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Take care of TODOs

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This commit is contained in:
Daniel Chappuis 2019-10-10 07:53:25 +02:00
parent d491665332
commit 59cdc6b8f8
18 changed files with 89 additions and 166 deletions
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3
CHANGELOG.md
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@ -14,6 +14,9 @@
- DynamicsWorld::getContactsList(). You need to use the EventListener class to retrieve contacts now.
- The DynamicsWorld::getNbJoints() method has been removed.
- The DynamicsWorld::getNbRigidBodies() method has been removed.
- The EventListener::beginInternalTick() method has been removed (because internal ticks do not exist anymore).
- The EventListener::endInternalTick() method has been removed (because internal ticks do not exist anymore).
- The RigidBody::getJointsList() method has been removed.
## Release Candidate

8
src/body/CollisionBody.cpp
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@ -86,7 +86,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, con
Vector3 localBoundsMax;
// TODO : Maybe this method can directly returns an AABB
collisionShape->getLocalBounds(localBoundsMin, localBoundsMax);
ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1,
ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape,
AABB(localBoundsMin, localBoundsMax),
transform, collisionShape, decimal(1), 0x0001, 0xFFFF);
bool isActive = mWorld.mCollisionBodyComponents.getIsActive(mEntity);
@ -208,8 +208,6 @@ void CollisionBody::removeAllCollisionShapes() {
*/
const Transform& CollisionBody::getTransform() const {
// TODO : Make sure we do not call this method from the internal physics engine
return mWorld.mTransformComponents.getTransform(mEntity);
}
@ -354,8 +352,6 @@ AABB CollisionBody::getAABB() const {
const List<Entity>& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity);
if (proxyShapesEntities.size() == 0) return bodyAABB;
// TODO : Make sure we compute this in a system
const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity);
ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[0]);
@ -384,8 +380,6 @@ AABB CollisionBody::getAABB() const {
*/
void CollisionBody::setTransform(const Transform& transform) {
// TODO : Make sure this method is never called from the internal physics engine
// Update the transform of the body
mWorld.mTransformComponents.setTransform(mEntity, transform);

21
src/body/RigidBody.cpp
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@ -260,8 +260,6 @@ void RigidBody::setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTens
*/
void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) {
// TODO : Check if we need to update the postion of the body here at the end (transform of the body)
if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return;
mIsCenterOfMassSetByUser = true;
@ -270,8 +268,7 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) {
mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, centerOfMassLocal);
// Compute the center of mass in world-space coordinates
const Vector3& updatedCenterOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity);
mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * updatedCenterOfMassLocal);
mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * centerOfMassLocal);
// Update the linear velocity of the center of mass
Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
@ -340,7 +337,7 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape,
// TODO : Maybe this method can directly returns an AABB
collisionShape->getLocalBounds(localBoundsMin, localBoundsMax);
ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1,
ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape,
AABB(localBoundsMin, localBoundsMax),
transform, collisionShape, mass, 0x0001, 0xFFFF);
bool isSleeping = mWorld.mRigidBodyComponents.getIsSleeping(mEntity);
@ -438,18 +435,6 @@ void RigidBody::setAngularDamping(decimal angularDamping) {
"Body " + std::to_string(mEntity.id) + ": Set angularDamping=" + std::to_string(angularDamping));
}
/// Update the transform of the body after a change of the center of mass
void RigidBody::updateTransformWithCenterOfMass() {
// TODO : Make sure we compute this in a system
// Translate the body according to the translation of the center of mass position
Transform& transform = mWorld.mTransformComponents.getTransform(mEntity);
const Vector3& centerOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity);
const Vector3& centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity);
transform.setPosition(centerOfMassWorld - transform.getOrientation() * centerOfMassLocal);
}
// Set a new material for this rigid body
/**
* @param material The material you want to set to the body
@ -488,8 +473,6 @@ void RigidBody::setLinearVelocity(const Vector3& linearVelocity) {
*/
void RigidBody::setAngularVelocity(const Vector3& angularVelocity) {
// TODO : Make sure this method is not called from the internal physics engine
// If it is a static body, we do nothing
if (mWorld.mRigidBodyComponents.getBodyType(mEntity) == BodyType::STATIC) return;

11
src/body/RigidBody.h
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@ -70,9 +70,6 @@ class RigidBody : public CollisionBody {
// -------------------- Methods -------------------- //
/// Update the transform of the body after a change of the center of mass
void updateTransformWithCenterOfMass();
/// Set the variable to know whether or not the body is sleeping
void setIsSleeping(bool isSleeping);
@ -161,14 +158,6 @@ class RigidBody : public CollisionBody {
/// Set the angular damping factor
void setAngularDamping(decimal angularDamping);
/// Return the first element of the linked list of joints involving this body
// TODO : Remove this
const JointListElement* getJointsList() const;
/// Return the first element of the linked list of joints involving this body
// TODO : Remove this
JointListElement* getJointsList();
/// Apply an external force to the body at its center of mass.
void applyForceToCenterOfMass(const Vector3& force);

