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Merge master into optimization and fix conflicts

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This commit is contained in:
Daniel Chappuis 2020-09-02 22:53:21 +02:00
commit 7774b6f0cd
8 changed files with 90 additions and 29 deletions
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4
documentation/UserManual/ReactPhysics3D-UserManual.tex
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@ -1201,7 +1201,7 @@ indices[16]=2; indices[17]=3; indices[18]=7; indices[19]=6;
indices[20]=0; indices[21]=4; indices[22]=7; indices[23]=3;
// Description of the six faces of the convex mesh
polygonFaces = new PolygonVertexArray::PolygonFace[6];
PolygonVertexArray::PolygonFace* polygonFaces = new PolygonVertexArray::PolygonFace[6];
PolygonVertexArray::PolygonFace* face = polygonFaces;
for (int f = 0; f < 6; f++) {
@ -1215,7 +1215,7 @@ for (int f = 0; f < 6; f++) {
}
// Create the polygon vertex array
PolygonaVertexArray* polygonVertexArray = new PolygonVertexArray(8, vertices, 3 x sizeof(float),
PolygonVertexArray* polygonVertexArray = new PolygonVertexArray(8, vertices, 3 x sizeof(float),
indices, sizeof(int), 6, polygonFaces,
PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);

7
include/reactphysics3d/engine/PhysicsWorld.h
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@ -230,6 +230,11 @@ class PhysicsWorld {
/// All the islands of bodies of the current frame
Islands mIslands;
/// Order in which to process the ContactPairs for contact creation such that
/// all the contact manifolds and contact points of a given island are packed together
/// This array contains the indices of the ContactPairs.
List<uint32> mProcessContactPairsOrderIslands;
/// Contact solver system
ContactSolverSystem mContactSolverSystem;
@ -388,7 +393,7 @@ class PhysicsWorld {
Vector3 getGravity() const;
/// Set the gravity vector of the world
void setGravity(Vector3& gravity);
void setGravity(const Vector3& gravity);
/// Return if the gravity is on
bool isGravityEnabled() const;

3
include/reactphysics3d/systems/CollisionDetectionSystem.h
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@ -230,6 +230,9 @@ class CollisionDetectionSystem {
/// Create the actual contact manifolds and contacts points (from potential contacts) for a given contact pair
void createContacts();
/// Add the contact pairs to the corresponding bodies
void addContactPairsToBodies();
/// Compute the map from contact pairs ids to contact pair for the next frame
void computeMapPreviousContactPairs();

16
src/engine/PhysicsWorld.cpp
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@ -59,7 +59,7 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo
mSliderJointsComponents(mMemoryManager.getHeapAllocator()), mCollisionDetection(this, mCollidersComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents,
mMemoryManager),
mCollisionBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr),
mName(worldSettings.worldName), mIslands(mMemoryManager.getSingleFrameAllocator()),
mName(worldSettings.worldName), mIslands(mMemoryManager.getSingleFrameAllocator()), mProcessContactPairsOrderIslands(mMemoryManager.getSingleFrameAllocator()),
mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents,
mCollidersComponents, mConfig.restitutionVelocityThreshold),
mConstraintSolverSystem(*this, mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents,
@ -338,6 +338,9 @@ void PhysicsWorld::update(decimal timeStep) {
// Create the islands
createIslands();
// Create the actual narrow-phase contacts
mCollisionDetection.createContacts();
// Report the contacts to the user
mCollisionDetection.reportContactsAndTriggers();
@ -373,6 +376,8 @@ void PhysicsWorld::update(decimal timeStep) {
// Reset the islands
mIslands.clear();
mProcessContactPairsOrderIslands.clear(true);
// Generate debug rendering primitives (if enabled)
if (mIsDebugRenderingEnabled) {
mDebugRenderer.computeDebugRenderingPrimitives(*this);
@ -755,6 +760,8 @@ void PhysicsWorld::createIslands() {
RP3D_PROFILE("PhysicsWorld::createIslands()", mProfiler);
assert(mProcessContactPairsOrderIslands.size() == 0);
// Reset all the isAlreadyInIsland variables of bodies and joints
for (uint b=0; b < mRigidBodyComponents.getNbComponents(); b++) {
@ -824,7 +831,8 @@ void PhysicsWorld::createIslands() {
// For each contact pair in which the current body is involded
for (uint32 p=0; p < mRigidBodyComponents.mContactPairs[bodyToVisitIndex].size(); p++) {
ContactPair& pair = (*mCollisionDetection.mCurrentContactPairs)[mRigidBodyComponents.mContactPairs[bodyToVisitIndex][p]];
const uint32 contactPairIndex = mRigidBodyComponents.mContactPairs[bodyToVisitIndex][p];
ContactPair& pair = (*mCollisionDetection.mCurrentContactPairs)[contactPairIndex];
// Check if the current contact pair has already been added into an island
if (pair.isAlreadyInIsland) continue;
@ -836,6 +844,8 @@ void PhysicsWorld::createIslands() {
if (mRigidBodyComponents.hasComponentGetIndex(otherBodyEntity, otherBodyIndex)
&& !mCollidersComponents.getIsTrigger(pair.collider1Entity) && !mCollidersComponents.getIsTrigger(pair.collider2Entity)) {
mProcessContactPairsOrderIslands.add(contactPairIndex);
assert(pair.nbPotentialContactManifolds > 0);
nbTotalManifolds += pair.nbPotentialContactManifolds;
@ -999,7 +1009,7 @@ void PhysicsWorld::setNbIterationsPositionSolver(uint nbIterations) {
/**
* @param gravity The gravity vector (in meter per seconds squared)
*/
void PhysicsWorld::setGravity(Vector3& gravity) {
void PhysicsWorld::setGravity(const Vector3& gravity) {
mConfig.gravity = gravity;

