp3d::PhysicsWorld::WorldSettings worldSettings; - worldSettings.worldName = name; + destroyPhysicsWorld(); +} + +// Create the physics world +void ConcaveMeshScene::createPhysicsWorld() { - // Logger - rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); - uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | - static_cast(rp3d::Logger::Level::Error); - defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); - mPhysicsCommon.setLogger(defaultLogger); + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); // Create the physics world for the physics simulation - rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); + rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); physicsWorld->setEventListener(this); mPhysicsWorld = physicsWorld; @@ -64,7 +68,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mObjectColorDemo); @@ -106,10 +110,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett for (int i = 0; igetCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); + Sphere* sphere = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the box color sphere->setColor(mObjectColorDemo); @@ -129,9 +130,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett // Create a cylinder and a corresponding rigid in the physics world Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, - mPhysicsCommon, mPhysicsWorld, meshFolderPath); - - capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); + mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the box color capsule->setColor(mObjectColorDemo); @@ -150,7 +149,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mObjectColorDemo); @@ -168,7 +167,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett // ---------- Create the triangular mesh ---------- // // Create a convex mesh and a corresponding rigid in the physics world - mConcaveMesh = new ConcaveMesh(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "city.obj"); + mConcaveMesh = new ConcaveMesh(true, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "castle.obj", rp3d::Vector3(0.5, 0.5, 0.5)); // Set the mesh as beeing static mConcaveMesh->getRigidBody()->setType(rp3d::BodyType::STATIC); @@ -183,40 +182,10 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett rp3d::Material& material = mConcaveMesh->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); material.setFrictionCoefficient(rp3d::decimal(0.1)); - - // Get the physics engine parameters - mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); - rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); - mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); } -// Destructor -ConcaveMeshScene::~ConcaveMeshScene() { - - // Destroy all the physics objects of the scene - for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - - // Destroy the corresponding rigid body from the physics world - mPhysicsWorld->destroyRigidBody((*it)->getRigidBody()); - - // Destroy the object - delete (*it); - } - - // Destroy the physics world - mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); -} - -// Reset the scene -void ConcaveMeshScene::reset() { - - SceneDemo::reset(); +// Initialize the bodies positions +void ConcaveMeshScene::initBodiesPositions() { const float radius = 15.0f; @@ -281,5 +250,39 @@ void ConcaveMeshScene::reset() { // ---------- Create the triangular mesh ---------- // - mConcaveMesh->setTransform(rp3d::Transform::identity()); + + mConcaveMesh->setTransform(rp3d::Transform(rp3d::Vector3(15, 0, -5), rp3d::Quaternion::identity())); +} + +// Destroy the physics world +void ConcaveMeshScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + // Destroy all the physics objects of the scene + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + + // Destroy the object + delete (*it); + } + mBoxes.clear(); + mSpheres.clear(); + mCapsules.clear(); + mConvexMeshes.clear(); + mDumbbells.clear(); + + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} +// Reset the scene +void ConcaveMeshScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); } diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.h b/testbed/scenes/concavemesh/ConcaveMeshScene.h index 8838b5d39..67b204f25 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.h +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.h @@ -42,20 +42,16 @@ namespace trianglemeshscene { // Constants const float SCENE_RADIUS = 70.0f; // Radius of the scene in meters -static const int NB_BOXES = 50; -static const int NB_SPHERES = 40; -static const int NB_CAPSULES = 20; -static const int NB_MESHES = 15; +static const int NB_BOXES = 20; +static const int NB_SPHERES = 20; +static const int NB_CAPSULES = 10; +static const int NB_MESHES = 5; static const int NB_COMPOUND_SHAPES = 3; const openglframework::Vector3 BOX_SIZE(2, 2, 2); -const float SPHERE_RADIUS = 1.5f; -const float CONE_RADIUS = 2.0f; -const float CONE_HEIGHT = 3.0f; -const float CYLINDER_RADIUS = 1.0f; -const float CYLINDER_HEIGHT = 5.0f; -const float CAPSULE_RADIUS = 1.0f; -const float CAPSULE_HEIGHT = 1.0f; -const float DUMBBELL_HEIGHT = 1.0f; +const float SPHERE_RADIUS = 0.5f; +const float CAPSULE_RADIUS = 0.5f; +const float CAPSULE_HEIGHT = 0.5f; +const float DUMBBELL_HEIGHT = 0.5f; // Class TriangleMeshScene class ConcaveMeshScene : public SceneDemo { @@ -79,18 +75,30 @@ class ConcaveMeshScene : public SceneDemo { /// Concave triangles mesh ConcaveMesh* mConcaveMesh; + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + public: // -------------------- Methods -------------------- // /// Constructor - ConcaveMeshScene(const std::string& name, EngineSettings& settings); + ConcaveMeshScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); /// Destructor virtual ~ConcaveMeshScene() override; /// Reset the scene virtual void reset() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); }; } diff --git a/testbed/scenes/cubes/CubesScene.cpp b/testbed/scenes/cubes/CubesScene.cpp index 7c45e15b6..1061d4d74 100644 --- a/testbed/scenes/cubes/CubesScene.cpp +++ b/testbed/scenes/cubes/CubesScene.cpp @@ -31,34 +31,35 @@ using namespace openglframework; using namespace cubesscene; // Constructor -CubesScene::CubesScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, true, SCENE_RADIUS) { - - iter = 0; +CubesScene::CubesScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { // Compute the radius and the center of the scene - openglframework::Vector3 center(0, 5, 0); + openglframework::Vector3 center(0, 10, 0); // Set the center of the scene setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.5); + resetCameraToViewAll(); - // Gravity vector in the physics world - rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); + mWorldSettings.worldName = name; +} + +// Destructor +CubesScene::~CubesScene() { - rp3d::PhysicsWorld::WorldSettings worldSettings; - worldSettings.worldName = name; + destroyPhysicsWorld(); +} - // Logger - rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); - uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | - static_cast(rp3d::Logger::Level::Error); - defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); - mPhysicsCommon.setLogger(defaultLogger); +// Create the physics world +void CubesScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); // Create the physics world for the physics simulation - rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); - physicsWorld->setEventListener(this); - mPhysicsWorld = physicsWorld; + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); // Create all the cubes of the scene for (int i=0; igetRigidBody()->setType(rp3d::BodyType::STATIC); - mPhysicsObjects.push_back(mFloor); - - // Get the physics engine parameters - mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); - rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); - mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); + mPhysicsObjects.push_back(mFloor); } -// Destructor -CubesScene::~CubesScene() { - - // Destroy all the cubes of the scene - for (std::vector::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) { - - // Destroy the corresponding rigid body from the physics world - mPhysicsWorld->destroyRigidBody((*it)->getRigidBody()); - - // Destroy the cube - delete (*it); - } +// Initialize the bodies positions +void CubesScene::initBodiesPositions() { - // Destroy the rigid body of the floor - mPhysicsWorld->destroyRigidBody(mFloor->getRigidBody()); - - // Destroy the floor - delete mFloor; - - // Destroy the physics world - mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); -} - -// Reset the scene -void CubesScene::reset() { - - float radius = 2.0f; + const float radius = 2.0f; // Create all the cubes of the scene std::vector::iterator it; @@ -148,3 +115,36 @@ void CubesScene::reset() { mFloor->setTransform(rp3d::Transform(rp3d::Vector3::zero(), rp3d::Quaternion::identity())); } + +// Destroy the physics world +void CubesScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + // Destroy all the cubes of the scene + for (std::vector::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) { + + // Destroy the cube + delete (*it); + } + mBoxes.clear(); + + // Destroy the floor + delete mFloor; + + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} + +// Reset the scene +void CubesScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} diff --git a/testbed/scenes/cubes/CubesScene.h b/testbed/scenes/cubes/CubesScene.h index dd012a705..e4331dc1f 100755 --- a/testbed/scenes/cubes/CubesScene.h +++ b/testbed/scenes/cubes/CubesScene.h @@ -35,10 +35,10 @@ namespace cubesscene { // Constants -const float SCENE_RADIUS = 30.0f; // Radius of the scene in meters -const int NB_CUBES = 40; // Number of boxes in the scene -const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters -const openglframework::Vector3 FLOOR_SIZE(50, 1, 50); // Floor dimensions in meters +const float SCENE_RADIUS = 30.0f; // Radius of the scene in meters +const int NB_CUBES = 30; // Number of boxes in the scene +const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters +const openglframework::Vector3 FLOOR_SIZE(30, 1, 30); // Floor dimensions in meters // Class CubesScene class CubesScene : public SceneDemo { @@ -53,20 +53,30 @@ class CubesScene : public SceneDemo { /// Box for the floor Box* mFloor; - unsigned int iter; + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; public: // -------------------- Methods -------------------- // /// Constructor - CubesScene(const std::string& name, EngineSettings& settings); + CubesScene(const std::string& name, EngineSettings& settings, rp3d::PhysicsCommon& physicsCommon); /// Destructor virtual ~CubesScene() override; /// Reset the scene virtual void reset() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); }; } diff --git a/testbed/scenes/cubestack/CubeStackScene.cpp b/testbed/scenes/cubestack/CubeStackScene.cpp index b45f49770..05effb840 100644 --- a/testbed/scenes/cubestack/CubeStackScene.cpp +++ b/testbed/scenes/cubestack/CubeStackScene.cpp @@ -31,30 +31,28 @@ using namespace openglframework; using namespace cubestackscene; // Constructor -CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, true, SCENE_RADIUS) { +CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { // Compute the radius and the center of the scene - openglframework::Vector3 center(0, 5, 0); + openglframework::Vector3 center(0, 16, 0); // Set the center of the scene setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.9); + resetCameraToViewAll(); - // Gravity vector in the physics world - rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); + mWorldSettings.worldName = name; +} - rp3d::PhysicsWorld::WorldSettings worldSettings; - worldSettings.worldName = name; +// Create the physics world +void CubeStackScene::createPhysicsWorld() { - // Logger - rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); - uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | - static_cast(rp3d::Logger::Level::Error); - defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); - mPhysicsCommon.setLogger(defaultLogger); + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); // Create the physics world for the physics simulation - rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); + rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); physicsWorld->setEventListener(this); mPhysicsWorld = physicsWorld; @@ -90,46 +88,10 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings // The floor must be a static rigid body mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC); mPhysicsObjects.push_back(mFloor); - - // Get the physics engine parameters - mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); - rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); - mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); -} - -// Destructor -CubeStackScene::~CubeStackScene() { - - // Destroy all the cubes of the scene - for (std::vector::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) { - - // Destroy the corresponding rigid body from the physics world - mPhysicsWorld->destroyRigidBody((*it)->getRigidBody()); - - // Destroy the cube - delete (*it); - } - - // Destroy the rigid body of the floor - mPhysicsWorld->destroyRigidBody(mFloor->getRigidBody()); - - // Destroy the floor - delete mFloor; - - // Destroy the physics world - mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); } -// Reset the scene -void CubeStackScene::reset() { - - SceneDemo::reset(); +// Initialize the bodies positions +void CubeStackScene::initBodiesPositions() { int index = 0; for (int i=NB_FLOORS; i > 0; i--) { @@ -152,3 +114,41 @@ void CubeStackScene::reset() { mFloor->setTransform(rp3d::Transform(rp3d::Vector3::zero(), rp3d::Quaternion::identity())); } + +// Destroy the physics world +void CubeStackScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + // Destroy all the cubes of the scene + for (std::vector::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) { + + // Destroy the cube + delete (*it); + } + mBoxes.clear(); + + // Destroy the floor + delete mFloor; + + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} + +// Destructor +CubeStackScene::~CubeStackScene() { + destroyPhysicsWorld(); +} + +// Reset the scene +void CubeStackScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} diff --git a/testbed/scenes/cubestack/CubeStackScene.h b/testbed/scenes/cubestack/CubeStackScene.h index 2a0aa5d5e..a7e2075a2 100644 --- a/testbed/scenes/cubestack/CubeStackScene.h +++ b/testbed/scenes/cubestack/CubeStackScene.h @@ -38,7 +38,7 @@ namespace cubestackscene { const float SCENE_RADIUS = 30.0f; // Radius of the scene in meters const int NB_FLOORS = 15; // Number of boxes in the scene const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters -const openglframework::Vector3 FLOOR_SIZE(50, 1, 50); // Floor dimensions in meters +const openglframework::Vector3 FLOOR_SIZE(50, 1, 20); // Floor dimensions in meters // Class CubeStackScene class CubeStackScene : public SceneDemo { @@ -53,18 +53,30 @@ class CubeStackScene : public SceneDemo { /// Box for the floor Box* mFloor; + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + public: // -------------------- Methods -------------------- // /// Constructor - CubeStackScene(const std::string& name, EngineSettings& settings); + CubeStackScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); /// Destructor virtual ~CubeStackScene() override; /// Reset the scene virtual void reset() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); }; } diff --git a/testbed/scenes/fixedjoint/FixedJointScene.cpp b/testbed/scenes/fixedjoint/FixedJointScene.cpp new file mode 100644 index 000000000..5cb818c96 --- /dev/null +++ b/testbed/scenes/fixedjoint/FixedJointScene.cpp @@ -0,0 +1,146 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "FixedJointScene.h" +#include + +// Namespaces +using namespace openglframework; +using namespace fixedjointscene; + +// Constructor +FixedJointScene::FixedJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 5, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.1); + resetCameraToViewAll(); + + mWorldSettings.worldName = name; +} + +// Destructor +FixedJointScene::~FixedJointScene() { + + destroyPhysicsWorld(); +} + +// Create the physics world +void FixedJointScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); + + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); + + // Create the fixed joint + createFixedJoint(); +} + +// Initialize the bodies positions +void FixedJointScene::initBodiesPositions() { + + mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 4, 0), rp3d::Quaternion::identity())); + mBox2->setTransform(rp3d::Transform(rp3d::Vector3(4, 8, 4), rp3d::Quaternion::identity())); +} + +// Destroy the physics world +void FixedJointScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + delete mBox1; + delete mBox2; + + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} +// Reset the scene +void FixedJointScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} + +/// Create the fixed joint +void FixedJointScene::createFixedJoint() { + + // --------------- Create the first box --------------- // + + // Position of the box + rp3d::Vector3 positionBox1(0, 4, 0); + + // Create a box and a corresponding rigid in the physics world + openglframework::Vector3 boxDimension(4, 4, 4); + mBox1 = new Box(true, boxDimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox1->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); + mBox1->getRigidBody()->setType(rp3d::BodyType::STATIC); + + // Set the box color + mBox1->setColor(mObjectColorDemo); + mBox1->setSleepingColor(mSleepingColorDemo); + + mPhysicsObjects.push_back(mBox1); + + // --------------- Create the second box --------------- // + + // Position of the box + rp3d::Vector3 positionBox2(4, 8, 4); + + // Create a box and a corresponding rigid in the physics world + mBox2 = new Box(true, boxDimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox2->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity())); + + // Set the box color + mBox2->setColor(mObjectColorDemo); + mBox2->setSleepingColor(mSleepingColorDemo); + + mPhysicsObjects.push_back(mBox2); + + // --------------- Create the fixed joint --------------- // + + // Create the joint info object + rp3d::RigidBody* body1 = mBox1->getRigidBody(); + rp3d::RigidBody* body2 = mBox2->getRigidBody(); + const rp3d::Vector3 anchorPointWorldSpace1(5, 7, 0); + rp3d::FixedJointInfo jointInfo1(body1, body2, anchorPointWorldSpace1); + jointInfo1.isCollisionEnabled = false; + + // Create the joint in the physics world + mFixedJoint = dynamic_cast(mPhysicsWorld->createJoint(jointInfo1)); +} diff --git a/testbed/scenes/fixedjoint/FixedJointScene.h b/testbed/scenes/fixedjoint/FixedJointScene.h new file mode 100644 index 000000000..d4b6991f3 --- /dev/null +++ b/testbed/scenes/fixedjoint/FixedJointScene.h @@ -0,0 +1,93 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef FIXED_JOINT_SCENE_H +#define FIXED_JOINT_SCENE_H + +// Libraries +#include "openglframework.h" +#include +#include "Box.h" +#include "SceneDemo.h" + +namespace fixedjointscene { + +// Constants +const float SCENE_RADIUS = 30.0f; +const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters +const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters +const int NB_BALLSOCKETJOINT_BOXES = 7; // Number of Ball-And-Socket chain boxes +const int NB_HINGE_BOXES = 7; // Number of Hinge chain boxes + +// Class FixedJointScene +class FixedJointScene : public SceneDemo { + + protected : + + // -------------------- Attributes -------------------- // + + /// First box + Box* mBox1; + + /// Second box + Box* mBox2; + + /// Fixed joint + rp3d::FixedJoint* mFixedJoint; + + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + + // -------------------- Methods -------------------- // + + /// Create the fixed joint + void createFixedJoint(); + + public: + + // -------------------- Methods -------------------- // + + /// Constructor + FixedJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); + + /// Destructor + virtual ~FixedJointScene() override ; + + /// Reset the scene + virtual void reset() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); +}; + +} + +#endif diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp index 53ac20c78..0bb810086 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.cpp +++ b/testbed/scenes/heightfield/HeightFieldScene.cpp @@ -31,45 +31,51 @@ using namespace openglframework; using namespace heightfieldscene; // Constructor -HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, true, SCENE_RADIUS) { +HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { + + mWorldSettings.gravity = rp3d::Vector3(settings.gravity.x, settings.gravity.y, settings.gravity.z); std::string meshFolderPath("meshes/"); // Compute the radius and the center of the scene - openglframework::Vector3 center(0, 5, 0); + openglframework::Vector3 center(0, 17, 0); // Set the center of the scene setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.5); + resetCameraToViewAll(); - // Gravity vector in the physics world - rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); + mWorldSettings.worldName = name; +} - rp3d::PhysicsWorld::WorldSettings worldSettings; - worldSettings.worldName = name; - // Logger - rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); - uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | - static_cast(rp3d::Logger::Level::Error); - defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); - mPhysicsCommon.setLogger(defaultLogger); +// Destructor +HeightFieldScene::~HeightFieldScene() { + + destroyPhysicsWorld(); +} +// Create the physics world +void HeightFieldScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); // Create the physics world for the physics simulation - rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); + rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); physicsWorld->setEventListener(this); mPhysicsWorld = physicsWorld; for (int i = 0; isetColor(mObjectColorDemo); - dumbbell->setSleepingColor(mSleepingColorDemo); + // Set the box color + dumbbell->setColor(mObjectColorDemo); + dumbbell->setSleepingColor(mSleepingColorDemo); - // Change the material properties of the rigid body + // Change the material properties of the rigid body rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial(); capsuleMaterial.setBounciness(rp3d::decimal(0.2)); rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial(); @@ -77,91 +83,86 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial(); sphere2Material.setBounciness(rp3d::decimal(0.2)); - // Add the mesh the list of dumbbells in the scene - mDumbbells.push_back(dumbbell); - mPhysicsObjects.push_back(dumbbell); - } + // Add the mesh the list of dumbbells in the scene + mDumbbells.push_back(dumbbell); + mPhysicsObjects.push_back(dumbbell); + } - // Create all the boxes of the scene - for (int i = 0; isetColor(mObjectColorDemo); - box->setSleepingColor(mSleepingColorDemo); + // Set the box color + box->setColor(mObjectColorDemo); + box->setSleepingColor(mSleepingColorDemo); - // Change the material properties of the rigid body + // Change the material properties of the rigid body rp3d::Material& material = box->getCollider()->getMaterial(); - material.setBounciness(rp3d::decimal(0.2)); + material.setBounciness(rp3d::decimal(0.2)); - // Add the sphere the list of sphere in the scene - mBoxes.push_back(box); - mPhysicsObjects.push_back(box); - } + // Add the sphere the list of sphere in the scene + mBoxes.push_back(box); + mPhysicsObjects.push_back(box); + } - // Create all the spheres of the scene - for (int i = 0; igetCollider()->getMaterial().setRollingResistance(0.08f); + // Set the box color + sphere->setColor(mObjectColorDemo); + sphere->setSleepingColor(mSleepingColorDemo); - // Set the box color - sphere->setColor(mObjectColorDemo); - sphere->setSleepingColor(mSleepingColorDemo); - - // Change the material properties of the rigid body + // Change the material properties of the rigid body rp3d::Material& material = sphere->getCollider()->getMaterial(); - material.setBounciness(rp3d::decimal(0.2)); + material.setBounciness(rp3d::decimal(0.2)); - // Add the sphere the list of sphere in the scene - mSpheres.push_back(sphere); - mPhysicsObjects.push_back(sphere); - } + // Add the sphere the list of sphere in the scene + mSpheres.push_back(sphere); + mPhysicsObjects.push_back(sphere); + } - // Create all the capsules of the scene - for (int i = 0; igetCollider()->getMaterial().setRollingResistance(0.08f); + // Set the box color + capsule->setColor(mObjectColorDemo); + capsule->setSleepingColor(mSleepingColorDemo); - // Set the box color - capsule->setColor(mObjectColorDemo); - capsule->setSleepingColor(mSleepingColorDemo); - - // Change the material properties of the rigid body + // Change the material properties of the rigid body rp3d::Material& material = capsule->getCollider()->getMaterial(); - material.setBounciness(rp3d::decimal(0.2)); + material.setBounciness(rp3d::decimal(0.2)); - // Add the cylinder the list of sphere in the scene - mCapsules.push_back(capsule); - mPhysicsObjects.push_back(capsule); - } + // Add the cylinder the list of sphere in the scene + mCapsules.push_back(capsule); + mPhysicsObjects.push_back(capsule); + } - // Create all the convex meshes of the scene - for (int i = 0; isetColor(mObjectColorDemo); - mesh->setSleepingColor(mSleepingColorDemo); + // Set the box color + mesh->setColor(mObjectColorDemo); + mesh->setSleepingColor(mSleepingColorDemo); - // Change the material properties of the rigid body + // Change the material properties of the rigid body rp3d::Material& material = mesh->getCollider()->getMaterial(); - material.setBounciness(rp3d::decimal(0.2)); + material.setBounciness(rp3d::decimal(0.2)); - // Add the mesh the list of sphere in the scene - mConvexMeshes.push_back(mesh); - mPhysicsObjects.push_back(mesh); - } + // Add the mesh the list of sphere in the scene + mConvexMeshes.push_back(mesh); + mPhysicsObjects.push_back(mesh); + } // ---------- Create the height field ---------- // @@ -171,7 +172,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett // Set the mesh as beeing static mHeightField->getRigidBody()->setType(rp3d::BodyType::STATIC); - mPhysicsObjects.push_back(mHeightField); + mPhysicsObjects.push_back(mHeightField); // Set the color mHeightField->setColor(mFloorColorDemo); @@ -181,40 +182,10 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett rp3d::Material& material = mHeightField->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); material.setFrictionCoefficient(0.1f); - - // Get the physics engine parameters - mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); - rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); - mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); } -// Destructor -HeightFieldScene::~HeightFieldScene() { - - // Destroy all the physics objects of the scene - for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - - // Destroy the corresponding rigid body from the physics world - mPhysicsWorld->destroyRigidBody((*it)->getRigidBody()); - - // Destroy the object - delete (*it); - } - - // Destroy the physics world - mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); -} - -// Reset the scene -void HeightFieldScene::reset() { - - SceneDemo::reset(); +// Initialize the bodies positions +void HeightFieldScene::initBodiesPositions() { const float radius = 3.0f; @@ -277,7 +248,40 @@ void HeightFieldScene::reset() { mConvexMeshes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); } - // ---------- Create the triangular mesh ---------- // - mHeightField->setTransform(rp3d::Transform::identity()); } + +// Destroy the physics world +void HeightFieldScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + // Destroy all the physics objects of the scene + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + + // Destroy the object + delete (*it); + } + + mBoxes.clear(); + mSpheres.clear(); + mCapsules.clear(); + mConvexMeshes.clear(); + mDumbbells.clear(); + + mPhysicsObjects.clear(); + + // Destroy the physics world + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} +// Reset the scene +void HeightFieldScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} diff --git a/testbed/scenes/heightfield/HeightFieldScene.h b/testbed/scenes/heightfield/HeightFieldScene.h index a5d95d86d..5d1a9ea92 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.h +++ b/testbed/scenes/heightfield/HeightFieldScene.h @@ -80,18 +80,30 @@ class HeightFieldScene : public SceneDemo { /// Height field HeightField* mHeightField; + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + public: // -------------------- Methods -------------------- // /// Constructor - HeightFieldScene(const std::string& name, EngineSettings& settings); + HeightFieldScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); /// Destructor virtual ~HeightFieldScene() override; /// Reset the scene virtual void reset() override ; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); }; } diff --git a/testbed/scenes/hingejoint/HingeJointScene.cpp b/testbed/scenes/hingejoint/HingeJointScene.cpp new file mode 100644 index 000000000..1c7afcf7a --- /dev/null +++ b/testbed/scenes/hingejoint/HingeJointScene.cpp @@ -0,0 +1,142 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "HingeJointScene.h" +#include + +// Namespaces +using namespace openglframework; +using namespace hingejointscene; + +// Constructor +HingeJointScene::HingeJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 5, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.1); + resetCameraToViewAll(); + + mWorldSettings.worldName = name; +} + +// Destructor +HingeJointScene::~HingeJointScene() { + + destroyPhysicsWorld(); +} + +// Create the physics world +void HingeJointScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); + + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); + + // Create the Hinge joint + createHingeJoint(); +} + +// Initialize the bodies positions +void HingeJointScene::initBodiesPositions() { + + mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 4, 0), rp3d::Quaternion::identity())); + mBox2->setTransform(rp3d::Transform(rp3d::Vector3(4, 4, 0), rp3d::Quaternion::identity())); +} + +// Destroy the physics world +void HingeJointScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + delete mBox1; + delete mBox2; + + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} +// Reset the scene +void HingeJointScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} + +/// Create the hinge joint +void HingeJointScene::createHingeJoint() { + + // --------------- Create the boxes --------------- // + + // Create a box and a corresponding rigid in the physics world + mBox1 = new Box(true, Vector3(4, 4, 4), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 4, 0), rp3d::Quaternion::identity())); + mBox1->getRigidBody()->setType(rp3d::BodyType::STATIC); + + // Set the box color + mBox1->setColor(mObjectColorDemo); + mBox1->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + mPhysicsObjects.push_back(mBox1); + + // Create a box and a corresponding rigid in the physics world + mBox2 = new Box(true, Vector3(4, 4, 4), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox2->setTransform(rp3d::Transform(rp3d::Vector3(4, 4, 0), rp3d::Quaternion::identity())); + + // Set the box color + mBox2->setColor(mObjectColorDemo); + mBox2->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + mPhysicsObjects.push_back(mBox2); + + // --------------- Create the Hinge joint --------------- // + + // Create the joint info object + rp3d::RigidBody* body1 = mBox1->getRigidBody(); + rp3d::RigidBody* body2 = mBox2->getRigidBody(); + const rp3d::Vector3& body1Position = body1->getTransform().getPosition(); + const rp3d::Vector3& body2Position = body2->getTransform().getPosition(); + const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body2Position + body1Position) - rp3d::Vector3(0, 2, 0); + const rp3d::Vector3 hingeAxisWorldSpace(0, 0, 1); + rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, hingeAxisWorldSpace); + jointInfo.isCollisionEnabled = false; + + // Create the joint in the physics world + mJoint = dynamic_cast(mPhysicsWorld->createJoint(jointInfo)); +} diff --git a/testbed/scenes/hingejoint/HingeJointScene.h b/testbed/scenes/hingejoint/HingeJointScene.h new file mode 100644 index 000000000..d55eff828 --- /dev/null +++ b/testbed/scenes/hingejoint/HingeJointScene.h @@ -0,0 +1,93 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef HINGE_JOINT_SCENE_H +#define HINGE_JOINT_SCENE_H + +// Libraries +#include "openglframework.h" +#include +#include "Box.h" +#include "SceneDemo.h" + +namespace hingejointscene { + +// Constants +const float SCENE_RADIUS = 30.0f; +const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters +const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters +const int NB_BALLSOCKETJOINT_BOXES = 7; // Number of Ball-And-Socket chain boxes +const int NB_HINGE_BOXES = 7; // Number of Hinge chain boxes + +// Class HingeJointScene +class HingeJointScene : public SceneDemo { + + protected : + + // -------------------- Attributes -------------------- // + + /// First box + Box* mBox1; + + /// Second box + Box* mBox2; + + /// Hinge joint + rp3d::HingeJoint* mJoint; + + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + + // -------------------- Methods -------------------- // + + /// Create the boxes and joint for the Hinge joint example + void createHingeJoint(); + + public: + + // -------------------- Methods -------------------- // + + /// Constructor + HingeJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); + + /// Destructor + virtual ~HingeJointScene() override ; + + /// Reset the scene + virtual void reset() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); +}; + +} + +#endif diff --git a/testbed/scenes/hingejointschain/HingeJointsChainScene.cpp b/testbed/scenes/hingejointschain/HingeJointsChainScene.cpp new file mode 100644 index 000000000..4cae61438 --- /dev/null +++ b/testbed/scenes/hingejointschain/HingeJointsChainScene.cpp @@ -0,0 +1,161 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "HingeJointsChainScene.h" +#include + +// Namespaces +using namespace openglframework; +using namespace hingejointschainscene; + +// Constructor +HingeJointsChainScene::HingeJointsChainScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { + + std::string meshFolderPath("meshes/"); + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 0, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.3); + resetCameraToViewAll(); + + // Gravity vector in the physics world + rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); + + mWorldSettings.worldName = name; +} + +// Destructor +HingeJointsChainScene::~HingeJointsChainScene() { + + destroyPhysicsWorld(); +} + +// Create the physics world +void HingeJointsChainScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); + + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); + + // Create all the boxes of the scene + for (int i=0; isetColor(mObjectColorDemo); + mBoxes[i]->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = mBoxes[i]->getCollider()->getMaterial(); + material.setBounciness(rp3d::decimal(0.0)); + + if (i == 0) { + mBoxes[i]->getRigidBody()->setType(rp3d::BodyType::STATIC); + } + + // Add the box the list of boxes in the scene + mPhysicsObjects.push_back(mBoxes[i]); + } + + // Set the position of the boxes before the joints creation + initBodiesPositions(); + + // Create the Ball-and-Socket joints + createJoints(); +} + +// Initialize the bodies positions +void HingeJointsChainScene::initBodiesPositions() { + + const float space = 0.3f; + + const rp3d::Quaternion initOrientation = rp3d::Quaternion::identity(); + + for (int i=0; isetTransform(transform); + } +} + +// Destroy the physics world +void HingeJointsChainScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + // Destroy all the physics objects of the scene + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + + // Destroy the object + delete (*it); + } + + mHingeJoints.clear(); + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} +// Create the joints +void HingeJointsChainScene::createJoints() { + + for (int i=0; i < NB_BOXES-1; i++) { + + // Create the joint info object + rp3d::RigidBody* body1 = mBoxes[i]->getRigidBody(); + rp3d::RigidBody* body2 = mBoxes[i+1]->getRigidBody(); + rp3d::Vector3 body1Position = body1->getTransform().getPosition(); + const rp3d::Vector3 anchorPointWorldSpace = body1Position + rp3d::Vector3(BOX_SIZE.x / 2.0f, 0, 0); + rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, rp3d::Vector3(0, 0, 1)); + jointInfo.isCollisionEnabled = false; + rp3d::HingeJoint* joint = dynamic_cast(mPhysicsWorld->createJoint(jointInfo)); + mHingeJoints.push_back(joint); + } +} + +// Reset the scene +void HingeJointsChainScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} diff --git a/testbed/scenes/hingejointschain/HingeJointsChainScene.h b/testbed/scenes/hingejointschain/HingeJointsChainScene.h new file mode 100644 index 000000000..f745c6d30 --- /dev/null +++ b/testbed/scenes/hingejointschain/HingeJointsChainScene.h @@ -0,0 +1,88 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef HINGE_JOINTS_CHAIN_SCENE_H +#define HINGE_JOINTS_CHAIN_SCENE_H + +// Libraries +#include "openglframework.h" +#include +#include "Box.h" +#include "SceneDemo.h" + +namespace hingejointschainscene { + +// Constants +const float SCENE_RADIUS = 60.0f; +const openglframework::Vector3 BOX_SIZE = openglframework::Vector3(2, 1, 1); +const int NB_BOXES = 20; + +// Class HingeJointsChain scene +class HingeJointsChainScene : public SceneDemo { + + protected : + + // -------------------- Attributes -------------------- // + + /// Boxes + Box* mBoxes[NB_BOXES]; + + /// Hinge joints of the chain + std::vector mHingeJoints; + + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + + // -------------------- Methods -------------------- // + + /// Create the joints + void createJoints(); + + public: + + // -------------------- Methods -------------------- // + + /// Constructor + HingeJointsChainScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); + + /// Destructor + virtual ~HingeJointsChainScene() override ; + + /// Reset the scene + virtual void reset() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); +}; + +} + +#endif diff --git a/testbed/scenes/joints/JointsScene.cpp b/testbed/scenes/joints/JointsScene.cpp index d0e49075d..18c795438 100644 --- a/testbed/scenes/joints/JointsScene.cpp +++ b/testbed/scenes/joints/JointsScene.cpp @@ -32,32 +32,48 @@ using namespace openglframework; using namespace jointsscene; // Constructor -JointsScene::JointsScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, true, SCENE_RADIUS) { +JointsScene::JointsScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { // Compute the radius and the center of the scene - openglframework::Vector3 center(0, 5, 0); + openglframework::Vector3 center(0, 8, 0); // Set the center of the scene setScenePosition(center, SCENE_RADIUS); + setInitZoom(1); + resetCameraToViewAll(); // Gravity vector in the physics world rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); - rp3d::PhysicsWorld::WorldSettings worldSettings; - worldSettings.worldName = name; + mWorldSettings.worldName = name; +} + +// Destructor +JointsScene::~JointsScene() { + + destroyPhysicsWorld(); +} + +// Update the physics world (take a simulation step) +void JointsScene::updatePhysics() { + + // Update the motor speed of the Slider Joint (to move up and down) + double motorSpeed = 2.0 * std::cos(mEngineSettings.elapsedTime.count() * 1.5); + mSliderJoint->setMotorSpeed(rp3d::decimal(motorSpeed)); - // Logger - rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); - uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | - static_cast(rp3d::Logger::Level::Error); - defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); - mPhysicsCommon.setLogger(defaultLogger); + SceneDemo::updatePhysics(); +} + +// Create the physics world +void JointsScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); // Create the physics world for the physics simulation - rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); - physicsWorld->setEventListener(this); - mPhysicsWorld = physicsWorld; + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); // Create the Ball-and-Socket joint createBallAndSocketJoints(); @@ -73,72 +89,10 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings) // Create the floor createFloor(); - - // Get the physics engine parameters - mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); - rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); - mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); } -// Destructor -JointsScene::~JointsScene() { - - // Destroy the joints - mPhysicsWorld->destroyJoint(mSliderJoint); - mPhysicsWorld->destroyJoint(mPropellerHingeJoint); - mPhysicsWorld->destroyJoint(mFixedJoint1); - mPhysicsWorld->destroyJoint(mFixedJoint2); - for (int i=0; idestroyJoint(mBallAndSocketJoints[i]); - } - - // Destroy all the rigid bodies of the scene - mPhysicsWorld->destroyRigidBody(mSliderJointBottomBox->getRigidBody()); - mPhysicsWorld->destroyRigidBody(mSliderJointTopBox->getRigidBody()); - mPhysicsWorld->destroyRigidBody(mPropellerBox->getRigidBody()); - mPhysicsWorld->destroyRigidBody(mFixedJointBox1->getRigidBody()); - mPhysicsWorld->destroyRigidBody(mFixedJointBox2->getRigidBody()); - for (int i=0; idestroyRigidBody(mBallAndSocketJointChainBoxes[i]->getRigidBody()); - } - - delete mSliderJointBottomBox; - delete mSliderJointTopBox; - delete mPropellerBox; - delete mFixedJointBox1; - delete mFixedJointBox2; - for (int i=0; idestroyRigidBody(mFloor->getRigidBody()); - delete mFloor; - - // Destroy the physics world - mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); -} - -// Update the physics world (take a simulation step) -void JointsScene::updatePhysics() { - - // Update the motor speed of the Slider Joint (to move up and down) - double motorSpeed = 2.0 * std::cos(static_cast(mEngineSettings.elapsedTime) * 1.5); - mSliderJoint->setMotorSpeed(rp3d::decimal(motorSpeed)); - - SceneDemo::updatePhysics(); -} - -// Reset the scene -void JointsScene::reset() { - - SceneDemo::reset(); +// Initialize the bodies positions +void JointsScene::initBodiesPositions() { openglframework::Vector3 positionBox(0, 15, 5); openglframework::Vector3 boxDimension(1, 1, 1); @@ -208,6 +162,39 @@ void JointsScene::reset() { mFixedJointBox2->setTransform(transformFixedBox2); } +// Destroy the physics world +void JointsScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + delete mSliderJointBottomBox; + delete mSliderJointTopBox; + delete mPropellerBox; + delete mFixedJointBox1; + delete mFixedJointBox2; + for (int i=0; i(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | - static_cast(rp3d::Logger::Level::Error); - defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); - mPhysicsCommon.setLogger(defaultLogger); + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); // Create the physics world for the physics simulation - mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); + rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + physicsWorld->setEventListener(this); + mPhysicsWorld = physicsWorld; for (int i=0; isetColor(mObjectColorDemo); @@ -103,10 +107,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) for (int i=0; igetCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); + Sphere* sphere = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the box color sphere->setColor(mObjectColorDemo); @@ -126,9 +127,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) // Create a cylinder and a corresponding rigid in the physics world Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, - mPhysicsCommon, mPhysicsWorld, meshFolderPath); - - capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); + mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the box color capsule->setColor(mObjectColorDemo); @@ -147,7 +146,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) for (int i=0; isetColor(mObjectColorDemo); @@ -165,7 +164,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) // ---------- Create the triangular mesh ---------- // // Create a convex mesh and a corresponding rigid in the physics world - mSandbox = new ConcaveMesh(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "sandbox.obj"); + mSandbox = new ConcaveMesh(true, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "pile.obj"); // Set the mesh as beeing static mSandbox->getRigidBody()->setType(rp3d::BodyType::STATIC); @@ -180,38 +179,10 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) rp3d::Material& material = mSandbox->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); material.setFrictionCoefficient(rp3d::decimal(0.1)); - - // Get the physics engine parameters - mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); - rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); - mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); } -// Destructor -PileScene::~PileScene() { - - // Destroy all the physics objects of the scene - for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - - // Destroy the corresponding rigid body from the physics world - mPhysicsWorld->destroyRigidBody((*it)->getRigidBody()); - - // Destroy the object - delete (*it); - } - - // Destroy the physics world - mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); -} - -/// Reset the scene -void PileScene::reset() { +// Initialize the bodies positions +void PileScene::initBodiesPositions() { const float radius = 3.0f; @@ -220,7 +191,7 @@ void PileScene::reset() { // Position float angle = i * 30.0f; rp3d::Vector3 position(radius * std::cos(angle), - 125 + i * (DUMBBELL_HEIGHT + 0.3f), + 90 + i * (DUMBBELL_HEIGHT + 0.3f), radius * std::sin(angle)); mDumbbells[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); @@ -232,7 +203,7 @@ void PileScene::reset() { // Position float angle = i * 30.0f; rp3d::Vector3 position(radius * std::cos(angle), - 85 + i * (BOX_SIZE.y + 0.8f), + 70 + i * (BOX_SIZE.y + 0.8f), radius * std::sin(angle)); mBoxes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); @@ -244,7 +215,7 @@ void PileScene::reset() { // Position float angle = i * 35.0f; rp3d::Vector3 position(radius * std::cos(angle), - 75 + i * (SPHERE_RADIUS + 0.8f), + 50 + i * (SPHERE_RADIUS + 0.8f), radius * std::sin(angle)); mSpheres[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); @@ -256,7 +227,7 @@ void PileScene::reset() { // Position float angle = i * 45.0f; rp3d::Vector3 position(radius * std::cos(angle), - 40 + i * (CAPSULE_HEIGHT + 0.3f), + 30 + i * (CAPSULE_HEIGHT + 0.3f), radius * std::sin(angle)); mCapsules[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); @@ -268,7 +239,7 @@ void PileScene::reset() { // Position float angle = i * 30.0f; rp3d::Vector3 position(radius * std::cos(angle), - 30 + i * (CAPSULE_HEIGHT + 0.3f), + 10 + i * (CAPSULE_HEIGHT + 0.3f), radius * std::sin(angle)); mConvexMeshes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); @@ -278,3 +249,36 @@ void PileScene::reset() { mSandbox->setTransform(rp3d::Transform::identity()); } + +// Destroy the physics world +void PileScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + // Destroy all the physics objects of the scene + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + + // Destroy the object + delete (*it); + } + mBoxes.clear(); + mSpheres.clear(); + mCapsules.clear(); + mConvexMeshes.clear(); + mDumbbells.clear(); + + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} +/// Reset