2
src/collision/ProxyShape.cpp
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@ -113,8 +113,6 @@ void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) {
// Set the local to parent body transform
void ProxyShape::setLocalToBodyTransform(const Transform& transform) {
// TODO : Make sure this method is never called by the internal physics engine
mBody->mWorld.mProxyShapesComponents.setLocalToBodyTransform(mEntity, transform);
RigidBody* rigidBody = static_cast<RigidBody*>(mBody);

68
src/collision/broadphase/DynamicAABBTree.cpp
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@ -32,7 +32,7 @@
using namespace reactphysics3d;
// Initialization of static variables
const int TreeNode::NULL_TREE_NODE = -1;
const int32 TreeNode::NULL_TREE_NODE = -1;
// Constructor
DynamicAABBTree::DynamicAABBTree(MemoryAllocator& allocator, decimal extraAABBGap)
@ -45,7 +45,7 @@ DynamicAABBTree::DynamicAABBTree(MemoryAllocator& allocator, decimal extraAABBGa
DynamicAABBTree::~DynamicAABBTree() {
// Free the allocated memory for the nodes
mAllocator.release(mNodes, mNbAllocatedNodes * sizeof(TreeNode));
mAllocator.release(mNodes, static_cast<size_t>(mNbAllocatedNodes) * sizeof(TreeNode));
}
// Initialize the tree
@ -56,12 +56,12 @@ void DynamicAABBTree::init() {
mNbAllocatedNodes = 8;
// Allocate memory for the nodes of the tree
mNodes = static_cast<TreeNode*>(mAllocator.allocate(mNbAllocatedNodes * sizeof(TreeNode)));
mNodes = static_cast<TreeNode*>(mAllocator.allocate(static_cast<size_t>(mNbAllocatedNodes) * sizeof(TreeNode)));
assert(mNodes);
std::memset(mNodes, 0, mNbAllocatedNodes * sizeof(TreeNode));
std::memset(mNodes, 0, static_cast<size_t>(mNbAllocatedNodes) * sizeof(TreeNode));
// Initialize the allocated nodes
for (int i=0; i<mNbAllocatedNodes - 1; i++) {
for (int32 i=0; i<mNbAllocatedNodes - 1; i++) {
mNodes[i].nextNodeID = i + 1;
mNodes[i].height = -1;
}
@ -74,14 +74,14 @@ void DynamicAABBTree::init() {
void DynamicAABBTree::reset() {
// Free the allocated memory for the nodes
mAllocator.release(mNodes, mNbAllocatedNodes * sizeof(TreeNode));
mAllocator.release(mNodes, static_cast<size_t>(mNbAllocatedNodes) * sizeof(TreeNode));
// Initialize the tree
init();
}
// Allocate and return a new node in the tree
int DynamicAABBTree::allocateNode() {
int32 DynamicAABBTree::allocateNode() {
// If there is no more allocated node to use
if (mFreeNodeID == TreeNode::NULL_TREE_NODE) {
@ -89,16 +89,16 @@ int DynamicAABBTree::allocateNode() {
assert(mNbNodes == mNbAllocatedNodes);
// Allocate more nodes in the tree
uint oldNbAllocatedNodes = mNbAllocatedNodes;
int32 oldNbAllocatedNodes = mNbAllocatedNodes;
mNbAllocatedNodes *= 2;
TreeNode* oldNodes = mNodes;
mNodes = static_cast<TreeNode*>(mAllocator.allocate(mNbAllocatedNodes * sizeof(TreeNode)));
mNodes = static_cast<TreeNode*>(mAllocator.allocate(static_cast<size_t>(mNbAllocatedNodes) * sizeof(TreeNode)));
assert(mNodes);
memcpy(mNodes, oldNodes, mNbNodes * sizeof(TreeNode));
mAllocator.release(oldNodes, oldNbAllocatedNodes * sizeof(TreeNode));
memcpy(mNodes, oldNodes, static_cast<size_t>(mNbNodes) * sizeof(TreeNode));
