Working on contacts

src/collision/CollisionDetection.cpp

@@ -109,6 +109,36 @@ void CollisionDetection::computeBroadPhase() {
 
     // Create new overlapping pairs if necessary
     updateOverlappingPairs(overlappingNodes);
+
+    // Remove non overlapping pairs
+    removeNonOverlappingPairs();
+}
+
+// Remove pairs that are not overlapping anymore
+void CollisionDetection::removeNonOverlappingPairs() {
+
+    // For each possible collision pair of bodies
+    for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) {
+
+        OverlappingPair* pair = it->second;
+
+        ProxyShape* shape1 = pair->getShape1();
+        ProxyShape* shape2 = pair->getShape2();
+
+        // Check if the two shapes are still overlapping. Otherwise, we destroy the overlapping pair
+        if (!mBroadPhaseSystem.testOverlappingShapes(shape1, shape2)) {
+
+            // Destroy the overlapping pair
+            pair->~OverlappingPair();
+
+            mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair));
+            it = mOverlappingPairs.remove(it);
+            continue;
+        }
+        else {
+            ++it;
+        }
+    }
 }
 
 // Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary
@@ -183,7 +213,7 @@ void CollisionDetection::computeMiddlePhase() {
     mNarrowPhaseInput.reserveMemory();
 
     // For each possible collision pair of bodies
-    for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) {
+    for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
 
         OverlappingPair* pair = it->second;
 
@@ -200,21 +230,6 @@ void CollisionDetection::computeMiddlePhase() {
         assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1);
         assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity));
 
-        // Check if the two shapes are still overlapping. Otherwise, we destroy the
-        // overlapping pair
-        if (!mBroadPhaseSystem.testOverlappingShapes(shape1, shape2)) {
-
-            // Destroy the overlapping pair
-            pair->~OverlappingPair();
-
-            mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair));
-            it = mOverlappingPairs.remove(it);
-            continue;
-        }
-        else {
-            ++it;
-        }
-
         // Check if the collision filtering allows collision between the two shapes
         if ((mProxyShapesComponents.getCollideWithMaskBits(proxyShape1Entity) & mProxyShapesComponents.getCollisionCategoryBits(proxyShape2Entity)) != 0 &&
             (mProxyShapesComponents.getCollisionCategoryBits(proxyShape1Entity) & mProxyShapesComponents.getCollideWithMaskBits(proxyShape2Entity)) != 0) {
@@ -398,9 +413,6 @@ void CollisionDetection::processAllPotentialContacts(NarrowPhaseInput& narrowPha
 // Compute the narrow-phase collision detection
 void CollisionDetection::computeNarrowPhase() {
 
-    // TODO : DELETE THIS
-    //std::cout << "---------------------- NARROW PHASE ----------------------------------------" << std::endl;
-
     RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler);
 
     MemoryAllocator& allocator = mMemoryManager.getSingleFrameAllocator();
@@ -415,7 +427,7 @@ void CollisionDetection::computeNarrowPhase() {
     processAllPotentialContacts(mNarrowPhaseInput, true);
 
     // Reduce the number of contact points in the manifolds
-    reducePotentialContactManifolds(mOverlappingPairs);
+    reducePotentialContactManifolds();
 
     // Report contacts to the user
     reportAllContacts();
@@ -840,7 +852,7 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh
 }
 
 // Clear the obsolete manifolds and contact points and reduce the number of contacts points of the remaining manifolds
-void CollisionDetection::reducePotentialContactManifolds(const OverlappingPairMap& overlappingPairs) {
+void CollisionDetection::reducePotentialContactManifolds() {
 
     RP3D_PROFILE("CollisionDetection::reducePotentialContactManifolds()", mProfiler);
 
@@ -1369,7 +1381,7 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body
     processAllPotentialContacts(narrowPhaseInput, false);
 
     // Reduce the number of contact points in the manifolds
-    reducePotentialContactManifolds(overlappingPairs);
+    //reducePotentialContactManifolds(overlappingPairs);
 
     // TODO : Rework how we report contacts
     /*
@@ -1467,7 +1479,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c
     processAllPotentialContacts(narrowPhaseInput, false);
 
     // Reduce the number of contact points in the manifolds
-    reducePotentialContactManifolds(overlappingPairs);
+    //reducePotentialContactManifolds(overlappingPairs);
 
     // TODO : Rework how we report contacts
     /*
@@ -1549,7 +1561,7 @@ void CollisionDetection::testCollision(CollisionCallback* callback) {
     processAllPotentialContacts(narrowPhaseInput, false);
 
     // Reduce the number of contact points in the manifolds
-    reducePotentialContactManifolds(overlappingPairs);
+    //reducePotentialContactManifolds(overlappingPairs);
 
     // TODO : Rework how we report contacts
     /*

src/collision/CollisionDetection.h

@@ -189,6 +189,9 @@ class CollisionDetection {
         /// Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary
         void updateOverlappingPairs(List<Pair<int, int> >& overlappingNodes);
 
+        /// Remove pairs that are not overlapping anymore
+        void removeNonOverlappingPairs();
+
         /// Execute the narrow-phase collision detection algorithm on batches
         bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool stopFirstContactFound,
                                       bool reportContacts, MemoryAllocator& allocator);
@@ -211,7 +214,7 @@ class CollisionDetection {
         void processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo);
 
         /// Reduce the potential contact manifolds and contact points of the overlapping pair contacts
-        void reducePotentialContactManifolds(const OverlappingPairMap& overlappingPairs);
+        void reducePotentialContactManifolds();
 
         /// Create the actual contact manifolds and contacts points (from potential contacts) for a given contact pair
         void createContacts();

src/collision/ProxyShape.cpp

@@ -78,6 +78,10 @@ bool ProxyShape::testPointInside(const Vector3& worldPoint) {
  */
 void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) {
 
+    // TODO : Here we should probably remove all overlapping pairs with this shape in the
+    //        broad-phase and add the shape in the "has moved" shape list so it is reevaluated
+    //        with the new mask bits
+
     mBody->mWorld.mProxyShapesComponents.setCollisionCategoryBits(mEntity, collisionCategoryBits);
 
     int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity);
@@ -93,6 +97,10 @@ void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits)
  */
 void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) {
 
+    // TODO : Here we should probably remove all overlapping pairs with this shape in the
+    //        broad-phase and add the shape in the "has moved" shape list so it is reevaluated
+    //        with the new mask bits
+
     mBody->mWorld.mProxyShapesComponents.setCollideWithMaskBits(mEntity, collideWithMaskBits);
 
     int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity);