Add JointComponents class
This commit is contained in:
Daniel Chappuis
parent
df04be0e6d
commit
2144b8e571
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@ -132,6 +132,7 @@ SET (REACTPHYSICS3D_HEADERS
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"src/systems/ContactSolverSystem.h"
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"src/systems/DynamicsSystem.h"
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"src/systems/CollisionDetectionSystem.h"
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"src/systems/SolveBallAndSocketJointSystem.h"
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"src/engine/DynamicsWorld.h"
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"src/engine/EventListener.h"
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"src/engine/Island.h"
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@ -145,6 +146,7 @@ SET (REACTPHYSICS3D_HEADERS
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"src/components/RigidBodyComponents.h"
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"src/components/TransformComponents.h"
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"src/components/ProxyShapeComponents.h"
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"src/components/JointComponents.h"
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"src/collision/CollisionCallback.h"
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"src/collision/OverlapCallback.h"
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"src/mathematics/mathematics.h"
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@ -223,6 +225,7 @@ SET (REACTPHYSICS3D_SOURCES
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"src/systems/ContactSolverSystem.cpp"
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"src/systems/DynamicsSystem.cpp"
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"src/systems/CollisionDetectionSystem.cpp"
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"src/systems/SolveBallAndSocketJointSystem.cpp"
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"src/engine/DynamicsWorld.cpp"
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"src/engine/Island.cpp"
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"src/engine/Material.cpp"
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@ -236,6 +239,7 @@ SET (REACTPHYSICS3D_SOURCES
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"src/components/RigidBodyComponents.cpp"
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"src/components/TransformComponents.cpp"
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"src/components/ProxyShapeComponents.cpp"
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"src/components/JointComponents.cpp"
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"src/collision/CollisionCallback.cpp"
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"src/collision/OverlapCallback.cpp"
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"src/mathematics/mathematics_functions.cpp"
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@ -768,7 +768,7 @@ void RigidBody::setIsSleeping(bool isSleeping) {
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mWorld.mRigidBodyComponents.setIsSleeping(mEntity, isSleeping);
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// Notify all the components
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mWorld.notifyBodyDisabled(mEntity, isSleeping);
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mWorld.setBodyDisabled(mEntity, isSleeping);
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if (isSleeping) {
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@ -63,6 +63,7 @@ class RigidBody : public CollisionBody {
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Material mMaterial;
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/// First element of the linked list of joints involving this body
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// TODO : Replace this by a list of the joints entities
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JointListElement* mJointsList;
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/// True if the center of mass is set by the user
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@ -168,9 +169,11 @@ class RigidBody : public CollisionBody {
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void setAngularDamping(decimal angularDamping);
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/// Return the first element of the linked list of joints involving this body
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// TODO : Remove this
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const JointListElement* getJointsList() const;
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/// Return the first element of the linked list of joints involving this body
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// TODO : Remove this
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JointListElement* getJointsList();
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/// Apply an external force to the body at its center of mass.
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158
src/components/JointComponents.cpp
Normal file
158
src/components/JointComponents.cpp
Normal file
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@ -0,0 +1,158 @@
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/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2018 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "JointComponents.h"
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#include "engine/EntityManager.h"
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#include <cassert>
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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JointComponents::JointComponents(MemoryAllocator& allocator)
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:Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Entity)) {
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// Allocate memory for the components data
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allocate(INIT_NB_ALLOCATED_COMPONENTS);
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}
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// Allocate memory for a given number of components
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void JointComponents::allocate(uint32 nbComponentsToAllocate) {
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assert(nbComponentsToAllocate > mNbAllocatedComponents);
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// Size for the data of a single component (in bytes)
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const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize;
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// Allocate memory
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void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes);
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assert(newBuffer != nullptr);
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// New pointers to components data
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Entity* newJointsEntities = static_cast<Entity*>(newBuffer);
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Entity* newBody1Entities = reinterpret_cast<Entity*>(newJointsEntities + nbComponentsToAllocate);
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Entity* newBody2Entities = reinterpret_cast<Entity*>(newBody1Entities + nbComponentsToAllocate);
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// If there was already components before
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if (mNbComponents > 0) {
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// Copy component data from the previous buffer to the new one
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memcpy(newJointsEntities, mJointEntities, mNbComponents * sizeof(Entity));
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memcpy(newBody1Entities, mBody1Entities, mNbComponents * sizeof(Entity));
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memcpy(newBody2Entities, mBody2Entities, mNbComponents * sizeof(Entity));