mAllocator.release(oldNodes, static_cast<size_t>(oldNbAllocatedNodes) * sizeof(TreeNode));
// Initialize the allocated nodes
for (int i=mNbNodes; i<mNbAllocatedNodes - 1; i++) {
for (int32 i=mNbNodes; i<mNbAllocatedNodes - 1; i++) {
mNodes[i].nextNodeID = i + 1;
mNodes[i].height = -1;
}
@ -108,7 +108,7 @@ int DynamicAABBTree::allocateNode() {
}
// Get the next free node
int freeNodeID = mFreeNodeID;
int32 freeNodeID = mFreeNodeID;
mFreeNodeID = mNodes[freeNodeID].nextNodeID;
mNodes[freeNodeID].parentID = TreeNode::NULL_TREE_NODE;
mNodes[freeNodeID].height = 0;
@ -130,10 +130,10 @@ void DynamicAABBTree::releaseNode(int nodeID) {
}
// Internally add an object into the tree
int DynamicAABBTree::addObjectInternal(const AABB& aabb) {
int32 DynamicAABBTree::addObjectInternal(const AABB& aabb) {
// Get the next available node (or allocate new ones if necessary)
int nodeID = allocateNode();
int32 nodeID = allocateNode();
// Create the fat aabb to use in the tree
const Vector3 gap(mExtraAABBGap, mExtraAABBGap, mExtraAABBGap);
@ -154,7 +154,7 @@ int DynamicAABBTree::addObjectInternal(const AABB& aabb) {
}
// Remove an object from the tree
void DynamicAABBTree::removeObject(int nodeID) {
void DynamicAABBTree::removeObject(int32 nodeID) {
assert(nodeID >= 0 && nodeID < mNbAllocatedNodes);
assert(mNodes[nodeID].isLeaf());
@ -170,7 +170,7 @@ void DynamicAABBTree::removeObject(int nodeID) {
/// The method returns true if the object has been reinserted into the tree. The "displacement"
/// argument is the linear velocity of the AABB multiplied by the elapsed time between two
/// frames.
bool DynamicAABBTree::updateObject(int nodeID, const AABB& newAABB, const Vector3& displacement) {
bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement) {
RP3D_PROFILE("DynamicAABBTree::updateObject()", mProfiler);
@ -424,7 +424,7 @@ void DynamicAABBTree::removeLeafNode(int nodeID) {
// Balance the sub-tree of a given node using left or right rotations.
/// The rotation schemes are described in the book "Introduction to Game Physics
/// with Box2D" by Ian Parberry. This method returns the new root node ID.
int DynamicAABBTree::balanceSubTreeAtNode(int nodeID) {
int32 DynamicAABBTree::balanceSubTreeAtNode(int32 nodeID) {
assert(nodeID != TreeNode::NULL_TREE_NODE);
@ -593,11 +593,11 @@ int DynamicAABBTree::balanceSubTreeAtNode(int nodeID) {
}
/// Take a list of shapes to be tested for broad-phase overlap and return a list of pair of overlapping shapes
void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List<int>& nodesToTest, size_t startIndex,
size_t endIndex, List<Pair<int, int>>& outOverlappingNodes) const {
void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List<int32>& nodesToTest, size_t startIndex,
size_t endIndex, List<Pair<int32, int32>>& outOverlappingNodes) const {
// Create a stack with the nodes to visit
Stack<int> stack(mAllocator, 64);
Stack<int32> stack(mAllocator, 64);
// For each shape to be tested for overlap
for (uint i=startIndex; i < endIndex; i++) {
@ -612,7 +612,7 @@ void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List<int>& node
while(stack.size() > 0) {
// Get the next node ID to visit