the scene +void PileScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} diff --git a/testbed/scenes/pile/PileScene.h b/testbed/scenes/pile/PileScene.h index f32cf1d3e..1aab6e78a 100644 --- a/testbed/scenes/pile/PileScene.h +++ b/testbed/scenes/pile/PileScene.h @@ -42,19 +42,15 @@ namespace pilescene { // Constants const float SCENE_RADIUS = 30.0f; -const int NB_BOXES = 150; -const int NB_SPHERES = 80; -const int NB_CAPSULES = 5; -const int NB_MESHES = 0; +const int NB_BOXES = 100; +const int NB_SPHERES = 40; +const int NB_CAPSULES = 30; +const int NB_MESHES = 30; const int NB_COMPOUND_SHAPES = 0; -const openglframework::Vector3 BOX_SIZE(2, 2, 2); -const float SPHERE_RADIUS = 1.5f; -const float CONE_RADIUS = 2.0f; -const float CONE_HEIGHT = 3.0f; -const float CYLINDER_RADIUS = 1.0f; -const float CYLINDER_HEIGHT = 5.0f; -const float CAPSULE_RADIUS = 1.0f; -const float CAPSULE_HEIGHT = 1.0f; +const openglframework::Vector3 BOX_SIZE(3, 3, 3); +const float SPHERE_RADIUS = 2.5f; +const float CAPSULE_RADIUS = 1.5f; +const float CAPSULE_HEIGHT = 3.0f; const float DUMBBELL_HEIGHT = 1.0f; const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters @@ -81,18 +77,30 @@ class PileScene : public SceneDemo { /// Sandbox for the floor ConcaveMesh* mSandbox; + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + public: // -------------------- Methods -------------------- // /// Constructor - PileScene(const std::string& name, EngineSettings& settings); + PileScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); /// Destructor virtual ~PileScene() override; /// Reset the scene virtual void reset() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); }; } diff --git a/testbed/scenes/ragdoll/RagdollScene.cpp b/testbed/scenes/ragdoll/RagdollScene.cpp new file mode 100644 index 000000000..f0002e475 --- /dev/null +++ b/testbed/scenes/ragdoll/RagdollScene.cpp @@ -0,0 +1,477 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "RagdollScene.h" +#include + +// Namespaces +using namespace openglframework; +using namespace ragdollscene; + +// Constructor +RagdollScene::RagdollScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 10, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + setInitZoom(2.1); + resetCameraToViewAll(); + + mWorldSettings.worldName = name; +} + +// Destructor +RagdollScene::~RagdollScene() { + + destroyPhysicsWorld(); +} + +// Create the physics world +void RagdollScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); + + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); + + // Create the ragdoll + createRagdolls(); + + // ------------------------- FLOOR 1 ----------------------- // + + // Create the floor + mFloor1 = new Box(true, FLOOR_1_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mFloor1->setTransform(rp3d::Transform(rp3d::Vector3(0, 5, -4), rp3d::Quaternion::identity())); + mFloor1->setColor(mFloorColorDemo); + mFloor1->setSleepingColor(mFloorColorDemo); + mFloor1->getRigidBody()->setType(rp3d::BodyType::STATIC); + mPhysicsObjects.push_back(mFloor1); + + // ------------------------- FLOOR 2 ----------------------- // + + // Create the floor + mFloor2 = new Box(true, FLOOR_2_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mFloor2->setColor(mFloorColorDemo); + mFloor2->setTransform(rp3d::Transform(rp3d::Vector3(0, -10, 0), rp3d::Quaternion::identity())); + mFloor2->setSleepingColor(mFloorColorDemo); + mFloor2->getRigidBody()->setType(rp3d::BodyType::STATIC); + mPhysicsObjects.push_back(mFloor2); + + // ------------------------- Large Box ----------------------- // + + mLargeBox = new Box(true, Vector3(36, 15, 18), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mLargeBox->setTransform(rp3d::Transform(rp3d::Vector3(0, 10, -14), rp3d::Quaternion::identity())); + mLargeBox->setColor(mFloorColorDemo); + mLargeBox->setSleepingColor(mFloorColorDemo); + mLargeBox->getRigidBody()->setType(rp3d::BodyType::STATIC); + mPhysicsObjects.push_back(mLargeBox); + + // ------------------------- Inclined Plane Box ----------------------- // + + mInclinedPlaneBox = new Box(true, Vector3(36, 1, 25), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + const rp3d::decimal planeAngle = 30 * rp3d::PI_RP3D / 180.0f; + mInclinedPlaneBox->setTransform(rp3d::Transform(rp3d::Vector3(0, 10.82, 5.56), rp3d::Quaternion::fromEulerAngles(planeAngle, 0, 0))); + mInclinedPlaneBox->setColor(mFloorColorDemo); + mInclinedPlaneBox->setSleepingColor(mFloorColorDemo); + mInclinedPlaneBox->getRigidBody()->setType(rp3d::BodyType::STATIC); + mPhysicsObjects.push_back(mInclinedPlaneBox); +} + +// Initialize the bodies positions +void RagdollScene::initBodiesPositions() { + + // For each ragdoll + for (int i=0; i < NB_RAGDOLLS; i++) { + + mHeadBox[i]->setTransform(rp3d::Transform(mHeadPos[i], rp3d::Quaternion::identity())); + mChestCapsule[i]->setTransform(rp3d::Transform(mChestPos[i], rp3d::Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D / 2.0))); + mWaistCapsule[i]->setTransform(rp3d::Transform(mWaistPos[i], rp3d::Quaternion::identity())); + mHipCapsule[i]->setTransform(rp3d::Transform(mHipPos[i], rp3d::Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D / 2.0))); + mLeftUpperArmCapsule[i]->setTransform(rp3d::Transform(mLeftUpperArmPos[i], rp3d::Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D / 2.0))); + mLeftLowerArmCapsule[i]->setTransform(rp3d::Transform(mLeftLowerArmPos[i], rp3d::Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D / 2.0))); + mLeftUpperLegCapsule[i]->setTransform(rp3d::Transform(mLeftUpperLegPos[i], rp3d::Quaternion::identity())); + mLeftLowerLegCapsule[i]->setTransform(rp3d::Transform(mLeftLowerLegPos[i], rp3d::Quaternion::identity())); + mRightUpperArmCapsule[i]->setTransform(rp3d::Transform(mRightUpperArmPos[i], rp3d::Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D / 2.0))); + mRightLowerArmCapsule[i]->setTransform(rp3d::Transform(mRightLowerArmPos[i], rp3d::Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D / 2.0))); + mRightUpperLegCapsule[i]->setTransform(rp3d::Transform(mRightUpperLegPos[i], rp3d::Quaternion::identity())); + mRightLowerLegCapsule[i]->setTransform(rp3d::Transform(mRightLowerLegPos[i], rp3d::Quaternion::identity())); + } +} + +// Destroy the physics world +void RagdollScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + // For each ragdoll + for (int i=0; i < NB_RAGDOLLS; i++) { + + delete mHeadBox[i]; + delete mChestCapsule[i]; + delete mWaistCapsule[i]; + delete mHipCapsule[i]; + delete mLeftUpperArmCapsule[i]; + delete mLeftLowerArmCapsule[i]; + delete mLeftUpperLegCapsule[i]; + delete mLeftLowerLegCapsule[i]; + delete mRightUpperArmCapsule[i]; + delete mRightLowerArmCapsule[i]; + delete mRightUpperLegCapsule[i]; + delete mRightLowerLegCapsule[i]; + } + + delete mFloor1; + delete mFloor2; + + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} +// Reset the scene +void RagdollScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} + +// Create the boxes and joints for the ragdoll +void RagdollScene::createRagdolls() { + + const float linearDamping = 0.02f; + const float angularDamping = 0.02f; + const float frictionCoeff = 0.4f; + + // For each ragdoll + for (int i=0; i < NB_RAGDOLLS_ROWS; i++) { + + for (int j=0; j < NB_RAGDOLLS_COLS; j++) { + + int ragdollIndex = i * NB_RAGDOLLS_COLS + j; + + const float ragdollDistX = 17; + const float ragdollDistZ = 16; + const float ragdollHeight = 31; + + rp3d::Vector3 ragdollPosition((-(NB_RAGDOLLS_ROWS-1)/2.0 + i) * ragdollDistX , ragdollHeight, -6 + (-(NB_RAGDOLLS_COLS-1)/2.0 + j) * ragdollDistZ); + + // --------------- Create the head box --------------- // + mHeadPos[ragdollIndex] = ragdollPosition; + mHeadBox[ragdollIndex] = new Sphere(true, 0.75f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mHeadBox[ragdollIndex]->setTransform(rp3d::Transform(mHeadPos[ragdollIndex], rp3d::Quaternion::identity())); + mHeadBox[ragdollIndex]->setColor(mObjectColorDemo); + mHeadBox[ragdollIndex]->setSleepingColor(mSleepingColorDemo); + mHeadBox[ragdollIndex]->getCollider()->getMaterial().setMassDensity(7); + mHeadBox[ragdollIndex]->getCollider()->getMaterial().setFrictionCoefficient(frictionCoeff); + mHeadBox[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders(); + mHeadBox[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping); + mHeadBox[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping); + mPhysicsObjects.push_back(mHeadBox[ragdollIndex]); + + // --------------- Create the chest capsule --------------- // + mChestPos[ragdollIndex] = mHeadPos[ragdollIndex] + rp3d::Vector3(0, -1.75, 0); + mChestCapsule[ragdollIndex] = new Capsule(true, 1, 1.5, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mChestCapsule[ragdollIndex]->setTransform(rp3d::Transform(mChestPos[ragdollIndex], rp3d::Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D / 2.0))); + mChestCapsule[ragdollIndex]->setColor(mObjectColorDemo); + mChestCapsule[ragdollIndex]->setSleepingColor(mSleepingColorDemo); + mChestCapsule[ragdollIndex]->getCollider()->getMaterial().setMassDensity(9); + mChestCapsule[ragdollIndex]->getCollider()->getMaterial().setFrictionCoefficient(frictionCoeff); + mChestCapsule[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders(); + mChestCapsule[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping); + mChestCapsule[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping); + mPhysicsObjects.push_back(mChestCapsule[ragdollIndex]); + + // --------------- Create the waist capsule --------------- // + mWaistPos[ragdollIndex] = mChestPos[ragdollIndex] + rp3d::Vector3(0, -2, 0); + mWaistCapsule[ragdollIndex] = new Capsule(true, 1, 1.5, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mWaistCapsule[ragdollIndex]->setTransform(rp3d::Transform(mWaistPos[ragdollIndex], rp3d::Quaternion::identity())); + mWaistCapsule[ragdollIndex]->setColor(mObjectColorDemo); + mWaistCapsule[ragdollIndex]->setSleepingColor(mSleepingColorDemo); + mWaistCapsule[ragdollIndex]->getCollider()->getMaterial().setMassDensity(9); + mWaistCapsule[ragdollIndex]->getCollider()->getMaterial().setFrictionCoefficient(frictionCoeff); + mWaistCapsule[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders(); + mWaistCapsule[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping); + mWaistCapsule[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping); + //mWaistCapsule[ragdollIndex]->getRigidBody()->setType(rp3d::BodyType::STATIC); + mPhysicsObjects.push_back(mWaistCapsule[ragdollIndex]); + + // --------------- Create the hips capsule --------------- // + mHipPos[ragdollIndex] = mWaistPos[ragdollIndex] + rp3d::Vector3(0, -2, 0); + mHipCapsule[ragdollIndex] = new Capsule(true, 1, 1, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mHipCapsule[ragdollIndex]->setTransform(rp3d::Transform(mHipPos[ragdollIndex], rp3d::Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D / 2.0))); + mHipCapsule[ragdollIndex]->setColor(mObjectColorDemo); + mHipCapsule[ragdollIndex]->setSleepingColor(mSleepingColorDemo); + mHipCapsule[ragdollIndex]->getCollider()->getMaterial().setMassDensity(9); + mHipCapsule[ragdollIndex]->getCollider()->getMaterial().setFrictionCoefficient(frictionCoeff); + mHipCapsule[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders(); + mHipCapsule[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping); + mHipCapsule[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping); + mPhysicsObjects.push_back(mHipCapsule[ragdollIndex]); + + // --------------- Create the left upper arm capsule --------------- // + mLeftUpperArmPos[ragdollIndex] = mChestPos[ragdollIndex] + rp3d::Vector3(2.25, 0, 0); + mLeftUpperArmCapsule[ragdollIndex] = new Capsule(true, 0.5, 2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mLeftUpperArmCapsule[ragdollIndex]->setTransform(rp3d::Transform(mLeftUpperArmPos[ragdollIndex], rp3d::Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D / 2.0))); + mLeftUpperArmCapsule[ragdollIndex]->setColor(mObjectColorDemo); + mLeftUpperArmCapsule[ragdollIndex]->setSleepingColor(mSleepingColorDemo); + mLeftUpperArmCapsule[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8); + mLeftUpperArmCapsule[ragdollIndex]->getCollider()->getMaterial().setFrictionCoefficient(frictionCoeff); + mLeftUpperArmCapsule[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders(); + mLeftUpperArmCapsule[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping); + mLeftUpperArmCapsule[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping); + mPhysicsObjects.push_back(mLeftUpperArmCapsule[ragdollIndex]); + + // --------------- Create the left lower arm capsule --------------- // + mLeftLowerArmPos[ragdollIndex] = mLeftUpperArmPos[ragdollIndex] + rp3d::Vector3(2.5, 0, 0); + mLeftLowerArmCapsule[ragdollIndex] = new Capsule(true, 0.5, 2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mLeftLowerArmCapsule[ragdollIndex]->setTransform(rp3d::Transform(mLeftLowerArmPos[ragdollIndex], rp3d::Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D / 2.0))); + mLeftLowerArmCapsule[ragdollIndex]->setColor(mObjectColorDemo); + mLeftLowerArmCapsule[ragdollIndex]->setSleepingColor(mSleepingColorDemo); + mLeftLowerArmCapsule[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8); + mLeftLowerArmCapsule[ragdollIndex]->getCollider()->getMaterial().setFrictionCoefficient(frictionCoeff); + mLeftLowerArmCapsule[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders(); + mLeftLowerArmCapsule[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping); + mLeftLowerArmCapsule[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping); + mPhysicsObjects.push_back(mLeftLowerArmCapsule[ragdollIndex]); + + // --------------- Create the left upper leg capsule --------------- // + mLeftUpperLegPos[ragdollIndex] = mHipPos[ragdollIndex] + rp3d::Vector3(0.8, -1.5, 0); + mLeftUpperLegCapsule[ragdollIndex] = new Capsule(true, 0.75, 2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mLeftUpperLegCapsule[ragdollIndex]->setTransform(rp3d::Transform(mLeftUpperLegPos[ragdollIndex], rp3d::Quaternion::identity())); + mLeftUpperLegCapsule[ragdollIndex]->setColor(mObjectColorDemo); + mLeftUpperLegCapsule[ragdollIndex]->setSleepingColor(mSleepingColorDemo); + mLeftUpperLegCapsule[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8); + mLeftUpperLegCapsule[ragdollIndex]->getCollider()->getMaterial().setFrictionCoefficient(frictionCoeff); + mLeftUpperLegCapsule[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders(); + mLeftUpperLegCapsule[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping); + mLeftUpperLegCapsule[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping); + mPhysicsObjects.push_back(mLeftUpperLegCapsule[ragdollIndex]); + + // --------------- Create the left lower leg capsule --------------- // + mLeftLowerLegPos[ragdollIndex] = mLeftUpperLegPos[ragdollIndex] + rp3d::Vector3(0, -3, 0); + mLeftLowerLegCapsule[ragdollIndex] = new Capsule(true, 0.5, 3, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mLeftLowerLegCapsule[ragdollIndex]->setTransform(rp3d::Transform(mLeftLowerLegPos[ragdollIndex], rp3d::Quaternion::identity())); + mLeftLowerLegCapsule[ragdollIndex]->setColor(mObjectColorDemo); + mLeftLowerLegCapsule[ragdollIndex]->setSleepingColor(mSleepingColorDemo); + mLeftLowerLegCapsule[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8); + mLeftLowerLegCapsule[ragdollIndex]->getCollider()->getMaterial().setFrictionCoefficient(0.3); + mLeftLowerLegCapsule[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders(); + mLeftLowerLegCapsule[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping); + mLeftLowerLegCapsule[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping); + mPhysicsObjects.push_back(mLeftLowerLegCapsule[ragdollIndex]); + + // --------------- Create the right upper arm capsule --------------- // + mRightUpperArmPos[ragdollIndex] = mChestPos[ragdollIndex] + rp3d::Vector3(-2.25, 0, 0); + mRightUpperArmCapsule[ragdollIndex] = new Capsule(true, 0.5, 2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mRightUpperArmCapsule[ragdollIndex]->setTransform(rp3d::Transform(mRightUpperArmPos[ragdollIndex], rp3d::Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D / 2.0))); + mRightUpperArmCapsule[ragdollIndex]->setColor(mObjectColorDemo); + mRightUpperArmCapsule[ragdollIndex]->setSleepingColor(mSleepingColorDemo); + mRightUpperArmCapsule[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8); + mRightUpperArmCapsule[ragdollIndex]->getCollider()->getMaterial().setFrictionCoefficient(frictionCoeff); + mRightUpperArmCapsule[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders(); + mRightUpperArmCapsule[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping); + mRightUpperArmCapsule[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping); + mPhysicsObjects.push_back(mRightUpperArmCapsule[ragdollIndex]); + + // --------------- Create the right lower arm capsule --------------- // + mRightLowerArmPos[ragdollIndex] = mRightUpperArmPos[ragdollIndex] + rp3d::Vector3(-2.5, 0, 0); + mRightLowerArmCapsule[ragdollIndex] = new Capsule(true, 0.5, 2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mRightLowerArmCapsule[ragdollIndex]->setTransform(rp3d::Transform(mRightLowerArmPos[ragdollIndex], rp3d::Quaternion::fromEulerAngles(0, 0, rp3d::PI_RP3D / 2.0))); + mRightLowerArmCapsule[ragdollIndex]->setColor(mObjectColorDemo); + mRightLowerArmCapsule[ragdollIndex]->setSleepingColor(mSleepingColorDemo); + mRightLowerArmCapsule[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8); + mRightLowerArmCapsule[ragdollIndex]->getCollider()->getMaterial().setFrictionCoefficient(frictionCoeff); + mRightLowerArmCapsule[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders(); + mRightLowerArmCapsule[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping); + mRightLowerArmCapsule[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping); + mPhysicsObjects.push_back(mRightLowerArmCapsule[ragdollIndex]); + + // --------------- Create the right upper leg capsule --------------- // + mRightUpperLegPos[ragdollIndex] = mHipPos[ragdollIndex] + rp3d::Vector3(-0.8, -1.5, 0); + mRightUpperLegCapsule[ragdollIndex] = new Capsule(true, 0.75, 2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mRightUpperLegCapsule[ragdollIndex]->setTransform(rp3d::Transform(mRightUpperLegPos[ragdollIndex], rp3d::Quaternion::identity())); + mRightUpperLegCapsule[ragdollIndex]->setColor(mObjectColorDemo); + mRightUpperLegCapsule[ragdollIndex]->setSleepingColor(mSleepingColorDemo); + mRightUpperLegCapsule[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8); + mRightUpperLegCapsule[ragdollIndex]->getCollider()->getMaterial().setFrictionCoefficient(frictionCoeff); + mRightUpperLegCapsule[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders(); + mRightUpperLegCapsule[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping); + mRightUpperLegCapsule[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping); + mPhysicsObjects.push_back(mRightUpperLegCapsule[ragdollIndex]); + + // --------------- Create the right lower leg capsule --------------- // + mRightLowerLegPos[ragdollIndex] = mRightUpperLegPos[ragdollIndex] + rp3d::Vector3(0, -3, 0); + mRightLowerLegCapsule[ragdollIndex] = new Capsule(true, 0.5, 3, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mRightLowerLegCapsule[ragdollIndex]->setTransform(rp3d::Transform(mRightLowerLegPos[ragdollIndex], rp3d::Quaternion::identity())); + mRightLowerLegCapsule[ragdollIndex]->setColor(mObjectColorDemo); + mRightLowerLegCapsule[ragdollIndex]->setSleepingColor(mSleepingColorDemo); + mRightLowerLegCapsule[ragdollIndex]->getCollider()->getMaterial().setMassDensity(8); + mRightLowerLegCapsule[ragdollIndex]->getCollider()->getMaterial().setFrictionCoefficient(0.3); + mRightLowerLegCapsule[ragdollIndex]->getRigidBody()->updateMassPropertiesFromColliders(); + mRightLowerLegCapsule[ragdollIndex]->getRigidBody()->setLinearDamping(linearDamping); + mRightLowerLegCapsule[ragdollIndex]->getRigidBody()->setAngularDamping(angularDamping); + mPhysicsObjects.push_back(mRightLowerLegCapsule[ragdollIndex]); + + // --------------- Create the joint between head and chest --------------- // + + // Create the joint info object + rp3d::RigidBody* body1 = mHeadBox[ragdollIndex]->getRigidBody(); + rp3d::RigidBody* body2 = mChestCapsule[ragdollIndex]->getRigidBody(); + rp3d::BallAndSocketJointInfo jointInfo1(body1, body2, mHeadPos[ragdollIndex] + rp3d::Vector3(0, -0.75, 0)); + jointInfo1.isCollisionEnabled = false; + mHeadChestJoint[ragdollIndex] = dynamic_cast(mPhysicsWorld->createJoint(jointInfo1)); + mHeadChestJoint[ragdollIndex]->setConeLimitHalfAngle(40.0 * rp3d::PI_RP3D / 180.0); + mHeadChestJoint[ragdollIndex]->enableConeLimit(true); + + // --------------- Create the joint between chest and left upper arm --------------- // + + // Create the joint info object + body1 = mChestCapsule[ragdollIndex]->getRigidBody(); + body2 = mLeftUpperArmCapsule[ragdollIndex]->getRigidBody(); + rp3d::BallAndSocketJointInfo jointInfo2(body1, body2, mLeftUpperArmPos[ragdollIndex] + rp3d::Vector3(-1, 0, 0)); + jointInfo2.isCollisionEnabled = false; + mChestLeftUpperArmJoint[ragdollIndex] = dynamic_cast(mPhysicsWorld->createJoint(jointInfo2)); + mChestLeftUpperArmJoint[ragdollIndex]->setConeLimitHalfAngle(180.0 * rp3d::PI_RP3D / 180.0); + mChestLeftUpperArmJoint[ragdollIndex]->enableConeLimit(true); + + // --------------- Create the joint between left upper arm and left lower arm --------------- // + + // Create the joint info object + body1 = mLeftUpperArmCapsule[ragdollIndex]->getRigidBody(); + body2 = mLeftLowerArmCapsule[ragdollIndex]->getRigidBody(); + rp3d::Vector3 joint2WorldAnchor = (body1->getTransform().getPosition() + body2->getTransform().getPosition()) * 0.5f; + rp3d::Vector3 joint2WorldAxis(0, 0, 1); + rp3d::HingeJointInfo jointInfo3(body1, body2, joint2WorldAnchor, joint2WorldAxis); + jointInfo3.isCollisionEnabled = false; + mLeftUpperLeftLowerArmJoint[ragdollIndex] = dynamic_cast(mPhysicsWorld->createJoint(jointInfo3)); + mLeftUpperLeftLowerArmJoint[ragdollIndex]->enableLimit(true); + mLeftUpperLeftLowerArmJoint[ragdollIndex]->setMinAngleLimit(0.0 * rp3d::PI_RP3D / 180.0); + mLeftUpperLeftLowerArmJoint[ragdollIndex]->setMaxAngleLimit(340.0 * rp3d::PI_RP3D / 180.0); + + // --------------- Create the joint between chest and waist --------------- // + + // Create the joint info object + body1 = mChestCapsule[ragdollIndex]->getRigidBody(); + body2 = mWaistCapsule[ragdollIndex]->getRigidBody(); + rp3d::Vector3 jointChestWaistWorldAnchor = (body1->getTransform().getPosition() + body2->getTransform().getPosition()) * 0.5f; + rp3d::FixedJointInfo jointChestWaistInfo(body1, body2, jointChestWaistWorldAnchor); + jointChestWaistInfo.isCollisionEnabled = false; + mChestWaistJoint[ragdollIndex] = dynamic_cast(mPhysicsWorld->createJoint(jointChestWaistInfo)); + + // --------------- Create the joint between waist and hips --------------- // + + // Create the joint info object + body1 = mWaistCapsule[ragdollIndex]->getRigidBody(); + body2 = mHipCapsule[ragdollIndex]->getRigidBody(); + rp3d::Vector3 jointWaistHipsWorldAnchor = (body1->getTransform().getPosition() + body2->getTransform().getPosition()) * 0.5f; + rp3d::FixedJointInfo jointWaistHipsInfo(body1, body2, jointWaistHipsWorldAnchor); + jointWaistHipsInfo.isCollisionEnabled = false; + mWaistHipsJoint[ragdollIndex] = dynamic_cast(mPhysicsWorld->createJoint(jointWaistHipsInfo)); + + // --------------- Create the joint between hip and left upper leg --------------- // + + // Create the joint info object + body1 = mHipCapsule[ragdollIndex]->getRigidBody(); + body2 = mLeftUpperLegCapsule[ragdollIndex]->getRigidBody(); + rp3d::BallAndSocketJointInfo jointInfo4(body1, body2, mHipPos[ragdollIndex] + rp3d::Vector3(0.8, 0, 0)); + jointInfo4.isCollisionEnabled = false; + mHipLeftUpperLegJoint[ragdollIndex] = dynamic_cast(mPhysicsWorld->createJoint(jointInfo4)); + mHipLeftUpperLegJoint[ragdollIndex]->setConeLimitHalfAngle(80.0 * rp3d::PI_RP3D / 180.0); + mHipLeftUpperLegJoint[ragdollIndex]->enableConeLimit(true); + + // --------------- Create the joint between left upper leg and left lower leg --------------- // + + // Create the joint info object + body1 = mLeftUpperLegCapsule[ragdollIndex]->getRigidBody(); + body2 = mLeftLowerLegCapsule[ragdollIndex]->getRigidBody(); + rp3d::Vector3 joint5WorldAnchor = (body1->getTransform().getPosition() + body2->getTransform().getPosition()) * 0.5f; + rp3d::Vector3 joint5WorldAxis(1, 0, 0); + const rp3d::decimal joint5MinAngle = 0.0 * rp3d::PI_RP3D / 180.0; + const rp3d::decimal joint5MaxAngle = 140.0 * rp3d::PI_RP3D / 180.0; + rp3d::HingeJointInfo jointInfo5(body1, body2, joint5WorldAnchor, joint5WorldAxis, joint5MinAngle, joint5MaxAngle); + jointInfo5.isCollisionEnabled = false; + mLeftUpperLeftLowerLegJoint[ragdollIndex] = dynamic_cast(mPhysicsWorld->createJoint(jointInfo5)); + + // --------------- Create the joint between chest and right upper arm --------------- // + + // Create the joint info object + body1 = mChestCapsule[ragdollIndex]->getRigidBody(); + body2 = mRightUpperArmCapsule[ragdollIndex]->getRigidBody(); + rp3d::BallAndSocketJointInfo jointInfo6(body1, body2, mRightUpperArmPos[ragdollIndex] + rp3d::Vector3(1, 0, 0)); + jointInfo6.isCollisionEnabled = false; + mChestRightUpperArmJoint[ragdollIndex] = dynamic_cast(mPhysicsWorld->createJoint(jointInfo6)); + mChestRightUpperArmJoint[ragdollIndex]->setConeLimitHalfAngle(180.0 * rp3d::PI_RP3D / 180.0); + mChestRightUpperArmJoint[ragdollIndex]->enableConeLimit(true); + + // --------------- Create the joint between right upper arm and right lower arm --------------- // + + // Create the joint info object + body1 = mRightUpperArmCapsule[ragdollIndex]->getRigidBody(); + body2 = mRightLowerArmCapsule[ragdollIndex]->getRigidBody(); + rp3d::Vector3 joint7WorldAnchor = (body1->getTransform().getPosition() + body2->getTransform().getPosition()) * 0.5f; + rp3d::Vector3 joint7WorldAxis(0, 0, 1); + rp3d::HingeJointInfo jointInfo7(body1, body2, joint7WorldAnchor, joint7WorldAxis); + jointInfo7.isCollisionEnabled = false; + mRightUpperRightLowerArmJoint[ragdollIndex] = dynamic_cast(mPhysicsWorld->createJoint(jointInfo7)); + mRightUpperRightLowerArmJoint[ragdollIndex]->enableLimit(true); + mRightUpperRightLowerArmJoint[ragdollIndex]->setMinAngleLimit(0.0 * rp3d::PI_RP3D / 180.0); + mRightUpperRightLowerArmJoint[ragdollIndex]->setMaxAngleLimit(340.0 * rp3d::PI_RP3D / 180.0); + + // --------------- Create the joint between hips and right upper leg --------------- // + + // Create the joint info object + body1 = mHipCapsule[ragdollIndex]->getRigidBody(); + body2 = mRightUpperLegCapsule[ragdollIndex]->getRigidBody(); + rp3d::BallAndSocketJointInfo jointInfo8(body1, body2, mHipPos[ragdollIndex] + rp3d::Vector3(-0.8, 0, 0)); + jointInfo8.isCollisionEnabled = false; + mHipRightUpperLegJoint[ragdollIndex] = dynamic_cast(mPhysicsWorld->createJoint(jointInfo8)); + mHipRightUpperLegJoint[ragdollIndex]->setConeLimitHalfAngle(80.0 * rp3d::PI_RP3D / 180.0); + mHipRightUpperLegJoint[ragdollIndex]->enableConeLimit(true); + + // --------------- Create the joint between right upper leg and right lower leg --------------- // + + // Create the joint info object + body1 = mRightUpperLegCapsule[ragdollIndex]->getRigidBody(); + body2 = mRightLowerLegCapsule[ragdollIndex]->getRigidBody(); + rp3d::Vector3 joint9WorldAnchor = (body1->getTransform().getPosition() + body2->getTransform().getPosition()) * 0.5f; + rp3d::Vector3 joint9WorldAxis(1, 0, 0); + const rp3d::decimal joint9MinAngle = 0.0 * rp3d::PI_RP3D / 180.0; + const rp3d::decimal joint9MaxAngle = 140.0 * rp3d::PI_RP3D / 180.0; + rp3d::HingeJointInfo jointInfo9(body1, body2, joint9WorldAnchor, joint9WorldAxis, joint9MinAngle, joint9MaxAngle); + jointInfo9.isCollisionEnabled = false; + mRightUpperRightLowerLegJoint[ragdollIndex] = dynamic_cast(mPhysicsWorld->createJoint(jointInfo9)); + } + } +} diff --git a/testbed/scenes/ragdoll/RagdollScene.h b/testbed/scenes/ragdoll/RagdollScene.h new file mode 100644 index 000000000..9b9eb1a3a --- /dev/null +++ b/testbed/scenes/ragdoll/RagdollScene.h @@ -0,0 +1,184 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef RAGDOLL_SCENE_H +#define RAGDOLL_SCENE_H + +// Libraries +#include "openglframework.h" +#include +#include "Box.h" +#include "Capsule.h" +#include "Sphere.h" +#include "SceneDemo.h" + +namespace ragdollscene { + +// Constants +const float SCENE_RADIUS = 45.0f; +const int NB_RAGDOLLS_ROWS = 3; +const int NB_RAGDOLLS_COLS = 2; +const int NB_RAGDOLLS = NB_RAGDOLLS_ROWS * NB_RAGDOLLS_COLS; +const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters +const openglframework::Vector3 FLOOR_1_SIZE(52, 0.5f, 52); // Floor dimensions in meters +const openglframework::Vector3 FLOOR_2_SIZE(60, 0.5f, 82); // Floor dimensions in meters +const int NB_BALLSOCKETJOINT_BOXES = 7; // Number of Ball-And-Socket chain boxes +const int NB_HINGE_BOXES = 7; // Number of Hinge chain boxes + +// Class RagdollScene +class RagdollScene : public SceneDemo { + + protected : + + // -------------------- Attributes -------------------- // + + /// Head sphere + Sphere* mHeadBox[NB_RAGDOLLS]; + + /// Chest + Capsule* mChestCapsule[NB_RAGDOLLS]; + + /// Waist capsule + Capsule* mWaistCapsule[NB_RAGDOLLS]; + + /// Hip capsule + Capsule* mHipCapsule[NB_RAGDOLLS]; + + /// Left upper arm capsule + Capsule* mLeftUpperArmCapsule[NB_RAGDOLLS]; + + /// Left lower arm capsule + Capsule* mLeftLowerArmCapsule[NB_RAGDOLLS]; + + /// Left upper leg capsule + Capsule* mLeftUpperLegCapsule[NB_RAGDOLLS]; + + /// Left lower leg capsule + Capsule* mLeftLowerLegCapsule[NB_RAGDOLLS]; + + /// Right upper arm capsule + Capsule* mRightUpperArmCapsule[NB_RAGDOLLS]; + + /// Right lower arm capsule + Capsule* mRightLowerArmCapsule[NB_RAGDOLLS]; + + /// Right upper leg capsule + Capsule* mRightUpperLegCapsule[NB_RAGDOLLS]; + + /// Right lower leg capsule + Capsule* mRightLowerLegCapsule[NB_RAGDOLLS]; + + /// Box for the floor 1 + Box* mFloor1; + + /// Box for the floor 2 + Box* mFloor2; + + /// Large box + Box* mLargeBox; + + /// Inclined plane box + Box* mInclinedPlaneBox; + + /// Ball-And-Socket joint between head and torso + rp3d::BallAndSocketJoint* mHeadChestJoint[NB_RAGDOLLS]; + + /// Ball-And-Socket joint between torso and left upper arm + rp3d::BallAndSocketJoint* mChestLeftUpperArmJoint[NB_RAGDOLLS]; + + /// Hinge joint between left upper and left lower arm + rp3d::HingeJoint* mLeftUpperLeftLowerArmJoint[NB_RAGDOLLS]; + + /// Fixed joint between chest and waist + rp3d::FixedJoint* mChestWaistJoint[NB_RAGDOLLS]; + + /// Fixed joint between waist and hips + rp3d::FixedJoint* mWaistHipsJoint[NB_RAGDOLLS]; + + /// Ball-And-Socket joint between torso and left upper leg + rp3d::BallAndSocketJoint* mHipLeftUpperLegJoint[NB_RAGDOLLS]; + + /// Hinge joint between left upper and left lower leg + rp3d::HingeJoint* mLeftUpperLeftLowerLegJoint[NB_RAGDOLLS]; + + /// Ball-And-Socket joint between torso and right upper arm + rp3d::BallAndSocketJoint* mChestRightUpperArmJoint[NB_RAGDOLLS]; + + /// Hinge joint between left upper and right lower arm + rp3d::HingeJoint* mRightUpperRightLowerArmJoint[NB_RAGDOLLS]; + + /// Ball-And-Socket joint between torso and right upper leg + rp3d::BallAndSocketJoint* mHipRightUpperLegJoint[NB_RAGDOLLS]; + + /// Hinge joint between left upper and left lower leg + rp3d::HingeJoint* mRightUpperRightLowerLegJoint[NB_RAGDOLLS]; + + rp3d::Vector3 mChestPos[NB_RAGDOLLS]; + rp3d::Vector3 mWaistPos[NB_RAGDOLLS]; + rp3d::Vector3 mHipPos[NB_RAGDOLLS]; + rp3d::Vector3 mHeadPos[NB_RAGDOLLS]; + rp3d::Vector3 mLeftUpperArmPos[NB_RAGDOLLS]; + rp3d::Vector3 mLeftLowerArmPos[NB_RAGDOLLS]; + rp3d::Vector3 mLeftUpperLegPos[NB_RAGDOLLS]; + rp3d::Vector3 mLeftLowerLegPos[NB_RAGDOLLS]; + rp3d::Vector3 mRightUpperArmPos[NB_RAGDOLLS]; + rp3d::Vector3 mRightLowerArmPos[NB_RAGDOLLS]; + rp3d::Vector3 mRightUpperLegPos[NB_RAGDOLLS]; + rp3d::Vector3 mRightLowerLegPos[NB_RAGDOLLS]; + + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + + // -------------------- Methods -------------------- // + + /// Create the bodies and joints for the ragdoll + void createRagdolls(); + + public: + + // -------------------- Methods -------------------- // + + /// Constructor + RagdollScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); + + /// Destructor + virtual ~RagdollScene() override ; + + /// Reset the scene + virtual void reset() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); +}; + +} + +#endif diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp index 338d4ce38..53e51c412 100644 --- a/testbed/scenes/raycast/RaycastScene.cpp +++ b/testbed/scenes/raycast/RaycastScene.cpp @@ -31,8 +31,8 @@ using namespace openglframework; using namespace raycastscene; // Constructor -RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"), +RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, SCENE_RADIUS, false), mMeshFolderPath("meshes/"), mRaycastManager(mMeshFolderPath, mSnapshotsContactPoints), mCurrentBodyIndex(-1), mAreNormalsDisplayed(false), mVBOVertices(GL_ARRAY_BUFFER) { @@ -41,17 +41,12 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // Set the center of the scene setScenePosition(center, SCENE_RADIUS); + setInitZoom(2); + resetCameraToViewAll(); rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; - // Logger - rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); - uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | - static_cast(rp3d::Logger::Level::Error); - defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); - mPhysicsCommon.setLogger(defaultLogger); - // Create the physics world for the physics simulation mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); @@ -110,7 +105,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Concave Mesh ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mConcaveMesh = new ConcaveMesh(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); + mConcaveMesh = new ConcaveMesh(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "castle.obj"); // Set the color mConcaveMesh->setColor(mObjectColorDemo); @@ -212,42 +207,12 @@ void RaycastScene::reset() { // Destructor RaycastScene::~RaycastScene() { - // Destroy the box rigid body from the physics world - mPhysicsWorld->destroyCollisionBody(mBox->getCollisionBody()); delete mBox; - - // Destroy the sphere - mPhysicsWorld->destroyCollisionBody(mSphere->getCollisionBody()); delete mSphere; - - // Destroy the corresponding rigid body from the physics world - mPhysicsWorld->destroyCollisionBody(mCapsule->getCollisionBody()); - - // Destroy the sphere delete mCapsule; - - // Destroy the corresponding rigid body from the physics world - mPhysicsWorld->destroyCollisionBody(mConvexMesh->getCollisionBody()); - - // Destroy the convex mesh delete mConvexMesh; - - // Destroy the corresponding rigid body from the physics world - mPhysicsWorld->destroyCollisionBody(mDumbbell->getCollisionBody()); - - // Destroy the dumbbell delete mDumbbell; - - // Destroy the corresponding rigid body from the physics world - mPhysicsWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody()); - - // Destroy the convex mesh delete mConcaveMesh; - - // Destroy the corresponding rigid body from the physics world - mPhysicsWorld->destroyCollisionBody(mHeightField->getCollisionBody()); - - // Destroy the convex mesh delete mHeightField; mRaycastManager.resetPoints(); @@ -320,7 +285,7 @@ void RaycastScene::renderSinglePass(openglframework::Shader& shader, const openg mColorShader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix); // Set the vertex color - openglframework::Vector4 color(1, 0.55f, 0, 1); + openglframework::Vector4 color(0, 0.0, 0, 1); mColorShader.setIntUniform("isGlobalVertexColorEnabled", 1, false); mColorShader.setVector4Uniform("globalVertexColor", color, false); @@ -383,7 +348,7 @@ void RaycastScene::createVBOAndVAO() { } // Called when a keyboard event occurs -bool RaycastScene::keyboardEvent(int key, int scancode, int action, int mods) { +bool RaycastScene::keyboardEvent(int key, int /*scancode*/, int action, int /*mods*/) { // If the space key has been pressed if (key == GLFW_KEY_SPACE && action == GLFW_PRESS) { diff --git a/testbed/scenes/raycast/RaycastScene.h b/testbed/scenes/raycast/RaycastScene.h index 9317b026c..7dbebdbf1 100644 --- a/testbed/scenes/raycast/RaycastScene.h +++ b/testbed/scenes/raycast/RaycastScene.h @@ -146,7 +146,7 @@ class RaycastScene : public SceneDemo { // -------------------- Methods -------------------- // /// Constructor - RaycastScene(const std::string& name, EngineSettings& settings); + RaycastScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); /// Destructor virtual ~RaycastScene() override; @@ -183,12 +183,12 @@ inline void RaycastScene::showHideNormals() { } // Enabled/Disable the shadow mapping -inline void RaycastScene::setIsShadowMappingEnabled(bool isShadowMappingEnabled) { +inline void RaycastScene::setIsShadowMappingEnabled(bool /*isShadowMappingEnabled*/) { SceneDemo::setIsShadowMappingEnabled(false); } // Display/Hide the contact points -inline void RaycastScene::setAreContactPointsDisplayed(bool display) { +inline void RaycastScene::setAreContactPointsDisplayed(bool /*display*/) { SceneDemo::setAreContactPointsDisplayed(true); } diff --git a/testbed/scenes/rope/RopeScene.cpp b/testbed/scenes/rope/RopeScene.cpp new file mode 100644 index 000000000..5e8f95158 --- /dev/null +++ b/testbed/scenes/rope/RopeScene.cpp @@ -0,0 +1,308 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "RopeScene.h" +#include + +// Namespaces +using namespace openglframework; +using namespace ropescene; + +// Constructor +RopeScene::RopeScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS), nbIterations(0), nbTorqueIterations(200) { + + std::string meshFolderPath("meshes/"); + + mEngineSettings.timeStep = std::chrono::duration(1.0f / 120.0f); + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 0, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + setInitZoom(1); + resetCameraToViewAll(); + + mWorldSettings.worldName = name; +} + +// Destructor +RopeScene::~RopeScene() { + + destroyPhysicsWorld(); +} + +// Create the joints +void RopeScene::createJoints() { + + for (int r=0; r < NB_ROPES; r++) { + + for (int i=0; i < NB_CAPSULES_PER_ROPE-1; i++) { + + const uint capsuleIndex = r * NB_CAPSULES_PER_ROPE + i; + + // Create the joint info object + rp3d::RigidBody* body1 = mCapsules[capsuleIndex]->getRigidBody(); + rp3d::RigidBody* body2 = mCapsules[capsuleIndex+1]->getRigidBody(); + rp3d::Vector3 body1Position = body1->getTransform().getPosition(); + rp3d::Vector3 body2Position = body2->getTransform().getPosition(); + const rp3d::Vector3 anchorPointWorldSpace = 0.5f * (body1Position + body2Position); + rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace); + jointInfo.isCollisionEnabled = false; + rp3d::BallAndSocketJoint* joint = dynamic_cast(mPhysicsWorld->createJoint(jointInfo)); + mBallAndSocketJoints.push_back(joint); + } + + // Create the joint between the rope and the box + rp3d::RigidBody* body1 = mCapsules[r * NB_CAPSULES_PER_ROPE + NB_CAPSULES_PER_ROPE - 1]->getRigidBody(); + rp3d::RigidBody* body2 = r > 0 ? mBox2->getRigidBody() : mBox1->getRigidBody(); + rp3d::Vector3 body1Position = body1->getTransform().getPosition(); + const rp3d::Vector3 anchorPointWorldSpace = body1Position + rp3d::Vector3(0, -CAPSULE_HEIGHT * 0.5f , 0); + rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace); + jointInfo.isCollisionEnabled = false; + rp3d::BallAndSocketJoint* joint = dynamic_cast(mPhysicsWorld->createJoint(jointInfo)); + mBallAndSocketJoints.push_back(joint); + } +} + +void RopeScene::initBodiesPositions() { + + rp3d::Quaternion initOrientation = rp3d::Quaternion::identity(); + + for (int r=0; r < NB_ROPES; r++) { + + rp3d::Vector3 initPosition = rp3d::Vector3(r == 0 ? -5 : 25, 15, 0); + + switch(r) { + case 1: initPosition += rp3d::Vector3(BOX_SIZE, 0, -BOX_SIZE) * 0.5f; break; + case 2: initPosition += rp3d::Vector3(BOX_SIZE, 0, BOX_SIZE) * 0.5f; break; + case 3: initPosition += rp3d::Vector3(-BOX_SIZE, 0, BOX_SIZE) * 0.5f; break; + case 4: initPosition += rp3d::Vector3(-BOX_SIZE, 0, -BOX_SIZE) * 0.5f; break; + default: break; + } + + for (int i=0; isetTransform(transform); + } + } + + rp3d::Vector3 box1Position(-5, 15 - NB_CAPSULES_PER_ROPE * CAPSULE_HEIGHT - BOX_SIZE * 0.5, 0); + const rp3d::Transform box1Transform(box1Position, rp3d::Quaternion::identity()); + mBox1->setTransform(box1Transform); + + rp3d::Vector3 box2Position(25, 15 - NB_CAPSULES_PER_ROPE * CAPSULE_HEIGHT - BOX_SIZE * 0.5, 0); + const rp3d::Transform box2Transform(box2Position, rp3d::Quaternion::identity()); + mBox2->setTransform(box2Transform); + + rp3d::Vector3 plankPosition(-9, 5, 0); + const rp3d::Transform plankTransform(plankPosition, rp3d::Quaternion::identity()); + mPlank->setTransform(plankTransform); +} + +// Create the physics world +void RopeScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); + + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); + + const float linearDamping = 0.03f; + const float angularDamping = 0.03f; + + // ---------- Create the ropes --------- // + + for (int r=0; r < NB_ROPES; r++) { + + // Create all the capsules of the scene + for (int i=0; isetColor(mObjectColorDemo); + mCapsules[capsuleIndex]->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = mCapsules[capsuleIndex]->getCollider()->getMaterial(); + material.setBounciness(rp3d::decimal(0.0)); + material.setMassDensity(rp3d::decimal(0.1)); + + mCapsules[capsuleIndex]->getRigidBody()->setAngularDamping(angularDamping); + mCapsules[capsuleIndex]->getRigidBody()->setLinearDamping(linearDamping); + + if (i == 0) { + mCapsules[capsuleIndex]->getRigidBody()->setType(rp3d::BodyType::STATIC); + } + + // Add the capsule the list of capsules in the scene + mPhysicsObjects.push_back(mCapsules[capsuleIndex]); + } + } + + // ---------- Create the first box --------- // + + // Create a box and a corresponding rigid in the physics world + mBox1 = new Box(true, Vector3(BOX_SIZE, BOX_SIZE, BOX_SIZE), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox1->getRigidBody()->setAngularDamping(angularDamping); + mBox1->getRigidBody()->setLinearDamping(linearDamping); + + // Set the box color + mBox1->setColor(mObjectColorDemo); + mBox1->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material1 = mBox1->getCollider()->getMaterial(); + material1.setBounciness(rp3d::decimal(0.0)); + material1.setMassDensity(rp3d::decimal(0.02)); + mBox1->getRigidBody()->updateMassPropertiesFromColliders(); + + mPhysicsObjects.push_back(mBox1); + + // ---------- Create the second box --------- // + + // Create a box and a corresponding rigid in the physics world + mBox2 = new Box(true, Vector3(BOX_SIZE, BOX_SIZE, BOX_SIZE), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox2->getRigidBody()->setAngularDamping(angularDamping); + mBox2->getRigidBody()->setLinearDamping(linearDamping); + + // Set the box color + mBox2->setColor(mObjectColorDemo); + mBox2->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material2 = mBox2->getCollider()->getMaterial(); + material2.setBounciness(rp3d::decimal(0.0)); + material2.setMassDensity(rp3d::decimal(0.7)); + mBox2->getRigidBody()->updateMassPropertiesFromColliders(); + + mPhysicsObjects.push_back(mBox2); + + // ---------- Create plank box --------- // + + // Create a box and a corresponding rigid in the physics world + mPlank = new Box(true, Vector3(10, 2, 15), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mPlank->getRigidBody()->setType(rp3d::BodyType::STATIC); + mPlank->setColor(mFloorColorDemo); + mPlank->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material3 = mPlank->getCollider()->getMaterial(); + material3.setBounciness(rp3d::decimal(0.5)); + + mPhysicsObjects.push_back(mPlank); + + // Initialize the bodies positions + initBodiesPositions(); + + // Create the Ball-and-Socket joints + createJoints(); +} + +// Move the first rope to an horizontal position +void RopeScene::moveFirstRopeToHorizontalPosition() { + + // ---------- Move the first rope in a horizontal position ---------- // + + rp3d::Quaternion initOrientation = rp3d::Quaternion::fromEulerAngles(0, 0, -90 * rp3d::PI_RP3D / 180.0f); + + for (int i=1; isetTransform(transform); + } + + rp3d::Vector3 box1Position(-5 - (NB_CAPSULES_PER_ROPE + 0.5) * CAPSULE_HEIGHT - BOX_SIZE * 0.5, 15 - CAPSULE_HEIGHT, 0); + const rp3d::Transform box1Transform(box1Position, initOrientation); + mBox1->setTransform(box1Transform); +} + +// Destroy the physics world +void RopeScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + // Destroy all the physics objects of the scene + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + + // Destroy the object + delete (*it); + } + + mBallAndSocketJoints.clear(); + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} + +// Reset the scene +void RopeScene::reset() { + + SceneDemo::reset(); + + nbIterations = 0; + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); + moveFirstRopeToHorizontalPosition(); +} + +/// Update the physics world (take a simulation step) +/// Can be called several times per frame +void RopeScene::updatePhysics() { + + if (nbIterations < nbTorqueIterations) { + mBox2->getRigidBody()->applyLocalTorque(rp3d::Vector3(0, 1000, 0)); + } + + nbIterations++; + + SceneDemo::updatePhysics(); +} diff --git a/testbed/scenes/rope/RopeScene.h b/testbed/scenes/rope/RopeScene.h new file mode 100644 index 000000000..887ca28dd --- /dev/null +++ b/testbed/scenes/rope/RopeScene.h @@ -0,0 +1,111 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef ROPE_SCENE_H +#define ROPE_SCENE_H + +// Libraries +#include "openglframework.h" +#include +#include "Capsule.h" +#include "Box.h" +#include "SceneDemo.h" + +namespace ropescene { + +// Constants +const float SCENE_RADIUS = 60.0f; +const float CAPSULE_RADIUS = 0.2f; +const float CAPSULE_HEIGHT = 1.5f; +const float BOX_SIZE = 5.0f; +const int NB_ROPES = 5; +const int NB_CAPSULES_PER_ROPE = 20; + +// Class Rope scene +class RopeScene : public SceneDemo { + + protected : + + // -------------------- Attributes -------------------- // + + /// Capsules for the rope + Capsule* mCapsules[NB_ROPES * NB_CAPSULES_PER_ROPE]; + + /// Box attached to the single rope + Box* mBox1; + + /// Box attached to four ropes + Box* mBox2; + + /// Plank box + Box* mPlank; + + /// Ball-And-Socket joints of the rope + std::vector mBallAndSocketJoints; + + int nbIterations; + int nbTorqueIterations; + + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + + // -------------------- Methods -------------------- // + + /// Create the joints + void createJoints(); + + public: + + // -------------------- Methods -------------------- // + + /// Constructor + RopeScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); + + /// Destructor + virtual ~RopeScene() override ; + + /// Reset the scene + virtual void reset() override; + + /// Update the physics world (take a simulation step) + /// Can be called several times per frame + virtual void updatePhysics() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); + + /// Move the first rope to an horizontal position + void moveFirstRopeToHorizontalPosition(); +}; + +} + +#endif diff --git a/testbed/scenes/sliderjoint/SliderJointScene.cpp b/testbed/scenes/sliderjoint/SliderJointScene.cpp new file mode 100644 index 000000000..8c568f4b0 --- /dev/null +++ b/testbed/scenes/sliderjoint/SliderJointScene.cpp @@ -0,0 +1,157 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "SliderJointScene.h" +#include + +// Namespaces +using namespace openglframework; +using namespace sliderjointscene; + +// Constructor +SliderJointScene::SliderJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon) + : SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) { + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 5, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + setInitZoom(1.1); + resetCameraToViewAll(); + + mWorldSettings.worldName = name; +} + +// Destructor +SliderJointScene::~SliderJointScene() { + + destroyPhysicsWorld(); +} + +// Create the physics world +void SliderJointScene::createPhysicsWorld() { + + // Gravity vector in the physics world + mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); + + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings); + mPhysicsWorld->setEventListener(this); + + // Create the Slider joint + createSliderJoint(); +} + +// Initialize the bodies positions +void SliderJointScene::initBodiesPositions() { + + rp3d::Transform transform1(rp3d::Vector3(0,4,0), rp3d::Quaternion::identity()); + mBox1->setTransform(transform1); + + rp3d::Transform transform2(rp3d::Vector3(0,0,0), rp3d::Quaternion::identity()); + mBox2->setTransform(transform2); +} + +// Destroy the physics world +void SliderJointScene::destroyPhysicsWorld() { + + if (mPhysicsWorld != nullptr) { + + delete mBox1; + delete mBox2; + + mPhysicsObjects.clear(); + + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); + mPhysicsWorld = nullptr; + } +} + +// Reset the scene +void SliderJointScene::reset() { + + SceneDemo::reset(); + + destroyPhysicsWorld(); + createPhysicsWorld(); + initBodiesPositions(); +} + +/// Create the boxes and joint for the Slider joint example +void SliderJointScene::createSliderJoint() { + + // --------------- Create the first box --------------- // + + // Create a box and a corresponding rigid in the physics world + openglframework::Vector3 box1Dimension(2, 4, 2); + mBox1 = new Box(true, box1Dimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 4, 0), rp3d::Quaternion::identity())); + + // Set the box color + mBox1->setColor(mObjectColorDemo); + mBox1->setSleepingColor(mSleepingColorDemo); + + // The fist box cannot move + mBox1->getRigidBody()->setType(rp3d::BodyType::STATIC); + + // Change the material properties of the rigid body + rp3d::Material& material1 = mBox1->getCollider()->getMaterial(); + material1.setBounciness(0.4f); + mPhysicsObjects.push_back(mBox1); + + // --------------- Create the second box --------------- // + + // Create a box and a corresponding rigid in the physics world + openglframework::Vector3 box2Dimension(2, 4, 2); + mBox2 = new Box(true, box2Dimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox2->setTransform(rp3d::Transform(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity())); + + // Set the box color + mBox2->setColor(mObjectColorDemo); + mBox2->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material2 = mBox2->getCollider()->getMaterial(); + material2.setBounciness(0.4f); + mPhysicsObjects.push_back(mBox2); + + // --------------- Create the joint --------------- // + + // Create the joint info object + rp3d::RigidBody* body1 = mBox1->getRigidBody(); + rp3d::RigidBody* body2 = mBox2->getRigidBody(); + const rp3d::Vector3& body1Position = body1->getTransform().getPosition(); + const rp3d::Vector3& body2Position = body2->getTransform().getPosition(); + const rp3d::Vector3 anchorPointWorldSpace = rp3d::decimal(0.5) * (body2Position + body1Position); + const rp3d::Vector3 sliderAxisWorldSpace = (body2Position - body1Position); + rp3d::SliderJointInfo jointInfo(body1, body2, anchorPointWorldSpace, sliderAxisWorldSpace, + rp3d::decimal(-1.7), rp3d::decimal(1.7)); + jointInfo.isCollisionEnabled = false; + + // Create the joint in the physics world + mJoint = dynamic_cast(mPhysicsWorld->createJoint(jointInfo)); +} diff --git a/testbed/scenes/sliderjoint/SliderJointScene.h b/testbed/scenes/sliderjoint/SliderJointScene.h new file mode 100644 index 000000000..d03b6b3c3 --- /dev/null +++ b/testbed/scenes/sliderjoint/SliderJointScene.h @@ -0,0 +1,90 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef SLIDER_JOINT_SCENE_H +#define SLIDER_JOINT_SCENE_H + +// Libraries +#include "openglframework.h" +#include +#include "Box.h" +#include "SceneDemo.h" + +namespace sliderjointscene { + +// Constants +const float SCENE_RADIUS = 30.0f; +const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters + +// Class SliderJointScene +class SliderJointScene : public SceneDemo { + + protected : + + // -------------------- Attributes -------------------- // + + /// First box + Box* mBox1; + + /// Second box + Box* mBox2; + + /// Slider joint + rp3d::SliderJoint* mJoint; + + /// World settings + rp3d::PhysicsWorld::WorldSettings mWorldSettings; + + // -------------------- Methods -------------------- // + + /// Create a slider joint + void createSliderJoint(); + + public: + + // -------------------- Methods -------------------- // + + /// Constructor + SliderJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon); + + /// Destructor + virtual ~SliderJointScene() override ; + + /// Reset the scene + virtual void reset() override; + + /// Create the physics world + void createPhysicsWorld(); + + /// Destroy the physics world + void destroyPhysicsWorld(); + + /// Initialize the bodies positions + void initBodiesPositions(); +}; + +} + +#endif diff --git a/testbed/shaders/phong.frag b/testbed/shaders/phong.frag index 8ae8096ed..ac63aba9f 100644 --- a/testbed/shaders/phong.frag +++ b/testbed/shaders/phong.frag @@ -36,7 +36,6 @@ uniform vec3 light2DiffuseColor; // Light 2 diffuse color uniform sampler2D textureSampler; // Texture uniform sampler2D shadowMapSampler0; // Shadow map texture sampler uniform sampler2D shadowMapSampler1; // Shadow map texture sampler -uniform sampler2D shadowMapSampler2; // Shadow map texture sampler uniform bool isTexture; // True if we need to use the texture uniform vec4 globalVertexColor; // Vertex color uniform bool isShadowEnabled; // True if shadow mapping is enabled @@ -46,7 +45,7 @@ uniform vec2 shadowMapDimension; // Shadow map dimension in vec3 vertexPosCameraSpace; // Camera-space position of the vertex in vec3 vertexNormalCameraSpace; // Vertex normal in camera-space in vec2 texCoords; // Texture coordinates -in vec4 shadowMapCoords[3]; // Shadow map texture coords +in vec4 shadowMapCoords[2]; // Shadow map texture coords // Out variable out vec4 color; // Output color @@ -72,18 +71,22 @@ void main() { color = vec4(ambient, 1); - vec3 lightPosCameraSpace[3]; + vec3 lightPosCameraSpace[3]; lightPosCameraSpace[0] = light0PosCameraSpace; lightPosCameraSpace[1] = light1PosCameraSpace; lightPosCameraSpace[2] = light2PosCameraSpace; - vec3 lightDiffuseColor[3]; + vec3 lightDiffuseColor[3]; lightDiffuseColor[0] = light0DiffuseColor; lightDiffuseColor[1] = light1DiffuseColor; lightDiffuseColor[2] = light2DiffuseColor; + bool isShadowEnabledForLight[3]; + isShadowEnabledForLight[0] = true; + isShadowEnabledForLight[1] = true; + isShadowEnabledForLight[2] = false; // For each light source - for (int l=0; l < 3; l++) { + for (int l=0; l < 3; l++) { // Compute the diffuse term of light 0 vec3 L0 = normalize(lightPosCameraSpace[l] - vertexPosCameraSpace); @@ -92,7 +95,8 @@ void main() { // Compute shadow factor float shadow = 1.0; - if (isShadowEnabled) { + if (isShadowEnabled && isShadowEnabledForLight[l]) { + shadow = 0.0; float bias = 0.0003; float shadowBias = -0.000; @@ -102,15 +106,14 @@ void main() { // PCF Shadow Mapping for (float i=-1; i<=1; i++) { - for (float j=-1; j<=1; j++) { - float distInShadowMap0 = textureLookupPCF(shadowMapSampler0, shadowMapCoordsOverW.xy, vec2(i, j)) + bias; - float distInShadowMap1 = textureLookupPCF(shadowMapSampler1, shadowMapCoordsOverW.xy, vec2(i, j)) + bias; - float distInShadowMap2 = textureLookupPCF(shadowMapSampler2, shadowMapCoordsOverW.xy, vec2(i, j)) + bias; - float distInShadowMap = l == 0 ? distInShadowMap0 : (l == 1 ? distInShadowMap1 : distInShadowMap2); - if (shadowMapCoords[l].w > 0) { - shadow += distInShadowMap < shadowMapCoordsOverW.z ? 0.5 : 1.0; - } - } + for (float j=-1; j<=1; j++) { + float distInShadowMap0 = textureLookupPCF(shadowMapSampler0, shadowMapCoordsOverW.xy, vec2(i, j)) + bias; + float distInShadowMap1 = textureLookupPCF(shadowMapSampler1, shadowMapCoordsOverW.xy, vec2(i, j)) + bias; + float distInShadowMap = l == 0 ? distInShadowMap0 : distInShadowMap1; + if (shadowMapCoords[l].w > 0) { + shadow += distInShadowMap < shadowMapCoordsOverW.z ? 0.5 : 1.0; + } + } } shadow /= 9.0; } diff --git a/testbed/shaders/phong.vert b/testbed/shaders/phong.vert index 6cc720755..8211eac2e 100644 --- a/testbed/shaders/phong.vert +++ b/testbed/shaders/phong.vert @@ -30,12 +30,10 @@ uniform mat4 localToWorldMatrix; // Local-space to world-space matrix uniform mat4 worldToCameraMatrix; // World-space to camera-space matrix uniform mat4 worldToLight0CameraMatrix; // World-space to light0 camera-space matrix (for shadow mapping) uniform mat4 worldToLight1CameraMatrix; // World-space to light1 camera-space matrix (for shadow mapping) -uniform mat4 worldToLight2CameraMatrix; // World-space to light2 camera-space matrix (for shadow mapping) uniform mat4 projectionMatrix; // Projection matrix uniform mat3 normalMatrix; // Normal matrix uniform mat4 shadowMapLight0ProjectionMatrix; // Shadow map projection matrix for light 0 uniform mat4 shadowMapLight1ProjectionMatrix; // Shadow map projection matrix for light 1 -uniform mat4 shadowMapLight2ProjectionMatrix; // Shadow map projection matrix for light 2 // In variables in vec4 vertexPosition; @@ -46,7 +44,7 @@ in vec2 textureCoords; out vec3 vertexPosCameraSpace; // Camera-space position of the vertex out vec3 vertexNormalCameraSpace; // Vertex normal in camera-space out vec2 texCoords; // Texture coordinates -out vec4 shadowMapCoords[3]; // Shadow map texture coords +out vec4 shadowMapCoords[2]; // Shadow map texture coords void main() { @@ -61,17 +59,15 @@ void main() { texCoords = textureCoords; // Compute the texture coords of the vertex in the shadow map - mat4 worldToLightCameraMatrix[3]; - worldToLightCameraMatrix[0] = worldToLight0CameraMatrix; - worldToLightCameraMatrix[1] = worldToLight1CameraMatrix; - worldToLightCameraMatrix[2] = worldToLight2CameraMatrix; - mat4 shadowMapProjectionMatrix[3]; - shadowMapProjectionMatrix[0] = shadowMapLight0ProjectionMatrix; - shadowMapProjectionMatrix[1] = shadowMapLight1ProjectionMatrix; - shadowMapProjectionMatrix[2] = shadowMapLight2ProjectionMatrix; - for (int l=0; l < 3; l++) { - shadowMapCoords[l] = shadowMapProjectionMatrix[l] * worldToLightCameraMatrix[l] * localToWorldMatrix * vertexPosition; - } + mat4 worldToLightCameraMatrix[2]; + worldToLightCameraMatrix[0] = worldToLight0CameraMatrix; + worldToLightCameraMatrix[1] = worldToLight1CameraMatrix; + mat4 shadowMapProjectionMatrix[2]; + shadowMapProjectionMatrix[0] = shadowMapLight0ProjectionMatrix; + shadowMapProjectionMatrix[1] = shadowMapLight1ProjectionMatrix; + for (int l=0; l < 2; l++) { + shadowMapCoords[l] = shadowMapProjectionMatrix[l] * worldToLightCameraMatrix[l] * localToWorldMatrix * vertexPosition; + } // Compute the clip-space vertex coordinates gl_Position = projectionMatrix * positionCameraSpace; diff --git a/testbed/src/Gui.cpp b/testbed/src/Gui.cpp index 2d844c7cb..252e5fd7c 100644 --- a/testbed/src/Gui.cpp +++ b/testbed/src/Gui.cpp @@ -43,7 +43,7 @@ double Gui::mCachedPhysicsStepTime = 0; Gui::Gui(TestbedApplication* app) : mApp(app), mSimulationPanel(nullptr), mSettingsPanel(nullptr), mPhysicsPanel(nullptr), mRenderingPanel(nullptr), mFPSLabel(nullptr), mFrameTimeLabel(nullptr), mTotalPhysicsTimeLabel(nullptr), - mPhysicsStepTimeLabel(nullptr) + mPhysicsStepTimeLabel(nullptr), mIsDisplayed(true) { } @@ -55,7 +55,12 @@ Gui::~Gui() { } /// Initialize the GUI -void Gui::init() { +void Gui::init(GLFWwindow* window) { + + mWindow = window; + + mScreen = new Screen(); + mScreen->initialize(window, true); // Create the Simulation panel createSimulationPanel(); @@ -66,12 +71,62 @@ void Gui::init() { // Create the Profiling panel createProfilingPanel(); - mApp->set_visible(true); - mApp->perform_layout(); + mScreen->set_visible(true); + mScreen->perform_layout(); mTimeSinceLastProfilingDisplay = glfwGetTime(); } +void Gui::drawAll() { + mScreen->clear(); + mScreen->draw_all(); +} + +void Gui::draw() { + + if (mIsDisplayed) { + mScreen->draw_setup(); + mScreen->draw_contents(); + } +} + +void Gui::drawTearDown() { + + if (mIsDisplayed) { + mScreen->draw_widgets(); + } + + mScreen->draw_teardown(); +} + + +// Update the GUI values with the engine settings from the current scene +void Gui::resetWithValuesFromCurrentScene() { + + auto test = mApp->getCurrentSceneEngineSettings(); + mCheckboxSleeping->set_checked(mApp->getCurrentSceneEngineSettings().isSleepingEnabled); + mCheckboxGravity->set_checked(mApp->getCurrentSceneEngineSettings().isGravityEnabled); + + std::ostringstream out; + out << std::setprecision(1) << std::fixed << (mApp->getCurrentSceneEngineSettings().timeStep.count() * 1000); + mTextboxTimeStep->set_value(out.str()); + + mTextboxVelocityIterations->set_value(std::to_string(mApp->getCurrentSceneEngineSettings().nbVelocitySolverIterations)); + mTextboxPositionIterations->set_value(std::to_string(mApp->getCurrentSceneEngineSettings().nbPositionSolverIterations)); + + out.str(""); + out << std::setprecision(0) << std::fixed << (mApp->getCurrentSceneEngineSettings().timeBeforeSleep * 1000); + mTextboxTimeSleep->set_value(out.str()); + + out.str(""); + out << std::setprecision(2) << std::fixed << (mApp->getCurrentSceneEngineSettings().sleepLinearVelocity); + mTextboxSleepLinearVel->set_value(out.str()); + + out.str(""); + out << std::setprecision(2) << std::fixed << (mApp->getCurrentSceneEngineSettings().sleepAngularVelocity); + mTextboxSleepAngularVel->set_value(out.str()); +} + // Update the GUI void Gui::update() { @@ -99,7 +154,7 @@ void Gui::update() { void Gui::createSimulationPanel() { - mSimulationPanel = new Window(mApp, "Simulation"); + mSimulationPanel = new Window(mScreen, "Simulation"); mSimulationPanel->set_position(Vector2i(15, 15)); mSimulationPanel->set_layout(new GroupLayout(10, 5, 10 , 20)); //mSimulationPanel->setId("SimulationPanel"); @@ -137,16 +192,16 @@ void Gui::createSimulationPanel() { scenesNames.push_back(scenes[i]->getName().c_str()); } new Label(mSimulationPanel, "Scene","sans-bold"); - ComboBox* comboBoxScenes = new ComboBox(mSimulationPanel, scenesNames); - comboBoxScenes->set_fixed_width(150); - comboBoxScenes->set_callback([&, scenes](int index) { + + mComboBoxScenes = new ComboBox(mSimulationPanel, scenesNames); + mComboBoxScenes->set_callback([&, scenes](int index) { mApp->switchScene(scenes[index]); }); } void Gui::createSettingsPanel() { - mSettingsPanel = new Window(mApp, "Settings"); + mSettingsPanel = new Window(mScreen, "Settings"); mSettingsPanel->set_position(Vector2i(15, 180)); mSettingsPanel->set_layout(new BoxLayout(Orientation::Vertical, Alignment::Middle, 10, 5)); //mSettingsPanel->setId("SettingsPanel"); @@ -158,17 +213,17 @@ void Gui::createSettingsPanel() { Button* buttonPhysics = new Button(buttonsPanel, "Physics"); buttonPhysics->set_flags(Button::RadioButton); buttonPhysics->set_pushed(true); - buttonPhysics->set_change_callback([&](bool state) { + buttonPhysics->set_change_callback([&](bool /*state*/) { mPhysicsPanel->set_visible(true); mRenderingPanel->set_visible(false); - mApp->perform_layout(); + mScreen->perform_layout(); }); Button* buttonRendering = new Button(buttonsPanel, "Rendering"); buttonRendering->set_flags(Button::RadioButton); - buttonRendering->set_change_callback([&](bool state) { + buttonRendering->set_change_callback([&](bool /*state*/) { mRenderingPanel->set_visible(true); mPhysicsPanel->set_visible(false); - mApp->perform_layout(); + mScreen->perform_layout(); }); // ---------- Physics Panel ---------- @@ -176,18 +231,18 @@ void Gui::createSettingsPanel() { mPhysicsPanel->set_layout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 0, 5)); // Enable/Disable sleeping - CheckBox* checkboxSleeping = new CheckBox(mPhysicsPanel, "Sleeping enabled"); - checkboxSleeping->set_checked(mApp->mEngineSettings.isSleepingEnabled); - checkboxSleeping->set_callback([&](bool value) { - mApp->mEngineSettings.isSleepingEnabled = value; + mCheckboxSleeping = new CheckBox(mPhysicsPanel, "Sleeping enabled"); + mCheckboxSleeping->set_checked(true); + mCheckboxSleeping->set_callback([&](bool value) { + mApp->getCurrentSceneEngineSettings().isSleepingEnabled = value; mApp->notifyEngineSetttingsChanged(); }); // Enabled/Disable Gravity - CheckBox* checkboxGravity = new CheckBox(mPhysicsPanel, "Gravity enabled"); - checkboxGravity->set_checked(mApp->mEngineSettings.isGravityEnabled); - checkboxGravity->set_callback([&](bool value) { - mApp->mEngineSettings.isGravityEnabled = value; + mCheckboxGravity = new CheckBox(mPhysicsPanel, "Gravity enabled"); + mCheckboxGravity->set_checked(true); + mCheckboxGravity->set_callback([&](bool value) { + mApp->getCurrentSceneEngineSettings().isGravityEnabled = value; mApp->notifyEngineSetttingsChanged(); }); @@ -196,14 +251,14 @@ void Gui::createSettingsPanel() { panelTimeStep->set_layout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 0, 5)); Label* labelTimeStep = new Label(panelTimeStep, "Time step","sans-bold"); labelTimeStep->set_fixed_width(120); - TextBox* textboxTimeStep = new TextBox(panelTimeStep); - textboxTimeStep->set_fixed_size(Vector2i(70, 25)); - textboxTimeStep->set_editable(true); + mTextboxTimeStep = new TextBox(panelTimeStep); + mTextboxTimeStep->set_fixed_size(Vector2i(70, 25)); + mTextboxTimeStep->set_editable(true); std::ostringstream out; - out << std::setprecision(1) << std::fixed << (mApp->mEngineSettings.timeStep * 1000); - textboxTimeStep->set_value(out.str()); - textboxTimeStep->set_units("ms"); - textboxTimeStep->set_callback([&, textboxTimeStep](const std::string &str) { + out << std::setprecision(1) << std::fixed << 0; + mTextboxTimeStep->set_value(out.str()); + mTextboxTimeStep->set_units("ms"); + mTextboxTimeStep->set_callback([&](const std::string &str) { try { float value = std::stof(str); @@ -213,9 +268,9 @@ void Gui::createSettingsPanel() { if (finalValue < 1 || finalValue > 1000) return false; - mApp->mEngineSettings.timeStep = finalValue / 1000.0f; + mApp->getCurrentSceneEngineSettings().timeStep = std::chrono::duration(finalValue / 1000.0f); mApp->notifyEngineSetttingsChanged(); - textboxTimeStep->set_value(out.str()); + mTextboxTimeStep->set_value(out.str()); } catch (...) { return false; @@ -223,20 +278,20 @@ void Gui::createSettingsPanel() { return true; }); - textboxTimeStep->set_font_size(16); - textboxTimeStep->set_alignment(TextBox::Alignment::Right); + mTextboxTimeStep->set_font_size(16); + mTextboxTimeStep->set_alignment(TextBox::Alignment::Right); // Velocity solver iterations Widget* panelVelocityIterations = new Widget(mPhysicsPanel); panelVelocityIterations->set_layout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 0, 5)); Label* labelVelocityIterations = new Label(panelVelocityIterations, "Velocity solver","sans-bold"); labelVelocityIterations->set_fixed_width(120); - TextBox* textboxVelocityIterations = new TextBox(panelVelocityIterations); - textboxVelocityIterations->set_fixed_size(Vector2i(70, 25)); - textboxVelocityIterations->set_editable(true); - textboxVelocityIterations->set_value(std::to_string(mApp->mEngineSettings.nbVelocitySolverIterations)); - textboxVelocityIterations->set_units("iter"); - textboxVelocityIterations->set_callback([&, textboxVelocityIterations](const std::string &str) { + mTextboxVelocityIterations = new TextBox(panelVelocityIterations); + mTextboxVelocityIterations->set_fixed_size(Vector2i(70, 25)); + mTextboxVelocityIterations->set_editable(true); + mTextboxVelocityIterations->set_value(std::to_string(0)); + mTextboxVelocityIterations->set_units("iter"); + mTextboxVelocityIterations->set_callback([&](const std::string &str) { try { float value = std::stof(str); @@ -245,9 +300,9 @@ void Gui::createSettingsPanel() { if (value < 1 || value > 1000) return false; - mApp->mEngineSettings.nbVelocitySolverIterations = value; + mApp->getCurrentSceneEngineSettings().nbVelocitySolverIterations = value; mApp->notifyEngineSetttingsChanged(); - textboxVelocityIterations->set_value(out.str()); + mTextboxVelocityIterations->set_value(out.str()); } catch (...) { return false; @@ -255,20 +310,20 @@ void Gui::createSettingsPanel() { return true; }); - textboxVelocityIterations->set_font_size(16); - textboxVelocityIterations->set_alignment(TextBox::Alignment::Right); + mTextboxVelocityIterations->set_font_size(16); + mTextboxVelocityIterations->set_alignment(TextBox::Alignment::Right); // Position solver iterations Widget* panelPositionIterations = new Widget(mPhysicsPanel); panelPositionIterations->set_layout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 0, 5)); Label* labelPositionIterations = new Label(panelPositionIterations, "Position solver","sans-bold"); labelPositionIterations->set_fixed_width(120); - TextBox* textboxPositionIterations = new TextBox(panelPositionIterations); - textboxPositionIterations->set_fixed_size(Vector2i(70, 25)); - textboxPositionIterations->set_editable(true); - textboxPositionIterations->set_value(std::to_string(mApp->mEngineSettings.nbPositionSolverIterations)); - textboxPositionIterations->set_units("iter"); - textboxPositionIterations->set_callback([&, textboxPositionIterations](const std::string &str) { + mTextboxPositionIterations = new TextBox(panelPositionIterations); + mTextboxPositionIterations->set_fixed_size(Vector2i(70, 25)); + mTextboxPositionIterations->set_editable(true); + mTextboxPositionIterations->set_value(std::to_string(0)); + mTextboxPositionIterations->set_units("iter"); + mTextboxPositionIterations->set_callback([&](const std::string &str) { try { float value = std::stof(str); @@ -277,9 +332,9 @@ void Gui::createSettingsPanel() { if (value < 1 || value > 1000) return false; - mApp->mEngineSettings.nbPositionSolverIterations = value; + mApp->getCurrentSceneEngineSettings().nbPositionSolverIterations = value; mApp->notifyEngineSetttingsChanged(); - textboxPositionIterations->set_value(out.str()); + mTextboxPositionIterations->set_value(out.str()); } catch (...) { return false; @@ -287,8 +342,8 @@ void Gui::createSettingsPanel() { return true; }); - textboxPositionIterations->set_font_size(16); - textboxPositionIterations->set_alignment(TextBox::Alignment::Right); + mTextboxPositionIterations->set_font_size(16); + mTextboxPositionIterations->set_alignment(TextBox::Alignment::Right); // Time before sleep Widget* panelTimeSleep = new Widget(mPhysicsPanel); @@ -296,13 +351,13 @@ void Gui::createSettingsPanel() { Label* labelTimeSleep = new Label(panelTimeSleep, "Time before sleep","sans-bold"); labelTimeSleep->set_fixed_width(120); out.str(""); - out << std::setprecision(0) << std::fixed << (mApp->mEngineSettings.timeBeforeSleep * 1000); - TextBox* textboxTimeSleep = new TextBox(panelTimeSleep); - textboxTimeSleep->set_fixed_size(Vector2i(70, 25)); - textboxTimeSleep->set_editable(true); - textboxTimeSleep->set_value(out.str()); - textboxTimeSleep->set_units("ms"); - textboxTimeSleep->set_callback([&, textboxTimeSleep](const std::string &str) { + out << std::setprecision(0) << std::fixed << 0; + mTextboxTimeSleep = new TextBox(panelTimeSleep); + mTextboxTimeSleep->set_fixed_size(Vector2i(70, 