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// Deallocate previous memory
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mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize);
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}
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mBuffer = newBuffer;
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mNbAllocatedComponents = nbComponentsToAllocate;
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mJointEntities = newJointsEntities;
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mBody1Entities = newBody1Entities;
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mBody2Entities = newBody2Entities;
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}
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// Add a component
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void JointComponents::addComponent(Entity jointEntity, bool isSleeping, const JointComponent& component) {
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// Prepare to add new component (allocate memory if necessary and compute insertion index)
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uint32 index = prepareAddComponent(isSleeping);
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// Insert the new component data
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new (mJointEntities + index) Entity(jointEntity);
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new (mBody1Entities + index) Entity(component.body1Entity);
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new (mBody2Entities + index) Entity(component.body2Entity);
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// Map the entity with the new component lookup index
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mMapEntityToComponentIndex.add(Pair<Entity, uint32>(jointEntity, index));
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mNbComponents++;
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assert(mDisabledStartIndex <= mNbComponents);
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assert(mNbComponents == static_cast<uint32>(mMapEntityToComponentIndex.size()));
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}
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// Move a component from a source to a destination index in the components array
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// The destination location must contain a constructed object
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void JointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) {
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const Entity entity = mJointEntities[srcIndex];
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// Copy the data of the source component to the destination location
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new (mJointEntities + destIndex) Entity(mJointEntities[srcIndex]);
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new (mBody1Entities + destIndex) Entity(mBody1Entities[srcIndex]);
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new (mBody2Entities + destIndex) Entity(mBody2Entities[srcIndex]);
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// Destroy the source component
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destroyComponent(srcIndex);
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assert(!mMapEntityToComponentIndex.containsKey(entity));
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// Update the entity to component index mapping
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mMapEntityToComponentIndex.add(Pair<Entity, uint32>(entity, destIndex));
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assert(mMapEntityToComponentIndex[mJointEntities[destIndex]] == destIndex);
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}
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// Swap two components in the array
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void JointComponents::swapComponents(uint32 index1, uint32 index2) {
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// Copy component 1 data
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Entity jointEntity1(mJointEntities[index1]);
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Entity body1Entity1(mBody1Entities[index1]);
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Entity body2Entity1(mBody2Entities[index1]);
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// Destroy component 1
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destroyComponent(index1);
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moveComponentToIndex(index2, index1);
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// Reconstruct component 1 at component 2 location
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new (mJointEntities + index2) Entity(jointEntity1);
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new (mBody1Entities + index2) Entity(body1Entity1);
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new (mBody2Entities + index2) Entity(body2Entity1);
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// Update the entity to component index mapping
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mMapEntityToComponentIndex.add(Pair<Entity, uint32>(jointEntity1, index2));
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assert(mMapEntityToComponentIndex[mJointEntities[index1]] == index1);
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assert(mMapEntityToComponentIndex[mJointEntities[index2]] == index2);
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assert(mNbComponents == static_cast<uint32>(mMapEntityToComponentIndex.size()));
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}
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// Destroy a component at a given index
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void JointComponents::destroyComponent(uint32 index) {
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Components::destroyComponent(index);
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assert(mMapEntityToComponentIndex[mJointEntities[index]] == index);
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mMapEntityToComponentIndex.remove(mJointEntities[index]);
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mJointEntities[index].~Entity();
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mBody1Entities[index].~Entity();
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mBody2Entities[index].~Entity();
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}
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127
src/components/JointComponents.h
Normal file
127
src/components/JointComponents.h
Normal file
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@ -0,0 +1,127 @@
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/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2018 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef REACTPHYSICS3D_JOINT_COMPONENTS_H
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#define REACTPHYSICS3D_JOINT_COMPONENTS_H
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// Libraries
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#include "mathematics/Transform.h"
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#include "engine/Entity.h"
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#include "components/Components.h"
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#include "containers/Map.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Class declarations
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class MemoryAllocator;
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class EntityManager;
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// Class JointComponents
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/**
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* This class represent the component of the ECS that contains generic information about
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* all the joints.