const int nodeIDToVisit = stack.pop();
const int32 nodeIDToVisit = stack.pop();
// Skip it if it is a null node
if (nodeIDToVisit == TreeNode::NULL_TREE_NODE) continue;
@ -627,7 +627,7 @@ void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List<int>& node
if (nodeToVisit->isLeaf()) {
// Add the node in the list of overlapping nodes
outOverlappingNodes.add(Pair<int, int>(nodesToTest[i], nodeIDToVisit));
outOverlappingNodes.add(Pair<int32, int32>(nodesToTest[i], nodeIDToVisit));
}
else { // If the node is not a leaf
@ -643,17 +643,17 @@ void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List<int>& node
}
// Report all shapes overlapping with the AABB given in parameter.
void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, List<int>& overlappingNodes) const {
void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, List<int32>& overlappingNodes) const {
// Create a stack with the nodes to visit
Stack<int> stack(mAllocator, 64);
Stack<int32> stack(mAllocator, 64);
stack.push(mRootNodeID);
// While there are still nodes to visit
while(stack.size() > 0) {
// Get the next node ID to visit
const int nodeIDToVisit = stack.pop();
const int32 nodeIDToVisit = stack.pop();
// Skip it if it is a null node
if (nodeIDToVisit == TreeNode::NULL_TREE_NODE) continue;
@ -687,7 +687,7 @@ void DynamicAABBTree::raycast(const Ray& ray, DynamicAABBTreeRaycastCallback& ca
decimal maxFraction = ray.maxFraction;
Stack<int> stack(mAllocator, 128);
Stack<int32> stack(mAllocator, 128);
stack.push(mRootNodeID);
// Walk through the tree from the root looking for proxy shapes
@ -695,7 +695,7 @@ void DynamicAABBTree::raycast(const Ray& ray, DynamicAABBTreeRaycastCallback& ca
while (stack.size() > 0) {
// Get the next node in the stack
int nodeID = stack.pop();
int32 nodeID = stack.pop();
// If it is a null node, skip it
if (nodeID == TreeNode::NULL_TREE_NODE) continue;
@ -750,8 +750,8 @@ void DynamicAABBTree::check() const {
// Recursively check each node
checkNode(mRootNodeID);
int nbFreeNodes = 0;
int freeNodeID = mFreeNodeID;
int32 nbFreeNodes = 0;
int32 freeNodeID = mFreeNodeID;
// Check the free nodes
while(freeNodeID != TreeNode::NULL_TREE_NODE) {
@ -764,7 +764,7 @@ void DynamicAABBTree::check() const {
}
// Check if the node structure is valid (for debugging purpose)
void DynamicAABBTree::checkNode(int nodeID) const {
void DynamicAABBTree::checkNode(int32 nodeID) const {
if (nodeID == TreeNode::NULL_TREE_NODE) return;
@ -776,8 +776,8 @@ void DynamicAABBTree::checkNode(int nodeID) const {
// Get the children nodes
TreeNode* pNode = mNodes + nodeID;
assert(!pNode->isLeaf());
int leftChild = pNode->children[0];
int rightChild = pNode->children[1];
int32 leftChild = pNode->children[0];
int32 rightChild = pNode->children[1];
assert(pNode->height >= 0);
assert(pNode->aabb.getVolume() > 0);
@ -822,7 +822,7 @@ int DynamicAABBTree::computeHeight() {
}
// Compute the height of a given node in the tree
int DynamicAABBTree::computeHeight(int nodeID) {
int DynamicAABBTree::computeHeight(int32 nodeID) {
assert(nodeID >= 0 && nodeID < mNbAllocatedNodes);
TreeNode* node = mNodes + nodeID;

