Working on making middle-phase collision detection faster
This commit is contained in:
Daniel Chappuis
parent
8580ab545b
commit
44e07e0bd9
CMakeLists.txt
src
body
collision
ContactManifoldInfo.hContactPair.h
configuration.hbroadphase
narrowphase
CapsuleVsCapsuleNarrowPhaseInfoBatch.cppCapsuleVsCapsuleNarrowPhaseInfoBatch.hCollisionDispatch.cppCollisionDispatch.h
GJK
NarrowPhaseInfoBatch.cppNarrowPhaseInfoBatch.hNarrowPhaseInput.cppNarrowPhaseInput.hSAT
SphereVsCapsuleNarrowPhaseInfoBatch.cppSphereVsCapsuleNarrowPhaseInfoBatch.hSphereVsSphereNarrowPhaseInfoBatch.cppSphereVsSphereNarrowPhaseInfoBatch.hshapes
containers
engine
mathematics
systems
test/tests/containers
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@ -141,7 +141,7 @@ SET (REACTPHYSICS3D_HEADERS
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"src/engine/Island.h"
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"src/engine/Islands.h"
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"src/engine/Material.h"
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"src/engine/OverlappingPair.h"
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"src/engine/OverlappingPairs.h"
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"src/engine/Timer.h"
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"src/systems/BroadPhaseSystem.h"
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"src/components/Components.h"
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@ -239,7 +239,7 @@ SET (REACTPHYSICS3D_SOURCES
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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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"src/engine/OverlappingPair.cpp"
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"src/engine/OverlappingPairs.cpp"
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"src/engine/Timer.cpp"
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"src/engine/Entity.cpp"
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"src/engine/EntityManager.cpp"
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@ -183,6 +183,9 @@ void CollisionBody::removeCollisionShape(ProxyShape* proxyShape) {
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// Remove the proxy-shape component
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mWorld.mProxyShapesComponents.removeComponent(proxyShape->getEntity());
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// Destroy the entity
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mWorld.mEntityManager.destroyEntity(proxyShape->getEntity());
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// Call the constructor of the proxy-shape
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proxyShape->~ProxyShape();
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@ -29,7 +29,7 @@
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// Libraries
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#include "mathematics/mathematics.h"
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#include "configuration.h"
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#include "engine/OverlappingPair.h"
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#include "engine/OverlappingPairs.h"
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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@ -49,12 +49,12 @@ struct ContactManifoldInfo {
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List<uint> potentialContactPointsIndices;
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/// Overlapping pair id
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OverlappingPair::OverlappingPairId pairId;
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uint64 pairId;
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// -------------------- Methods -------------------- //
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/// Constructor
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ContactManifoldInfo(OverlappingPair::OverlappingPairId pairId, MemoryAllocator& allocator)
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ContactManifoldInfo(uint64 pairId, MemoryAllocator& allocator)
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: potentialContactPointsIndices(allocator), pairId(pairId) {
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}
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@ -29,7 +29,7 @@
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// Libraries
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#include "mathematics/mathematics.h"
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#include "configuration.h"
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#include "engine/OverlappingPair.h"
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#include "engine/OverlappingPairs.h"
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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@ -45,7 +45,7 @@ struct ContactPair {
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// -------------------- Attributes -------------------- //
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/// Overlapping pair Id
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OverlappingPair::OverlappingPairId pairId;
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uint64 pairId;
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/// Indices of the potential contact manifolds
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List<uint> potentialContactManifoldsIndices;
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@ -83,7 +83,7 @@ struct ContactPair {
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// -------------------- Methods -------------------- //
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/// Constructor
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ContactPair(OverlappingPair::OverlappingPairId pairId, Entity body1Entity, Entity body2Entity, Entity proxyShape1Entity,
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ContactPair(uint64 pairId, Entity body1Entity, Entity body2Entity, Entity proxyShape1Entity,
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Entity proxyShape2Entity, uint contactPairIndex, MemoryAllocator& allocator)
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: pairId(pairId), potentialContactManifoldsIndices(allocator), body1Entity(body1Entity), body2Entity(body2Entity),
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proxyShape1Entity(proxyShape1Entity), proxyShape2Entity(proxyShape2Entity),
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@ -645,6 +645,8 @@ void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List<int32>& no
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// Report all shapes overlapping with the AABB given in parameter.
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void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, List<int32>& overlappingNodes) const {
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RP3D_PROFILE("DynamicAABBTree::reportAllShapesOverlappingWithAABB()", mProfiler);
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// Create a stack with the nodes to visit
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Stack<int32> stack(mAllocator, 64);
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stack.push(mRootNodeID);
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@ -30,14 +30,15 @@
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using namespace reactphysics3d;
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// Constructor
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CapsuleVsCapsuleNarrowPhaseInfoBatch::CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator)
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: NarrowPhaseInfoBatch(allocator), capsule1Radiuses(allocator), capsule2Radiuses(allocator),
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CapsuleVsCapsuleNarrowPhaseInfoBatch::CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator,
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OverlappingPairs& overlappingPairs)
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: NarrowPhaseInfoBatch(allocator, overlappingPairs), capsule1Radiuses(allocator), capsule2Radiuses(allocator),
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capsule1Heights(allocator), capsule2Heights(allocator) {
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}
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// Add shapes to be tested during narrow-phase collision detection into the batch
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void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2,
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void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2,
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const Transform& shape1Transform, const Transform& shape2Transform) {
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assert(shape1->getType() == CollisionShapeType::CAPSULE);
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@ -46,25 +47,29 @@ void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* p
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const CapsuleShape* capsule1 = static_cast<const CapsuleShape*>(shape1);
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const CapsuleShape* capsule2 = static_cast<const CapsuleShape*>(shape2);
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proxyShapeEntities1.add(proxyShape1);
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proxyShapeEntities2.add(proxyShape2);
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capsule1Radiuses.add(capsule1->getRadius());
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capsule2Radiuses.add(capsule2->getRadius());
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capsule1Heights.add(capsule1->getHeight());
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capsule2Heights.add(capsule2->getHeight());
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shape1ToWorldTransforms.add(shape1Transform);
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shape2ToWorldTransforms.add(shape2Transform);
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overlappingPairs.add(pair);
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overlappingPairIds.add(pairId);
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contactPoints.add(List<ContactPointInfo*>(mMemoryAllocator));
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isColliding.add(false);
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// Add a collision info for the two collision shapes into the overlapping pair (if not present yet)
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LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId());
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LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairId, shape1->getId(), shape2->getId());
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lastFrameCollisionInfos.add(lastFrameInfo);
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}
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// Initialize the containers using cached capacity
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void CapsuleVsCapsuleNarrowPhaseInfoBatch::reserveMemory() {
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overlappingPairs.reserve(mCachedCapacity);
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overlappingPairIds.reserve(mCachedCapacity);
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proxyShapeEntities1.reserve(mCachedCapacity);
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proxyShapeEntities2.reserve(mCachedCapacity);
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shape1ToWorldTransforms.reserve(mCachedCapacity);
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shape2ToWorldTransforms.reserve(mCachedCapacity);
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lastFrameCollisionInfos.reserve(mCachedCapacity);
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@ -85,9 +90,11 @@ void CapsuleVsCapsuleNarrowPhaseInfoBatch::clear() {
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// allocated in the next frame at a possibly different location in memory (remember that the
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// location of the allocated memory of a single frame allocator might change between two frames)
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mCachedCapacity = overlappingPairs.size();
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mCachedCapacity = overlappingPairIds.size();
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overlappingPairs.clear(true);
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overlappingPairIds.clear(true);
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proxyShapeEntities1.clear(true);
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proxyShapeEntities2.clear(true);
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shape1ToWorldTransforms.clear(true);
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shape2ToWorldTransforms.clear(true);
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lastFrameCollisionInfos.clear(true);
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@ -55,13 +55,13 @@ struct CapsuleVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch {
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List<decimal> capsule2Heights;
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/// Constructor
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CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator);
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CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs);
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/// Destructor
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virtual ~CapsuleVsCapsuleNarrowPhaseInfoBatch() = default;
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/// Add shapes to be tested during narrow-phase collision detection into the batch
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virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1,
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virtual void addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1,
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CollisionShape* shape2, const Transform& shape1Transform,
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const Transform& shape2Transform);
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@ -200,6 +200,8 @@ void CollisionDispatch::fillInCollisionMatrix() {
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NarrowPhaseAlgorithmType CollisionDispatch::selectNarrowPhaseAlgorithm(const CollisionShapeType& shape1Type,
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const CollisionShapeType& shape2Type) const {
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RP3D_PROFILE("CollisionDispatch::selectNarrowPhaseAlgorithm()", mProfiler);
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uint shape1Index = static_cast<unsigned int>(shape1Type);
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uint shape2Index = static_cast<unsigned int>(shape2Type);
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@ -106,6 +106,13 @@ class CollisionDispatch {
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/// use between two types of collision shapes.
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NarrowPhaseAlgorithmType selectAlgorithm(int type1, int type2);
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#ifdef IS_PROFILING_ACTIVE
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/// Pointer to the profiler
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Profiler* mProfiler;
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#endif
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public:
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/// Constructor
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@ -201,6 +208,7 @@ inline ConvexPolyhedronVsConvexPolyhedronAlgorithm* CollisionDispatch::getConvex
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// Set the profiler
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inline void CollisionDispatch::setProfiler(Profiler* profiler) {
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mProfiler = profiler;
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mSphereVsSphereAlgorithm->setProfiler(profiler);
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mCapsuleVsCapsuleAlgorithm->setProfiler(profiler);
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mSphereVsCapsuleAlgorithm->setProfiler(profiler);
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@ -26,7 +26,7 @@
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// Libraries
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#include "GJKAlgorithm.h"
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#include "constraint/ContactPoint.h"
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#include "engine/OverlappingPair.h"
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#include "engine/OverlappingPairs.h"
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#include "collision/shapes/TriangleShape.h"
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#include "configuration.h"
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#include "utils/Profiler.h"
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@ -27,14 +27,15 @@
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#include "NarrowPhaseInfoBatch.h"
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#include "collision/ContactPointInfo.h"
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#include "collision/shapes/TriangleShape.h"
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#include "engine/OverlappingPair.h"
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#include "engine/OverlappingPairs.h"
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#include <iostream>
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using namespace reactphysics3d;
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// Constructor
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NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(MemoryAllocator& allocator)