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*/
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class JointComponents : public Components {
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private:
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// -------------------- Attributes -------------------- //
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/// Array of joint entities
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Entity* mJointEntities;
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/// Array of body entities of the first bodies of the joints
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Entity* mBody1Entities;
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/// Array of body entities of the first bodies of the joints
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Entity* mBody2Entities;
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// -------------------- Methods -------------------- //
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/// Allocate memory for a given number of components
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virtual void allocate(uint32 nbComponentsToAllocate) override;
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/// Destroy a component at a given index
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virtual void destroyComponent(uint32 index) override;
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/// Move a component from a source to a destination index in the components array
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virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override;
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/// Swap two components in the array
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virtual void swapComponents(uint32 index1, uint32 index2) override;
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public:
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/// Structure for the data of a transform component
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struct JointComponent {
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const Entity body1Entity;
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const Entity body2Entity;
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/// Constructor
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JointComponent(Entity body1Entity, Entity body2Entity)
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: body1Entity(body1Entity), body2Entity(body2Entity) {
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}
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};
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// -------------------- Methods -------------------- //
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/// Constructor
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JointComponents(MemoryAllocator& allocator);
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/// Destructor
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virtual ~JointComponents() override = default;
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/// Add a component
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void addComponent(Entity jointEntity, bool isSleeping, const JointComponent& component);
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/// Return the entity of the first body of a joint
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Entity getBody1Entity(Entity jointEntity) const;
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/// Return the entity of the second body of a joint
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Entity getBody2Entity(Entity jointEntity) const;
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// -------------------- Friendship -------------------- //
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friend class BroadPhaseSystem;
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};
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// Return the entity of the first body of a joint
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inline Entity JointComponents::getBody1Entity(Entity jointEntity) const {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mBody1Entities[mMapEntityToComponentIndex[jointEntity]];
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}
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// Return the entity of the second body of a joint
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inline Entity JointComponents::getBody2Entity(Entity jointEntity) const {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mBody2Entities[mMapEntityToComponentIndex[jointEntity]];
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}
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}
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#endif
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@ -108,11 +108,13 @@ class TransformComponents : public Components {
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// Return the transform of an entity
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inline Transform& TransformComponents::getTransform(Entity bodyEntity) const {
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assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
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return mTransforms[mMapEntityToComponentIndex[bodyEntity]];
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}
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// Set the transform of an entity
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inline void TransformComponents::setTransform(Entity bodyEntity, const Transform& transform) {
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assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
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mTransforms[mMapEntityToComponentIndex[bodyEntity]] = transform;
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}