58
src/collision/broadphase/DynamicAABBTree.h
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@ -54,7 +54,7 @@ struct TreeNode {
// -------------------- Constants -------------------- //
/// Null tree node constant
const static int NULL_TREE_NODE;
const static int32 NULL_TREE_NODE;
// -------------------- Attributes -------------------- //
@ -148,16 +148,16 @@ class DynamicAABBTree {
TreeNode* mNodes;
/// ID of the root node of the tree
int mRootNodeID;
int32 mRootNodeID;
/// ID of the first node of the list of free (allocated) nodes in the tree that we can use
int mFreeNodeID;
int32 mFreeNodeID;
/// Number of allocated nodes in the tree
int mNbAllocatedNodes;
int32 mNbAllocatedNodes;
/// Number of nodes in the tree
int mNbNodes;
int32 mNbNodes;
/// Extra AABB Gap used to allow the collision shape to move a little bit
/// without triggering a large modification of the tree which can be costly
@ -173,25 +173,25 @@ class DynamicAABBTree {
// -------------------- Methods -------------------- //
/// Allocate and return a node to use in the tree
int allocateNode();
int32 allocateNode();
/// Release a node
void releaseNode(int nodeID);
void releaseNode(int32 nodeID);
/// Insert a leaf node in the tree
void insertLeafNode(int nodeID);
void insertLeafNode(int32 nodeID);
/// Remove a leaf node from the tree
void removeLeafNode(int nodeID);
void removeLeafNode(int32 nodeID);
/// Balance the sub-tree of a given node using left or right rotations.
int balanceSubTreeAtNode(int nodeID);
int32 balanceSubTreeAtNode(int32 nodeID);
/// Compute the height of a given node in the tree
int computeHeight(int nodeID);
int computeHeight(int32 nodeID);
/// Internally add an object into the tree
int addObjectInternal(const AABB& aabb);
int32 addObjectInternal(const AABB& aabb);
/// Initialize the tree
void init();
@ -202,7 +202,7 @@ class DynamicAABBTree {
void check() const;
/// Check if the node structure is valid (for debugging purpose)
void checkNode(int nodeID) const;
void checkNode(int32 nodeID) const;
#endif
@ -217,29 +217,29 @@ class DynamicAABBTree {
~DynamicAABBTree();
/// Add an object into the tree (where node data are two integers)
int addObject(const AABB& aabb, int32 data1, int32 data2);
int32 addObject(const AABB& aabb, int32 data1, int32 data2);
/// Add an object into the tree (where node data is a pointer)
int addObject(const AABB& aabb, void* data);
int32 addObject(const AABB& aabb, void* data);
/// Remove an object from the tree
void removeObject(int nodeID);
void removeObject(int32 nodeID);
/// Update the dynamic tree after an object has moved.
bool updateObject(int nodeID, const AABB& newAABB, const Vector3& displacement);
bool updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement);
/// Return the fat AABB corresponding to a given node ID
const AABB& getFatAABB(int nodeID) const;
const AABB& getFatAABB(int32 nodeID) const;
/// Return the pointer to the data array of a given leaf node of the tree
int32* getNodeDataInt(int nodeID) const;
int32* getNodeDataInt(int32 nodeID) const;
/// Return the data pointer of a given leaf node of the tree
void* getNodeDataPointer(int nodeID) const;
void* getNodeDataPointer(int32 nodeID) const;
/// Report all shapes overlapping with all the shapes in the map in parameter
void reportAllShapesOverlappingWithShapes(const List<int>& nodesToTest, size_t startIndex,
size_t endIndex, List<Pair<int, int>>& outOverlappingNodes) const;
void reportAllShapesOverlappingWithShapes(const List<int32>& nodesToTest, size_t startIndex,
size_t endIndex, List<Pair<int32, int32>>& outOverlappingNodes) const;
/// Report all shapes overlapping with the AABB given in parameter.
void reportAllShapesOverlappingWithAABB(const AABB& aabb, List<int>& overlappingNodes) const;
@ -271,20 +271,20 @@ inline bool TreeNode::isLeaf() const {
}
// Return the fat AABB corresponding to a given node ID
inline const AABB& DynamicAABBTree::getFatAABB(int nodeID) const {
inline const AABB& DynamicAABBTree::getFatAABB(int32 nodeID) const {
assert(nodeID >= 0 && nodeID < mNbAllocatedNodes);
return mNodes[nodeID].aabb;
}
// Return the pointer to the data array of a given leaf node of the tree
inline int32* DynamicAABBTree::getNodeDataInt(int nodeID) const {
inline int32* DynamicAABBTree::getNodeDataInt(int32 nodeID) const {
assert(nodeID >= 0 && nodeID < mNbAllocatedNodes);
assert(mNodes[nodeID].isLeaf());
return mNodes[nodeID].dataInt;
}
// Return the pointer to the data pointer of a given leaf node of the tree
inline void* DynamicAABBTree::getNodeDataPointer(int nodeID) const {
inline void* DynamicAABBTree::getNodeDataPointer(int32 nodeID) const {
assert(nodeID >= 0 && nodeID < mNbAllocatedNodes);
assert(mNodes[nodeID].isLeaf());
return mNodes[nodeID].dataPointer;
@ -297,9 +297,9 @@ inline AABB DynamicAABBTree::getRootAABB() const {
// Add an object into the tree. This method creates a new leaf node in the tree and
// returns the ID of the corresponding node.
inline int DynamicAABBTree::addObject(const AABB& aabb, int32 data1, int32 data2) {
inline int32 DynamicAABBTree::addObject(const AABB& aabb, int32 data1, int32 data2) {
int nodeId = addObjectInternal(aabb);
int32 nodeId = addObjectInternal(aabb);
mNodes[nodeId].dataInt[0] = data1;
mNodes[nodeId].dataInt[1] = data2;
@ -309,9 +309,9 @@ inline int DynamicAABBTree::addObject(const AABB& aabb, int32 data1, int32 data2
// Add an object into the tree. This method creates a new leaf node in the tree and
// returns the ID of the corresponding node.
inline int DynamicAABBTree::addObject(const AABB& aabb, void* data) {
inline int32 DynamicAABBTree::addObject(const AABB& aabb, void* data) {
int nodeId = addObjectInternal(aabb);
int32 nodeId = addObjectInternal(aabb);
mNodes[nodeId].dataPointer = data;