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: mMemoryAllocator(allocator), overlappingPairs(allocator), collisionShapes1(allocator), collisionShapes2(allocator),
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NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs)
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: mMemoryAllocator(allocator), mOverlappingPairs(overlappingPairs), overlappingPairIds(allocator),
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proxyShapeEntities1(allocator), proxyShapeEntities2(allocator), collisionShapes1(allocator), collisionShapes2(allocator),
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shape1ToWorldTransforms(allocator), shape2ToWorldTransforms(allocator),
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isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator),
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lastFrameCollisionInfos(allocator) {
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@ -47,11 +48,13 @@ NarrowPhaseInfoBatch::~NarrowPhaseInfoBatch() {
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}
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// Add shapes to be tested during narrow-phase collision detection into the batch
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void NarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2,
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void NarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2,
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const Transform& shape1Transform, const Transform& shape2Transform,
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MemoryAllocator& shapeAllocator) {
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overlappingPairs.add(pair);
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overlappingPairIds.add(pairId);
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proxyShapeEntities1.add(proxyShape1);
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proxyShapeEntities2.add(proxyShape2);
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collisionShapes1.add(shape1);
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collisionShapes2.add(shape2);
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shape1ToWorldTransforms.add(shape1Transform);
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@ -61,7 +64,7 @@ void NarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionSh
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isColliding.add(false);
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// Add a collision info for the two collision shapes into the overlapping pair (if not present yet)
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LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId());
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LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairId, shape1->getId(), shape2->getId());
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lastFrameCollisionInfos.add(lastFrameInfo);
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}
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@ -72,7 +75,7 @@ void NarrowPhaseInfoBatch::addContactPoint(uint index, const Vector3& contactNor
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assert(penDepth > decimal(0.0));
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// Get the memory allocator
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MemoryAllocator& allocator = overlappingPairs[index]->getTemporaryAllocator();
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MemoryAllocator& allocator = mOverlappingPairs.getTemporaryAllocator();
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// Create the contact point info
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ContactPointInfo* contactPointInfo = new (allocator.allocate(sizeof(ContactPointInfo)))
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@ -86,7 +89,7 @@ void NarrowPhaseInfoBatch::addContactPoint(uint index, const Vector3& contactNor
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void NarrowPhaseInfoBatch::resetContactPoints(uint index) {
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// Get the memory allocator
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MemoryAllocator& allocator = overlappingPairs[index]->getTemporaryAllocator();
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MemoryAllocator& allocator = mOverlappingPairs.getTemporaryAllocator();
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// For each remaining contact point info
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for (uint i=0; i < contactPoints[index].size(); i++) {
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@ -106,7 +109,9 @@ void NarrowPhaseInfoBatch::resetContactPoints(uint index) {
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// Initialize the containers using cached capacity
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void NarrowPhaseInfoBatch::reserveMemory() {
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overlappingPairs.reserve(mCachedCapacity);
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overlappingPairIds.reserve(mCachedCapacity);
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proxyShapeEntities1.reserve(mCachedCapacity);
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proxyShapeEntities2.reserve(mCachedCapacity);
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collisionShapes1.reserve(mCachedCapacity);
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collisionShapes2.reserve(mCachedCapacity);
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shape1ToWorldTransforms.reserve(mCachedCapacity);
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@ -120,7 +125,7 @@ void NarrowPhaseInfoBatch::reserveMemory() {
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// Clear all the objects in the batch
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void NarrowPhaseInfoBatch::clear() {
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for (uint i=0; i < overlappingPairs.size(); i++) {
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for (uint i=0; i < overlappingPairIds.size(); i++) {
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assert(contactPoints[i].size() == 0);
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@ -141,9 +146,11 @@ void NarrowPhaseInfoBatch::clear() {
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// allocated in the next frame at a possibly different location in memory (remember that the
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// location of the allocated memory of a single frame allocator might change between two frames)
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mCachedCapacity = overlappingPairs.size();
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mCachedCapacity = overlappingPairIds.size();
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overlappingPairs.clear(true);
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overlappingPairIds.clear(true);
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proxyShapeEntities1.clear(true);
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proxyShapeEntities2.clear(true);
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collisionShapes1.clear(true);
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collisionShapes2.clear(true);
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shape1ToWorldTransforms.clear(true);
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@ -27,7 +27,7 @@
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#define REACTPHYSICS3D_NARROW_PHASE_INFO_BATCH_H
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// Libraries
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#include "engine/OverlappingPair.h"
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#include "engine/OverlappingPairs.h"
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/// Namespace ReactPhysics3D
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namespace reactphysics3d {
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@ -52,13 +52,22 @@ struct NarrowPhaseInfoBatch {
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/// Memory allocator
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MemoryAllocator& mMemoryAllocator;
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/// Reference to all the broad-phase overlapping pairs
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OverlappingPairs& mOverlappingPairs;
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/// Cached capacity
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uint mCachedCapacity = 0;
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public:
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/// List of Broadphase overlapping pairs
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List<OverlappingPair*> overlappingPairs;
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/// List of Broadphase overlapping pairs ids
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List<uint64> overlappingPairIds;
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/// List of pointers to the first proxy-shapes to test collision with
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List<Entity> proxyShapeEntities1;
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/// List of pointers to the second proxy-shapes to test collision with
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List<Entity> proxyShapeEntities2;
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/// List of pointers to the first collision shapes to test collision with
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List<CollisionShape*> collisionShapes1;
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@ -85,7 +94,7 @@ struct NarrowPhaseInfoBatch {
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List<LastFrameCollisionInfo*> lastFrameCollisionInfos;
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/// Constructor
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NarrowPhaseInfoBatch(MemoryAllocator& allocator);
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NarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs);
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/// Destructor
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virtual ~NarrowPhaseInfoBatch();
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@ -94,9 +103,9 @@ struct NarrowPhaseInfoBatch {
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uint getNbObjects() const;
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/// Add shapes to be tested during narrow-phase collision detection into the batch
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void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1,
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CollisionShape* shape2, const Transform& shape1Transform,
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const Transform& shape2Transform, MemoryAllocator& shapeAllocator);
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void addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1,
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CollisionShape* shape2, const Transform& shape1Transform,
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const Transform& shape2Transform, MemoryAllocator& shapeAllocator);
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/// Add a new contact point
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virtual void addContactPoint(uint index, const Vector3& contactNormal, decimal penDepth,
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@ -114,7 +123,7 @@ struct NarrowPhaseInfoBatch {
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/// Return the number of objects in the batch
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inline uint NarrowPhaseInfoBatch::getNbObjects() const {
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return overlappingPairs.size();
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return overlappingPairIds.size();
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}
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}
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@ -30,36 +30,37 @@
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using namespace reactphysics3d;
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/// Constructor
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NarrowPhaseInput::NarrowPhaseInput(MemoryAllocator& allocator)
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:mSphereVsSphereBatch(allocator), mSphereVsCapsuleBatch(allocator), mCapsuleVsCapsuleBatch(allocator),
|
||||
mSphereVsConvexPolyhedronBatch(allocator), mCapsuleVsConvexPolyhedronBatch(allocator),
|
||||
mConvexPolyhedronVsConvexPolyhedronBatch(allocator) {
|
||||
NarrowPhaseInput::NarrowPhaseInput(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs)
|
||||
:mSphereVsSphereBatch(allocator, overlappingPairs), mSphereVsCapsuleBatch(allocator, overlappingPairs),
|
||||
mCapsuleVsCapsuleBatch(allocator, overlappingPairs), mSphereVsConvexPolyhedronBatch(allocator, overlappingPairs),
|
||||
mCapsuleVsConvexPolyhedronBatch(allocator, overlappingPairs),
|
||||
mConvexPolyhedronVsConvexPolyhedronBatch(allocator, overlappingPairs) {
|
||||
|
||||
}
|
||||
|
||||
// Add shapes to be tested during narrow-phase collision detection into the batch
|
||||
void NarrowPhaseInput::addNarrowPhaseTest(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2,
|
||||
void NarrowPhaseInput::addNarrowPhaseTest(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2,
|
||||
const Transform& shape1Transform, const Transform& shape2Transform,
|
||||
NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, MemoryAllocator& shapeAllocator) {
|
||||
|
||||
switch (narrowPhaseAlgorithmType) {
|
||||
case NarrowPhaseAlgorithmType::SphereVsSphere:
|
||||
mSphereVsSphereBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform);
|
||||
mSphereVsSphereBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform);
|
||||
break;
|
||||
case NarrowPhaseAlgorithmType::SphereVsCapsule:
|
||||
mSphereVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform);
|
||||
mSphereVsCapsuleBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform);
|
||||
break;
|
||||
case NarrowPhaseAlgorithmType::CapsuleVsCapsule:
|
||||
mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform);
|
||||
mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform);
|
||||
break;
|
||||
case NarrowPhaseAlgorithmType::SphereVsConvexPolyhedron:
|
||||
mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
|
||||
mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
|
||||
break;
|
||||
case NarrowPhaseAlgorithmType::CapsuleVsConvexPolyhedron:
|
||||
mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
|
||||
mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
|
||||
break;
|
||||
case NarrowPhaseAlgorithmType::ConvexPolyhedronVsConvexPolyhedron:
|
||||
mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
|
||||
mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
|
||||
break;
|
||||
case NarrowPhaseAlgorithmType::None:
|
||||
// Must never happen
|
||||
|
|
|
|||
|
|
@ -64,10 +64,10 @@ class NarrowPhaseInput {
|
|||
public:
|
||||
|
||||
/// Constructor
|
||||
NarrowPhaseInput(MemoryAllocator& allocator);
|
||||
NarrowPhaseInput(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs);
|
||||
|
||||
/// Add shapes to be tested during narrow-phase collision detection into the batch
|
||||
void addNarrowPhaseTest(OverlappingPair* pair, CollisionShape* shape1,
|
||||
void addNarrowPhaseTest(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1,
|
||||
CollisionShape* shape2, const Transform& shape1Transform,
|
||||
const Transform& shape2Transform, NarrowPhaseAlgorithmType narrowPhaseAlgorithmType,
|
||||
MemoryAllocator& shapeAllocator);
|
||||
|
|
|
|||
|
|
@ -29,7 +29,7 @@
|
|||
#include "collision/PolyhedronMesh.h"
|
||||
#include "collision/shapes/CapsuleShape.h"
|
||||
#include "collision/shapes/SphereShape.h"
|
||||
#include "engine/OverlappingPair.h"
|
||||
#include "engine/OverlappingPairs.h"
|
||||
#include "collision/narrowphase/NarrowPhaseInfoBatch.h"
|
||||
#include "collision/shapes/TriangleShape.h"
|
||||
#include "configuration.h"
|
||||
|
|
|
|||
|
|
@ -31,14 +31,15 @@
|
|||
using namespace reactphysics3d;
|
||||
|
||||
// Constructor
|
||||
SphereVsCapsuleNarrowPhaseInfoBatch::SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator)
|
||||
: NarrowPhaseInfoBatch(allocator), isSpheresShape1(allocator), sphereRadiuses(allocator), capsuleRadiuses(allocator),
|
||||
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(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2,
|
||||
void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2,
|
||||
const Transform& shape1Transform, const Transform& shape2Transform) {
|
||||
|
||||
bool isSphereShape1 = shape1->getType() == CollisionShapeType::SPHERE;
|
||||
|
|
@ -55,19 +56,23 @@ void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pa
|
|||
capsuleHeights.add(capsuleShape->getHeight());
|
||||
shape1ToWorldTransforms.add(shape1Transform);
|
||||
shape2ToWorldTransforms.add(shape2Transform);
|
||||
overlappingPairs.add(pair);
|
||||
overlappingPairIds.add(pairId);
|
||||
proxyShapeEntities1.add(proxyShape1);
|
||||
proxyShapeEntities2.add(proxyShape2);
|
||||
contactPoints.add(List<ContactPointInfo*>(mMemoryAllocator));
|
||||
isColliding.add(false);
|
||||
|
||||
// Add a collision info for the two collision shapes into the overlapping pair (if not present yet)
|
||||
LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId());
|
||||
LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairId, shape1->getId(), shape2->getId());
|
||||
lastFrameCollisionInfos.add(lastFrameInfo);
|
||||
}
|
||||
|
||||
// Initialize the containers using cached capacity
|
||||
void SphereVsCapsuleNarrowPhaseInfoBatch::reserveMemory() {
|
||||
|
||||
overlappingPairs.reserve(mCachedCapacity);
|
||||
overlappingPairIds.reserve(mCachedCapacity);
|
||||
proxyShapeEntities1.reserve(mCachedCapacity);
|
||||
proxyShapeEntities2.reserve(mCachedCapacity);
|
||||
shape1ToWorldTransforms.reserve(mCachedCapacity);
|
||||
shape2ToWorldTransforms.reserve(mCachedCapacity);