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@ -34,8 +34,8 @@ using namespace reactphysics3d;
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const decimal BallAndSocketJoint::BETA = decimal(0.2);
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// Constructor
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BallAndSocketJoint::BallAndSocketJoint(uint id, const BallAndSocketJointInfo& jointInfo)
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: Joint(id, jointInfo), mImpulse(Vector3(0, 0, 0)) {
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BallAndSocketJoint::BallAndSocketJoint(Entity entity, const BallAndSocketJointInfo& jointInfo)
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: Joint(entity, jointInfo), mImpulse(Vector3(0, 0, 0)) {
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// Compute the local-space anchor point for each body
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mLocalAnchorPointBody1 = mBody1->getTransform().getInverse() * jointInfo.anchorPointWorldSpace;
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@ -125,7 +125,7 @@ class BallAndSocketJoint : public Joint {
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// -------------------- Methods -------------------- //
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/// Constructor
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BallAndSocketJoint(uint id, const BallAndSocketJointInfo& jointInfo);
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BallAndSocketJoint(Entity entity, const BallAndSocketJointInfo& jointInfo);
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/// Destructor
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virtual ~BallAndSocketJoint() override = default;
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@ -34,8 +34,8 @@ using namespace reactphysics3d;
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const decimal FixedJoint::BETA = decimal(0.2);
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// Constructor
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FixedJoint::FixedJoint(uint id, const FixedJointInfo& jointInfo)
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: Joint(id, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0, 0) {
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FixedJoint::FixedJoint(Entity entity, const FixedJointInfo& jointInfo)
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: Joint(entity, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0, 0) {
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// Compute the local-space anchor point for each body
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const Transform& transform1 = mBody1->getTransform();
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@ -136,7 +136,7 @@ class FixedJoint : public Joint {
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// -------------------- Methods -------------------- //
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/// Constructor
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FixedJoint(uint id, const FixedJointInfo& jointInfo);
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FixedJoint(Entity entity, const FixedJointInfo& jointInfo);
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/// Destructor
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virtual ~FixedJoint() override = default;
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@ -34,8 +34,8 @@ using namespace reactphysics3d;
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const decimal HingeJoint::BETA = decimal(0.2);
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// Constructor
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HingeJoint::HingeJoint(uint id, const HingeJointInfo& jointInfo)
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: Joint(id, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0),
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HingeJoint::HingeJoint(Entity entity, const HingeJointInfo& jointInfo)
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: Joint(entity, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0),
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mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0),
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mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled),
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mLowerLimit(jointInfo.minAngleLimit), mUpperLimit(jointInfo.maxAngleLimit),
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@ -287,7 +287,7 @@ class HingeJoint : public Joint {
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// -------------------- Methods -------------------- //
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/// Constructor
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HingeJoint(uint id, const HingeJointInfo& jointInfo);
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HingeJoint(Entity entity, const HingeJointInfo& jointInfo);
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/// Destructor
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virtual ~HingeJoint() override = default;
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@ -29,8 +29,8 @@
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using namespace reactphysics3d;
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// Constructor
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Joint::Joint(uint id, const JointInfo& jointInfo)
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:mId(id), mBody1(jointInfo.body1), mBody2(jointInfo.body2), mBody1Entity(jointInfo.body1->getEntity()),
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Joint::Joint(Entity entity, const JointInfo& jointInfo)
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:mEntity(entity), mBody1(jointInfo.body1), mBody2(jointInfo.body2), mBody1Entity(jointInfo.body1->getEntity()),
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mBody2Entity(jointInfo.body2->getEntity()), mType(jointInfo.type),