12
src/components/ProxyShapeComponents.cpp
View File

@ -59,7 +59,7 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) {
Entity* newProxyShapesEntities = static_cast<Entity*>(newBuffer);
Entity* newBodiesEntities = reinterpret_cast<Entity*>(newProxyShapesEntities + nbComponentsToAllocate);
ProxyShape** newProxyShapes = reinterpret_cast<ProxyShape**>(newBodiesEntities + nbComponentsToAllocate);
int* newBroadPhaseIds = reinterpret_cast<int*>(newProxyShapes + nbComponentsToAllocate);
int32* newBroadPhaseIds = reinterpret_cast<int32*>(newProxyShapes + nbComponentsToAllocate);
Transform* newLocalToBodyTransforms = reinterpret_cast<Transform*>(newBroadPhaseIds + nbComponentsToAllocate);
CollisionShape** newCollisionShapes = reinterpret_cast<CollisionShape**>(newLocalToBodyTransforms + nbComponentsToAllocate);
decimal* newMasses = reinterpret_cast<decimal*>(newCollisionShapes + nbComponentsToAllocate);
@ -73,7 +73,7 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) {
memcpy(newProxyShapesEntities, mProxyShapesEntities, mNbComponents * sizeof(Entity));
memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity));
memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(ProxyShape*));
memcpy(newBroadPhaseIds, mBroadPhaseIds, mNbComponents * sizeof(int));
memcpy(newBroadPhaseIds, mBroadPhaseIds, mNbComponents * sizeof(int32));
memcpy(newLocalToBodyTransforms, mLocalToBodyTransforms, mNbComponents * sizeof(Transform));
memcpy(newCollisionShapes, mCollisionShapes, mNbComponents * sizeof(CollisionShape*));
memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal));
@ -109,7 +109,7 @@ void ProxyShapeComponents::addComponent(Entity proxyShapeEntity, bool isSleeping
new (mProxyShapesEntities + index) Entity(proxyShapeEntity);
new (mBodiesEntities + index) Entity(component.bodyEntity);
mProxyShapes[index] = component.proxyShape;
new (mBroadPhaseIds + index) int(component.broadPhaseId);
new (mBroadPhaseIds + index) int32(-1);
new (mLocalToBodyTransforms + index) Transform(component.localToBodyTransform);
mCollisionShapes[index] = component.collisionShape;
new (mMasses + index) decimal(component.mass);
@ -134,7 +134,7 @@ void ProxyShapeComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInde
new (mProxyShapesEntities + destIndex) Entity(mProxyShapesEntities[srcIndex]);
new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]);
mProxyShapes[destIndex] = mProxyShapes[srcIndex];
new (mBroadPhaseIds + destIndex) int(mBroadPhaseIds[srcIndex]);
new (mBroadPhaseIds + destIndex) int32(mBroadPhaseIds[srcIndex]);
new (mLocalToBodyTransforms + destIndex) Transform(mLocalToBodyTransforms[srcIndex]);
mCollisionShapes[destIndex] = mCollisionShapes[srcIndex];
new (mMasses + destIndex) decimal(mMasses[srcIndex]);
@ -159,7 +159,7 @@ void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) {
Entity proxyShapeEntity1(mProxyShapesEntities[index1]);
Entity bodyEntity1(mBodiesEntities[index1]);
ProxyShape* proxyShape1 = mProxyShapes[index1];
int broadPhaseId1 = mBroadPhaseIds[index1];
int32 broadPhaseId1 = mBroadPhaseIds[index1];
Transform localToBodyTransform1 = mLocalToBodyTransforms[index1];
CollisionShape* collisionShape1 = mCollisionShapes[index1];
decimal mass1 = mMasses[index1];
@ -175,7 +175,7 @@ void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) {
new (mProxyShapesEntities + index2) Entity(proxyShapeEntity1);
new (mBodiesEntities + index2) Entity(bodyEntity1);
mProxyShapes[index2] = proxyShape1;
new (mBroadPhaseIds + index2) int(broadPhaseId1);
new (mBroadPhaseIds + index2) int32(broadPhaseId1);
new (mLocalToBodyTransforms + index2) Transform(localToBodyTransform1);
mCollisionShapes[index2] = collisionShape1;
new (mMasses + index2) decimal(mass1);