|
||||
lastFrameCollisionInfos.reserve(mCachedCapacity);
|
||||
|
|
@ -88,9 +93,11 @@ void SphereVsCapsuleNarrowPhaseInfoBatch::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 = overlappingPairs.size();
|
||||
mCachedCapacity = overlappingPairIds.size();
|
||||
|
||||
overlappingPairs.clear(true);
|
||||
overlappingPairIds.clear(true);
|
||||
proxyShapeEntities1.clear(true);
|
||||
proxyShapeEntities2.clear(true);
|
||||
shape1ToWorldTransforms.clear(true);
|
||||
shape2ToWorldTransforms.clear(true);
|
||||
lastFrameCollisionInfos.clear(true);
|
||||
|
|
|
|||
|
|
@ -55,13 +55,13 @@ struct SphereVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch {
|
|||
List<decimal> capsuleHeights;
|
||||
|
||||
/// Constructor
|
||||
SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator);
|
||||
SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs);
|
||||
|
||||
/// Destructor
|
||||
virtual ~SphereVsCapsuleNarrowPhaseInfoBatch() = default;
|
||||
|
||||
/// Add shapes to be tested during narrow-phase collision detection into the batch
|
||||
virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1,
|
||||
virtual void addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1,
|
||||
CollisionShape* shape2, const Transform& shape1Transform,
|
||||
const Transform& shape2Transform);
|
||||
|
||||
|
|
|
|||
|
|
@ -30,13 +30,13 @@
|
|||
using namespace reactphysics3d;
|
||||
|
||||
// Constructor
|
||||
SphereVsSphereNarrowPhaseInfoBatch::SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator)
|
||||
: NarrowPhaseInfoBatch(allocator), sphere1Radiuses(allocator), sphere2Radiuses(allocator) {
|
||||
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(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2,
|
||||
void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2,
|
||||
const Transform& shape1Transform, const Transform& shape2Transform) {
|
||||
|
||||
assert(shape1->getType() == CollisionShapeType::SPHERE);
|
||||
|
|
@ -47,21 +47,25 @@ void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pai
|
|||
|
||||
sphere1Radiuses.add(sphere1->getRadius());
|
||||
sphere2Radiuses.add(sphere2->getRadius());
|
||||
proxyShapeEntities1.add(proxyShape1);
|
||||
proxyShapeEntities2.add(proxyShape2);
|
||||
shape1ToWorldTransforms.add(shape1Transform);
|
||||
shape2ToWorldTransforms.add(shape2Transform);
|
||||
overlappingPairs.add(pair);
|
||||
overlappingPairIds.add(pairId);
|
||||
contactPoints.add(List<ContactPointInfo*>(mMemoryAllocator));
|
||||
isColliding.add(false);
|
||||
|
||||
// Add a collision info for the two collision shapes into the overlapping pair (if not present yet)
|
||||
LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId());
|
||||
LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairId, shape1->getId(), shape2->getId());
|
||||
lastFrameCollisionInfos.add(lastFrameInfo);
|
||||
}
|
||||
|
||||
// Initialize the containers using cached capacity
|
||||
void SphereVsSphereNarrowPhaseInfoBatch::reserveMemory() {
|
||||
|
||||
overlappingPairs.reserve(mCachedCapacity);
|
||||
overlappingPairIds.reserve(mCachedCapacity);
|
||||
proxyShapeEntities1.reserve(mCachedCapacity);
|
||||
proxyShapeEntities2.reserve(mCachedCapacity);
|
||||
shape1ToWorldTransforms.reserve(mCachedCapacity);
|
||||
shape2ToWorldTransforms.reserve(mCachedCapacity);
|
||||
lastFrameCollisionInfos.reserve(mCachedCapacity);
|
||||
|
|
@ -80,9 +84,11 @@ void SphereVsSphereNarrowPhaseInfoBatch::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 = overlappingPairs.size();
|
||||
mCachedCapacity = overlappingPairIds.size();
|
||||
|
||||
overlappingPairs.clear(true);
|
||||
overlappingPairIds.clear(true);
|
||||
proxyShapeEntities1.clear(true);
|
||||
proxyShapeEntities2.clear(true);
|
||||
shape1ToWorldTransforms.clear(true);
|
||||
shape2ToWorldTransforms.clear(true);
|
||||
lastFrameCollisionInfos.clear(true);
|
||||
|
|
|
|||
|
|
@ -49,13 +49,13 @@ struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch {
|
|||
List<decimal> sphere2Radiuses;
|
||||
|
||||
/// Constructor
|
||||
SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator);
|
||||
SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs);
|
||||
|
||||
/// Destructor
|
||||
virtual ~SphereVsSphereNarrowPhaseInfoBatch() override = default;
|
||||
|
||||
/// Add shapes to be tested during narrow-phase collision detection into the batch
|
||||
virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1,
|
||||
virtual void addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1,
|
||||
CollisionShape* shape2, const Transform& shape1Transform,
|
||||
const Transform& shape2Transform);
|
||||
|
||||
|
|
|
|||
|
|
@ -29,6 +29,7 @@
|
|||
// Libraries
|
||||
#include <cassert>
|
||||
#include "configuration.h"
|
||||
#include "utils/Profiler.h"
|
||||
|
||||
/// ReactPhysics3D namespace
|
||||
namespace reactphysics3d {
|
||||
|
|
|
|||
|
|
@ -120,6 +120,8 @@ void ConcaveMeshShape::computeOverlappingTriangles(const AABB& localAABB, List<V
|
|||
List<Vector3>& triangleVerticesNormals, List<uint>& shapeIds,
|
||||
MemoryAllocator& allocator) const {
|
||||
|
||||
RP3D_PROFILE("ConcaveMeshShape::computeOverlappingTriangles()", mProfiler);
|
||||
|
||||
// Compute the nodes of the internal AABB tree that are overlapping with the AABB
|
||||
List<int> overlappingNodes(allocator);
|
||||
mDynamicAABBTree.reportAllShapesOverlappingWithAABB(localAABB, overlappingNodes);
|
||||
|
|
@ -181,6 +183,8 @@ bool ConcaveMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxySh
|
|||
// Compute the shape Id for a given triangle of the mesh
|
||||
uint ConcaveMeshShape::computeTriangleShapeId(uint subPart, uint triangleIndex) const {
|
||||
|
||||
RP3D_PROFILE("ConcaveMeshShape::computeTriangleShapeId()", mProfiler);
|
||||
|
||||
uint shapeId = 0;
|
||||
|
||||
uint i=0;
|
||||
|
|
|
|||
|
|
@ -95,6 +95,8 @@ void HeightFieldShape::computeOverlappingTriangles(const AABB& localAABB, List<V
|
|||
List<Vector3>& triangleVerticesNormals, List<uint>& shapeIds,
|
||||
MemoryAllocator& allocator) const {
|
||||
|
||||
RP3D_PROFILE("HeightFieldShape::computeOverlappingTriangles()", mProfiler);
|
||||
|
||||
// Compute the non-scaled AABB
|
||||
Vector3 inverseScaling(decimal(1.0) / mScaling.x, decimal(1.0) / mScaling.y, decimal(1.0) / mScaling.z);
|
||||
AABB aabb(localAABB.getMin() * inverseScaling, localAABB.getMax() * inverseScaling);
|
||||
|
|
|
|||
|
|
@ -49,6 +49,8 @@ SphereShape::SphereShape(decimal radius)
|
|||
*/
|
||||
void SphereShape::computeAABB(AABB& aabb, const Transform& transform) const {
|
||||
|
||||
RP3D_PROFILE("SphereShape::computeAABB()", mProfiler);
|
||||
|
||||
// Get the local extents in x,y and z direction
|
||||
Vector3 extents(mMargin, mMargin, mMargin);
|
||||
|
||||
|
|
|
|||
|
|
@ -221,6 +221,8 @@ Vector3 TriangleShape::computeSmoothLocalContactNormalForTriangle(const Vector3&
|
|||
*/
|
||||
void TriangleShape::computeAABB(AABB& aabb, const Transform& transform) const {
|
||||
|
||||
RP3D_PROFILE("TriangleShape::computeAABB()", mProfiler);
|
||||
|
||||
const Vector3 worldPoint1 = transform * mPoints[0];
|
||||
const Vector3 worldPoint2 = transform * mPoints[1];
|
||||
const Vector3 worldPoint3 = transform * mPoints[2];
|
||||
|
|
|
|||
|
|
@ -60,6 +60,8 @@ using int16 = std::int16_t;
|
|||
using uint16 = std::uint16_t;
|
||||
using int32 = std::int32_t;
|
||||
using uint32 = std::uint32_t;
|
||||
using int64 = std::int64_t;
|
||||
using uint64 = std::uint64_t;
|
||||
|
||||
// TODO : Delete this
|
||||
struct Entity;
|
||||
|
|
|
|||
|
|
@ -320,8 +320,7 @@ class List {
|
|||
return removeAt(it.mCurrentIndex);
|
||||
}
|
||||
|
||||
/// Remove an element from the list at a given index and return an
|
||||
/// iterator pointing to the element after the removed one (or end() if none)
|
||||
/// Remove an element from the list at a given index (all the following items will be moved)
|
||||
Iterator removeAt(uint index) {
|
||||
|
||||
assert(index >= 0 && index < mSize);
|
||||
|
|
@ -343,6 +342,27 @@ class List {
|
|||
return Iterator(mBuffer, index, mSize);
|
||||
}
|
||||
|
||||
/// Remove an element from the list at a given index (the deleted item will be replaced by the last one of the list)
|
||||
void removeAtAndReplaceWithLast(uint index) {
|
||||
|
||||
assert(index >= 0 && index < mSize);
|
||||
|
||||
// Call the destructor on the item to remove
|
||||
(static_cast<T*>(mBuffer)[index]).~T();
|
||||
|
||||
// If the item to remove is not the last one
|
||||
if (index < mSize - 1) {
|
||||
|
||||
// Copy the last item of the array to the location of the deleted item
|
||||
new (static_cast<char*>(mBuffer) + index * sizeof(T)) T(static_cast<T*>(mBuffer)[mSize - 1]);
|
||||
|
||||
// Call the destructor of the last item of the array
|
||||
(static_cast<T*>(mBuffer)[mSize - 1]).~T();
|
||||
}
|
||||
|
||||
mSize--;
|
||||
}
|
||||
|
||||
/// Append another list at the end of the current one
|
||||
void addRange(const List<T>& list) {
|
||||
|
||||
|
|
|
|||
|
|
@ -136,7 +136,7 @@ namespace std {
|
|||
|
||||
size_t operator()(const reactphysics3d::Entity& entity) const {
|
||||
|
||||
return entity.id;
|
||||
return std::hash<reactphysics3d::uint32>{}(entity.id);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,115 +0,0 @@
|
|||
/********************************************************************************
|
||||
* 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 <cassert>
|
||||
#include "OverlappingPair.h"
|
||||
#include "containers/containers_common.h"
|
||||
#include "collision/ContactPointInfo.h"
|
||||
|
||||
using namespace reactphysics3d;
|
||||
|
||||
// Constructor
|
||||
OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2,
|
||||
MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator,
|
||||
const WorldSettings& worldSettings)
|
||||
: mPairID(computeID(shape1->getBroadPhaseId(), shape2->getBroadPhaseId())), mProxyShape1(shape1->getEntity()), mProxyShape2(shape2->getEntity()),
|
||||
mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator),
|
||||
mLastFrameCollisionInfos(mPersistentAllocator), mWorldSettings(worldSettings), mNeedToTestOverlap(false) {
|
||||
|
||||
}
|
||||
|
||||
// Destructor
|
||||
OverlappingPair::~OverlappingPair() {
|
||||
|
||||
RP3D_PROFILE("OverlappingPair::~OverlappingPair()", mProfiler);
|
||||
|
||||
// Remove all the remaining last frame collision info
|
||||
for (auto it = mLastFrameCollisionInfos.begin(); it != mLastFrameCollisionInfos.end(); ++it) {
|
||||
|
||||
// Call the constructor
|
||||
it->second->~LastFrameCollisionInfo();
|
||||
|
||||
// Release memory
|
||||
mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo));
|
||||
}
|
||||
}
|
||||
|
||||
// Add a new last frame collision info if it does not exist for the given shapes already
|
||||
LastFrameCollisionInfo* OverlappingPair::addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2) {
|
||||
|
||||
RP3D_PROFILE("OverlappingPair::addLastFrameInfoIfNecessary()", mProfiler);
|
||||
|
||||
// Try to get the corresponding last frame collision info
|
||||
const ShapeIdPair shapeIdPair(shapeId1, shapeId2);
|
||||
auto it = mLastFrameCollisionInfos.find(shapeIdPair);
|
||||
|
||||
// If there is no collision info for those two shapes already
|
||||
if (it == mLastFrameCollisionInfos.end()) {
|
||||
|
||||
// Create a new collision info
|
||||
LastFrameCollisionInfo* collisionInfo = new (mPersistentAllocator.allocate(sizeof(LastFrameCollisionInfo)))
|
||||
LastFrameCollisionInfo();
|
||||
|
||||
// Add it into the map of collision infos
|
||||
mLastFrameCollisionInfos.add(Pair<ShapeIdPair, LastFrameCollisionInfo*>(shapeIdPair, 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 OverlappingPair::clearObsoleteLastFrameCollisionInfos() {
|
||||
|
||||
RP3D_PROFILE("OverlappingPair::clearObsoleteLastFrameCollisionInfos()", mProfiler);
|
||||
|
||||
// For each collision info
|
||||
for (auto it = mLastFrameCollisionInfos.begin(); it != mLastFrameCollisionInfos.end(); ) {
|
||||
|
||||
// If the collision info is obsolete
|
||||
if (it->second->isObsolete) {
|
||||
|
||||
// Delete it
|
||||
it->second->~LastFrameCollisionInfo();
|
||||
mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo));
|
||||
|
||||
it = mLastFrameCollisionInfos.remove(it);
|
||||
}
|
||||
else { // If the collision info is not obsolete
|
||||
|
||||
// Do not delete it but mark it as obsolete
|
||||
it->second->isObsolete = true;
|
||||
|
||||
++it;
|
||||
}
|
||||
}
|
||||
}
|
||||
267
src/engine/OverlappingPairs.cpp
Normal file
267
src/engine/OverlappingPairs.cpp
Normal file
|
|
@ -0,0 +1,267 @@
|
|||
/********************************************************************************
|
||||
* 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 <cassert>
|
||||
#include "OverlappingPairs.h"
|
||||
#include "containers/containers_common.h"
|
||||
#include "collision/ContactPointInfo.h"
|
||||
|
||||
using namespace reactphysics3d;
|
||||
|
||||
// Constructor
|
||||
OverlappingPairs::OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, ProxyShapeComponents& proxyShapeComponents)
|
||||
: mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator),
|
||||
mMapPairIdToPairIndex(persistentMemoryAllocator),
|
||||
mConvexPairIds(mPersistentAllocator), mConvexProxyShapes1(mPersistentAllocator), mConvexProxyShapes2(mPersistentAllocator),
|
||||
mConcavePairIds(mPersistentAllocator), mConcaveProxyShapes1(mPersistentAllocator), mConcaveProxyShapes2(mPersistentAllocator),
|
||||
mConvexLastFrameCollisionInfos(mPersistentAllocator), mConcaveLastFrameCollisionInfos(mPersistentAllocator),
|
||||
mConvexNeedToTestOverlap(mPersistentAllocator), mConcaveNeedToTestOverlap(mPersistentAllocator),
|
||||
mProxyShapeComponents(proxyShapeComponents) {
|
||||
|
||||
}
|
||||
|
||||
// Destructor
|
||||
OverlappingPairs::~OverlappingPairs() {
|
||||
|
||||
}
|
||||
|
||||
/// Add an overlapping pair
|
||||
uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2) {
|
||||
|
||||
// TODO : Maybe use entities in parameters
|
||||
|
||||
const CollisionShape* collisionShape1 = mProxyShapeComponents.getCollisionShape(shape1->getEntity());
|
||||
const CollisionShape* collisionShape2 = mProxyShapeComponents.getCollisionShape(shape2->getEntity());
|
||||
|
||||
const uint32 shape1Id = static_cast<uint32>(shape1->getBroadPhaseId());
|
||||
const uint32 shape2Id = static_cast<uint32>(shape2->getBroadPhaseId());
|
||||
|
||||
// Compute a unique id for the overlapping pair
|
||||
const uint64 pairId = pairNumbers(std::max(shape1Id, shape2Id), std::min(shape1Id, shape2Id));
|
||||
|
||||
// If both shapes are convex
|
||||
if (collisionShape1->isConvex() && collisionShape2->isConvex()) {
|
||||
|
||||
const uint nbConvexPairs = static_cast<uint>(mConvexPairIds.size());
|
||||
|
||||
mConvexPairIds.add(pairId);
|
||||
mConvexProxyShapes1.add(shape1->getEntity());
|
||||
mConvexProxyShapes2.add(shape2->getEntity());
|
||||
mConvexNeedToTestOverlap.add(false);
|
||||
|
||||
// TODO: Make sure we use the correct allocator here
|
||||
mConvexLastFrameCollisionInfos.add(Map<ShapeIdPair, LastFrameCollisionInfo*>(mPersistentAllocator));
|
||||
|
||||
// Add a mapping to the index in the internal arrays
|
||||
mMapPairIdToPairIndex.add(Pair<uint64, PairLocation>(pairId, PairLocation(true, nbConvexPairs)));
|
||||
}
|
||||
else {
|
||||
|
||||
const uint nbConcavePairs = static_cast<uint>(mConcavePairIds.size());
|
||||
|
||||
mConcavePairIds.add(pairId);
|
||||
mConcaveProxyShapes1.add(shape1->getEntity());
|
||||
mConcaveProxyShapes2.add(shape2->getEntity());
|
||||
mConcaveNeedToTestOverlap.add(true);
|
||||
|
||||
// TODO: Make sure we use the correct allocator here
|
||||
mConcaveLastFrameCollisionInfos.add(Map<ShapeIdPair, LastFrameCollisionInfo*>(mPersistentAllocator));
|
||||
|
||||
// Add a mapping to the index in the internal arrays
|
||||
mMapPairIdToPairIndex.add(Pair<uint64, PairLocation>(pairId, PairLocation(false, nbConcavePairs)));
|
||||
}
|
||||
|
||||
return pairId;
|
||||
}
|
||||
|
||||
// Remove an overlapping pair
|
||||
uint64 OverlappingPairs::removePair(uint64 pairId) {
|
||||
|
||||
RP3D_PROFILE("OverlappingPairs::removePair()", mProfiler);
|
||||
|
||||
assert(mMapPairIdToPairIndex.containsKey(pairId));
|
||||
|
||||
const PairLocation& pairLocation = mMapPairIdToPairIndex[pairId];
|
||||
|
||||
if (pairLocation.isConvexVsConvex) {
|
||||
|
||||
assert(pairLocation.pairIndex < mConvexPairIds.size());
|
||||
|
||||
const uint64 lastPairId = mConvexPairIds[mConvexPairIds.size() - 1];
|
||||
const PairLocation lastPairLocation = mMapPairIdToPairIndex[lastPairId];
|
||||
|
||||
// Remap the last pair location
|
||||
if (pairLocation.pairIndex < mConvexPairIds.size() - 1) {
|
||||
mMapPairIdToPairIndex[lastPairId] = PairLocation(lastPairLocation.isConvexVsConvex, pairLocation.pairIndex);
|
||||
}
|
||||
|
||||
// Remove the pair (the pair is replaced by the last one of the lists)
|
||||
mConvexPairIds.removeAtAndReplaceWithLast(pairLocation.pairIndex);
|
||||
mConvexProxyShapes1.removeAtAndReplaceWithLast(pairLocation.pairIndex);
|
||||
mConvexProxyShapes2.removeAtAndReplaceWithLast(pairLocation.pairIndex);
|
||||
mConvexNeedToTestOverlap.removeAtAndReplaceWithLast(pairLocation.pairIndex);
|
||||
}
|
||||
else {
|
||||
|
||||
assert(pairLocation.pairIndex < mConcavePairIds.size());
|
||||
|
||||
const uint64 lastPairId = mConcavePairIds[mConcavePairIds.size() - 1];
|
||||
const PairLocation lastPairLocation = mMapPairIdToPairIndex[lastPairId];
|
||||
|
||||
// Remap the last pair location
|
||||
if (pairLocation.pairIndex < mConcavePairIds.size() - 1) {
|
||||
mMapPairIdToPairIndex[lastPairId] = PairLocation(lastPairLocation.isConvexVsConvex, pairLocation.pairIndex);
|
||||
}
|
||||
|
||||
// Remove the pair (the pair is replaced by the last one of the lists)
|
||||
mConcavePairIds.removeAtAndReplaceWithLast(pairLocation.pairIndex);
|
||||
mConcaveProxyShapes1.removeAtAndReplaceWithLast(pairLocation.pairIndex);
|
||||
mConcaveProxyShapes2.removeAtAndReplaceWithLast(pairLocation.pairIndex);
|
||||
mConcaveNeedToTestOverlap.removeAtAndReplaceWithLast(pairLocation.pairIndex);
|
||||
}
|
||||
|
||||
mMapPairIdToPairIndex.remove(pairId);
|
||||
|
||||
List<Map<ShapeIdPair, LastFrameCollisionInfo*>>& lastFrameCollisionInfos = pairLocation.isConvexVsConvex ?