25)); + mTextboxTimeSleep->set_editable(true); + mTextboxTimeSleep->set_value(out.str()); + mTextboxTimeSleep->set_units("ms"); + mTextboxTimeSleep->set_callback([&](const std::string &str) { try { float value = std::stof(str); @@ -312,9 +367,9 @@ void Gui::createSettingsPanel() { if (finalValue < 1 || finalValue > 100000) return false; - mApp->mEngineSettings.timeBeforeSleep = finalValue / 1000.0f; + mApp->getCurrentSceneEngineSettings().timeBeforeSleep = finalValue / 1000.0f; mApp->notifyEngineSetttingsChanged(); - textboxTimeSleep->set_value(out.str()); + mTextboxTimeSleep->set_value(out.str()); } catch (...) { return false; @@ -322,8 +377,8 @@ void Gui::createSettingsPanel() { return true; }); - textboxTimeSleep->set_font_size(16); - textboxTimeSleep->set_alignment(TextBox::Alignment::Right); + mTextboxTimeSleep->set_font_size(16); + mTextboxTimeSleep->set_alignment(TextBox::Alignment::Right); // Sleep linear velocity Widget* panelSleepLinearVel = new Widget(mPhysicsPanel); @@ -331,13 +386,13 @@ void Gui::createSettingsPanel() { Label* labelSleepLinearVel = new Label(panelSleepLinearVel, "Sleep linear velocity","sans-bold"); labelSleepLinearVel->set_fixed_width(120); out.str(""); - out << std::setprecision(2) << std::fixed << (mApp->mEngineSettings.sleepLinearVelocity); - TextBox* textboxSleepLinearVel = new TextBox(panelSleepLinearVel); - textboxSleepLinearVel->set_fixed_size(Vector2i(70, 25)); - textboxSleepLinearVel->set_editable(true); - textboxSleepLinearVel->set_value(out.str()); - textboxSleepLinearVel->set_units("m/s"); - textboxSleepLinearVel->set_callback([&, textboxSleepLinearVel](const std::string &str) { + out << std::setprecision(2) << std::fixed << 0; + mTextboxSleepLinearVel = new TextBox(panelSleepLinearVel); + mTextboxSleepLinearVel->set_fixed_size(Vector2i(70, 25)); + mTextboxSleepLinearVel->set_editable(true); + mTextboxSleepLinearVel->set_value(out.str()); + mTextboxSleepLinearVel->set_units("m/s"); + mTextboxSleepLinearVel->set_callback([&](const std::string &str) { try { float value = std::stof(str); @@ -347,9 +402,9 @@ void Gui::createSettingsPanel() { if (finalValue < 0 || finalValue > 10000) return false; - mApp->mEngineSettings.sleepLinearVelocity = finalValue; + mApp->getCurrentSceneEngineSettings().sleepLinearVelocity = finalValue; mApp->notifyEngineSetttingsChanged(); - textboxSleepLinearVel->set_value(out.str()); + mTextboxSleepLinearVel->set_value(out.str()); } catch (...) { return false; @@ -357,8 +412,8 @@ void Gui::createSettingsPanel() { return true; }); - textboxSleepLinearVel->set_font_size(16); - textboxSleepLinearVel->set_alignment(TextBox::Alignment::Right); + mTextboxSleepLinearVel->set_font_size(16); + mTextboxSleepLinearVel->set_alignment(TextBox::Alignment::Right); // Sleep angular velocity Widget* panelSleepAngularVel = new Widget(mPhysicsPanel); @@ -366,13 +421,13 @@ void Gui::createSettingsPanel() { Label* labelSleepAngularVel = new Label(panelSleepAngularVel, "Sleep angular velocity","sans-bold"); labelSleepAngularVel->set_fixed_width(120); out.str(""); - out << std::setprecision(2) << std::fixed << (mApp->mEngineSettings.sleepAngularVelocity); - TextBox* textboxSleepAngularVel = new TextBox(panelSleepAngularVel); - textboxSleepAngularVel->set_fixed_size(Vector2i(70, 25)); - textboxSleepAngularVel->set_editable(true); - textboxSleepAngularVel->set_value(out.str()); - textboxSleepAngularVel->set_units("rad/s"); - textboxSleepAngularVel->set_callback([&, textboxSleepAngularVel](const std::string &str) { + out << std::setprecision(2) << std::fixed << 0; + mTextboxSleepAngularVel = new TextBox(panelSleepAngularVel); + mTextboxSleepAngularVel->set_fixed_size(Vector2i(70, 25)); + mTextboxSleepAngularVel->set_editable(true); + mTextboxSleepAngularVel->set_value(out.str()); + mTextboxSleepAngularVel->set_units("rad/s"); + mTextboxSleepAngularVel->set_callback([&](const std::string &str) { try { float value = std::stof(str); @@ -382,9 +437,9 @@ void Gui::createSettingsPanel() { if (finalValue < 0 || finalValue > 10000) return false; - mApp->mEngineSettings.sleepAngularVelocity = finalValue; + mApp->getCurrentSceneEngineSettings().sleepAngularVelocity = finalValue; mApp->notifyEngineSetttingsChanged(); - textboxSleepAngularVel->set_value(out.str()); + mTextboxSleepAngularVel->set_value(out.str()); } catch (...) { return false; @@ -392,8 +447,8 @@ void Gui::createSettingsPanel() { return true; }); - textboxSleepAngularVel->set_font_size(16); - textboxSleepAngularVel->set_alignment(TextBox::Alignment::Right); + mTextboxSleepAngularVel->set_font_size(16); + mTextboxSleepAngularVel->set_alignment(TextBox::Alignment::Right); // ---------- Rendering Panel ---------- mRenderingPanel = new Widget(mSettingsPanel); @@ -481,8 +536,8 @@ void Gui::createSettingsPanel() { void Gui::createProfilingPanel() { - Widget* profilingPanel = new Window(mApp, "Profiling"); - profilingPanel->set_position(Vector2i(15, 525)); + Widget* profilingPanel = new Window(mScreen, "Profiling"); + profilingPanel->set_position(Vector2i(15, 505)); profilingPanel->set_layout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 10, 5)); //profilingPanel->setId("SettingsPanel"); profilingPanel->set_fixed_width(220); @@ -502,3 +557,33 @@ void Gui::createProfilingPanel() { profilingPanel->set_visible(true); } +void Gui::onWindowResizeEvent(int width, int height) { + mScreen->resize_callback_event(width, height); +} + +void Gui::onMouseMotionEvent(double x, double y) { + mScreen->cursor_pos_callback_event(x, y); +} + +bool Gui::onScrollEvent(double x, double y) { + + double xMouse, yMouse; + glfwGetCursorPos(mWindow, &xMouse, &yMouse); + + // If the mouse cursor is over the scenes choice scrolling menu + const float pixelRatio = mScreen->pixel_ratio(); + if (mComboBoxScenes->popup()->visible() && mComboBoxScenes->popup()->contains(Vector2i(xMouse, yMouse) / pixelRatio)) { + mScreen->scroll_callback_event(x, y); + return true; + } + + return false; +} + +void Gui::onMouseButtonEvent(int button, int action, int modifiers) { + mScreen->mouse_button_callback_event(button, action, modifiers); +} + +void Gui::onKeyboardEvent(int key, int scancode, int action, int modifiers) { + mScreen->key_callback_event(key, scancode, action, modifiers); +} diff --git a/testbed/src/Gui.h b/testbed/src/Gui.h index 46427b512..ac1b9a9a3 100644 --- a/testbed/src/Gui.h +++ b/testbed/src/Gui.h @@ -56,6 +56,11 @@ class Gui { // Pointer to the application TestbedApplication* mApp; + // Screen + Screen* mScreen; + + GLFWwindow* mWindow; + static double mScrollX, mScrollY; // Simulation panel @@ -72,7 +77,23 @@ class Gui { Label* mTotalPhysicsTimeLabel; Label* mPhysicsStepTimeLabel; + CheckBox* mCheckboxSleeping; + CheckBox* mCheckboxGravity; + TextBox* mTextboxTimeStep; + TextBox* mTextboxVelocityIterations; + TextBox* mTextboxPositionIterations; + TextBox* mTextboxTimeSleep; + TextBox* mTextboxSleepLinearVel; + TextBox* mTextboxSleepAngularVel; + + ToolButton* mButtonPause; + Widget* mPanelControls; + std::vector mCheckboxesScenes; + ComboBox* mComboBoxScenes; + + /// True if the GUI is displayed + bool mIsDisplayed; // -------------------- Methods -------------------- // @@ -115,15 +136,35 @@ class Gui { ~Gui(); /// Initialize the GUI - void init(); + void init(GLFWwindow* window); /// Update the GUI void update(); - /// Display the GUI - void render(); + void drawAll(); + + void draw(); + + void drawTearDown(); + + /// Update the GUI values with the engine settings from the current scene + void resetWithValuesFromCurrentScene(); static void setScroll(double scrollX, double scrollY); + + void onWindowResizeEvent(int width, int height); + + void onMouseMotionEvent(double x, double y); + + bool onScrollEvent(double x, double y); + + void onMouseButtonEvent(int button, int action, int modifiers); + + void onKeyboardEvent(int key, int scancode, int action, int modifiers); + + bool getIsDisplayed() const; + + void setIsDisplayed(bool isDisplayed); }; inline void Gui::resetScroll() { @@ -142,4 +183,12 @@ inline std::string Gui::floatToString(float value, int precision) { return ss.str(); } +inline bool Gui::getIsDisplayed() const { + return mIsDisplayed; +} + +inline void Gui::setIsDisplayed(bool isDisplayed) { + mIsDisplayed = isDisplayed; +} + #endif diff --git a/testbed/src/Main.cpp b/testbed/src/Main.cpp index ca690ad78..b9608cbdb 100644 --- a/testbed/src/Main.cpp +++ b/testbed/src/Main.cpp @@ -26,39 +26,35 @@ // Libraries #include "TestbedApplication.h" #include "nanogui/nanogui.h" +#include using namespace nanogui; -// Main function -int main(int argc, char** argv) { - - nanogui::init(); - - { - bool isFullscreen = false; - - // Get the primary monitor - GLFWmonitor* monitor = glfwGetPrimaryMonitor(); - const GLFWvidmode* mode = glfwGetVideoMode(monitor); - - // Window size - int windowWidth = mode->width; - int windowHeight = mode->height; +// GLFW +// +#if defined(NANOGUI_USE_OPENGL) +# if defined(NANOGUI_GLAD) +# if defined(NANOGUI_SHARED) && !defined(GLAD_GLAPI_EXPORT) +# define GLAD_GLAPI_EXPORT +# endif +# include +# else +# if defined(__APPLE__) +# define GLFW_INCLUDE_GLCOREARB +# else +# define GL_GLEXT_PROTOTYPES +# endif +# endif +#elif defined(NANOGUI_USE_GLES) +# define GLFW_INCLUDE_ES2 +#endif - if (!isFullscreen) { - - windowWidth *= 0.9; - windowHeight *= 0.9; - } - - // Create and start the testbed application - nanogui::ref application = new TestbedApplication(isFullscreen, windowWidth, windowHeight); - application->set_visible(true); - - nanogui::mainloop(10); - } +// Main function +int main(int /*argc*/, char** /*argv*/) { - nanogui::shutdown(); + // Create and start the testbed application + TestbedApplication application; + application.start(); return 0; } diff --git a/testbed/src/Scene.cpp b/testbed/src/Scene.cpp index fe2b8b71d..dc0260c7b 100644 --- a/testbed/src/Scene.cpp +++ b/testbed/src/Scene.cpp @@ -24,6 +24,8 @@ ********************************************************************************/ // Libraries +#define _USE_MATH_DEFINES +#include #include "Scene.h" #include @@ -31,10 +33,12 @@ using namespace openglframework; // Constructor Scene::Scene(const std::string& name, EngineSettings& engineSettings, bool isShadowMappingEnabled) - : mName(name), mEngineSettings(engineSettings), mLastMouseX(0), mLastMouseY(0), mInterpolationFactor(0.0f), mViewportX(0), mViewportY(0), + : mName(name), mEngineSettings(engineSettings), mLastMouseX(0), mLastMouseY(0), mInterpolationFactor(0.0f), + mCurrentCameraVerticalAngle(0.0), mViewportX(0), mViewportY(0), mViewportWidth(0), mViewportHeight(0), mIsShadowMappingEnabled(isShadowMappingEnabled), mAreContactPointsDisplayed(true), mAreContactNormalsDisplayed(false), mAreBroadPhaseAABBsDisplayed(false), - mAreCollidersAABBsDisplayed(false), mAreCollisionShapesDisplayed(false), mIsWireframeEnabled(false) { + mAreCollidersAABBsDisplayed(false), mAreCollisionShapesDisplayed(false), mIsWireframeEnabled(false), + mInitZoom(2.0f), mIsCameraRotationAnimationEnabled(false) { } @@ -60,12 +64,12 @@ void Scene::resetCameraToViewAll() { // Move the camera to the origin of the scene mCamera.translateWorld(-mCamera.getOrigin()); - // Move the camera to the center of the scene + // Move the camera mCamera.translateWorld(mCenterScene); // Set the zoom of the camera so that the scene center is // in negative view direction of the camera - mCamera.setZoom(1.0); + mCamera.setZoom(mInitZoom); } // Map the mouse x,y coordinates to a point on a sphere @@ -91,17 +95,12 @@ bool Scene::mapMouseCoordinatesToSphere(double xMouse, double yMouse, } // Called when a mouse button event occurs -bool Scene::mouseButtonEvent(int button, bool down, int mods, - double mousePosX, double mousePosY) { +bool Scene::mouseButtonEvent(int /*button*/, bool down, int /*mods*/, double mousePosX, double mousePosY) { // If the mouse button is pressed if (down) { mLastMouseX = mousePosX; mLastMouseY = mousePosY; - mIsLastPointOnSphereValid = mapMouseCoordinatesToSphere(mousePosX, mousePosY, mLastPointOnSphere); - } - else { // If the mouse button is released - mIsLastPointOnSphereValid = false; } return true; @@ -134,13 +133,12 @@ bool Scene::mouseMotionEvent(double xMouse, double yMouse, int leftButtonState, // Remember the mouse position mLastMouseX = xMouse; mLastMouseY = yMouse; - mIsLastPointOnSphereValid = mapMouseCoordinatesToSphere(xMouse, yMouse, mLastPointOnSphere); return true; } // Called when a scrolling event occurs -bool Scene::scrollingEvent(float xAxis, float yAxis, float scrollSensitivy) { +bool Scene::scrollingEvent(float /*xAxis*/, float yAxis, float scrollSensitivy) { zoom(yAxis * scrollSensitivy); return true; @@ -166,23 +164,23 @@ void Scene::translate(int xMouse, int yMouse) { // Rotate the camera void Scene::rotate(int xMouse, int yMouse) { - if (mIsLastPointOnSphereValid) { - - Vector3 newPoint3D; - bool isNewPointOK = mapMouseCoordinatesToSphere(xMouse, yMouse, newPoint3D); + const double deltaXMouse = mLastMouseX - xMouse; + const double deltaYMouse = mLastMouseY - yMouse; - if (isNewPointOK) { - Vector3 axis = mLastPointOnSphere.cross(newPoint3D); - float cosAngle = mLastPointOnSphere.dot(newPoint3D); + double deltaHorizRotationAngle = deltaXMouse / mWindowWidth * MOUSE_CAMERA_ROTATION_SCALING_FACTOR * M_PI; + double deltaVertRotationAngle = deltaYMouse / mWindowHeight * MOUSE_CAMERA_ROTATION_SCALING_FACTOR * M_PI; - float epsilon = std::numeric_limits::epsilon(); - if (std::abs(cosAngle) < 1.0f && axis.length() > epsilon) { - axis.normalize(); - float angle = 2.0f * std::acos(cosAngle); + const double newVerticalAngle = mCurrentCameraVerticalAngle + deltaVertRotationAngle; - // Rotate the camera around the center of the scene - mCamera.rotateAroundLocalPoint(axis, -angle, mCenterScene); - } - } + // Limit Vertical angle + constexpr double piOver2 = M_PI * 0.5f; + if (newVerticalAngle > piOver2 || newVerticalAngle < -piOver2) { + deltaVertRotationAngle = 0; } + + Vector3 localVertAxis = mCamera.getTransformMatrix().getUpperLeft3x3Matrix().getInverse() * Vector3(0, 1, 0); + mCamera.rotateAroundLocalPoint(Vector3(1, 0, 0), deltaVertRotationAngle, mCenterScene); + mCamera.rotateAroundLocalPoint(localVertAxis, deltaHorizRotationAngle, mCenterScene); + + mCurrentCameraVerticalAngle += deltaVertRotationAngle; } diff --git a/testbed/src/Scene.h b/testbed/src/Scene.h index 58e31f833..93ec05bb9 100644 --- a/testbed/src/Scene.h +++ b/testbed/src/Scene.h @@ -30,6 +30,8 @@ #include "openglframework.h" #include +using namespace std::chrono_literals; + // Structure ContactPoint struct SceneContactPoint { @@ -51,8 +53,8 @@ struct EngineSettings { public: - long double elapsedTime; // Elapsed time (in seconds) - float timeStep; // Current time step (in seconds) + std::chrono::duration elapsedTime; // Elapsed time (in seconds) + std::chrono::duration timeStep; // Current time step (in seconds) unsigned int nbVelocitySolverIterations; // Nb of velocity solver iterations unsigned int nbPositionSolverIterations; // Nb of position solver iterations bool isSleepingEnabled; // True if sleeping technique is enabled @@ -73,7 +75,7 @@ struct EngineSettings { EngineSettings defaultSettings; rp3d::PhysicsWorld::WorldSettings worldSettings; - defaultSettings.timeStep = 1.0f / 60.0f; + defaultSettings.timeStep = std::chrono::duration(1.0f / 60.0f); defaultSettings.nbVelocitySolverIterations = worldSettings.defaultVelocitySolverNbIterations; defaultSettings.nbPositionSolverIterations = worldSettings.defaultPositionSolverNbIterations; defaultSettings.isSleepingEnabled = worldSettings.isSleepingEnabled; @@ -81,6 +83,7 @@ struct EngineSettings { defaultSettings.sleepLinearVelocity = worldSettings.defaultSleepLinearVelocity; defaultSettings.sleepAngularVelocity = worldSettings.defaultSleepAngularVelocity; defaultSettings.isGravityEnabled = true; + defaultSettings.gravity = openglframework::Vector3(0, -9.81, 0); return defaultSettings; } @@ -92,13 +95,17 @@ class Scene : public rp3d::EventListener { protected: + // -------------------- Constants -------------------- // + + static constexpr float MOUSE_CAMERA_ROTATION_SCALING_FACTOR = 1.0f; + // -------------------- Attributes -------------------- // /// Scene name std::string mName; /// Physics engine settings - EngineSettings& mEngineSettings; + EngineSettings mEngineSettings; /// Camera openglframework::Camera mCamera; @@ -115,12 +122,12 @@ class Scene : public rp3d::EventListener { /// Last point computed on a sphere (for camera rotation) openglframework::Vector3 mLastPointOnSphere; - /// True if the last point computed on a sphere (for camera rotation) is valid - bool mIsLastPointOnSphereValid; - /// Interpolation factor for the bodies in the current frame float mInterpolationFactor; + /// Current camera vertical angle around the horizontal axis (in radians) + double mCurrentCameraVerticalAngle; + /// Viewport x,y, width and height values int mViewportX, mViewportY, mViewportWidth, mViewportHeight; @@ -148,6 +155,12 @@ class Scene : public rp3d::EventListener { /// Snapshots Contact points (computed with PhysicsWorld::testCollision() or PhysicsWorld::raycast() methods) std::vector mSnapshotsContactPoints; + /// Initial zoom factor + float mInitZoom; + + /// True if the automatic camera rotation animation is enabled + bool mIsCameraRotationAnimationEnabled; + // -------------------- Methods -------------------- // /// Set the scene position (where the camera needs to look at) @@ -199,8 +212,7 @@ class Scene : public rp3d::EventListener { virtual bool keyboardEvent(int key, int scancode, int action, int mods); /// Called when a mouse button event occurs - virtual bool mouseButtonEvent(int button, bool down, int mods, - double mousePosX, double mousePosY); + virtual bool mouseButtonEvent(int button, bool down, int mods, double mousePosX, double mousePosY); /// Called when a mouse motion event occurs virtual bool mouseMotionEvent(double xMouse, double yMouse, int leftButtonState, @@ -215,6 +227,12 @@ class Scene : public rp3d::EventListener { /// Set the viewport to render the scene void setViewport(int x, int y, int width, int height); + /// Return the initial zoom factor + float getInitZoom() const; + + /// Set the initial zoom factor + void setInitZoom(float zoom); + /// Return a reference to the camera const openglframework::Camera& getCamera() const; @@ -256,10 +274,20 @@ class Scene : public rp3d::EventListener { /// Update the engine settings virtual void updateEngineSettings() = 0; + + /// Return a reference to the engine settings of the scene + EngineSettings& getEngineSettings(); + + /// Return true if the camera rotation animation is enabled + bool getIsCameraRotationAnimationEnabled() const; + + /// Set whether the camera rotation animation is enabled or not + void setIsCameraRotationAnimationEnabled(bool isRotationEnabled); + }; // Called when a keyboard event occurs -inline bool Scene::keyboardEvent(int key, int scancode, int action, int mods) { +inline bool Scene::keyboardEvent(int /*key*/, int /*scancode*/, int /*action*/, int /*mods*/) { return false; } @@ -270,6 +298,7 @@ inline void Scene::reshape(int width, int height) { // Reset the scene inline void Scene::reset() { + mEngineSettings.elapsedTime = std::chrono::milliseconds::zero(); mSnapshotsContactPoints.clear(); } @@ -292,6 +321,16 @@ inline void Scene::setViewport(int x, int y, int width, int height) { mViewportHeight = height; } +// Return the initial zoom factor +inline float Scene::getInitZoom() const { + return mInitZoom; +} + +// Set the initial zoom factor +inline void Scene::setInitZoom(float zoom) { + mInitZoom = zoom; +} + // Set the interpolation factor inline void Scene::setInterpolationFactor(float interpolationFactor) { mInterpolationFactor = interpolationFactor; @@ -347,4 +386,19 @@ inline void Scene::setIsWireframeEnabled(bool isEnabled) { mIsWireframeEnabled = isEnabled; } +// Return a reference to the engine settings of the scene +inline EngineSettings& Scene::getEngineSettings() { + return mEngineSettings; +} + +// Return true if the scene rotation is enabled +inline bool Scene::getIsCameraRotationAnimationEnabled() const { + return mIsCameraRotationAnimationEnabled; +} + +// Set whether the scene rotation is enabled or no +inline void Scene::setIsCameraRotationAnimationEnabled(bool isRotationEnabled) { + mIsCameraRotationAnimationEnabled = isRotationEnabled; +} + #endif diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp index 19bf44661..6e677c9ce 100644 --- a/testbed/src/SceneDemo.cpp +++ b/testbed/src/SceneDemo.cpp @@ -34,50 +34,53 @@ using namespace openglframework; int SceneDemo::shadowMapTextureLevel = 0; //openglframework::Color SceneDemo::mObjectColorDemo = Color(0.76f, 0.67f, 0.47f, 1.0f); -openglframework::Color SceneDemo::mObjectColorDemo = Color(0.35f, 0.65f, 0.78f, 1.0f); -openglframework::Color SceneDemo::mFloorColorDemo = Color(0.47f, 0.48f, 0.49f, 1.0f); -openglframework::Color SceneDemo::mSleepingColorDemo = Color(1.0f, 0.25f, 0.25f, 1.0f); -openglframework::Color SceneDemo::mSelectedObjectColorDemo = Color(0.09f, 0.59f, 0.88f, 1.0f); +openglframework::Color SceneDemo::mObjectColorDemo = Color(0.0f, 0.68f, 0.99f, 1.0f); +openglframework::Color SceneDemo::mFloorColorDemo = Color(0.7f, 0.7f, 0.7f, 1.0f); +openglframework::Color SceneDemo::mSleepingColorDemo = Color(1.0f, 0.0f, 0.0f, 1.0f); +openglframework::Color SceneDemo::mSelectedObjectColorDemo = Color(0.09f, 0.88f, 0.09f, 1.0f); // Constructor -SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, bool isPhysicsWorldSimulated, float sceneRadius, bool isShadowMappingEnabled) - : Scene(name, settings, isShadowMappingEnabled), mIsShadowMappingInitialized(false), +SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon, bool isPhysicsWorldSimulated, bool isShadowMappingEnabled) + : Scene(name, settings, isShadowMappingEnabled), mBackgroundColor(0.75, 0.75, 0.75, 1), + mIsShadowMappingInitialized(false), mDepthShader("shaders/depth.vert", "shaders/depth.frag"), mPhongShader("shaders/phong.vert", "shaders/phong.frag"), mColorShader("shaders/color.vert", "shaders/color.frag"), mQuadShader("shaders/quad.vert", "shaders/quad.frag"), mVBOQuad(GL_ARRAY_BUFFER), mDebugVBOLinesVertices(GL_ARRAY_BUFFER), mDebugVBOTrianglesVertices(GL_ARRAY_BUFFER), - mMeshFolderPath("meshes/"), mPhysicsWorld(nullptr), mIsPhysicsWorldSimulated(isPhysicsWorldSimulated) { + mMeshFolderPath("meshes/"), mPhysicsCommon(physicsCommon), mPhysicsWorld(nullptr), mIsPhysicsWorldSimulated(isPhysicsWorldSimulated), + mIsMovingBody(false), mMovingBody(nullptr), mCameraRotationAngle(0) { shadowMapTextureLevel++; // Move the lights - float lightsRadius = 30.0f; - float lightsHeight = 20.0f; - mLight0.translateWorld(Vector3(0 * lightsRadius, lightsHeight, 1 * lightsRadius)); - mLight1.translateWorld(Vector3(0.95f * lightsRadius, lightsHeight, -0.3f * lightsRadius)); - mLight2.translateWorld(Vector3(-0.58f * lightsRadius, lightsHeight, -0.81f * lightsRadius)); + float lightsRadius = 80.0f; + float lightsHeight = 50.0f; + mLight0.translateWorld(Vector3(0.4f * lightsRadius, 0.6 * lightsHeight, 0.4f * lightsRadius)); + mLight1.translateWorld(Vector3(-0.4 * lightsRadius, 0.6 * lightsHeight, 0.4 * lightsRadius)); + mLight2.translateWorld(Vector3(0, 0.6 * lightsHeight, -0.4f * lightsRadius)); // Set the lights colors - mLight0.setDiffuseColor(Color(0.6f, 0.6f, 0.6f, 1.0f)); - mLight1.setDiffuseColor(Color(0.6f, 0.6f, 0.6f, 1.0f)); - mLight2.setDiffuseColor(Color(0.6f, 0.6f, 0.6f, 1.0f)); - - mShadowMapLightCameras[0].translateWorld(mLight0.getOrigin()); - mShadowMapLightCameras[0].rotateLocal(Vector3(1, 0, 0), -PI / 4.0f); + float lightIntensity = 0.5; + Color lightColor(lightIntensity * 1.0, lightIntensity * 1.0f, lightIntensity * 1.0f, 1.0f); + float lightIntensity2 = 0.1; + Color lightColor2(lightIntensity2 * 1.0, lightIntensity2 * 