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mPositionCorrectionTechnique(jointInfo.positionCorrectionTechnique),
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mIsCollisionEnabled(jointInfo.isCollisionEnabled), mIsAlreadyInIsland(false) {
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@ -120,8 +120,8 @@ class Joint {
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// -------------------- Attributes -------------------- //
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/// Id of the joint
|
||||
uint mId;
|
||||
/// Entity ID of the joint
|
||||
Entity mEntity;
|
||||
|
||||
/// Pointer to the first body of the joint
|
||||
// TODO : Use Entities instead
|
||||
|
|
@ -177,7 +177,7 @@ class Joint {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
Joint(uint id, const JointInfo& jointInfo);
|
||||
Joint(Entity entity, const JointInfo& jointInfo);
|
||||
|
||||
/// Destructor
|
||||
virtual ~Joint() = default;
|
||||
|
|
@ -194,17 +194,14 @@ class Joint {
|
|||
/// Return the reference to the body 2
|
||||
RigidBody* getBody2() const;
|
||||
|
||||
/// Return true if the constraint is active
|
||||
bool isActive() const;
|
||||
|
||||
/// Return the type of the constraint
|
||||
JointType getType() const;
|
||||
|
||||
/// Return true if the collision between the two bodies of the joint is enabled
|
||||
bool isCollisionEnabled() const;
|
||||
|
||||
/// Return the id of the joint
|
||||
uint getId() const;
|
||||
/// Return the entity id of the joint
|
||||
Entity getEntity() const;
|
||||
|
||||
/// Return a string representation
|
||||
virtual std::string to_string() const=0;
|
||||
|
|
@ -232,14 +229,6 @@ inline RigidBody* Joint::getBody2() const {
|
|||
return mBody2;
|
||||
}
|
||||
|
||||
// Return true if the joint is active
|
||||
/**
|
||||
* @return True if the joint is active
|
||||
*/
|
||||
inline bool Joint::isActive() const {
|
||||
return (mBody1->isActive() && mBody2->isActive());
|
||||
}
|
||||
|
||||
// Return the type of the joint
|
||||
/**
|
||||
* @return The type of the joint
|
||||
|
|
@ -257,12 +246,12 @@ inline bool Joint::isCollisionEnabled() const {
|
|||
return mIsCollisionEnabled;
|
||||
}
|
||||
|
||||
// Return the id of the joint
|
||||
// Return the entity id of the joint
|
||||
/**
|
||||
* @return The id of the joint
|
||||
* @return The entity of the joint
|
||||
*/
|
||||
inline uint Joint::getId() const {
|
||||
return mId;
|
||||
inline Entity Joint::getEntity() const {
|
||||
return mEntity;
|
||||
}
|
||||
|
||||
// Return true if the joint has already been added into an island
|
||||
|
|
|
|||
|
|
@ -34,8 +34,8 @@ using namespace reactphysics3d;
|
|||
const decimal SliderJoint::BETA = decimal(0.2);
|
||||
|
||||
// Constructor
|
||||
SliderJoint::SliderJoint(uint id, const SliderJointInfo& jointInfo)
|
||||
: Joint(id, jointInfo), mImpulseTranslation(0, 0), mImpulseRotation(0, 0, 0),
|
||||
SliderJoint::SliderJoint(Entity entity, const SliderJointInfo& jointInfo)
|
||||
: Joint(entity, jointInfo), mImpulseTranslation(0, 0), mImpulseRotation(0, 0, 0),
|
||||
mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0),
|
||||
mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled),
|
||||
mLowerLimit(jointInfo.minTranslationLimit),
|
||||
|
|
|
|||
|
|
@ -289,7 +289,7 @@ class SliderJoint : public Joint {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
SliderJoint(uint id, const SliderJointInfo& jointInfo);
|
||||
SliderJoint(Entity entity, const SliderJointInfo& jointInfo);
|
||||
|
||||
/// Destructor
|
||||
virtual ~SliderJoint() override = default;
|
||||
|
|
|
|||
|
|
@ -40,6 +40,7 @@ CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logge
|
|||
: mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()),
|
||||
mCollisionBodyComponents(mMemoryManager.getBaseAllocator()), mRigidBodyComponents(mMemoryManager.getBaseAllocator()),
|
||||
mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()),
|
||||
mJointsComponents(mMemoryManager.getBaseAllocator()),
|
||||
mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mRigidBodyComponents, mMemoryManager),
|
||||
mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr),
|
||||
mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr),
|
||||
|
|
@ -207,7 +208,7 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) {
|
|||
}
|
||||
|
||||
// Notify the world if a body is disabled (sleeping) or not
|
||||
void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) {
|
||||
void CollisionWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) {
|
||||
|
||||
if (isDisabled == mCollisionBodyComponents.getIsEntityDisabled(bodyEntity)) return;
|
||||
|
||||
|
|
@ -228,6 +229,38 @@ void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) {
|
|||
|
||||
mProxyShapesComponents.setIsEntityDisabled(proxyShapesEntities[i], isDisabled);
|
||||
}
|
||||
|
||||
// Disable the joints of the body if necessary
|
||||
if (mRigidBodyComponents.hasComponent(bodyEntity)) {
|
||||
|
||||
RigidBody* body = mRigidBodyComponents.getRigidBody(bodyEntity);
|
||||
|
||||
// For each joint of the body
|
||||
for(JointListElement* jointElem = body->getJointsList(); jointElem != nullptr; jointElem = jointElem->next) {
|
||||
|
||||
// If both bodies of the joint are disabled
|
||||
if (mRigidBodyComponents.getIsEntityDisabled(jointElem->joint->getBody1()->getEntity()) &&
|
||||
mRigidBodyComponents.getIsEntityDisabled(jointElem->joint->getBody2()->getEntity())) {
|
||||
|
||||
// We disable the joint
|
||||
setJointDisabled(jointElem->joint->getEntity(), true);
|
||||
}
|
||||
else {
|
||||
|
||||
// Enable the joint
|
||||
setJointDisabled(jointElem->joint->getEntity(), false);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Notify the world whether a joint is disabled or not
|
||||
void CollisionWorld::setJointDisabled(Entity jointEntity, bool isDisabled) {
|
||||
|
||||
if (isDisabled == mJointsComponents.getIsEntityDisabled(jointEntity)) return;
|
||||
|
||||
// TODO : Make sure we notify all the components here ...