|
||||
mConvexLastFrameCollisionInfos : mConcaveLastFrameCollisionInfos;
|
||||
|
||||
// Remove all the remaining last frame collision info
|
||||
for (auto it = lastFrameCollisionInfos[pairLocation.pairIndex].begin(); it != lastFrameCollisionInfos[pairLocation.pairIndex].end(); ++it) {
|
||||
|
||||
// Call the constructor
|
||||
it->second->~LastFrameCollisionInfo();
|
||||
|
||||
// Release memory
|
||||
mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo));
|
||||
}
|
||||
|
||||
lastFrameCollisionInfos.removeAtAndReplaceWithLast(pairLocation.pairIndex);
|
||||
}
|
||||
|
||||
// Try to find a pair with a given id, return true if the pair is found and the corresponding PairLocation
|
||||
bool OverlappingPairs::findPair(uint64 pairId, PairLocation& pairLocation) {
|
||||
|
||||
auto it = mMapPairIdToPairIndex.find(pairId);
|
||||
if (it != mMapPairIdToPairIndex.end()) {
|
||||
pairLocation = it->second;
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
// Add a new last frame collision info if it does not exist for the given shapes already
|
||||
LastFrameCollisionInfo* OverlappingPairs::addLastFrameInfoIfNecessary(uint64 pairId, uint shapeId1, uint shapeId2) {
|
||||
|
||||
RP3D_PROFILE("OverlappingPairs::addLastFrameInfoIfNecessary()", mProfiler);
|
||||
|
||||
assert(mMapPairIdToPairIndex.containsKey(pairId));
|
||||
|
||||
PairLocation& pairLocation = mMapPairIdToPairIndex[pairId];
|
||||
List<Map<ShapeIdPair, LastFrameCollisionInfo*>>& lastFrameCollisionInfos = pairLocation.isConvexVsConvex ?
|
||||
mConvexLastFrameCollisionInfos : mConcaveLastFrameCollisionInfos;
|
||||
|
||||
// Try to get the corresponding last frame collision info
|
||||
const ShapeIdPair shapeIdPair(shapeId1, shapeId2);
|
||||
// TODO : Remove test
|
||||
auto it = lastFrameCollisionInfos[pairLocation.pairIndex].find(shapeIdPair);
|
||||
|
||||
// If there is no collision info for those two shapes already
|
||||
if (it == lastFrameCollisionInfos[pairLocation.pairIndex].end()) {
|
||||
|
||||
// Create a new collision info
|
||||
LastFrameCollisionInfo* collisionInfo = new (mPersistentAllocator.allocate(sizeof(LastFrameCollisionInfo)))
|
||||
LastFrameCollisionInfo();
|
||||
|
||||
// Add it into the map of collision infos
|
||||
lastFrameCollisionInfos[pairLocation.pairIndex].add(Pair<ShapeIdPair, LastFrameCollisionInfo*>(shapeIdPair, 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 convex vs convex overlapping pair
|
||||
for (uint p=0; p < mConvexLastFrameCollisionInfos.size(); p++) {
|
||||
|
||||
// For each collision info
|
||||
for (auto it = mConvexLastFrameCollisionInfos[p].begin(); it != mConvexLastFrameCollisionInfos[p].end(); ) {
|
||||
|
||||
// If the collision info is obsolete
|
||||
if (it->second->isObsolete) {
|
||||
|
||||
// Delete it
|
||||
it->second->~LastFrameCollisionInfo();
|
||||
mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo));
|
||||
|
||||
it = mConvexLastFrameCollisionInfos[p].remove(it);
|
||||
}
|
||||
else { // If the collision info is not obsolete
|
||||
|
||||
// Do not delete it but mark it as obsolete
|
||||
it->second->isObsolete = true;
|
||||
|
||||
++it;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// For each convex vs concave overlapping pair
|
||||
for (uint p=0; p < mConcaveLastFrameCollisionInfos.size(); p++) {
|
||||
|
||||
// For each collision info
|
||||
for (auto it = mConcaveLastFrameCollisionInfos[p].begin(); it != mConcaveLastFrameCollisionInfos[p].end(); ) {
|
||||
|
||||
// If the collision info is obsolete
|
||||
if (it->second->isObsolete) {
|
||||
|
||||
// Delete it
|
||||
it->second->~LastFrameCollisionInfo();
|
||||
mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo));
|
||||
|
||||
it = mConcaveLastFrameCollisionInfos[p].remove(it);
|
||||
}
|
||||
else { // If the collision info is not obsolete
|
||||
|
||||
// Do not delete it but mark it as obsolete
|
||||
it->second->isObsolete = true;
|
||||
|
||||
++it;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -32,6 +32,7 @@
|
|||
#include "containers/Pair.h"
|
||||
#include "containers/containers_common.h"
|
||||
#include "utils/Profiler.h"
|
||||
#include "components/ProxyShapeComponents.h"
|
||||
#include <cstddef>
|
||||
|
||||
/// ReactPhysics3D namespace
|
||||
|
|
@ -88,52 +89,97 @@ struct LastFrameCollisionInfo {
|
|||
}
|
||||
};
|
||||
|
||||
// Class OverlappingPair
|
||||
// Class OverlappingPairs
|
||||
/**
|
||||
* This class represents a pair of two proxy collision shapes that are overlapping
|
||||
* during the broad-phase collision detection. It is created when
|
||||
* This class contains pairs of two proxy collision shapes that are overlapping
|
||||
* during the broad-phase collision detection. A pair is created when
|
||||
* the two proxy collision shapes start to overlap and is destroyed when they do not
|
||||
* overlap anymore. This class contains a contact manifold that
|
||||
* overlap anymore. Each contains a contact manifold that
|
||||
* store all the contact points between the two bodies.
|
||||
*/
|
||||
class OverlappingPair {
|
||||
class OverlappingPairs {
|
||||
|
||||
public:
|
||||
|
||||
using OverlappingPairId = Pair<uint, uint>;
|
||||
// TODO : Try to use a pairing function like pairNumbers() here
|
||||
using ShapeIdPair = Pair<uint, uint>;
|
||||
|
||||
private:
|
||||
|
||||
/// Structure PairLocation
|
||||
struct PairLocation {
|
||||
|
||||
/// True if the pair is a convex vs convex overlap
|
||||
bool isConvexVsConvex;
|
||||
|
||||
/// Index of the overlapping pair in the internal arrays
|
||||
uint32 pairIndex;
|
||||
|
||||
/// Constructor
|
||||
PairLocation() :isConvexVsConvex(true), pairIndex(0) {
|
||||
|
||||
}
|
||||
|
||||
/// Constructor
|
||||
PairLocation(bool isConvexVsConvex, uint32 index)
|
||||
:isConvexVsConvex(isConvexVsConvex), pairIndex(index) {
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
// -------------------- Attributes -------------------- //
|
||||
|
||||
/// Pair ID
|
||||
OverlappingPairId mPairID;
|
||||
|
||||
/// Entity of the first proxy-shape of the overlapping pair
|
||||
Entity mProxyShape1;
|
||||
|
||||
/// Entity of the second proxy-shape of the overlapping pair
|
||||
Entity mProxyShape2;
|
||||
|
||||
/// Persistent memory allocator
|
||||
MemoryAllocator& mPersistentAllocator;
|
||||
|
||||
/// Memory allocator used to allocated memory for the ContactManifoldInfo and ContactPointInfo
|
||||
MemoryAllocator& mTempMemoryAllocator;
|
||||
|
||||
/// Map a pair id to its local location
|
||||
Map<uint64, PairLocation> mMapPairIdToPairIndex;
|
||||
|
||||
/// Ids of the convex vs convex pairs
|
||||
// TODO : Check if we need this array
|
||||
List<uint64> mConvexPairIds;
|
||||
|
||||
/// List of Entity of the first proxy-shape of the convex vs convex pairs
|
||||
List<Entity> mConvexProxyShapes1;
|
||||
|
||||
/// List of Entity of the second proxy-shape of the convex vs convex pairs
|
||||
List<Entity> mConvexProxyShapes2;
|
||||
|
||||
/// Ids of the convex vs concave pairs
|
||||
// TODO : Check if we need this array
|
||||
List<uint64> mConcavePairIds;
|
||||
|
||||
/// List of Entity of the first proxy-shape of the convex vs concave pairs
|
||||
List<Entity> mConcaveProxyShapes1;
|
||||
|
||||
/// List of Entity of the second proxy-shape of the convex vs concave pairs
|
||||
List<Entity> mConcaveProxyShapes2;
|
||||
|
||||
/// 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<ShapeIdPair, LastFrameCollisionInfo*> mLastFrameCollisionInfos;
|
||||
List<Map<ShapeIdPair, LastFrameCollisionInfo*>> mConvexLastFrameCollisionInfos;
|
||||
|
||||
/// World settings
|
||||
const WorldSettings& mWorldSettings;
|
||||
/// 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.