15
src/components/ProxyShapeComponents.h
View File

@ -66,7 +66,7 @@ class ProxyShapeComponents : public Components {
/// Ids of the proxy-shapes for the broad-phase algorithm
// TODO : Try to change type to uint32
int* mBroadPhaseIds;
int32* mBroadPhaseIds;
/// Transform from local-space of the proxy-shape to the body-space of its body
Transform* mLocalToBodyTransforms;
@ -111,7 +111,6 @@ class ProxyShapeComponents : public Components {
Entity bodyEntity;
ProxyShape* proxyShape;
int broadPhaseId;
AABB localBounds;
Transform localToBodyTransform;
CollisionShape* collisionShape;
@ -120,10 +119,10 @@ class ProxyShapeComponents : public Components {
unsigned short collideWithMaskBits;
/// Constructor
ProxyShapeComponent(Entity bodyEntity, ProxyShape* proxyShape, int broadPhaseId, AABB localBounds, Transform localToBodyTransform,
ProxyShapeComponent(Entity bodyEntity, ProxyShape* proxyShape, AABB localBounds, Transform localToBodyTransform,
CollisionShape* collisionShape, decimal mass, unsigned short collisionCategoryBits,
unsigned short collideWithMaskBits)
:bodyEntity(bodyEntity), proxyShape(proxyShape), broadPhaseId(broadPhaseId), localBounds(localBounds), localToBodyTransform(localToBodyTransform),
:bodyEntity(bodyEntity), proxyShape(proxyShape), localBounds(localBounds), localToBodyTransform(localToBodyTransform),
collisionShape(collisionShape), mass(mass), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits) {
}
@ -159,10 +158,10 @@ class ProxyShapeComponents : public Components {
CollisionShape* getCollisionShape(Entity proxyShapeEntity) const;
/// Return the broad-phase id of a given proxy shape
int getBroadPhaseId(Entity proxyShapeEntity) const;
int32 getBroadPhaseId(Entity proxyShapeEntity) const;
/// Set the broad-phase id of a given proxy shape
void setBroadPhaseId(Entity proxyShapeEntity, int broadPhaseId);
void setBroadPhaseId(Entity proxyShapeEntity, int32 broadPhaseId);
/// Return the collision category bits of a given proxy-shape
unsigned short getCollisionCategoryBits(Entity proxyShapeEntity) const;
@ -230,7 +229,7 @@ inline CollisionShape* ProxyShapeComponents::getCollisionShape(Entity proxyShape
}
// Return the broad-phase id of a given proxy shape
inline int ProxyShapeComponents::getBroadPhaseId(Entity proxyShapeEntity) const {
inline int32 ProxyShapeComponents::getBroadPhaseId(Entity proxyShapeEntity) const {
assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity));
@ -238,7 +237,7 @@ inline int ProxyShapeComponents::getBroadPhaseId(Entity proxyShapeEntity) const
}
// Set the broad-phase id of a given proxy shape
inline void ProxyShapeComponents::setBroadPhaseId(Entity proxyShapeEntity, int broadPhaseId) {
inline void ProxyShapeComponents::setBroadPhaseId(Entity proxyShapeEntity, int32 broadPhaseId) {
assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity));

7
src/engine/CollisionWorld.cpp
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@ -214,8 +214,6 @@ void CollisionWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) {
if (isDisabled == mCollisionBodyComponents.getIsEntityDisabled(bodyEntity)) return;
// TODO : Make sure we notify all the components here ...
// Notify all the components
mCollisionBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled);
mTransformComponents.setIsEntityDisabled(bodyEntity, isDisabled);
@ -238,8 +236,8 @@ void CollisionWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) {
const List<Entity>& joints = mRigidBodyComponents.getJoints(bodyEntity);
for(uint32 i=0; i < joints.size(); i++) {
Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]);
Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]);
const Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]);
const Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]);
// If both bodies of the joint are disabled
if (mRigidBodyComponents.getIsEntityDisabled(body1Entity) &&
@ -262,7 +260,6 @@ void CollisionWorld::setJointDisabled(Entity jointEntity, bool isDisabled) {
if (isDisabled == mJointsComponents.getIsEntityDisabled(jointEntity)) return;
// TODO : Make sure we notify all the components here ...
mJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);
if (mBallAndSocketJointsComponents.hasComponent(jointEntity)) {
mBallAndSocketJointsComponents.setIsEntityDisabled(jointEntity, isDisabled);

10
src/engine/DynamicsWorld.cpp
View File

@ -115,9 +115,6 @@ void DynamicsWorld::update(decimal timeStep) {
RP3D_PROFILE("DynamicsWorld::update()", mProfiler);
// Notify the event listener about the beginning of an internal tick
if (mEventListener != nullptr) mEventListener->beginInternalTick();
// Compute the collision detection
mCollisionDetection.computeCollisionDetection();
@ -153,9 +150,6 @@ void DynamicsWorld::update(decimal timeStep) {
if (mIsSleepingEnabled) updateSleepingBodies(timeStep);
// Notify the event listener about the end of an internal tick
if (mEventListener != nullptr) mEventListener->endInternalTick();
// Reset the external force and torque applied to the bodies
mDynamicsSystem.resetBodiesForceAndTorque();
@ -463,10 +457,7 @@ void DynamicsWorld::destroyJoint(Joint* joint) {
Entity jointEntity = joint->getEntity();
// Destroy the corresponding entity and its components
// TODO : Make sure we remove all its components here
mJointsComponents.removeComponent(jointEntity);
mEntityManager.destroyEntity(jointEntity);
if (mBallAndSocketJointsComponents.hasComponent(jointEntity)) {
mBallAndSocketJointsComponents.removeComponent(jointEntity);
}
@ -479,6 +470,7 @@ void DynamicsWorld::destroyJoint(Joint* joint) {
if (mSliderJointsComponents.hasComponent(jointEntity)) {
mSliderJointsComponents.removeComponent(jointEntity);
}
mEntityManager.destroyEntity(jointEntity);
// Call the destructor of the joint
joint->~Joint();