2
src/mathematics/Quaternion.cpp
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@ -106,7 +106,7 @@ Quaternion::Quaternion(const Matrix3x3& matrix) {
// Compute the quaternion
x = decimal(0.5) * r;
y = (matrix[0][1] + matrix[1][0]) * s;
z = (matrix[2][0] - matrix[0][2]) * s;
z = (matrix[2][0] + matrix[0][2]) * s;
w = (matrix[2][1] - matrix[1][2]) * s;
}
}

70
src/systems/CollisionDetectionSystem.cpp
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@ -608,19 +608,32 @@ void CollisionDetectionSystem::computeNarrowPhase() {
// Reduce the number of contact points in the manifolds
reducePotentialContactManifolds(mCurrentContactPairs, mPotentialContactManifolds, mPotentialContactPoints);
// Add the contact pairs to the bodies
addContactPairsToBodies();
assert(mCurrentContactManifolds->size() == 0);
assert(mCurrentContactPoints->size() == 0);
// Create the actual narrow-phase contacts
createContacts();
// Compute the map from contact pairs ids to contact pair for the next frame
computeMapPreviousContactPairs();
mNarrowPhaseInput.clear();
}
/// Compute the map from contact pairs ids to contact pair for the next frame
// Add the contact pairs to the corresponding bodies
void CollisionDetectionSystem::addContactPairsToBodies() {
const uint32 nbContactPairs = mCurrentContactPairs->size();
for (uint32 p=0 ; p < nbContactPairs; p++) {
ContactPair& contactPair = (*mCurrentContactPairs)[p];
// Add the associated contact pair to both bodies of the pair (used to create islands later)
if (mRigidBodyComponents.hasComponent(contactPair.body1Entity)) {
mRigidBodyComponents.addContacPair(contactPair.body1Entity, p);
}
if (mRigidBodyComponents.hasComponent(contactPair.body2Entity)) {
mRigidBodyComponents.addContacPair(contactPair.body2Entity, p);
}
}
}
// Compute the map from contact pairs ids to contact pair for the next frame
void CollisionDetectionSystem::computeMapPreviousContactPairs() {
mPreviousMapPairIdToContactPairIndex.clear();
@ -798,24 +811,34 @@ void CollisionDetectionSystem::createContacts() {
mCurrentContactManifolds->reserve(mCurrentContactPairs->size());
mCurrentContactPoints->reserve(mCurrentContactManifolds->size());
// For each contact pair
const uint nbCurrentContactPairs = (*mCurrentContactPairs).size();
for (uint p=0; p < nbCurrentContactPairs; p++) {
// We go through all the contact pairs and add the pairs with a least a CollisionBody at the end of the
// mProcessContactPairsOrderIslands array because those pairs have not been added during the islands
// creation (only the pairs with two RigidBodies are added during island creation)
Set<uint32> processedContactPairsIndices(mMemoryManager.getSingleFrameAllocator(), mCurrentContactPairs->size());
for (uint32 i=0; i < mWorld->mProcessContactPairsOrderIslands.size(); i++) {
processedContactPairsIndices.add(mWorld->mProcessContactPairsOrderIslands[i]);
}
for (uint32 i=0; i < mCurrentContactPairs->size(); i++) {
if (!processedContactPairsIndices.contains(i)) {
mWorld->mProcessContactPairsOrderIslands.add(i);
}
}
ContactPair& contactPair = (*mCurrentContactPairs)[p];
assert(mWorld->mProcessContactPairsOrderIslands.size() == (*mCurrentContactPairs).size());
// Process the contact pairs in the order defined by the islands such that the contact manifolds and
// contact points of a given island are packed together in the array of manifolds and contact points
uint32 nbContactPairsToProcess = mWorld->mProcessContactPairsOrderIslands.size();
for (uint p=0; p < nbContactPairsToProcess; p++) {
uint32 contactPairIndex = mWorld->mProcessContactPairsOrderIslands[p];
ContactPair& contactPair = (*mCurrentContactPairs)[contactPairIndex];
contactPair.contactManifoldsIndex = mCurrentContactManifolds->size();
contactPair.nbContactManifolds = contactPair.nbPotentialContactManifolds;
contactPair.contactPointsIndex = mCurrentContactPoints->size();
// Add the associated contact pair to both bodies of the pair (used to create islands later)
if (mRigidBodyComponents.hasComponent(contactPair.body1Entity)) {
mRigidBodyComponents.addContacPair(contactPair.body1Entity, p);
}
if (mRigidBodyComponents.hasComponent(contactPair.body2Entity)) {
mRigidBodyComponents.addContacPair(contactPair.body2Entity, p);
}
// For each potential contact manifold of the pair
for (uint m=0; m < contactPair.nbPotentialContactManifolds; m++) {
@ -856,6 +879,11 @@ void CollisionDetectionSystem::createContacts() {
// Reset the potential contacts
mPotentialContactPoints.clear(true);
mPotentialContactManifolds.clear(true);
// Compute the map from contact pairs ids to contact pair for the next frame
computeMapPreviousContactPairs();
mNarrowPhaseInput.clear();
}
// Compute the lost contact pairs (contact pairs in contact in the previous frame but not in the current one)