1.0f, lightIntensity2 * 1.0f, 1.0f); + mLight0.setDiffuseColor(lightColor); + mLight1.setDiffuseColor(lightColor); + mLight2.setDiffuseColor(lightColor2); + + mShadowMapLightCameras[0].translateWorld(mLight0.getOrigin()); + mShadowMapLightCameras[0].rotateLocal(Vector3(1, 0, 0), -PI / 4.0f); + mShadowMapLightCameras[0].rotateLocal(Vector3(0, 1, 0), PI / 4.0f); mShadowMapLightCameras[1].translateWorld(mLight1.getOrigin()); - mShadowMapLightCameras[1].rotateLocal(Vector3(0, 1, 0), -5.0f * PI/3.7f); mShadowMapLightCameras[1].rotateLocal(Vector3(1, 0, 0), -PI/4.0f); - - mShadowMapLightCameras[2].translateWorld(mLight2.getOrigin()); - mShadowMapLightCameras[2].rotateLocal(Vector3(0, 1, 0), 5 * PI/4.0f); - mShadowMapLightCameras[2].rotateLocal(Vector3(1, 0 , 0), -PI/4.0f); + mShadowMapLightCameras[1].rotateLocal(Vector3(0, 1, 0), -PI / 4.0f); for (int i = 0; i < NB_SHADOW_MAPS; i++) { mShadowMapLightCameras[i].setDimensions(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT); mShadowMapLightCameras[i].setFieldOfView(100.0f); - mShadowMapLightCameras[i].setSceneRadius(100); + mShadowMapLightCameras[i].setSceneRadius(100); } mShadowMapBiasMatrix.setAllValues(0.5, 0.0, 0.0, 0.5, @@ -142,6 +145,16 @@ void SceneDemo::update() { // Update the transform used for the rendering (*it)->updateTransform(mInterpolationFactor); } + + if (mIsCameraRotationAnimationEnabled) { + rotateCameraAnimation(); + } +} + +void SceneDemo::rotateCameraAnimation() { + + const float angle = 0.12f * (PI / 180.0); + mCamera.rotateAroundWorldPoint(Vector3(0, 1, 0), angle, mCenterScene); } // Update the physics world (take a simulation step) @@ -154,7 +167,7 @@ void SceneDemo::updatePhysics() { if (mIsPhysicsWorldSimulated) { // Take a simulation step - mPhysicsWorld->update(mEngineSettings.timeStep); + mPhysicsWorld->update(mEngineSettings.timeStep.count()); } } @@ -167,6 +180,8 @@ void SceneDemo::render() { glEnable(GL_DEPTH_TEST); glEnable(GL_CULL_FACE); + glClearColor(mBackgroundColor.r, mBackgroundColor.g, mBackgroundColor.b, mBackgroundColor.a); + Matrix4 shadowMapProjMatrix[NB_SHADOW_MAPS]; openglframework::Matrix4 worldToLightCameraMatrix[NB_SHADOW_MAPS]; for (int i = 0; i < NB_SHADOW_MAPS; i++) { @@ -240,20 +255,17 @@ void SceneDemo::render() { mPhongShader.setMatrix4x4Uniform("projectionMatrix", mCamera.getProjectionMatrix()); mPhongShader.setMatrix4x4Uniform("shadowMapLight0ProjectionMatrix", mShadowMapBiasMatrix * shadowMapProjMatrix[0]); mPhongShader.setMatrix4x4Uniform("shadowMapLight1ProjectionMatrix", mShadowMapBiasMatrix * shadowMapProjMatrix[1]); - mPhongShader.setMatrix4x4Uniform("shadowMapLight2ProjectionMatrix", mShadowMapBiasMatrix * shadowMapProjMatrix[2]); mPhongShader.setMatrix4x4Uniform("worldToLight0CameraMatrix", worldToLightCameraMatrix[0]); mPhongShader.setMatrix4x4Uniform("worldToLight1CameraMatrix", worldToLightCameraMatrix[1]); - mPhongShader.setMatrix4x4Uniform("worldToLight2CameraMatrix", worldToLightCameraMatrix[2]); mPhongShader.setVector3Uniform("light0PosCameraSpace", worldToCameraMatrix * mLight0.getOrigin()); mPhongShader.setVector3Uniform("light1PosCameraSpace", worldToCameraMatrix * mLight1.getOrigin()); mPhongShader.setVector3Uniform("light2PosCameraSpace", worldToCameraMatrix * mLight2.getOrigin()); - mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f)); + mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.1f, 0.1f, 0.1f)); mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(mLight0.getDiffuseColor().r, mLight0.getDiffuseColor().g, mLight0.getDiffuseColor().b)); mPhongShader.setVector3Uniform("light1DiffuseColor", Vector3(mLight1.getDiffuseColor().r, mLight1.getDiffuseColor().g, mLight1.getDiffuseColor().b)); mPhongShader.setVector3Uniform("light2DiffuseColor", Vector3(mLight2.getDiffuseColor().r, mLight2.getDiffuseColor().g, mLight2.getDiffuseColor().b)); mPhongShader.setIntUniform("shadowMapSampler0", textureUnits[0]); mPhongShader.setIntUniform("shadowMapSampler1", textureUnits[1]); - mPhongShader.setIntUniform("shadowMapSampler2", textureUnits[2]); mPhongShader.setIntUniform("isShadowEnabled", mIsShadowMappingEnabled); mPhongShader.setVector2Uniform("shadowMapDimension", Vector2(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT)); mPhongShader.unbind(); @@ -466,13 +478,13 @@ void SceneDemo::updateSnapshotContactPoints() { for (it = mSnapshotsContactPoints.begin(); it != mSnapshotsContactPoints.end(); ++it) { // Create a visual contact point for rendering - VisualContactPoint* point = new VisualContactPoint(it->point, mMeshFolderPath, it->point + it->normal, it->color); + VisualContactPoint* point = new VisualContactPoint(it->point, it->point + it->normal, it->color); mVisualContactPoints.push_back(point); } } // Render the contact points -void SceneDemo::renderSnapshotsContactPoints(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { +void SceneDemo::renderSnapshotsContactPoints(openglframework::Shader& /*shader*/, const openglframework::Matrix4& worldToCameraMatrix) { // Render all the contact points for (std::vector::iterator it = mVisualContactPoints.begin(); @@ -612,21 +624,87 @@ void SceneDemo::removeAllVisualContactPoints() { mVisualContactPoints.clear(); } -// Update the engine settings -void SceneDemo::updateEngineSettings() { +// Called when the user is moving a body with the mouse +void SceneDemo::moveBodyWithMouse(double mousePosX, double mousePosY) { + + if (!mIsMovingBody) { + + // Find the body and the position of the mouse on that body (with raycasting) + openglframework::Vector4 screenPoint1((mousePosX / mWindowWidth) * 2.0 - 1.0, ((mWindowHeight - mousePosY) / mWindowHeight) * 2.0 - 1.0, -1, 1); + openglframework::Vector4 screenPoint2((mousePosX / mWindowWidth) * 2.0 - 1.0, ((mWindowHeight - mousePosY) / mWindowHeight) * 2.0 - 1.0, 1, 1); + openglframework::Vector4 worldP1 = (mCamera.getTransformMatrix() * mCamera.getProjectionMatrix().getInverse()) * screenPoint1; + openglframework::Vector4 worldP2 = (mCamera.getTransformMatrix() * mCamera.getProjectionMatrix().getInverse()) * screenPoint2; + openglframework::Vector3 cameraPos = mCamera.getOrigin(); + rp3d::Vector3 worldPoint1(worldP1.x, worldP1.y, worldP1.z); + rp3d::Vector3 worldPoint2(worldP2.x, worldP2.y, worldP2.z); + rp3d::Ray ray(worldPoint1, worldPoint2); + mPhysicsWorld->raycast(ray, this); + } - if (mIsPhysicsWorldSimulated) { + if (mMovingBody != nullptr) { + openglframework::Vector4 previousScreenPos(mLastMouseX / mWindowWidth, (mWindowHeight - mLastMouseY) / mWindowHeight, 0, 0); + openglframework::Vector4 currentScreenPos(mousePosX / mWindowWidth, (mWindowHeight - mousePosY) / mWindowHeight, 0, 0); + openglframework::Vector4 forceScreen = currentScreenPos - previousScreenPos; + openglframework::Vector4 f = mCamera.getTransformMatrix() * forceScreen * MOUSE_MOVE_BODY_FORCE; + rp3d::Vector3 force(f.x, f.y, f.z); + mMovingBody->applyWorldForceAtLocalPosition(force, mMovingBodyLocalPoint); + } + + mLastMouseX = mousePosX; + mLastMouseY = mousePosY; + mIsMovingBody = true; +} + +// Called when a mouse button event occurs +bool SceneDemo::mouseButtonEvent(int button, bool down, int mods, double mousePosX, double mousePosY) { + + // Left mouse click with CTRL key pressed on keyboard (moving a body) + if (down && (mods & GLFW_MOD_CONTROL)) { - // Update the physics engine parameters - mPhysicsWorld->setIsGravityEnabled(mEngineSettings.isGravityEnabled); - rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y, - mEngineSettings.gravity.z); - mPhysicsWorld->setGravity(gravity); - mPhysicsWorld->enableSleeping(mEngineSettings.isSleepingEnabled); - mPhysicsWorld->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity); - mPhysicsWorld->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity); - mPhysicsWorld->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations); - mPhysicsWorld->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations); - mPhysicsWorld->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep); + moveBodyWithMouse(mousePosX, mousePosY); + return true; } + + mIsMovingBody = false; + mMovingBody = nullptr; + + return Scene::mouseButtonEvent(button, down, mods, mousePosX, mousePosY); +} + +// Called when a mouse motion event occurs +bool SceneDemo::mouseMotionEvent(double xMouse, double yMouse, int leftButtonState, int rightButtonState, int middleButtonState, int altKeyState) { + + if (mIsMovingBody) { + moveBodyWithMouse(xMouse, yMouse); + return true; + } + + return Scene::mouseMotionEvent(xMouse, yMouse, leftButtonState, rightButtonState, middleButtonState, altKeyState); +} + +// Called when a raycast hit occurs (used to move a body with the mouse) +rp3d::decimal SceneDemo::notifyRaycastHit(const rp3d::RaycastInfo& raycastInfo) { + + rp3d::RigidBody* body = dynamic_cast(raycastInfo.body); + mMovingBody = body; + const rp3d::Transform localToWorldTransform = raycastInfo.collider->getLocalToWorldTransform(); + mMovingBodyLocalPoint = localToWorldTransform.getInverse() * raycastInfo.worldPoint; + + return raycastInfo.hitFraction; +} + +// Update the engine settings +void SceneDemo::updateEngineSettings() { + + // Update the physics engine parameters + mPhysicsWorld->setIsGravityEnabled(mEngineSettings.isGravityEnabled); + rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y, + mEngineSettings.gravity.z); + mPhysicsWorld->setGravity(gravity); + mPhysicsWorld->enableSleeping(mEngineSettings.isSleepingEnabled); + mPhysicsWorld->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity); + mPhysicsWorld->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity); + mPhysicsWorld->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations); + mPhysicsWorld->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations); + mPhysicsWorld->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep); } diff --git a/testbed/src/SceneDemo.h b/testbed/src/SceneDemo.h index c30868fa6..893f1e2c6 100644 --- a/testbed/src/SceneDemo.h +++ b/testbed/src/SceneDemo.h @@ -31,24 +31,29 @@ #include "VisualContactPoint.h" #include #include "PhysicsObject.h" +#include "TestbedLogger.h" // Constants const int SHADOWMAP_WIDTH = 2048; const int SHADOWMAP_HEIGHT = 2048; +const float MOUSE_MOVE_BODY_FORCE = 200000.0f; // Class SceneDemo // Abstract class that represents a 3D scene for the ReactPhysics3D examples. // This scene has a single light source with shadow mapping. -class SceneDemo : public Scene { +class SceneDemo : public Scene, rp3d::RaycastCallback { protected: // -------------------- Constants -------------------- // - static constexpr int NB_SHADOW_MAPS = 3; + static constexpr int NB_SHADOW_MAPS = 2; // -------------------- Attributes -------------------- // + /// Background color + openglframework::Color mBackgroundColor; + /// Light 0 openglframework::Light mLight0; @@ -112,7 +117,7 @@ class SceneDemo : public Scene { std::string mMeshFolderPath; - rp3d::PhysicsCommon mPhysicsCommon; + rp3d::PhysicsCommon& mPhysicsCommon; std::vector mPhysicsObjects; @@ -121,6 +126,17 @@ class SceneDemo : public Scene { /// True if we need to step the physics simulation each frame bool mIsPhysicsWorldSimulated; + /// True if the user is currently moving a body with the mouse + bool mIsMovingBody; + + /// Local-space point on the body use to move it with the mouse + rp3d::Vector3 mMovingBodyLocalPoint; + + /// Pointer to the body that is currently moved with the mouse by the user + rp3d::RigidBody* mMovingBody; + + float mCameraRotationAngle; + // -------------------- Methods -------------------- // /// Create the Shadow map FBO and texture @@ -150,12 +166,15 @@ class SceneDemo : public Scene { /// Remove all contact points void removeAllVisualContactPoints(); + /// Called when the user is moving a body with the mouse + void moveBodyWithMouse(double mousePosX, double mousePosY); + public: // -------------------- Methods -------------------- // /// Constructor - SceneDemo(const std::string& name, EngineSettings& settings, bool isPhysicsWorldSimulated, float sceneRadius, bool isShadowMappingEnabled = true); + SceneDemo(const std::string& name, EngineSettings& settings, rp3d::PhysicsCommon& physicsCommon, bool isPhysicsWorldSimulated, bool isShadowMappingEnabled = true); /// Destructor virtual ~SceneDemo() override; @@ -181,6 +200,18 @@ class SceneDemo : public Scene { /// Enable/disable debug rendering virtual void setIsDebugRendererEnabled(bool isEnabled) override; + + /// Called when a mouse button event occurs + virtual bool mouseButtonEvent(int button, bool down, int mods, double mousePosX, double mousePosY) override; + + /// Called when a mouse motion event occurs + virtual bool mouseMotionEvent(double xMouse, double yMouse, int leftButtonState, + int rightButtonState, int middleButtonState, int altKeyState) override; + + /// Called when a raycast hit occurs (used to move a body with the mouse) + virtual rp3d::decimal notifyRaycastHit(const rp3d::RaycastInfo& raycastInfo) override; + + void rotateCameraAnimation(); }; // Enabled/Disable the shadow mapping diff --git a/testbed/src/TestbedApplication.cpp b/testbed/src/TestbedApplication.cpp index 34ddab7f5..e098c9802 100755 --- a/testbed/src/TestbedApplication.cpp +++ b/testbed/src/TestbedApplication.cpp @@ -38,6 +38,17 @@ #include "concavemesh/ConcaveMeshScene.h" #include "cubestack/CubeStackScene.h" #include "pile/PileScene.h" +#include "boxtower/BoxTowerScene.h" +#include "ballandsocketjointsnet/BallAndSocketJointsNetScene.h" +#include "ballandsocketjointschain/BallAndSocketJointsChainScene.h" +#include "hingejointschain/HingeJointsChainScene.h" +#include "bridge/BridgeScene.h" +#include "fixedjoint/FixedJointScene.h" +#include "ballandsocketjoint/BallAndSocketJointScene.h" +#include "hingejoint/HingeJointScene.h" +#include "sliderjoint/SliderJointScene.h" +#include "ragdoll/RagdollScene.h" +#include "rope/RopeScene.h" using namespace openglframework; using namespace jointsscene; @@ -49,18 +60,27 @@ using namespace heightfieldscene; using namespace collisiondetectionscene; using namespace cubestackscene; using namespace pilescene; +using namespace boxtowerscene; +using namespace ballandsocketjointsnetscene; +using namespace ballandsocketjointschainscene; +using namespace hingejointschainscene; +using namespace bridgescene; +using namespace fixedjointscene; +using namespace ballandsocketjointscene; +using namespace hingejointscene; +using namespace sliderjointscene; +using namespace ragdollscene; +using namespace ropescene; // Initialization of static variables const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f; // Constructor -TestbedApplication::TestbedApplication(bool isFullscreen, int windowWidth, int windowHeight) - : Screen(Vector2i(windowWidth, windowHeight), "Testbed ReactPhysics3D", true, isFullscreen, true, true, false, 4, 1), - mIsInitialized(false), mGui(this), mCurrentScene(nullptr), - mEngineSettings(EngineSettings::defaultSettings()), +TestbedApplication::TestbedApplication() + : mIsInitialized(false), mGui(this), mCurrentScene(nullptr), + mDefaultEngineSettings(EngineSettings::defaultSettings()), mFPS(0), mNbFrames(0), mPreviousTime(0), mLastTimeComputedFPS(0), mFrameTime(0), mTotalPhysicsTime(0), mPhysicsStepTime(0), - mWidth(windowWidth), mHeight(windowHeight), mSinglePhysicsStepEnabled(false), mSinglePhysicsStepDone(false), mWindowToFramebufferRatio(Vector2(1, 1)), mIsShadowMappingEnabled(true), mAreContactPointsDisplayed(false), mAreContactNormalsDisplayed(false), @@ -69,8 +89,6 @@ TestbedApplication::TestbedApplication(bool isFullscreen, int windowWidth, int w mIsVSyncEnabled(false), mIsDebugRendererEnabled(false) { init(); - - resize_event(Vector2i(0, 0)); } // Destructor @@ -81,13 +99,85 @@ TestbedApplication::~TestbedApplication() { } // Initialize the viewer -void TestbedApplication::init() { +void TestbedApplication::start() { + + glfwInit(); + glfwSetTime(0); + + // Get the primary monitor + GLFWmonitor* monitor = glfwGetPrimaryMonitor(); + const GLFWvidmode* mode = glfwGetVideoMode(monitor); + + // Window size + mWidth = mode->width; + mHeight = mode->height; + +#if defined(NANOGUI_USE_OPENGL) + glfwWindowHint(GLFW_CLIENT_API, GLFW_OPENGL_API); + + glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3); + glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2); + glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE); + glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE); +#elif defined(NANOGUI_USE_GLES) + glfwWindowHint(GLFW_CLIENT_API, GLFW_OPENGL_API); + + glfwWindowHint(GLFW_CONTEXT_CREATION_API, GLFW_EGL_CONTEXT_API); +#elif defined(NANOGUI_USE_METAL) + glfwWindowHint(GLFW_CLIENT_API, GLFW_NO_API); + + metal_init(); +#endif + + glfwWindowHint(GLFW_SAMPLES, 0); + glfwWindowHint(GLFW_RED_BITS, 8); + glfwWindowHint(GLFW_GREEN_BITS, 8); + glfwWindowHint(GLFW_BLUE_BITS, 8); + glfwWindowHint(GLFW_ALPHA_BITS, 8); + glfwWindowHint(GLFW_STENCIL_BITS, 8); + glfwWindowHint(GLFW_DEPTH_BITS, 24); + glfwWindowHint(GLFW_RESIZABLE, GL_TRUE); + + // Create a the GLFW window object + std::string title = "Testbed - ReactPhysics3D v" + rp3d::RP3D_VERSION; + mWindow = glfwCreateWindow(mWidth, mHeight, title.c_str(), IS_FULLSCREEN ? monitor : nullptr, nullptr); + if (mWindow == nullptr) { + std::cout << "Failed to create GLFW window" << std::endl; + glfwTerminate(); + } + glfwMakeContextCurrent(mWindow); + +#if defined(NANOGUI_GLAD) + if (!gladLoadGLLoader((GLADloadproc) glfwGetProcAddress)) + throw std::runtime_error("Could not initialize GLAD!"); + glGetError(); // pull and ignore unhandled errors like GL_INVALID_ENUM +#endif + + glClearColor(0.0f, 0.0f, 0.0f, 1.0f); + glClear(GL_COLOR_BUFFER_BIT); + + // Logger + rp3d::PhysicsCommon::setLogger(&mLogger); // Create all the scenes createScenes(); // Initialize the GUI - mGui.init(); + mGui.init(mWindow); + +#if defined(NANOGUI_USE_OPENGL) || defined(NANOGUI_USE_GLES) + int width, height; + glfwGetFramebufferSize(mWindow, &width, &height); + glViewport(0, 0, width, height); + glfwSwapInterval(0); + glfwSwapBuffers(mWindow); +#endif + + // Select the initial scene + const int firstSceneIndex = 0; + switchScene(mScenes[firstSceneIndex]); + + mGui.drawAll(); mTimer.start(); @@ -95,59 +185,206 @@ void TestbedApplication::init() { glGetIntegerv(GL_MAJOR_VERSION, &glMajorVersion); glGetIntegerv(GL_MINOR_VERSION, &glMinorVersion); +#ifdef GL_DEBUG_OUTPUT + if (glMajorVersion > 4 || (glMajorVersion == 4 && glMinorVersion >= 3)) { // Enable OpenGL error reporting glEnable(GL_DEBUG_OUTPUT); glDebugMessageCallback(onOpenGLError, 0); } +#endif + + glfwSetWindowUserPointer(mWindow, this); + + glfwSetCursorPosCallback(mWindow, [](GLFWwindow* window, double x, double y) { + TestbedApplication* app = static_cast(glfwGetWindowUserPointer(window)); + app->mouse_motion_event(x, y); + } + ); + + glfwSetMouseButtonCallback(mWindow, [](GLFWwindow* window, int button, int action, int modifiers) { + TestbedApplication* app = static_cast(glfwGetWindowUserPointer(window)); + app->mouse_button_event(button, action, modifiers); + } + ); + + glfwSetKeyCallback(mWindow, [](GLFWwindow* window, int key, int scancode, int action, int mods) { + TestbedApplication* app = static_cast(glfwGetWindowUserPointer(window)); + app->keyboard_event(key, scancode, action, mods); + } + ); + + glfwSetScrollCallback(mWindow, [](GLFWwindow* window, double x, double y) { + TestbedApplication* app = static_cast(glfwGetWindowUserPointer(window)); + app->scroll_event(x, y); + } + ); + + glfwSetFramebufferSizeCallback(mWindow, [](GLFWwindow* window, int width, int height) { + TestbedApplication* app = static_cast(glfwGetWindowUserPointer(window)); + app->onWindowResized(width, height); + } + ); + + mCurrentScene->reshape(mWidth, mHeight); + mCurrentScene->setWindowDimension(mWidth, mHeight); mIsInitialized = true; + + // Game loop + while (!glfwWindowShouldClose(mWindow)) { + + // Check if any events have been activated (key pressed, mouse moved etc.) and call corresponding response functions + glfwPollEvents(); + + update(); + + mGui.update(); + + // Draw nanogui + mGui.draw(); + + render(); + + mGui.drawTearDown(); + } + + // Terminate GLFW, clearing any resources allocated by GLFW. + glfwTerminate(); + +#if defined(NANOGUI_USE_METAL) + metal_shutdown(); +#endif + } // Create all the scenes void TestbedApplication::createScenes() { + uint logLevel = static_cast(rp3d::Logger::Level::Information); + // Cubes scene - CubesScene* cubeScene = new CubesScene("Cubes", mEngineSettings); + std::string sceneName = "Cubes"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + CubesScene* cubeScene = new CubesScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); mScenes.push_back(cubeScene); // Cube Stack scene - CubeStackScene* cubeStackScene = new CubeStackScene("Cube Stack", mEngineSettings); + sceneName = "Cube Stack"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + CubeStackScene* cubeStackScene = new CubeStackScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); mScenes.push_back(cubeStackScene); // Joints scene - JointsScene* jointsScene = new JointsScene("Joints", mEngineSettings); + sceneName = "Joints"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + JointsScene* jointsScene = new JointsScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); mScenes.push_back(jointsScene); // Collision shapes scene - CollisionShapesScene* collisionShapesScene = new CollisionShapesScene("Collision Shapes", mEngineSettings); + sceneName = "Collision Shapes"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + CollisionShapesScene* collisionShapesScene = new CollisionShapesScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); mScenes.push_back(collisionShapesScene); // Heightfield shape scene - HeightFieldScene* heightFieldScene = new HeightFieldScene("Heightfield", mEngineSettings); + sceneName = "Heightfield"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + HeightFieldScene* heightFieldScene = new HeightFieldScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); mScenes.push_back(heightFieldScene); // Raycast scene - RaycastScene* raycastScene = new RaycastScene("Raycast", mEngineSettings); + sceneName = "Raycast"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + RaycastScene* raycastScene = new RaycastScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); mScenes.push_back(raycastScene); - // Collision Detection scene - CollisionDetectionScene* collisionDetectionScene = new CollisionDetectionScene("Collision Detection", mEngineSettings); - mScenes.push_back(collisionDetectionScene); - // Concave Mesh scene - ConcaveMeshScene* concaveMeshScene = new ConcaveMeshScene("Concave Mesh", mEngineSettings); + sceneName = "Concave Mesh"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + ConcaveMeshScene* concaveMeshScene = new ConcaveMeshScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); mScenes.push_back(concaveMeshScene); // Pile scene - PileScene* pileScene = new PileScene("Pile", mEngineSettings); + sceneName = "Pile"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + PileScene* pileScene = new PileScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); mScenes.push_back(pileScene); - assert(mScenes.size() > 0); - const int firstSceneIndex = 0; + // Ball and Socket joint scene + sceneName = "Ball and Socket joint"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + BallAndSocketJointScene* ballAndSocketJointScene = new BallAndSocketJointScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); + mScenes.push_back(ballAndSocketJointScene); + + // Box Tower scene + sceneName = "Box Tower"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + BoxTowerScene* boxTowerScene = new BoxTowerScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); + mScenes.push_back(boxTowerScene); + + // Ball and Socket joints Net scene + sceneName = "BallSocket Joints Net"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + BallAndSocketJointsNetScene* ballAndSocketJointsNetScene = new BallAndSocketJointsNetScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); + mScenes.push_back(ballAndSocketJointsNetScene); + + // Ball and Socket joints chain scene + sceneName = "BallSocket Joints Chain"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + BallAndSocketJointsChainScene* ballAndSocketJointsChainScene = new BallAndSocketJointsChainScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); + mScenes.push_back(ballAndSocketJointsChainScene); + + // Hinge joints chain scene + sceneName = "Hinge Joints Chain"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + HingeJointsChainScene* hingeJointsChainScene = new HingeJointsChainScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); + mScenes.push_back(hingeJointsChainScene); + + // Bridge scene + sceneName = "Bridge"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + BridgeScene* bridgeScene = new BridgeScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); + mScenes.push_back(bridgeScene); + + // Fixed joint scene + sceneName = "Fixed joint"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + FixedJointScene* fixedJointScene = new FixedJointScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); + mScenes.push_back(fixedJointScene); + + // Hinge joint scene + sceneName = "Hinge joint"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + HingeJointScene* hingeJointScene = new HingeJointScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); + mScenes.push_back(hingeJointScene); + + // Slider joint scene + sceneName = "Slider joint"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + SliderJointScene* sliderJointScene = new SliderJointScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); + mScenes.push_back(sliderJointScene); + + // Ragdoll scene + sceneName = "Ragdoll"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + RagdollScene* ragdollScene = new RagdollScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); + mScenes.push_back(ragdollScene); + + // Rope scene + sceneName = "Rope"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + RopeScene* ropeScene = new RopeScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); + mScenes.push_back(ropeScene); - switchScene(mScenes[firstSceneIndex]); + // Collision Detection scene + sceneName = "Collision Detection"; + mLogger.addFileDestination(sceneName, logLevel, rp3d::DefaultLogger::Format::HTML); + CollisionDetectionScene* collisionDetectionScene = new CollisionDetectionScene(sceneName, mDefaultEngineSettings, mPhysicsCommon); + mScenes.push_back(collisionDetectionScene); + + assert(mScenes.size() > 0); } // Remove all the scenes @@ -171,7 +408,7 @@ void TestbedApplication::updateSinglePhysicsStep() { void TestbedApplication::updatePhysics() { // Update the elapsed time - mEngineSettings.elapsedTime = mTimer.getPhysicsTime(); + mCurrentScene->getEngineSettings().elapsedTime = mTimer.getElapsedPhysicsTime(); if (mTimer.isRunning()) { @@ -179,7 +416,7 @@ void TestbedApplication::updatePhysics() { mTimer.update(); // While the time accumulator is not empty - while(mTimer.isPossibleToTakeStep(mEngineSettings.timeStep)) { + while(mTimer.isPossibleToTakeStep(mCurrentScene->getEngineSettings().timeStep)) { double currentTime = glfwGetTime(); @@ -189,7 +426,7 @@ void TestbedApplication::updatePhysics() { mPhysicsStepTime = glfwGetTime() - currentTime; // Update the timer - mTimer.nextStep(mEngineSettings.timeStep); + mTimer.nextStep(mCurrentScene->getEngineSettings().timeStep); } } } @@ -213,7 +450,7 @@ void TestbedApplication::update() { mTotalPhysicsTime = glfwGetTime() - currentTime; // Compute the interpolation factor - float factor = mTimer.computeInterpolationFactor(mEngineSettings.timeStep); + float factor = mTimer.computeInterpolationFactor(mDefaultEngineSettings.timeStep); assert(factor >= 0.0f && factor <= 1.0f); // Notify the scene about the interpolation factor @@ -242,44 +479,39 @@ void TestbedApplication::update() { // Update the scene mCurrentScene->update(); -} -void TestbedApplication::draw_contents() { + // Compute the current framerate + computeFPS(); +} - update(); +void TestbedApplication::render() { int bufferWidth, bufferHeight; - glfwMakeContextCurrent(m_glfw_window); - glfwGetFramebufferSize(m_glfw_window, &bufferWidth, &bufferHeight); + glfwMakeContextCurrent(mWindow); + glfwGetFramebufferSize(mWindow, &bufferWidth, &bufferHeight); // Set the viewport of the scene mCurrentScene->setViewport(0, 0, bufferWidth, bufferHeight); // Render the scene mCurrentScene->render(); - - mGui.update(); - - // Compute the current framerate - computeFPS(); } /// Window resize event handler -bool TestbedApplication::resize_event(const Vector2i &size) { +bool TestbedApplication::onWindowResized(int width, int height) { if (!mIsInitialized) return false; - // Get the framebuffer dimension - int width, height; - glfwGetFramebufferSize(m_glfw_window, &width, &height); + mGui.onWindowResizeEvent(width, height); // Resize the camera viewport mCurrentScene->reshape(width, height); // Update the window size of the scene - int windowWidth, windowHeight; - glfwGetWindowSize(m_glfw_window, &windowWidth, &windowHeight); - mCurrentScene->setWindowDimension(windowWidth, windowHeight); + mCurrentScene->setWindowDimension(width, height); + + mWidth = width; + mHeight = height; return true; } @@ -291,12 +523,20 @@ void TestbedApplication::switchScene(Scene* newScene) { mCurrentScene = newScene; + mTimer.reset(); + + // Resize the camera viewport + mCurrentScene->reshape(mWidth, mHeight); + + // Update the window size of the scene + mCurrentScene->setWindowDimension(mWidth, mHeight); + // Reset the scene mCurrentScene->reset(); mCurrentScene->updateEngineSettings(); - resize_event(Vector2i(0, 0)); + mGui.resetWithValuesFromCurrentScene(); } // Notify that the engine settings have changed @@ -304,9 +544,10 @@ void TestbedApplication::notifyEngineSetttingsChanged() { mCurrentScene->updateEngineSettings(); } -void GLAPIENTRY TestbedApplication::onOpenGLError(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, - const GLchar* message, const void* userParam ) { +void GLAPIENTRY TestbedApplication::onOpenGLError(GLenum /*source*/, GLenum type, GLuint /*id*/, GLenum /*severity*/, GLsizei /*length*/, + const GLchar* /*message*/, const void* /*userParam*/ ) { +#ifdef GL_DEBUG_OUTPUT if (type == GL_DEBUG_TYPE_ERROR) { /* fprintf( stderr, "GL CALLBACK: %s type = 0x%x, severity = 0x%x, message = %s\n", @@ -314,6 +555,8 @@ void GLAPIENTRY TestbedApplication::onOpenGLError(GLenum source, GLenum type, GL type, severity, message ); */ } +#endif + } // Compute the FPS @@ -351,57 +594,77 @@ void TestbedApplication::computeFPS() { mPreviousTime = mCurrentTime; } -bool TestbedApplication::keyboard_event(int key, int scancode, int action, int modifiers) { +void TestbedApplication::keyboard_event(int key, int scancode, int action, int modifiers) { - if (Screen::keyboard_event(key, scancode, action, modifiers)) { - return true; - } + mGui.onKeyboardEvent(key, scancode, action, modifiers); // Close application on escape key if (key == GLFW_KEY_ESCAPE && action == GLFW_PRESS) { - glfwSetWindowShouldClose(m_glfw_window, GL_TRUE); - return true; + glfwSetWindowShouldClose(mWindow, GL_TRUE); + return; + } + + // Show/hide the GUI with "i" key + if (key == GLFW_KEY_I && action == GLFW_PRESS) { + mGui.setIsDisplayed(!mGui.getIsDisplayed()); + return; + } + + // Start/Stop camera rotation animation with "r" key + if (key == GLFW_KEY_R && action == GLFW_PRESS) { + mCurrentScene->setIsCameraRotationAnimationEnabled(!mCurrentScene->getIsCameraRotationAnimationEnabled()); + return; + } + + // Pause the application on "p" key + if (key == GLFW_KEY_P && action == GLFW_PRESS) { + + if (mTimer.isRunning()) { + pauseSimulation(); + } + else { + playSimulation(); + } + + return; } - return mCurrentScene->keyboardEvent(key, scancode, action, modifiers); + mCurrentScene->keyboardEvent(key, scancode, action, modifiers); } // Handle a mouse button event (default implementation: propagate to children) -bool TestbedApplication::mouse_button_event(const Vector2i &p, int button, bool down, int modifiers) { +void TestbedApplication::mouse_button_event(int button, int action, int modifiers) { - if (Screen::mouse_button_event(p, button, down, modifiers)) { - return true; - } + mGui.onMouseButtonEvent(button, action, modifiers); // Get the mouse cursor position double x, y; - glfwGetCursorPos(m_glfw_window, &x, &y); + glfwGetCursorPos(mWindow, &x, &y); + + bool down = action == GLFW_PRESS; - return mCurrentScene->mouseButtonEvent(button, down, modifiers, x, y); + mCurrentScene->mouseButtonEvent(button, down, modifiers, x, y); } // Handle a mouse motion event (default implementation: propagate to children) -bool TestbedApplication::mouse_motion_event(const Vector2i &p, const Vector2i &rel, int button, int modifiers) { +void TestbedApplication::mouse_motion_event(double x, double y) { - if (Screen::mouse_motion_event(p, rel, button, modifiers)) { - return true; - } + mGui.onMouseMotionEvent(x, y); - int leftButtonState = glfwGetMouseButton(m_glfw_window, GLFW_MOUSE_BUTTON_LEFT); - int rightButtonState = glfwGetMouseButton(m_glfw_window, GLFW_MOUSE_BUTTON_RIGHT); - int middleButtonState = glfwGetMouseButton(m_glfw_window, GLFW_MOUSE_BUTTON_MIDDLE); - int altKeyState = glfwGetKey(m_glfw_window, GLFW_KEY_LEFT_ALT); + int leftButtonState = glfwGetMouseButton(mWindow, GLFW_MOUSE_BUTTON_LEFT); + int rightButtonState = glfwGetMouseButton(mWindow, GLFW_MOUSE_BUTTON_RIGHT); + int middleButtonState = glfwGetMouseButton(mWindow, GLFW_MOUSE_BUTTON_MIDDLE); + int altKeyState = glfwGetKey(mWindow, GLFW_KEY_LEFT_ALT); - return mCurrentScene->mouseMotionEvent(p[0], p[1], leftButtonState, rightButtonState, - middleButtonState, altKeyState); + mCurrentScene->mouseMotionEvent(x, y, leftButtonState, rightButtonState, middleButtonState, altKeyState); } -// Handle a mouse scroll event (default implementation: propagate to children) -bool TestbedApplication::scroll_event(const Vector2i &p, const Vector2f &rel) { +// Handle a mouse scroll event +void TestbedApplication::scroll_event(double x, double y) { - if (Screen::scroll_event(p, rel)) { - return true; - } + if (mGui.onScrollEvent(x, y)) { + return; + }; - return mCurrentScene->scrollingEvent(rel[0], rel[1], SCROLL_SENSITIVITY); + mCurrentScene->scrollingEvent(x, y, SCROLL_SENSITIVITY); } diff --git a/testbed/src/TestbedApplication.h b/testbed/src/TestbedApplication.h index 00eb620d2..e2a5e0782 100644 --- a/testbed/src/TestbedApplication.h +++ b/testbed/src/TestbedApplication.h @@ -32,38 +32,47 @@ #include "Scene.h" #include "Timer.h" #include +#include "TestbedLogger.h" using namespace nanogui; + // Macro for OpenGL errors #define checkOpenGLErrors() checkOpenGLErrorsInternal(__FILE__,__LINE__) /// Class TestbedApplication -class TestbedApplication : public Screen { +class TestbedApplication { private : // -------------------- Constants -------------------- // static const float SCROLL_SENSITIVITY; + static constexpr bool IS_FULLSCREEN = false; // -------------------- Attributes -------------------- // bool mIsInitialized; + GLFWwindow* mWindow; + Screen* mScreen; + Gui mGui; /// Timer Timer mTimer; + /// Physics common object + rp3d::PhysicsCommon mPhysicsCommon; + /// List of 3D scenes std::vector mScenes; /// Current 3D scene Scene* mCurrentScene; - /// Physics engine settings - EngineSettings mEngineSettings; + /// Physics engine default settings + EngineSettings mDefaultEngineSettings; /// Current number of frames per seconds double mFPS; @@ -127,6 +136,9 @@ class TestbedApplication : public Screen { /// True if the debug renderer is enabled bool mIsDebugRendererEnabled; + /// Logger + TestbedLogger mLogger; + // -------------------- Methods -------------------- // /// Private copy-constructor (for the singleton class) @@ -171,36 +183,39 @@ class TestbedApplication : public Screen { /// Set the variable to know if we need to take a single physics step void toggleTakeSinglePhysicsStep(); + /// Return the engine settings of the current scene + EngineSettings& getCurrentSceneEngineSettings(); + public : // -------------------- Methods -------------------- // /// Private constructor (for the singleton class) - TestbedApplication(bool isFullscreen, int windowWidth, int windowHeight); + TestbedApplication(); /// Destructor - virtual ~TestbedApplication() override; + ~TestbedApplication(); /// Render the content of the application - virtual void draw_contents() override; + void render(); /// Window resize event handler - virtual bool resize_event(const Vector2i& size) override; + bool onWindowResized(int width, int height); /// Default keyboard event handler - virtual bool keyboard_event(int key, int scancode, int action, int modifiers) override; + void keyboard_event(int key, int scancode, int action, int modifiers); /// Handle a mouse button event (default implementation: propagate to children) - virtual bool mouse_button_event(const Vector2i &p, int button, bool down, int modifiers) override; + void mouse_button_event(int button, int action, int modifiers); /// Handle a mouse motion event (default implementation: propagate to children) - virtual bool mouse_motion_event(const Vector2i &p, const Vector2i &rel, int button, int modifiers) override; + void mouse_motion_event(double x, double y); - /// Handle a mouse scroll event (default implementation: propagate to children) - virtual bool scroll_event(const Vector2i &p, const Vector2f &rel) override; + /// Handle a mouse scroll event + void scroll_event(double x, double y); - /// Initialize the application - void init(); + /// Start the application + void start(); /// Change the current scene void switchScene(Scene* newScene); @@ -248,6 +263,7 @@ inline void TestbedApplication::pauseSimulation() { // Restart the simulation inline void TestbedApplication::restartSimulation() { + mTimer.reset(); mCurrentScene->reset(); mTimer.start(); } @@ -273,4 +289,9 @@ inline void TestbedApplication::enableVSync(bool enable) { } } +// Return the engine settings of the current scene +inline EngineSettings& TestbedApplication::getCurrentSceneEngineSettings() { + return mCurrentScene->getEngineSettings(); +} + #endif diff --git a/testbed/src/TestbedLogger.cpp b/testbed/src/TestbedLogger.cpp new file mode 100644 index 000000000..c079ec743 --- /dev/null +++ b/testbed/src/TestbedLogger.cpp @@ -0,0 +1,98 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2021 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "TestbedLogger.h" + +using namespace reactphysics3d; + +// Constructor +TestbedLogger::TestbedLogger() { + + // Create the log formatters + mFormatters.insert({reactphysics3d::DefaultLogger::Format::Text, new reactphysics3d::DefaultLogger::TextFormatter()}); + mFormatters.insert({reactphysics3d::DefaultLogger::Format::HTML, new reactphysics3d::DefaultLogger::HtmlFormatter()}); + + // Add destination to send warning and errors to standard output + uint warningsErrors = static_cast(reactphysics3d::Logger::Level::Warning); + addStreamDestination(std::cout, warningsErrors, reactphysics3d::DefaultLogger::Format::Text); +} + +// Destructor +TestbedLogger::~TestbedLogger() { + + // Delete all the destinations + for (auto& item: mMapWorldToDestinations) { + delete item.second; + } + + delete mStandardOutputDestination; +} + +// Log something +void TestbedLogger::log(Level level, const std::string& physicsWorldName, Category category, const std::string& message, const char* filename, int lineNumber) { + + // Get current time + auto now = std::chrono::system_clock::now(); + auto time = std::chrono::system_clock::to_time_t(now); + + // Get the destination file for this world + DefaultLogger::Destination* destination = mMapWorldToDestinations[physicsWorldName]; + + mMutex.lock(); + + // Write the log file into the file of the corresponding scene + destination->write(time, physicsWorldName, message, level, category, filename, lineNumber); + + // Write the log into the standard output + mStandardOutputDestination->write(time, physicsWorldName, message, level, category, filename, lineNumber); + + mMutex.unlock(); +} + +// Return the corresponding format +DefaultLogger::Formatter* TestbedLogger::getFormatter(DefaultLogger::Format format) const { + + auto it = mFormatters.find(format); + if (it != mFormatters.end()) { + return it->second; + } + + return nullptr; +} + +// Add a log file destination to the logger +void TestbedLogger::addFileDestination(const std::string& worldName, reactphysics3d::uint logLevelFlag, reactphysics3d::DefaultLogger::Format format) { + + std::string filePath = "rp3d_log_" + worldName + ".html"; + reactphysics3d::DefaultLogger::FileDestination* destination = new reactphysics3d::DefaultLogger::FileDestination(filePath, logLevelFlag, getFormatter(format)); + mMapWorldToDestinations.insert({worldName, destination}); +} + +// Add a stream destination to the logger +void TestbedLogger::addStreamDestination(std::ostream& outputStream, reactphysics3d::uint logLevelFlag, reactphysics3d::DefaultLogger::Format format) { + + mStandardOutputDestination = new reactphysics3d::DefaultLogger::StreamDestination(outputStream, logLevelFlag, getFormatter(format)); +} diff --git a/testbed/src/TestbedLogger.h b/testbed/src/TestbedLogger.h new file mode 100644 index 000000000..06fdac325 --- /dev/null +++ b/testbed/src/TestbedLogger.h @@ -0,0 +1,74 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef TESTBED_LOGGER_H +#define TESTBED_LOGGER_H + +// Libraries +#include +#include +#include + +/// Class TestbedApplication +class TestbedLogger : public reactphysics3d::Logger { + + private: + + /// Map a log format to the given formatter object + std::unordered_map mFormatters; + + /// Map the name of a world with the corresponding log destination + std::unordered_map mMapWorldToDestinations; + + reactphysics3d::DefaultLogger::StreamDestination* mStandardOutputDestination; + + /// Mutex + std::mutex mMutex; + + // -------------------- Methods -------------------- // + + /// Return the corresponding formatter + reactphysics3d::DefaultLogger::Formatter* getFormatter(reactphysics3d::DefaultLogger::Format format) const; + + /// Add a stream destination to the logger + void addStreamDestination(std::ostream& outputStream, reactphysics3d::uint logLevelFlag, reactphysics3d::DefaultLogger::Format format); + + public: + + /// Constructor + TestbedLogger(); + + /// Destructor + ~TestbedLogger(); + + /// Add a log file destination to the logger + void addFileDestination(const std::string& worldName, reactphysics3d::uint logLevelFlag, reactphysics3d::DefaultLogger::Format format); + + + /// Log something + virtual void log(Level level, const std::string& physicsWorldName, Category category, const std::string& message, const char* filename, int lineNumber) override; +}; + +#endif diff --git a/testbed/src/Timer.h b/testbed/src/Timer.h index 9983cd936..c11d0a73e 100644 --- a/testbed/src/Timer.h +++ b/testbed/src/Timer.h @@ -29,17 +29,10 @@ // Libraries #include #include -#include +#include #include #include -#if defined(WINDOWS_OS) // For Windows platform - #define NOMINMAX // This is used to avoid definition of max() and min() macros - #include -#else // For Mac OS or Linux platform - #include -#endif - // Class Timer /** * This class will take care of the time in the physics engine. It @@ -48,18 +41,20 @@ */ class Timer { + using clock = std::chrono::high_resolution_clock; + private : // -------------------- Attributes -------------------- // - /// Last time the timer has been updated - long double mLastUpdateTime; + /// Start physics time + std::chrono::time_point mStartTime; - /// Time difference between the two last timer update() calls - long double mDeltaTime; + /// Last time the timer has been updated + std::chrono::time_point mLastUpdateTime; /// Used to fix the time step and avoid strange time effects - double mAccumulator; + std::chrono::duration mAccumulator; /// True if the timer is running bool mIsRunning; @@ -77,13 +72,12 @@ class Timer { // -------------------- Methods -------------------- // /// Constructor - Timer(); + Timer() : mAccumulator(0), mIsRunning(false) { - /// Destructor - ~Timer(); + } - /// Return the current time of the physics engine - long double getPhysicsTime() const; + /// Return the elapsed physics time + std::chrono::duration getElapsedPhysicsTime() const; /// Start the timer void start(); @@ -91,28 +85,31 @@ class Timer { /// Stop the timer void stop(); + /// Reset the timer to zero + void reset(); + /// Return true if the timer is running bool isRunning() const; /// True if it's possible to take a new step - bool isPossibleToTakeStep(float timeStep) const; + bool isPossibleToTakeStep(std::chrono::duration timeStep) const; /// Compute the time since the last update() call and add it to the accumulator void update(); /// Take a new step => update the timer by adding the timeStep value to the current time - void nextStep(float timeStep); + void nextStep(std::chrono::duration timeStep); /// Compute the interpolation factor - float computeInterpolationFactor(float timeStep); + float computeInterpolationFactor(std::chrono::duration timeStep); /// Return the current time of the system in seconds - static long double getCurrentSystemTime(); + static std::chrono::time_point getCurrentSystemTime(); }; -// Return the current time -inline long double Timer::getPhysicsTime() const { - return mLastUpdateTime; +// Return the elapsed physics time +inline std::chrono::duration Timer::getElapsedPhysicsTime() const { + return mLastUpdateTime - mStartTime; } // Return if the timer is running @@ -122,12 +119,13 @@ inline bool Timer::isRunning() const { // Start the timer inline void Timer::start() { + if (!mIsRunning) { // Get the current system time - mLastUpdateTime = getCurrentSystemTime(); + mLastUpdateTime = clock::now(); - mAccumulator = 0.0; + mAccumulator = std::chrono::duration::zero(); mIsRunning = true; } } @@ -137,13 +135,20 @@ inline void Timer::stop() { mIsRunning = false; } +// Reset the timer to zero +inline void Timer::reset() { + mAccumulator = std::chrono::milliseconds::zero(); + mStartTime = clock::now(); + mLastUpdateTime = mStartTime; +} + // True if it's possible to take a new step -inline bool Timer::isPossibleToTakeStep(float timeStep) const { +inline bool Timer::isPossibleToTakeStep(std::chrono::duration timeStep) const { return (mAccumulator >= timeStep); } // Take a new step => update the timer by adding the timeStep value to the current time -inline void Timer::nextStep(float timeStep) { +inline void Timer::nextStep(std::chrono::duration timeStep) { assert(mIsRunning); // Update the accumulator value @@ -151,24 +156,24 @@ inline void Timer::nextStep(float timeStep) { } // Compute the interpolation factor -inline float Timer::computeInterpolationFactor(float timeStep) { - return (float(mAccumulator) / timeStep); +inline float Timer::computeInterpolationFactor(std::chrono::duration timeStep) { + return float(mAccumulator.count() / timeStep.count()); } // Compute the time since the last update() call and add it to the accumulator inline void Timer::update() { // Get the current system time - long double currentTime = getCurrentSystemTime(); + std::chrono::time_point currentTime = clock::now(); // Compute the delta display time between two display frames - mDeltaTime = currentTime - mLastUpdateTime; + std::chrono::duration deltaTime = currentTime - mLastUpdateTime; // Update the current display time mLastUpdateTime = currentTime; // Update the accumulator value - mAccumulator += mDeltaTime; + mAccumulator += deltaTime; } #endif