|
||||
mJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);
|
||||
}
|
||||
|
||||
// Return true if two bodies overlap
|
||||
|
|
|
|||
|
|
@ -37,6 +37,7 @@
|
|||
#include "components/RigidBodyComponents.h"
|
||||
#include "components/TransformComponents.h"
|
||||
#include "components/ProxyShapeComponents.h"
|
||||
#include "components/JointComponents.h"
|
||||
#include "collision/CollisionCallback.h"
|
||||
#include "collision/OverlapCallback.h"
|
||||
|
||||
|
|
@ -88,6 +89,9 @@ class CollisionWorld {
|
|||
/// Proxy-Shapes Components
|
||||
ProxyShapeComponents mProxyShapesComponents;
|
||||
|
||||
/// Joint Components
|
||||
JointComponents mJointsComponents;
|
||||
|
||||
/// Reference to the collision detection
|
||||
CollisionDetectionSystem mCollisionDetection;
|
||||
|
||||
|
|
@ -124,7 +128,10 @@ class CollisionWorld {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Notify the world if a body is disabled (slepping or inactive) or not
|
||||
void notifyBodyDisabled(Entity entity, bool isDisabled);
|
||||
void setBodyDisabled(Entity entity, bool isDisabled);
|
||||
|
||||
/// Notify the world whether a joint is disabled or not
|
||||
void setJointDisabled(Entity jointEntity, bool isDisabled);
|
||||
|
||||
public :
|
||||
|
||||
|
|
|
|||
|
|
@ -59,8 +59,7 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS
|
|||
mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()),
|
||||
mJoints(mMemoryManager.getPoolAllocator()), mGravity(gravity),
|
||||
mIsGravityEnabled(true), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity),
|
||||
mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep),
|
||||
mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0) {
|
||||
mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), mCurrentJointId(0) {
|
||||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
|
||||
|
|
@ -318,10 +317,15 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) {
|
|||
*/
|
||||
Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
|
||||
|
||||
// Create a new entity for the joint
|
||||
Entity entity = mEntityManager.createEntity();
|
||||
|
||||
Joint* newJoint = nullptr;
|
||||
|
||||
// Get the next available joint ID
|
||||
uint jointId = computeNextAvailableJointId();
|
||||
bool isJointDisabled = mRigidBodyComponents.getIsEntityDisabled(jointInfo.body1->getEntity()) &&
|
||||
mRigidBodyComponents.getIsEntityDisabled(jointInfo.body2->getEntity());
|
||||
JointComponents::JointComponent jointComponent(jointInfo.body1->getEntity(), jointInfo.body2->getEntity());
|
||||
mJointsComponents.addComponent(entity, isJointDisabled, jointComponent);
|
||||
|
||||
// Allocate memory to create the new joint
|
||||
switch(jointInfo.type) {
|
||||
|
|
@ -333,7 +337,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
|
|||
sizeof(BallAndSocketJoint));
|
||||
const BallAndSocketJointInfo& info = static_cast<const BallAndSocketJointInfo&>(
|
||||
jointInfo);
|
||||
newJoint = new (allocatedMemory) BallAndSocketJoint(jointId, info);
|
||||
newJoint = new (allocatedMemory) BallAndSocketJoint(entity, info);
|
||||
break;
|
||||
}
|
||||
|
||||
|
|
@ -343,7 +347,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
|
|||
void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
|
||||
sizeof(SliderJoint));
|
||||
const SliderJointInfo& info = static_cast<const SliderJointInfo&>(jointInfo);
|
||||
newJoint = new (allocatedMemory) SliderJoint(jointId, info);
|
||||
newJoint = new (allocatedMemory) SliderJoint(entity, info);
|
||||
break;
|
||||
}
|
||||
|
||||
|
|
@ -353,7 +357,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
|
|||
void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
|
||||
sizeof(HingeJoint));
|
||||
const HingeJointInfo& info = static_cast<const HingeJointInfo&>(jointInfo);
|
||||
newJoint = new (allocatedMemory) HingeJoint(jointId, info);
|
||||
newJoint = new (allocatedMemory) HingeJoint(entity, info);
|
||||
break;
|
||||
}
|
||||
|
||||
|
|
@ -363,7 +367,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
|
|||
void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