14
src/engine/EventListener.h
View File

@ -54,20 +54,6 @@ class EventListener : public CollisionCallback {
* @param collisionInfo Information about the contacts
*/
virtual void onContact(const CollisionCallback::CallbackData& callbackData) override {}
// TODO : Remove this method (no internal steps anymore)
/// Called at the beginning of an internal tick of the simulation step.
/// Each time the DynamicsWorld::update() method is called, the physics
/// engine will do several internal simulation steps. This method is
/// called at the beginning of each internal simulation step.
virtual void beginInternalTick() {}
// TODO : Remove this method (no internal steps anymore)
/// Called at the end of an internal tick of the simulation step.
/// Each time the DynamicsWorld::update() metho is called, the physics
/// engine will do several internal simulation steps. This method is
/// called at the end of each internal simulation step.
virtual void endInternalTick() {}
};
}

4
src/systems/BroadPhaseSystem.cpp
View File

@ -128,7 +128,7 @@ void BroadPhaseSystem::updateProxyShapes(decimal timeStep) {
}
// Notify the broad-phase that a collision shape has moved and need to be updated
void BroadPhaseSystem::updateProxyShapeInternal(int broadPhaseId, const AABB& aabb, const Vector3& displacement) {
void BroadPhaseSystem::updateProxyShapeInternal(int32 broadPhaseId, const AABB& aabb, const Vector3& displacement) {
assert(broadPhaseId >= 0);
@ -161,7 +161,7 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 nbI
// For each proxy-shape component to update
for (uint32 i = startIndex; i < startIndex + nbItems; i++) {
const int broadPhaseId = mProxyShapesComponents.mBroadPhaseIds[i];
const int32 broadPhaseId = mProxyShapesComponents.mBroadPhaseIds[i];
if (broadPhaseId != -1) {
const Entity& bodyEntity = mProxyShapesComponents.mBodiesEntities[i];

2
src/systems/BroadPhaseSystem.h
View File

@ -140,7 +140,7 @@ class BroadPhaseSystem {
// -------------------- Methods -------------------- //
/// Notify the Dynamic AABB tree that a proxy-shape needs to be updated
void updateProxyShapeInternal(int broadPhaseId, const AABB& aabb, const Vector3& displacement);
void updateProxyShapeInternal(int32 broadPhaseId, const AABB& aabb, const Vector3& displacement);
/// Update the broad-phase state of some proxy-shapes components
void updateProxyShapesComponents(uint32 startIndex, uint32 nbItems, decimal timeStep);

4
src/systems/ConstraintSolverSystem.cpp
View File

@ -45,9 +45,7 @@ ConstraintSolverSystem::ConstraintSolverSystem(DynamicsWorld& world, Islands& is
mSolveBallAndSocketJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, ballAndSocketJointComponents),
mSolveFixedJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, fixedJointComponents),
mSolveHingeJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, hingeJointComponents),
mSolveSliderJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, sliderJointComponents),
mJointComponents(jointComponents), mBallAndSocketJointComponents(ballAndSocketJointComponents),
mFixedJointComponents(fixedJointComponents), mHingeJointComponents(hingeJointComponents) {
mSolveSliderJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, sliderJointComponents) {
#ifdef IS_PROFILING_ACTIVE

12
src/systems/ConstraintSolverSystem.h
View File

@ -173,18 +173,6 @@ class ConstraintSolverSystem {
/// Solver for the SliderJoint constraints
SolveSliderJointSystem mSolveSliderJointSystem;
// TODO : Delete this
JointComponents& mJointComponents;
// TODO : Delete this
BallAndSocketJointComponents& mBallAndSocketJointComponents;
// TODO : Delete this
FixedJointComponents& mFixedJointComponents;
// TODO : Delete this
HingeJointComponents& mHingeJointComponents;
#ifdef IS_PROFILING_ACTIVE
/// Pointer to the profiler

2
src/systems/ContactSolverSystem.cpp
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@ -68,7 +68,6 @@ void ContactSolverSystem::init(List<ContactManifold>* contactManifolds, List<Con
mTimeStep = timeStep;
// TODO : Try not to count manifolds and contact points here
uint nbContactManifolds = mAllContactManifolds->size();
uint nbContactPoints = mAllContactPoints->size();
@ -80,7 +79,6 @@ void ContactSolverSystem::init(List<ContactManifold>* contactManifolds, List<Con
if (nbContactManifolds == 0 || nbContactPoints == 0) return;
// TODO : Count exactly the number of constraints to allocate here
mContactPoints = static_cast<ContactPointSolver*>(mMemoryManager.allocate(MemoryManager::AllocationType::Frame,
sizeof(ContactPointSolver) * nbContactPoints));
assert(mContactPoints != nullptr);

2
src/systems/DynamicsSystem.cpp
View File

@ -73,8 +73,6 @@ void DynamicsSystem::updateBodiesState() {
RP3D_PROFILE("DynamicsSystem::updateBodiesState()", mProfiler);
// TODO : Make sure we compute this in a system
for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) {
// Update the linear and angular velocity of the body