|
||||
List<Map<ShapeIdPair, LastFrameCollisionInfo*>> mConcaveLastFrameCollisionInfos;
|
||||
|
||||
/// True if we need to test if the overlapping pair of shapes still overlap
|
||||
bool mNeedToTestOverlap;
|
||||
/// True if we need to test if the convex vs convex overlapping pairs of shapes still overlap
|
||||
List<bool> mConvexNeedToTestOverlap;
|
||||
|
||||
/// True if we need to test if the convex vs convex overlapping pairs of shapes still overlap
|
||||
List<bool> mConcaveNeedToTestOverlap;
|
||||
|
||||
/// Reference to the proxy-shapes components
|
||||
ProxyShapeComponents& mProxyShapeComponents;
|
||||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
|
||||
|
|
@ -147,51 +193,45 @@ class OverlappingPair {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
OverlappingPair(ProxyShape* shape1, ProxyShape* shape2, MemoryAllocator& persistentMemoryAllocator,
|
||||
MemoryAllocator& temporaryMemoryAllocator, const WorldSettings& worldSettings);
|
||||
OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator,
|
||||
ProxyShapeComponents& proxyShapeComponents);
|
||||
|
||||
/// Destructor
|
||||
~OverlappingPair();
|
||||
~OverlappingPairs();
|
||||
|
||||
/// Deleted copy-constructor
|
||||
OverlappingPair(const OverlappingPair& pair) = delete;
|
||||
OverlappingPairs(const OverlappingPairs& pair) = delete;
|
||||
|
||||
/// Deleted assignment operator
|
||||
OverlappingPair& operator=(const OverlappingPair& pair) = delete;
|
||||
OverlappingPairs& operator=(const OverlappingPairs& pair) = delete;
|
||||
|
||||
/// Return the Id of the pair
|
||||
OverlappingPairId getId() const;
|
||||
/// Add an overlapping pair
|
||||
uint64 addPair(ProxyShape* shape1, ProxyShape* shape2);
|
||||
|
||||
/// Remove an overlapping pair
|
||||
uint64 removePair(uint64 pairId);
|
||||
|
||||
/// Try to find a pair with a given id, return true if the pair is found and the corresponding PairLocation
|
||||
bool findPair(uint64 pairId, PairLocation& pairLocation);
|
||||
|
||||
/// Return the entity of the first proxy-shape
|
||||
Entity getProxyShape1() const;
|
||||
Entity getProxyShape1(uint64 pairId) const;
|
||||
|
||||
/// Return the entity of the second proxy-shape
|
||||
Entity getProxyShape2() const;
|
||||
Entity getProxyShape2(uint64 pairId) const;
|
||||
|
||||
/// Return the last frame collision info
|
||||
LastFrameCollisionInfo* getLastFrameCollisionInfo(ShapeIdPair& shapeIds);
|
||||
LastFrameCollisionInfo* getLastFrameCollisionInfo(uint64, ShapeIdPair& shapeIds);
|
||||
|
||||
/// Return a reference to the temporary memory allocator
|
||||
MemoryAllocator& getTemporaryAllocator();
|
||||
|
||||
/// Return true if we need to test if the overlapping pair of shapes still overlap
|
||||
bool needToTestOverlap() const;
|
||||
|
||||
/// Set to true if we need to test if the overlapping pair of shapes still overlap
|
||||
void setNeedToTestOverlap(bool needToTestOverlap);
|
||||
|
||||
/// Add a new last frame collision info if it does not exist for the given shapes already
|
||||
LastFrameCollisionInfo* addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2);
|
||||
|
||||
/// Return the last frame collision info for a given pair of shape ids
|
||||
LastFrameCollisionInfo* getLastFrameCollisionInfo(uint shapeId1, uint shapeId2) const;
|
||||
LastFrameCollisionInfo* addLastFrameInfoIfNecessary(uint64 pairId, uint shapeId1, uint shapeId2);
|
||||
|
||||
/// Delete all the obsolete last frame collision info
|
||||
void clearObsoleteLastFrameCollisionInfos();
|
||||
|
||||
/// Return the pair of bodies index
|
||||
static OverlappingPairId computeID(int shape1BroadPhaseId, int shape2BroadPhaseId);
|
||||
|
||||
/// Return the pair of bodies index of the pair
|
||||
static bodypair computeBodiesIndexPair(Entity body1Entity, Entity body2Entity);
|
||||
|
||||
|
|
@ -205,27 +245,35 @@ class OverlappingPair {
|
|||
// -------------------- Friendship -------------------- //
|
||||
|
||||
friend class DynamicsWorld;
|
||||
friend class CollisionDetectionSystem;
|
||||
};
|
||||
|
||||
// Return the Id of the pair
|
||||
inline OverlappingPair::OverlappingPairId OverlappingPair::getId() const {
|
||||
return mPairID;
|
||||
}
|
||||
|
||||
// Return the entity of the first proxy-shape
|
||||
inline Entity OverlappingPair::getProxyShape1() const {
|
||||
return mProxyShape1;
|
||||
inline Entity OverlappingPairs::getProxyShape1(uint64 pairId) const {
|
||||
assert(mMapPairIdToPairIndex.containsKey(pairId));
|
||||
const PairLocation& pairLocation = mMapPairIdToPairIndex[pairId];
|
||||
const List<Entity> proxyShapes1 = pairLocation.isConvexVsConvex ? mConvexProxyShapes1 : mConcaveProxyShapes1;
|
||||
return proxyShapes1[pairLocation.pairIndex];
|
||||
}
|
||||
|
||||
// Return the entity of the second proxy-shape
|
||||
inline Entity OverlappingPair::getProxyShape2() const {
|
||||
return mProxyShape2;
|
||||
}
|
||||
inline Entity OverlappingPairs::getProxyShape2(uint64 pairId) const {
|
||||
assert(mMapPairIdToPairIndex.containsKey(pairId));
|
||||
const PairLocation& pairLocation = mMapPairIdToPairIndex[pairId];
|
||||
const List<Entity> proxyShapes2 = pairLocation.isConvexVsConvex ? mConvexProxyShapes2 : mConcaveProxyShapes2;
|
||||
return proxyShapes2[pairLocation.pairIndex];
|
||||
}
|
||||
|
||||
// Return the last frame collision info for a given shape id or nullptr if none is found
|
||||
inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(ShapeIdPair& shapeIds) {
|
||||
Map<ShapeIdPair, LastFrameCollisionInfo*>::Iterator it = mLastFrameCollisionInfos.find(shapeIds);
|
||||
if (it != mLastFrameCollisionInfos.end()) {
|
||||
inline LastFrameCollisionInfo* OverlappingPairs::getLastFrameCollisionInfo(uint64 pairId, ShapeIdPair& shapeIds) {
|
||||
|
||||
assert(mMapPairIdToPairIndex.containsKey(pairId));
|
||||
const PairLocation& pairLocation = mMapPairIdToPairIndex[pairId];
|
||||
const List<Map<ShapeIdPair, LastFrameCollisionInfo*>>& lastFrameCollisionInfos = pairLocation.isConvexVsConvex ?
|
||||
mConvexLastFrameCollisionInfos : mConcaveLastFrameCollisionInfos;
|
||||
|
||||
Map<ShapeIdPair, LastFrameCollisionInfo*>::Iterator it = lastFrameCollisionInfos[pairLocation.pairIndex].find(shapeIds);
|
||||
if (it != lastFrameCollisionInfos[pairLocation.pairIndex].end()) {
|
||||
return it->second;
|
||||
}
|
||||
|
||||
|
|
@ -233,19 +281,7 @@ inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(ShapeI
|
|||
}
|
||||
|
||||
// Return the pair of bodies index
|
||||
inline OverlappingPair::OverlappingPairId OverlappingPair::computeID(int shape1BroadPhaseId, int shape2BroadPhaseId) {
|
||||
assert(shape1BroadPhaseId >= 0 && shape2BroadPhaseId >= 0);
|
||||
|
||||
// Construct the pair of body index
|
||||
OverlappingPairId pairID = shape1BroadPhaseId < shape2BroadPhaseId ?
|
||||
OverlappingPairId(shape1BroadPhaseId, shape2BroadPhaseId) :
|
||||
OverlappingPairId(shape2BroadPhaseId, shape1BroadPhaseId);
|
||||
assert(pairID.first != pairID.second);
|
||||
return pairID;
|
||||
}
|
||||
|
||||
// Return the pair of bodies index
|
||||
inline bodypair OverlappingPair::computeBodiesIndexPair(Entity body1Entity, Entity body2Entity) {
|
||||
inline bodypair OverlappingPairs::computeBodiesIndexPair(Entity body1Entity, Entity body2Entity) {
|
||||
|
||||
// Construct the pair of body index
|
||||
bodypair indexPair = body1Entity.id < body2Entity.id ?
|
||||
|
|
@ -256,29 +292,14 @@ inline bodypair OverlappingPair::computeBodiesIndexPair(Entity body1Entity, Enti
|
|||
}
|
||||
|
||||
// Return a reference to the temporary memory allocator
|
||||
inline MemoryAllocator& OverlappingPair::getTemporaryAllocator() {
|
||||
inline MemoryAllocator& OverlappingPairs::getTemporaryAllocator() {
|
||||
return mTempMemoryAllocator;
|
||||
}
|
||||
|
||||
// Return true if we need to test if the overlapping pair of shapes still overlap
|
||||
inline bool OverlappingPair::needToTestOverlap() const {
|
||||
return mNeedToTestOverlap;
|
||||
}
|
||||
|
||||
// Set to true if we need to test if the overlapping pair of shapes still overlap
|
||||
inline void OverlappingPair::setNeedToTestOverlap(bool needToTestOverlap) {
|
||||
mNeedToTestOverlap = needToTestOverlap;
|
||||
}
|
||||
|
||||
// Return the last frame collision info for a given pair of shape ids
|
||||
inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(uint shapeId1, uint shapeId2) const {
|
||||
return mLastFrameCollisionInfos[ShapeIdPair(shapeId1, shapeId2)];
|
||||
}
|
||||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
|
||||
// Set the profiler
|
||||
inline void OverlappingPair::setProfiler(Profiler* profiler) {
|
||||
inline void OverlappingPairs::setProfiler(Profiler* profiler) {
|
||||
mProfiler = profiler;
|
||||
}
|
||||
|
||||
|
|
@ -404,4 +404,12 @@ bool reactphysics3d::isPrimeNumber(int number) {
|
|||
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;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -129,6 +129,12 @@ decimal computePointToPlaneDistance(const Vector3& point, const Vector3& planeNo
|
|||
/// Return true if the given number is prime
|
||||
bool isPrimeNumber(int 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);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -55,10 +55,10 @@ CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ProxyS
|
|||
RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager)
|
||||
: mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents),
|
||||
mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world),
|
||||
mOverlappingPairs(mMemoryManager.getPoolAllocator()),
|
||||
mOverlappingPairs(mMemoryManager.getPoolAllocator(), mMemoryManager.getSingleFrameAllocator(), mProxyShapesComponents),
|
||||
mBroadPhaseSystem(*this, mProxyShapesComponents, transformComponents, rigidBodyComponents),
|
||||
mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mMapBroadPhaseIdToProxyShapeEntity(memoryManager.getPoolAllocator()),
|
||||
mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()), mPotentialContactPoints(mMemoryManager.getSingleFrameAllocator()),
|
||||
mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator(), mOverlappingPairs), mPotentialContactPoints(mMemoryManager.getSingleFrameAllocator()),
|
||||
// TODO : We should probably use single frame allocator for mPotentialContactPoints, mPotentialContactManifolds, mMapPairIdToOverlappingPairContacts
|
||||
mPotentialContactManifolds(mMemoryManager.getSingleFrameAllocator()), mContactPairs1(mMemoryManager.getPoolAllocator()),
|
||||
mContactPairs2(mMemoryManager.getPoolAllocator()), mPreviousContactPairs(&mContactPairs1), mCurrentContactPairs(&mContactPairs2),
|
||||
|
|
@ -74,6 +74,7 @@ CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ProxyS
|
|||
|
||||
mProfiler = nullptr;
|
||||
mCollisionDispatch.setProfiler(mProfiler);
|
||||
mOverlappingPairs.setProfiler(mProfiler);
|
||||
|
||||
#endif
|
||||
|
||||
|
|
@ -119,9 +120,14 @@ void CollisionDetectionSystem::resetNeedToTestOverlap() {
|
|||
|
||||
RP3D_PROFILE("CollisionDetectionSystem::resetNeedToTestOverlap()", mProfiler);
|
||||
|
||||
// For each possible collision pair of bodies
|
||||
for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
|
||||
it->second->setNeedToTestOverlap(true);
|
||||
// For each possible convex vs convex collision pair of bodies
|
||||
for (uint i=0; i < mOverlappingPairs.mConvexNeedToTestOverlap.size(); i++) {
|
||||
mOverlappingPairs.mConvexNeedToTestOverlap[i] = true;
|
||||
}
|
||||
|
||||
// For each possible convex vs concave collision pair of bodies
|
||||
for (uint i=0; i < mOverlappingPairs.mConcaveNeedToTestOverlap.size(); i++) {
|
||||
mOverlappingPairs.mConcaveNeedToTestOverlap[i] = true;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -130,25 +136,29 @@ void CollisionDetectionSystem::removeNonOverlappingPairs() {
|
|||
|
||||
RP3D_PROFILE("CollisionDetectionSystem::removeNonOverlappingPairs()", mProfiler);
|
||||
|
||||
// For each possible collision pair of bodies
|
||||
for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) {
|
||||
|
||||
OverlappingPair* pair = it->second;
|
||||
// For each possible convex vs convex pair of bodies
|
||||
for (uint i=0; i < mOverlappingPairs.mConvexPairIds.size(); 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 (pair->needToTestOverlap() &&
|
||||
!mBroadPhaseSystem.testOverlappingShapes(pair->getProxyShape1(), pair->getProxyShape2())) {
|
||||
if (mOverlappingPairs.mConvexNeedToTestOverlap[i] &&
|
||||
!mBroadPhaseSystem.testOverlappingShapes(mOverlappingPairs.mConvexProxyShapes1[i], mOverlappingPairs.mConvexProxyShapes2[i])) {
|
||||
|
||||
// Destroy the overlapping pair
|
||||
pair->~OverlappingPair();
|
||||
|
||||
mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair));
|
||||
it = mOverlappingPairs.remove(it);
|
||||
continue;
|
||||
mOverlappingPairs.removePair(mOverlappingPairs.mConvexPairIds[i]);
|
||||
i--;
|
||||
}
|
||||
else {
|
||||
++it;
|
||||
}
|
||||
|
||||
// For each possible convex vs concave pair of bodies
|
||||
for (uint i=0; i < mOverlappingPairs.mConcavePairIds.size(); 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.mConcaveNeedToTestOverlap[i] &&
|
||||
!mBroadPhaseSystem.testOverlappingShapes(mOverlappingPairs.mConcaveProxyShapes1[i], mOverlappingPairs.mConcaveProxyShapes2[i])) {
|
||||
|
||||
mOverlappingPairs.removePair(mOverlappingPairs.mConcavePairIds[i]);
|
||||
i--;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -181,11 +191,11 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List<Pair<int, int>>
|
|||
if (body1Entity != body2Entity) {
|
||||
|
||||
// Compute the overlapping pair ID
|
||||
Pair<uint, uint> pairID = OverlappingPair::computeID(nodePair.first, nodePair.second);
|
||||
const uint64 pairId = pairNumbers(std::max(nodePair.first, nodePair.second), std::min(nodePair.first, nodePair.second));
|
||||
|
||||
// Check if the overlapping pair already exists
|
||||