2
src/utils/DebugRenderer.cpp
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@ -463,7 +463,7 @@ void DebugRenderer::onContact(const CollisionCallback::CallbackData& callbackDat
if (getIsDebugItemDisplayed(DebugItem::CONTACT_POINT)) {
// Contact point
drawSphere(point, DEFAULT_CONTACT_POINT_SPHERE_RADIUS, mMapDebugItemWithColor[DebugItem::CONTACT_POINT]);
drawSphere(point, mContactPointSphereRadius, mMapDebugItemWithColor[DebugItem::CONTACT_POINT]);
}
if (getIsDebugItemDisplayed(DebugItem::CONTACT_NORMAL)) {

15
test/tests/mathematics/TestQuaternion.h
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@ -90,6 +90,21 @@ class TestQuaternion : public Test {
rp3d_test(approxEqual(quaternion4.z, mQuaternion1.z));
rp3d_test(approxEqual(quaternion4.w, mQuaternion1.w));
Matrix3x3 original(0.001743,-0.968608,0.248589,-0.614229,-0.197205,-0.764090,0.789126,-0.151359,-0.595290);
Matrix3x3 converted = Quaternion(original).getMatrix();
rp3d_test(approxEqual(original[0][0], converted[0][0], 0.0001));
rp3d_test(approxEqual(original[0][1], converted[0][1], 0.0001));
rp3d_test(approxEqual(original[0][2], converted[0][2], 0.0001));
rp3d_test(approxEqual(original[1][0], converted[1][0], 0.0001));
rp3d_test(approxEqual(original[1][1], converted[1][1], 0.0001));
rp3d_test(approxEqual(original[1][2], converted[1][2], 0.0001));
rp3d_test(approxEqual(original[2][0], converted[2][0], 0.0001));
rp3d_test(approxEqual(original[2][1], converted[2][1], 0.0001));
rp3d_test(approxEqual(original[2][2], converted[2][2], 0.0001));
std::cout << original.to_string() << std::endl;
std::cout << converted.to_string() << std::endl;
// Test conversion from Euler angles to quaternion
const decimal PI_OVER_2 = PI_RP3D * decimal(0.5);