|
||||
sizeof(FixedJoint));
|
||||
const FixedJointInfo& info = static_cast<const FixedJointInfo&>(jointInfo);
|
||||
newJoint = new (allocatedMemory) FixedJoint(jointId, info);
|
||||
newJoint = new (allocatedMemory) FixedJoint(entity, info);
|
||||
break;
|
||||
}
|
||||
|
||||
|
|
@ -385,9 +389,9 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
|
|||
mJoints.add(newJoint);
|
||||
|
||||
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint,
|
||||
"Joint " + std::to_string(newJoint->getId()) + ": New joint created");
|
||||
"Joint " + std::to_string(newJoint->getEntity().id) + ": New joint created");
|
||||
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint,
|
||||
"Joint " + std::to_string(newJoint->getId()) + ": " + newJoint->to_string());
|
||||
"Joint " + std::to_string(newJoint->getEntity().id) + ": " + newJoint->to_string());
|
||||
|
||||
// Add the joint into the joint list of the bodies involved in the joint
|
||||
addJointToBody(newJoint);
|
||||
|
|
@ -405,7 +409,7 @@ void DynamicsWorld::destroyJoint(Joint* joint) {
|
|||
assert(joint != nullptr);
|
||||
|
||||
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint,
|
||||
"Joint " + std::to_string(joint->getId()) + ": joint destroyed");
|
||||
"Joint " + std::to_string(joint->getEntity().id) + ": joint destroyed");
|
||||
|
||||
// If the collision between the two bodies of the constraint was disabled
|
||||
if (!joint->isCollisionEnabled()) {
|
||||
|
|
@ -427,15 +431,14 @@ void DynamicsWorld::destroyJoint(Joint* joint) {
|
|||
|
||||
size_t nbBytes = joint->getSizeInBytes();
|
||||
|
||||
// Add the joint ID to the list of free IDs
|
||||
mFreeJointsIDs.add(joint->getId());
|
||||
// Destroy the corresponding entity and its components
|
||||
// TODO : Make sure we remove all its components here
|
||||
mJointsComponents.removeComponent(joint->getEntity());
|
||||
mEntityManager.destroyEntity(joint->getEntity());
|
||||
|
||||
// Call the destructor of the joint
|
||||
joint->~Joint();
|
||||
|
||||
// Add the joint ID to the list of free IDs
|
||||
mFreeJointsIDs.add(joint->getId());
|
||||
|
||||
// Release the allocated memory
|
||||
mMemoryManager.release(MemoryManager::AllocationType::Pool, joint, nbBytes);
|
||||
}
|
||||
|
|
@ -453,7 +456,7 @@ void DynamicsWorld::addJointToBody(Joint* joint) {
|
|||
joint->mBody1->mJointsList = jointListElement1;
|
||||
|
||||
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
|
||||
"Body " + std::to_string(joint->mBody1->getEntity().id) + ": Joint " + std::to_string(joint->getId()) +
|
||||
"Body " + std::to_string(joint->mBody1->getEntity().id) + ": Joint " + std::to_string(joint->getEntity().id) +
|
||||
" added to body");
|
||||
|
||||
// Add the joint at the beginning of the linked list of joints of the second body
|
||||
|
|
@ -464,27 +467,10 @@ void DynamicsWorld::addJointToBody(Joint* joint) {
|
|||
joint->mBody2->mJointsList = jointListElement2;
|
||||
|
||||
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
|
||||
"Body " + std::to_string(joint->mBody2->getEntity().id) + ": Joint " + std::to_string(joint->getId()) +
|
||||
"Body " + std::to_string(joint->mBody2->getEntity().id) + ": Joint " + std::to_string(joint->getEntity().id) +
|
||||
" added to body");
|
||||
}
|
||||
|
||||
// Return the next available joint Id
|
||||
uint DynamicsWorld::computeNextAvailableJointId() {
|
||||
|
||||
// Compute the joint ID
|
||||
uint jointId;
|
||||
if (mFreeJointsIDs.size() != 0) {
|
||||
jointId = mFreeJointsIDs[mFreeJointsIDs.size() - 1];
|
||||
mFreeJointsIDs.removeAt(mFreeJointsIDs.size() - 1);
|
||||
}
|
||||
else {
|
||||
jointId = mCurrentJointId;
|
||||
mCurrentJointId++;
|
||||
}
|
||||
|
||||
return jointId;
|
||||
}
|
||||
|
||||
// Compute the islands using potential contacts and joints
|
||||
/// We compute the islands before creating the actual contacts here because we want all
|
||||
/// the contact manifolds and contact points of the same island
|
||||
|
|
|
|||
|
|
@ -98,9 +98,6 @@ class DynamicsWorld : public CollisionWorld {
|
|||
/// becomes smaller than the sleep velocity.
|
||||
decimal mTimeBeforeSleep;
|
||||
|
||||
/// List of free ID for joints
|
||||
List<luint> mFreeJointsIDs;
|
||||
|
||||
/// Current joint id
|
||||
uint mCurrentJointId;
|
||||
|
||||
|
|
@ -124,9 +121,6 @@ class DynamicsWorld : public CollisionWorld {
|
|||
/// Add the joint to the list of joints of the two bodies involved in the joint
|
||||
void addJointToBody(Joint* joint);
|
||||
|
||||
/// Return the next available joint id
|
||||
uint computeNextAvailableJointId();
|
||||
|
||||
public :
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
|
|
|||
|
|
@ -32,7 +32,8 @@ using namespace reactphysics3d;
|
|||
|
||||
// Constructor
|
||||
ConstraintSolverSystem::ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents)
|
||||
: mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(rigidBodyComponents) {
|
||||
: mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(rigidBodyComponents),
|
||||
mSolveBallAndSocketJointSystem(rigidBodyComponents) {
|
||||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
|
||||
|
|
|
|||
|
|
@ -30,6 +30,7 @@
|
|||
#include "configuration.h"
|
||||
#include "mathematics/mathematics.h"
|
||||
#include "engine/Islands.h"
|
||||
#include "systems/SolveBallAndSocketJointSystem.h"
|
||||
|
||||
namespace reactphysics3d {
|
||||
|
||||
|
|
@ -153,6 +154,9 @@ class ConstraintSolverSystem {
|
|||
/// Constraint solver data used to initialize and solve the constraints
|
||||
ConstraintSolverData mConstraintSolverData;
|
||||
|
||||
/// Solver for the BallAndSocketJoint constraints
|
||||
SolveBallAndSocketJointSystem mSolveBallAndSocketJointSystem;
|
||||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
|
||||
/// Pointer to the profiler
|
||||
|
|
@ -198,6 +202,7 @@ class ConstraintSolverSystem {
|
|||
// Set the profiler
|
||||
inline void ConstraintSolverSystem::setProfiler(Profiler* profiler) {
|
||||
mProfiler = profiler;
|
||||
mSolveBallAndSocketJointSystem.setProfiler(profiler);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
35
src/systems/SolveBallAndSocketJointSystem.cpp
Normal file
35
src/systems/SolveBallAndSocketJointSystem.cpp
Normal file
|
|
@ -0,0 +1,35 @@
|
|||
/********************************************************************************
|
||||
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
||||
* Copyright (c) 2010-2018 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 "systems/SolveBallAndSocketJointSystem.h"
|
||||
|
||||
using namespace reactphysics3d;
|
||||
|
||||
// Constructor
|
||||
SolveBallAndSocketJointSystem::SolveBallAndSocketJointSystem(RigidBodyComponents& rigidBodyComponents)
|
||||
:mRigidBodyComponents(rigidBodyComponents) {
|
||||
|
||||
}
|
||||
85
src/systems/SolveBallAndSocketJointSystem.h
Normal file
85
src/systems/SolveBallAndSocketJointSystem.h
Normal file
|
|
@ -0,0 +1,85 @@
|
|||
/********************************************************************************
|
||||
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
||||
* Copyright (c) 2010-2018 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_SOLVE_BALL_SOCKET_JOINT_SYSTEM_H
|
||||
#define REACTPHYSICS3D_SOLVE_BALL_SOCKET_JOINT_SYSTEM_H
|
||||
|
||||
// Libraries
|
||||
#include "utils/Profiler.h"
|
||||
#include "components/RigidBodyComponents.h"
|
||||
#include "components/TransformComponents.h"
|
||||
|
||||
namespace reactphysics3d {
|
||||
|
||||
// Class SolveBallAndSocketJointSystem
|
||||
/**
|
||||
* This class is responsible to solve the BallAndSocketJoint constraints
|
||||
*/
|
||||
class SolveBallAndSocketJointSystem {
|
||||
|
||||
private :
|
||||
|
||||
// -------------------- Attributes -------------------- //
|
||||
|
||||
/// Reference to the rigid body components
|
||||
RigidBodyComponents& mRigidBodyComponents;
|
||||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
|
||||
/// Pointer to the profiler
|
||||
Profiler* mProfiler;
|
||||
#endif
|
||||
|
||||
public :
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
SolveBallAndSocketJointSystem(RigidBodyComponents& rigidBodyComponents);
|
||||
|
||||
/// Destructor
|
||||
~SolveBallAndSocketJointSystem() = default;
|
||||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
|
||||
/// Set the profiler
|
||||
void setProfiler(Profiler* profiler);
|
||||
|
||||
#endif
|
||||
|
||||
};
|
||||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
|
||||
// Set the profiler
|
||||
inline void SolveBallAndSocketJointSystem::setProfiler(Profiler* profiler) {
|
||||
mProfiler = profiler;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue
Block a user