auto itPair = mOverlappingPairs.find(pairID);
|
||||
if (itPair == mOverlappingPairs.end()) {
|
||||
OverlappingPairs::PairLocation pairLocation;
|
||||
if (!mOverlappingPairs.findPair(pairId, pairLocation)) {
|
||||
|
||||
unsigned short shape1CollideWithMaskBits = mProxyShapesComponents.getCollideWithMaskBits(proxyShape1Entity);
|
||||
unsigned short shape2CollideWithMaskBits = mProxyShapesComponents.getCollideWithMaskBits(proxyShape2Entity);
|
||||
|
|
@ -200,26 +210,21 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List<Pair<int, int>>
|
|||
ProxyShape* shape1 = mProxyShapesComponents.getProxyShape(proxyShape1Entity);
|
||||
ProxyShape* shape2 = mProxyShapesComponents.getProxyShape(proxyShape2Entity);
|
||||
|
||||
// Create the overlapping pair and add it into the set of overlapping pairs
|
||||
OverlappingPair* newPair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair)))
|
||||
OverlappingPair(shape1, shape2, mMemoryManager.getPoolAllocator(),
|
||||
mMemoryManager.getSingleFrameAllocator(), mWorld->mConfig);
|
||||
|
||||
assert(newPair != nullptr);
|
||||
|
||||
// Add the new overlapping pair
|
||||
mOverlappingPairs.add(Pair<Pair<uint, uint>, OverlappingPair*>(pairID, newPair));
|
||||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
newPair->setProfiler(mProfiler);
|
||||
#endif
|
||||
// Check that at least one collision shape is convex
|
||||
if (shape1->getCollisionShape()->isConvex() || shape2->getCollisionShape()->isConvex()) {
|
||||
|
||||
// Add the new overlapping pair
|
||||
mOverlappingPairs.addPair(shape1, shape2);
|
||||
}
|
||||
}
|
||||
}
|
||||
else {
|
||||
|
||||
// We do not need to test the pair for overlap because it has just been reported that they still overlap
|
||||
itPair->second->setNeedToTestOverlap(false);
|
||||
List<bool>& pairsNeedToTestOverlap = pairLocation.isConvexVsConvex ? mOverlappingPairs.mConvexNeedToTestOverlap :
|
||||
mOverlappingPairs.mConcaveNeedToTestOverlap;
|
||||
|
||||
pairsNeedToTestOverlap[pairLocation.pairIndex] = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -227,23 +232,21 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List<Pair<int, int>>
|
|||
}
|
||||
|
||||
// Compute the middle-phase collision detection
|
||||
void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappingPairs, NarrowPhaseInput& narrowPhaseInput) {
|
||||
void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairs& overlappingPairs, NarrowPhaseInput& narrowPhaseInput) {
|
||||
|
||||
RP3D_PROFILE("CollisionDetectionSystem::computeMiddlePhase()", mProfiler);
|
||||
|
||||
// Reserve memory for the narrow-phase input using cached capacity from previous frame
|
||||
narrowPhaseInput.reserveMemory();
|
||||
|
||||
// For each possible collision pair of bodies
|
||||
for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) {
|
||||
// Remove the obsolete last frame collision infos and mark all the others as obsolete
|
||||
overlappingPairs.clearObsoleteLastFrameCollisionInfos();
|
||||
|
||||
OverlappingPair* pair = it->second;
|
||||
// For each possible convex vs convex pair of bodies
|
||||
for (uint i=0; i < overlappingPairs.mConvexPairIds.size(); i++) {
|
||||
|
||||
// Remove the obsolete last frame collision infos and mark all the others as obsolete
|
||||
pair->clearObsoleteLastFrameCollisionInfos();
|
||||
|
||||
const Entity proxyShape1Entity = pair->getProxyShape1();
|
||||
const Entity proxyShape2Entity = pair->getProxyShape2();
|
||||
const Entity proxyShape1Entity = overlappingPairs.mConvexProxyShapes1[i];
|
||||
const Entity proxyShape2Entity = overlappingPairs.mConvexProxyShapes2[i];
|
||||
|
||||
assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1);
|
||||
assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1);
|
||||
|
|
@ -258,64 +261,185 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappin
|
|||
mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC;
|
||||
|
||||
// Check that at least one body is enabled (active and awake) and not static
|
||||
// TODO : Do not test this every frame
|
||||
bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1;
|
||||
bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2;
|
||||
if (!isBody1Active && !isBody2Active) continue;
|
||||
|
||||
// Check if the bodies are in the set of bodies that cannot collide between each other
|
||||
bodypair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1Entity, body2Entity);
|
||||
// TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation
|
||||
bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity);
|
||||
if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue;
|
||||
|
||||
CollisionShape* collisionShape1 = mProxyShapesComponents.getCollisionShape(proxyShape1Entity);
|
||||
CollisionShape* collisionShape2 = mProxyShapesComponents.getCollisionShape(proxyShape2Entity);
|
||||
|
||||
const bool isShape1Convex = collisionShape1->isConvex();
|
||||
const bool isShape2Convex = collisionShape2->isConvex();
|
||||
// Select the narrow phase algorithm to use according to the two collision shapes
|
||||
NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(),
|
||||
collisionShape2->getType());
|
||||
|
||||
// If both shapes are convex
|
||||
if (isShape1Convex && isShape2Convex) {
|
||||
// No middle-phase is necessary, simply create a narrow phase info
|
||||
// for the narrow-phase collision detection
|
||||
narrowPhaseInput.addNarrowPhaseTest(overlappingPairs.mConvexPairIds[i], proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2,
|
||||
mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity),
|
||||
mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity),
|
||||
algorithmType, mMemoryManager.getSingleFrameAllocator());
|
||||
|
||||
// Select the narrow phase algorithm to use according to the two collision shapes
|
||||
NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(),
|
||||
collisionShape2->getType());
|
||||
}
|
||||
|
||||
// No middle-phase is necessary, simply create a narrow phase info
|
||||
// for the narrow-phase collision detection
|
||||
narrowPhaseInput.addNarrowPhaseTest(pair, collisionShape1, collisionShape2,
|
||||
mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity),
|
||||
mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity),
|
||||
algorithmType, mMemoryManager.getSingleFrameAllocator());
|
||||
// For each possible convex vs concave pair of bodies
|
||||
for (uint i=0; i < overlappingPairs.mConcavePairIds.size(); i++) {
|
||||
|
||||
}
|
||||
// Concave vs Convex algorithm
|
||||
else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) {
|
||||
const Entity proxyShape1Entity = overlappingPairs.mConcaveProxyShapes1[i];
|
||||
const Entity proxyShape2Entity = overlappingPairs.mConcaveProxyShapes2[i];
|
||||
|
||||
computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput);
|
||||
}
|
||||
// Concave vs Concave shape
|
||||
else {
|
||||
// Not handled
|
||||
continue;
|
||||
}
|
||||
assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1);
|
||||
assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1);
|
||||
assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity));
|
||||
|
||||
const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity);
|
||||
const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity);
|
||||
|
||||
const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) &&
|
||||
mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC;
|
||||
const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) &&
|
||||
mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC;
|
||||
|
||||
// Check that at least one body is enabled (active and awake) and not static
|
||||
// TODO : Do not test this every frame
|
||||
bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1;
|
||||
bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2;
|
||||
if (!isBody1Active && !isBody2Active) continue;
|
||||
|
||||
// Check if the bodies are in the set of bodies that cannot collide between each other
|
||||
// TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation
|
||||
bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity);
|
||||
if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue;
|
||||
|
||||
computeConvexVsConcaveMiddlePhase(overlappingPairs.mConcavePairIds[i], proxyShape1Entity, proxyShape2Entity,
|
||||
mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput);
|
||||
}
|
||||
}
|
||||
|
||||
// Compute the middle-phase collision detection
|
||||
void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List<uint64>& convexPairs, List<uint64>& concavePairs, NarrowPhaseInput& narrowPhaseInput) {
|
||||
|
||||
RP3D_PROFILE("CollisionDetectionSystem::computeMiddlePhase()", mProfiler);
|
||||
|
||||
// Reserve memory for the narrow-phase input using cached capacity from previous frame
|
||||
narrowPhaseInput.reserveMemory();
|
||||
|
||||
// Remove the obsolete last frame collision infos and mark all the others as obsolete
|
||||
mOverlappingPairs.clearObsoleteLastFrameCollisionInfos();
|
||||
|
||||
// For each possible convex vs convex pair of bodies
|
||||
for (uint p=0; p < convexPairs.size(); p++) {
|
||||
|
||||
const uint64 pairId = convexPairs[p];
|
||||
|
||||
OverlappingPairs::PairLocation& pairLoc = mOverlappingPairs.mMapPairIdToPairIndex[pairId];
|
||||
assert(pairLoc.isConvexVsConvex);
|
||||
const uint pairIndex = pairLoc.pairIndex;
|
||||
|
||||
const Entity proxyShape1Entity = mOverlappingPairs.mConvexProxyShapes1[pairIndex];
|
||||
const Entity proxyShape2Entity = mOverlappingPairs.mConvexProxyShapes2[pairIndex];
|
||||
|
||||
assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1);
|
||||
assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1);
|
||||
assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity));
|
||||
|
||||
const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity);
|
||||
const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity);
|
||||
|
||||
const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) &&
|
||||
mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC;
|
||||
const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) &&
|
||||
mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC;
|
||||
|
||||
// Check that at least one body is enabled (active and awake) and not static
|
||||
// TODO : Do not test this every frame
|
||||
bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1;
|
||||
bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2;
|
||||
if (!isBody1Active && !isBody2Active) continue;
|
||||
|
||||
// Check if the bodies are in the set of bodies that cannot collide between each other
|
||||
// TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation
|
||||
bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity);
|
||||
if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue;
|
||||
|
||||
CollisionShape* collisionShape1 = mProxyShapesComponents.getCollisionShape(proxyShape1Entity);
|
||||
CollisionShape* collisionShape2 = mProxyShapesComponents.getCollisionShape(proxyShape2Entity);
|
||||
|
||||
// Select the narrow phase algorithm to use according to the two collision shapes
|
||||
NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(),
|
||||
collisionShape2->getType());
|
||||
|
||||
// No middle-phase is necessary, simply create a narrow phase info
|
||||
// for the narrow-phase collision detection
|
||||
narrowPhaseInput.addNarrowPhaseTest(pairId, proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2,
|
||||
mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity),
|
||||
mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity),
|
||||
algorithmType, mMemoryManager.getSingleFrameAllocator());
|
||||
|
||||
}
|
||||
|
||||
// For each possible convex vs concave pair of bodies
|
||||
for (uint p=0; p < concavePairs.size(); p++) {
|
||||
|
||||
const uint64 pairId = concavePairs[p];
|
||||
|
||||
OverlappingPairs::PairLocation& pairLoc = mOverlappingPairs.mMapPairIdToPairIndex[pairId];
|
||||
assert(!pairLoc.isConvexVsConvex);
|
||||
const uint pairIndex = pairLoc.pairIndex;
|
||||
|
||||
const Entity proxyShape1Entity = mOverlappingPairs.mConcaveProxyShapes1[pairIndex];
|
||||
const Entity proxyShape2Entity = mOverlappingPairs.mConcaveProxyShapes2[pairIndex];
|
||||
|
||||
assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1);
|
||||
assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1);
|
||||
assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity));
|
||||
|
||||
const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity);
|
||||
const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity);
|
||||
|
||||
const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) &&
|
||||
mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC;
|
||||
const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) &&
|
||||
mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC;
|
||||
|
||||
// Check that at least one body is enabled (active and awake) and not static
|
||||
// TODO : Do not test this every frame
|
||||
bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1;
|
||||
bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2;
|
||||
if (!isBody1Active && !isBody2Active) continue;
|
||||
|
||||
// Check if the bodies are in the set of bodies that cannot collide between each other
|
||||
// TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation
|
||||
bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity);
|
||||
if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue;
|
||||
|
||||
computeConvexVsConcaveMiddlePhase(pairId, proxyShape1Entity, proxyShape2Entity,
|
||||
mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput);
|
||||
}
|
||||
}
|
||||
// Compute the concave vs convex middle-phase algorithm for a given pair of bodies
|
||||
void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator,
|
||||
NarrowPhaseInput& narrowPhaseInput) {
|
||||
void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairId, Entity proxyShape1, Entity proxyShape2,
|
||||
MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput) {
|
||||
|
||||
RP3D_PROFILE("CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase()", mProfiler);
|
||||
|
||||
ProxyShape* shape1 = mProxyShapesComponents.getProxyShape(pair->getProxyShape1());
|
||||
ProxyShape* shape2 = mProxyShapesComponents.getProxyShape(pair->getProxyShape2());
|
||||
ProxyShape* shape1 = mProxyShapesComponents.getProxyShape(proxyShape1);
|
||||
ProxyShape* shape2 = mProxyShapesComponents.getProxyShape(proxyShape2);
|
||||
|
||||
ProxyShape* convexProxyShape;
|
||||
ProxyShape* concaveProxyShape;
|
||||
ConvexShape* convexShape;
|
||||
ConcaveShape* concaveShape;
|
||||
|
||||
const bool isShape1Convex = shape1->getCollisionShape()->isConvex();
|
||||
|
||||
// Collision shape 1 is convex, collision shape 2 is concave
|
||||
if (shape1->getCollisionShape()->isConvex()) {
|
||||
if (isShape1Convex) {
|
||||
convexProxyShape = shape1;
|
||||
convexShape = static_cast<ConvexShape*>(shape1->getCollisionShape());
|
||||
concaveProxyShape = shape2;
|
||||
|
|
@ -366,15 +490,11 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(OverlappingPair
|
|||
|
||||
#endif
|
||||
|
||||
bool isShape1Convex = mProxyShapesComponents.getCollisionShape(pair->getProxyShape1())->isConvex();
|
||||
ProxyShape* shape1 = isShape1Convex ? convexProxyShape : concaveProxyShape;
|
||||
ProxyShape* shape2 = isShape1Convex ? concaveProxyShape : convexProxyShape;
|
||||
|
||||
// Create a narrow phase info for the narrow-phase collision detection
|
||||
narrowPhaseInput.addNarrowPhaseTest(pair, isShape1Convex ? convexShape : triangleShape,
|
||||
narrowPhaseInput.addNarrowPhaseTest(pairId, proxyShape1, proxyShape2, isShape1Convex ? convexShape : triangleShape,
|
||||
isShape1Convex ? triangleShape : convexShape,
|
||||
mProxyShapesComponents.getLocalToWorldTransform(shape1->getEntity()),
|
||||
mProxyShapesComponents.getLocalToWorldTransform(shape2->getEntity()),
|
||||
mProxyShapesComponents.getLocalToWorldTransform(proxyShape1),
|
||||
mProxyShapesComponents.getLocalToWorldTransform(proxyShape2),
|
||||
algorithmType, allocator);
|
||||
}
|
||||
}
|
||||
|
|
@ -427,7 +547,7 @@ bool CollisionDetectionSystem::testNarrowPhaseCollision(NarrowPhaseInput& narrow
|
|||
// Process the potential contacts after narrow-phase collision detection
|
||||
void CollisionDetectionSystem::processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo,
|
||||
List<ContactPointInfo>& potentialContactPoints,
|
||||
Map<OverlappingPair::OverlappingPairId, uint>* mapPairIdToContactPairIndex,
|
||||
Map<uint64, uint>* mapPairIdToContactPairIndex,
|
||||
List<ContactManifoldInfo>& potentialContactManifolds,
|
||||
List<ContactPair>* contactPairs,
|
||||
Map<Entity, List<uint>>& mapBodyToContactPairs) {
|
||||
|
|
@ -543,8 +663,8 @@ void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInfoBatch&
|
|||
if (narrowPhaseInfoBatch.isColliding[i]) {
|
||||
|
||||
// Add the pair of bodies in contact into the list
|
||||
overlapPairs.add(Pair<Entity, Entity>(mProxyShapesComponents.getBody(narrowPhaseInfoBatch.overlappingPairs[i]->getProxyShape1()),
|
||||
mProxyShapesComponents.getBody(narrowPhaseInfoBatch.overlappingPairs[i]->getProxyShape2())));
|
||||
overlapPairs.add(Pair<Entity, Entity>(mProxyShapesComponents.getBody(narrowPhaseInfoBatch.proxyShapeEntities1[i]),
|
||||
mProxyShapesComponents.getBody(narrowPhaseInfoBatch.proxyShapeEntities2[i])));
|
||||
}
|
||||
|
||||
narrowPhaseInfoBatch.resetContactPoints(i);
|
||||
|
|
@ -567,7 +687,7 @@ bool CollisionDetectionSystem::computeNarrowPhaseCollisionSnapshot(NarrowPhaseIn
|
|||
|
||||
List<ContactPointInfo> potentialContactPoints(allocator);
|
||||
List<ContactManifoldInfo> potentialContactManifolds(allocator);
|
||||
Map<OverlappingPair::OverlappingPairId, uint> mapPairIdToContactPairIndex(allocator);
|
||||
Map<uint64, uint> mapPairIdToContactPairIndex(allocator);
|
||||
List<ContactPair> contactPairs(allocator);
|
||||
List<ContactManifold> contactManifolds(allocator);
|
||||
List<ContactPoint> contactPoints(allocator);
|
||||
|
|
@ -838,30 +958,40 @@ void CollisionDetectionSystem::initContactsWithPreviousOnes() {
|
|||
// Remove a body from the collision detection
|
||||
void CollisionDetectionSystem::removeProxyCollisionShape(ProxyShape* proxyShape) {
|
||||
|
||||
assert(proxyShape->getBroadPhaseId() != -1);
|
||||
assert(mMapBroadPhaseIdToProxyShapeEntity.containsKey(proxyShape->getBroadPhaseId()));
|
||||
const int proxyShapeBroadPhaseId = proxyShape->getBroadPhaseId();
|
||||
|
||||
// Remove all the overlapping pairs involving this proxy shape
|
||||
for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) {
|
||||
assert(proxyShapeBroadPhaseId != -1);
|
||||
assert(mMapBroadPhaseIdToProxyShapeEntity.containsKey(proxyShapeBroadPhaseId));
|
||||
|
||||
OverlappingPair* pair = it->second;
|
||||
// Remove all the convex vs convex overlapping pairs involving this proxy shape
|
||||
for (uint i=0; i < mOverlappingPairs.mConvexPairIds.size(); i++) {
|
||||
|
||||
if (mProxyShapesComponents.getBroadPhaseId(pair->getProxyShape1()) == proxyShape->getBroadPhaseId() ||
|
||||
mProxyShapesComponents.getBroadPhaseId(pair->getProxyShape2()) == proxyShape->getBroadPhaseId()) {
|
||||
if (mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mConvexProxyShapes1[i]) == proxyShapeBroadPhaseId ||
|
||||
mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mConvexProxyShapes2[i]) == proxyShapeBroadPhaseId) {
|
||||
|
||||
// TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved
|
||||
|
||||
// Destroy the overlapping pair
|
||||
pair->~OverlappingPair();
|
||||
mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair));
|
||||
it = mOverlappingPairs.remove(it);
|
||||
}
|
||||
else {
|
||||
++it;
|
||||
// Remove the overlapping pair
|
||||
mOverlappingPairs.removePair(mOverlappingPairs.mConvexPairIds[i]);
|
||||
i--;
|
||||
}
|
||||
}
|
||||
|
||||
mMapBroadPhaseIdToProxyShapeEntity.remove(proxyShape->getBroadPhaseId());
|
||||
// Remove all the convex vs concave overlapping pairs involving this proxy shape
|
||||
for (uint i=0; i < mOverlappingPairs.mConcavePairIds.size(); i++) {
|
||||
|
||||
if (mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mConcaveProxyShapes1[i]) == proxyShapeBroadPhaseId ||
|
||||
mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mConcaveProxyShapes2[i]) == proxyShapeBroadPhaseId) {
|
||||
|
||||
// TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved
|
||||
|
||||
// Remove the overlapping pair
|
||||
mOverlappingPairs.removePair(mOverlappingPairs.mConcavePairIds[i]);
|
||||
i--;
|
||||
}
|
||||
}
|
||||
|
||||
mMapBroadPhaseIdToProxyShapeEntity.remove(proxyShapeBroadPhaseId);
|
||||
|
||||
// Remove the body from the broad-phase
|
||||
mBroadPhaseSystem.removeProxyCollisionShape(proxyShape);
|
||||
|
|
@ -884,7 +1014,7 @@ void CollisionDetectionSystem::raycast(RaycastCallback* raycastCallback,
|
|||
// Convert the potential contact into actual contacts
|
||||
void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo,
|
||||
List<ContactPointInfo>& potentialContactPoints,
|
||||
Map<OverlappingPair::OverlappingPairId, uint>* mapPairIdToContactPairIndex,
|
||||
Map<uint64, uint>* mapPairIdToContactPairIndex,
|
||||
List<ContactManifoldInfo>& potentialContactManifolds,
|
||||
List<ContactPair>* contactPairs,
|
||||
Map<Entity, List<uint>>& mapBodyToContactPairs) {
|
||||
|
|
@ -918,7 +1048,7 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na
|
|||
bool similarManifoldFound = false;
|
||||
|
||||
// If there is already a contact pair for this overlapping pair
|
||||
OverlappingPair::OverlappingPairId pairId = narrowPhaseInfoBatch.overlappingPairs[i]->getId();
|
||||
const uint64 pairId = narrowPhaseInfoBatch.overlappingPairIds[i];
|
||||
auto it = mapPairIdToContactPairIndex->find(pairId);
|
||||
ContactPair* pairContact = nullptr;
|
||||
if (it != mapPairIdToContactPairIndex->end()) {
|
||||
|
|
@ -968,8 +1098,8 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na
|
|||
// If the overlapping pair contact does not exists yet
|
||||
if (pairContact == nullptr) {
|
||||
|
||||
const Entity proxyShape1Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getProxyShape1();
|
||||
const Entity proxyShape2Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getProxyShape2();
|
||||
const Entity proxyShape1Entity = narrowPhaseInfoBatch.proxyShapeEntities1[i];
|
||||
const Entity proxyShape2Entity = narrowPhaseInfoBatch.proxyShapeEntities2[i];
|
||||
|
||||
const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity);
|
||||
const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity);
|
||||
|
|
@ -983,7 +1113,7 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na
|
|||
newContactPairIndex, mMemoryManager.getPoolAllocator());
|
||||
contactPairs->add(overlappingPairContact);
|
||||
pairContact = &((*contactPairs)[newContactPairIndex]);
|
||||
mapPairIdToContactPairIndex->add(Pair<OverlappingPair::OverlappingPairId, uint>(pairId, newContactPairIndex));
|
||||
mapPairIdToContactPairIndex->add(Pair<uint64, uint>(pairId, newContactPairIndex));
|
||||
|
||||
auto itbodyContactPairs = mapBodyToContactPairs.find(body1Entity);
|
||||
if (itbodyContactPairs != mapBodyToContactPairs.end()) {
|
||||
|
|
@ -1075,7 +1205,11 @@ void CollisionDetectionSystem::reducePotentialContactManifolds(List<ContactPair>
|
|||
// If there are two many contact points in the manifold
|
||||
if (manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD) {
|
||||
|
||||
Transform shape1LocalToWorldTransoform = mProxyShapesComponents.getLocalToWorldTransform(mOverlappingPairs[manifold.pairId]->getProxyShape1());
|
||||
OverlappingPairs::PairLocation pairLoc = mOverlappingPairs.mMapPairIdToPairIndex[manifold.pairId];
|
||||
Entity proxyShape1 = pairLoc.isConvexVsConvex ? mOverlappingPairs.mConvexProxyShapes1[pairLoc.pairIndex] :
|
||||
mOverlappingPairs.mConcaveProxyShapes1[pairLoc.pairIndex];
|
||||
|
||||
Transform shape1LocalToWorldTransoform = mProxyShapesComponents.getLocalToWorldTransform(proxyShape1);
|
||||
|
||||
// Reduce the number of contact points in the manifold
|
||||
reduceContactPoints(manifold, shape1LocalToWorldTransoform, potentialContactPoints);
|
||||
|
|
@ -1313,19 +1447,20 @@ void CollisionDetectionSystem::reportContacts(CollisionCallback& callback, List<
|
|||
// Return true if two bodies overlap (collide)
|
||||
bool CollisionDetectionSystem::testOverlap(CollisionBody* body1, CollisionBody* body2) {
|
||||
|
||||
NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator());
|
||||
NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator(), mOverlappingPairs);
|
||||
|
||||
// Compute the broad-phase collision detection
|
||||
computeBroadPhase();
|
||||
|
||||
// Filter the overlapping pairs to get only the ones with the selected body involved
|
||||
OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator());
|
||||
filterOverlappingPairs(body1->getEntity(), body2->getEntity(), overlappingPairs);
|
||||
List<uint64> convexPairs(mMemoryManager.getPoolAllocator());
|
||||
List<uint64> concavePairs(mMemoryManager.getPoolAllocator());
|
||||
filterOverlappingPairs(body1->getEntity(), body2->getEntity(), convexPairs, concavePairs);
|
||||
|
||||
if (overlappingPairs.size() > 0) {
|
||||
if (convexPairs.size() > 0 || concavePairs.size() > 0) {
|
||||
|
||||
// Compute the middle-phase collision detection
|
||||
computeMiddlePhase(overlappingPairs, narrowPhaseInput);
|
||||
computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput);
|
||||
|
||||
// Compute the narrow-phase collision detection
|
||||
return computeNarrowPhaseOverlapSnapshot(narrowPhaseInput, nullptr);
|
||||
|
|
@ -1337,7 +1472,7 @@ bool CollisionDetectionSystem::testOverlap(CollisionBody* body1, CollisionBody*
|
|||
// Report all the bodies that overlap (collide) in the world
|
||||
void CollisionDetectionSystem::testOverlap(OverlapCallback& callback) {
|
||||
|
||||
NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator());
|
||||
NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator(), mOverlappingPairs);
|
||||
|
||||
// Compute the broad-phase collision detection
|
||||
computeBroadPhase();
|
||||
|
|
@ -1352,19 +1487,20 @@ void CollisionDetectionSystem::testOverlap(OverlapCallback& callback) {
|
|||
// Report all the bodies that overlap (collide) with the body in parameter
|
||||
void CollisionDetectionSystem::testOverlap(CollisionBody* body, OverlapCallback& callback) {
|
||||
|
||||
NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator());
|
||||
NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator(), mOverlappingPairs);
|
||||
|
||||
// Compute the broad-phase collision detection
|
||||
computeBroadPhase();
|
||||
|
||||
// Filter the overlapping pairs to get only the ones with the selected body involved
|
||||
OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator());
|
||||
filterOverlappingPairs(body->getEntity(), overlappingPairs);
|
||||
List<uint64> convexPairs(mMemoryManager.getPoolAllocator());
|
||||
List<uint64> concavePairs(mMemoryManager.getPoolAllocator());
|
||||
filterOverlappingPairs(body->getEntity(), convexPairs, concavePairs);
|
||||
|
||||
if (overlappingPairs.size() > 0) {
|
||||
if (convexPairs.size() > 0 || concavePairs.size() > 0) {
|
||||
|
||||
// Compute the middle-phase collision detection
|
||||
computeMiddlePhase(overlappingPairs, narrowPhaseInput);
|
||||
computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput);
|
||||
|
||||
// Compute the narrow-phase collision detection
|
||||
computeNarrowPhaseOverlapSnapshot(narrowPhaseInput, &callback);
|
||||
|
|
@ -1374,19 +1510,20 @@ void CollisionDetectionSystem::testOverlap(CollisionBody* body, OverlapCallback&
|
|||
// Test collision and report contacts between two bodies.
|
||||
void CollisionDetectionSystem::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback) {
|
||||
|
||||
NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator());
|
||||
NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator(), mOverlappingPairs);
|
||||
|
||||
// Compute the broad-phase collision detection
|
||||
computeBroadPhase();
|
||||
|
||||
// Filter the overlapping pairs to get only the ones with the selected body involved
|
||||
OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator());
|
||||
filterOverlappingPairs(body1->getEntity(), body2->getEntity(), overlappingPairs);
|
||||
List<uint64> convexPairs(mMemoryManager.getPoolAllocator());
|
||||
List<uint64> concavePairs(mMemoryManager.getPoolAllocator());
|
||||
filterOverlappingPairs(body1->getEntity(), body2->getEntity(), convexPairs, concavePairs);
|
||||
|
||||
if (overlappingPairs.size() > 0) {
|
||||
if (convexPairs.size() > 0 || concavePairs.size() > 0) {
|
||||
|
||||
// Compute the middle-phase collision detection
|
||||
computeMiddlePhase(overlappingPairs, narrowPhaseInput);
|
||||
computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput);
|
||||
|
||||
// Compute the narrow-phase collision detection and report contacts
|
||||
computeNarrowPhaseCollisionSnapshot(narrowPhaseInput, callback);
|
||||
|
|
@ -1396,19 +1533,20 @@ void CollisionDetectionSystem::testCollision(CollisionBody* body1, CollisionBody
|
|||
// Test collision and report all the contacts involving the body in parameter
|
||||
void CollisionDetectionSystem::testCollision(CollisionBody* body, CollisionCallback& callback) {
|
||||
|
||||
NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator());
|
||||
NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator(), mOverlappingPairs);
|
||||
|
||||
// Compute the broad-phase collision detection
|
||||
computeBroadPhase();
|
||||
|
||||
// Filter the overlapping pairs to get only the ones with the selected body involved
|
||||
OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator());
|
||||
filterOverlappingPairs(body->getEntity(), overlappingPairs);
|
||||
List<uint64> convexPairs(mMemoryManager.getPoolAllocator());
|
||||
List<uint64> concavePairs(mMemoryManager.getPoolAllocator());
|
||||
filterOverlappingPairs(body->getEntity(), convexPairs, concavePairs);
|
||||
|
||||
if (overlappingPairs.size() > 0) {
|
||||
if (convexPairs.size() > 0 || concavePairs.size() > 0) {
|
||||
|
||||
// Compute the middle-phase collision detection
|
||||
computeMiddlePhase(overlappingPairs, narrowPhaseInput);
|
||||
computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput);
|
||||
|
||||
// Compute the narrow-phase collision detection and report contacts
|
||||
computeNarrowPhaseCollisionSnapshot(narrowPhaseInput, callback);
|
||||
|
|
@ -1418,7 +1556,7 @@ void CollisionDetectionSystem::testCollision(CollisionBody* body, CollisionCallb
|
|||
// Test collision and report contacts between each colliding bodies in the world
|
||||
void CollisionDetectionSystem::testCollision(CollisionCallback& callback) {
|
||||
|
||||
NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator());
|
||||
NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator(), mOverlappingPairs);
|
||||
|
||||
// Compute the broad-phase collision detection
|
||||
computeBroadPhase();
|
||||
|
|
@ -1431,33 +1569,51 @@ 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, OverlappingPairMap& outFilteredPairs) const {
|
||||
void CollisionDetectionSystem::filterOverlappingPairs(Entity bodyEntity, List<uint64>& convexPairs, List<uint64>& concavePairs) const {
|
||||
|
||||
// For each possible collision pair of bodies
|
||||
for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
|
||||
for (uint i=0; i < mOverlappingPairs.mConvexPairIds.size(); i++) {
|
||||
|
||||
OverlappingPair* pair = it->second;
|
||||
if (mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes1[i]) == bodyEntity ||
|
||||
mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes2[i]) == bodyEntity) {
|
||||
|
||||
if (mProxyShapesComponents.getBody(pair->getProxyShape1()) == bodyEntity ||
|
||||
mProxyShapesComponents.getBody(pair->getProxyShape2()) == bodyEntity) {
|
||||
convexPairs.add(mOverlappingPairs.mConvexPairIds[i]);
|
||||
}
|
||||
}
|
||||
|
||||
outFilteredPairs.add(Pair<Pair<uint, uint>, OverlappingPair*>(it->first, pair));
|
||||
// For each possible collision pair of bodies
|
||||
for (uint i=0; i < mOverlappingPairs.mConcavePairIds.size(); i++) {
|
||||
|
||||
if (mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes1[i]) == bodyEntity ||
|
||||
mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes2[i]) == bodyEntity) {
|
||||
|
||||
concavePairs.add(mOverlappingPairs.mConcavePairIds[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Filter the overlapping pairs to keep only the pairs where two given bodies are involved
|
||||
void CollisionDetectionSystem::filterOverlappingPairs(Entity body1Entity, Entity body2Entity, OverlappingPairMap& outFilteredPairs) const {
|
||||
void CollisionDetectionSystem::filterOverlappingPairs(Entity body1Entity, Entity body2Entity, List<uint64>& convexPairs, List<uint64>& concavePairs) const {
|
||||
|
||||
// TODO : Do not go through all the overlapping pairs here but get all the involded overlapping pairs directly from the bodies
|
||||
|
||||
// For each possible collision pair of bodies
|
||||
for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
|
||||
for (uint i=0; i < mOverlappingPairs.mConvexPairIds.size(); i++) {
|
||||
|
||||
OverlappingPair* pair = it->second;
|
||||
if ((mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes1[i]) == body1Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes2[i]) == body2Entity) ||
|
||||
(mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes1[i]) == body2Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes2[i]) == body1Entity)) {
|
||||
|
||||
if ((mProxyShapesComponents.getBody(pair->getProxyShape1()) == body1Entity && mProxyShapesComponents.getBody(pair->getProxyShape2()) == body2Entity) ||
|
||||
(mProxyShapesComponents.getBody(pair->getProxyShape1()) == body2Entity && mProxyShapesComponents.getBody(pair->getProxyShape2()) == body1Entity)) {
|
||||
convexPairs.add(mOverlappingPairs.mConvexPairIds[i]);
|
||||
}
|
||||
}
|
||||
|
||||
outFilteredPairs.add(Pair<Pair<uint, uint>, OverlappingPair*>(it->first, pair));
|
||||
// For each possible collision pair of bodies
|
||||
for (uint i=0; i < mOverlappingPairs.mConcavePairIds.size(); i++) {
|
||||
|
||||
if ((mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes1[i]) == body1Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes2[i]) == body2Entity) ||
|
||||
(mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes1[i]) == body2Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes2[i]) == body1Entity)) {
|
||||
|
||||
concavePairs.add(mOverlappingPairs.mConcavePairIds[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -35,7 +35,8 @@
|
|||
#include "collision/ContactManifoldInfo.h"
|
||||
#include "collision/ContactManifold.h"
|
||||
#include "collision/ContactPair.h"
|
||||
#include "engine/OverlappingPair.h"
|
||||
#include "engine/OverlappingPairs.h"
|
||||
#include "engine/OverlappingPairs.h"
|
||||
#include "collision/narrowphase/NarrowPhaseInput.h"
|
||||
#include "collision/narrowphase/CollisionDispatch.h"
|
||||
#include "containers/Map.h"
|
||||
|
|
@ -89,7 +90,7 @@ class CollisionDetectionSystem {
|
|||
CollisionWorld* mWorld;
|
||||
|
||||
/// Broad-phase overlapping pairs
|
||||
OverlappingPairMap mOverlappingPairs;
|
||||
OverlappingPairs mOverlappingPairs;
|
||||
|
||||
/// Broad-phase system
|
||||
BroadPhaseSystem mBroadPhaseSystem;
|
||||
|
|
@ -122,18 +123,18 @@ class CollisionDetectionSystem {
|
|||
List<ContactPair>* mCurrentContactPairs;
|
||||
|
||||
/// First map of overlapping pair id to the index of the corresponding pair contact
|
||||
Map<OverlappingPair::OverlappingPairId, uint> mMapPairIdToContactPairIndex1;
|
||||
Map<uint64, uint> mMapPairIdToContactPairIndex1;
|
||||
|
||||
/// Second map of overlapping pair id to the index of the corresponding pair contact
|
||||
Map<OverlappingPair::OverlappingPairId, uint> mMapPairIdToContactPairIndex2;
|
||||
Map<uint64, uint> mMapPairIdToContactPairIndex2;
|
||||
|
||||
/// Pointer to the map of overlappingPairId to the index of contact pair of the previous frame
|
||||
/// (either mMapPairIdToContactPairIndex1 or mMapPairIdToContactPairIndex2)
|
||||
Map<OverlappingPair::OverlappingPairId, uint>* mPreviousMapPairIdToContactPairIndex;
|
||||
Map<uint64, uint>* mPreviousMapPairIdToContactPairIndex;
|
||||
|
||||
/// Pointer to the map of overlappingPairId to the index of contact pair of the current frame
|
||||
/// (either mMapPairIdToContactPairIndex1 or mMapPairIdToContactPairIndex2)
|
||||
Map<OverlappingPair::OverlappingPairId, uint>* mCurrentMapPairIdToContactPairIndex;
|
||||
Map<uint64, uint>* mCurrentMapPairIdToContactPairIndex;
|
||||
|
||||
/// First list with the contact manifolds
|
||||
List<ContactManifold> mContactManifolds1;
|
||||
|
|
@ -164,8 +165,8 @@ class CollisionDetectionSystem {
|
|||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
|
||||
/// Pointer to the profiler
|
||||
Profiler* mProfiler;
|
||||
/// Pointer to the profiler
|
||||
Profiler* mProfiler;
|
||||
|
||||
#endif
|
||||
|
||||
|
|
@ -175,7 +176,10 @@ class CollisionDetectionSystem {
|
|||
void computeBroadPhase();
|
||||
|
||||
/// Compute the middle-phase collision detection
|
||||
void computeMiddlePhase(OverlappingPairMap& overlappingPairs, NarrowPhaseInput& narrowPhaseInput);
|
||||
void computeMiddlePhase(OverlappingPairs& overlappingPairs, NarrowPhaseInput& narrowPhaseInput);
|
||||
|
||||
// Compute the middle-phase collision detection
|
||||
void computeMiddlePhaseCollisionSnapshot(List<uint64>& convexPairs, List<uint64>& concavePairs, NarrowPhaseInput& narrowPhaseInput);
|
||||
|
||||
/// Compute the narrow-phase collision detection
|
||||
void computeNarrowPhase();
|
||||
|
|
@ -205,7 +209,7 @@ class CollisionDetectionSystem {
|
|||
bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& allocator);
|
||||
|
||||
/// Compute the concave vs convex middle-phase algorithm for a given pair of bodies
|
||||
void computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator,
|
||||
void computeConvexVsConcaveMiddlePhase(uint64 pairId, Entity proxyShape1, Entity proxyShape2, MemoryAllocator& allocator,
|
||||
NarrowPhaseInput& narrowPhaseInput);
|
||||
|
||||
/// Swap the previous and current contacts lists
|
||||
|
|
@ -214,13 +218,13 @@ class CollisionDetectionSystem {
|
|||
/// Convert the potential contact into actual contacts
|
||||
void processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch,
|
||||
bool updateLastFrameInfo, List<ContactPointInfo>& potentialContactPoints,
|
||||
Map<OverlappingPair::OverlappingPairId, uint>* mapPairIdToContactPairIndex,
|
||||
Map<uint64, uint>* mapPairIdToContactPairIndex,
|
||||
List<ContactManifoldInfo>& potentialContactManifolds, List<ContactPair>* contactPairs,
|
||||
Map<Entity, List<uint>>& mapBodyToContactPairs);
|
||||
|
||||
/// Process the potential contacts after narrow-phase collision detection
|
||||
void processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo, List<ContactPointInfo>& potentialContactPoints,
|
||||
Map<OverlappingPair::OverlappingPairId, uint>* mapPairIdToContactPairIndex,
|
||||
Map<uint64, uint>* mapPairIdToContactPairIndex,
|
||||
List<ContactManifoldInfo> &potentialContactManifolds, List<ContactPair>* contactPairs,
|
||||
Map<Entity, List<uint>>& mapBodyToContactPairs);
|
||||
|
||||
|
|
@ -256,10 +260,10 @@ class CollisionDetectionSystem {
|
|||
void processSmoothMeshContacts(OverlappingPair* pair);
|
||||
|
||||
/// Filter the overlapping pairs to keep only the pairs where a given body is involved
|
||||
void filterOverlappingPairs(Entity bodyEntity, OverlappingPairMap& outFilteredPairs) const;
|
||||
void filterOverlappingPairs(Entity bodyEntity, List<uint64>& convexPairs, List<uint64>& concavePairs) const;
|
||||
|
||||
/// Filter the overlapping pairs to keep only the pairs where two given bodies are involved
|
||||
void filterOverlappingPairs(Entity body1Entity, Entity body2Entity, OverlappingPairMap& outFilteredPairs) const;
|
||||
void filterOverlappingPairs(Entity body1Entity, Entity body2Entity, List<uint64>& convexPairs, List<uint64>& concavePairs) const;
|
||||
|
||||
public :
|
||||
|
||||
|
|
@ -377,12 +381,12 @@ inline void CollisionDetectionSystem::addProxyCollisionShape(ProxyShape* proxySh
|
|||
|
||||
// Add a pair of bodies that cannot collide with each other
|
||||
inline void CollisionDetectionSystem::addNoCollisionPair(Entity body1Entity, Entity body2Entity) {
|
||||
mNoCollisionPairs.add(OverlappingPair::computeBodiesIndexPair(body1Entity, 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) {
|
||||
mNoCollisionPairs.remove(OverlappingPair::computeBodiesIndexPair(body1Entity, body2Entity));
|
||||
mNoCollisionPairs.remove(OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity));
|
||||
}
|
||||
|
||||
// Ask for a collision shape to be tested again during broad-phase.
|
||||
|
|
@ -424,6 +428,7 @@ inline void CollisionDetectionSystem::setProfiler(Profiler* profiler) {
|
|||
mProfiler = profiler;
|
||||
mBroadPhaseSystem.setProfiler(profiler);
|
||||
mCollisionDispatch.setProfiler(profiler);
|
||||
mOverlappingPairs.setProfiler(profiler);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -190,6 +190,22 @@ class TestList : public Test {
|
|||
it = list3.remove(5);
|
||||
rp3d_test((*it) == 6);
|
||||
|
||||
list3.clear();
|
||||
list3.add(1);
|
||||
list3.add(2);
|
||||
list3.add(3);
|
||||
list3.add(4);
|
||||
list3.removeAtAndReplaceWithLast(3);
|
||||
rp3d_test(list3.size() == 3);
|
||||
rp3d_test(list3[2] == 3);
|
||||
list3.removeAtAndReplaceWithLast(1);
|
||||
rp3d_test(list3.size() == 2);
|
||||
rp3d_test(list3[0] == 2);
|
||||
rp3d_test(list3[1] == 3);
|
||||
list3.removeAtAndReplaceWithLast(0);
|
||||
rp3d_test(list3.size() == 1);
|
||||
rp3d_test(list3[0] == 3);
|
||||
|
||||
// ----- Test addRange() ----- //
|
||||
|
||||
List<int> list4(mAllocator);
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user