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Make attributes public in ContactManifold

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This commit is contained in:
Daniel Chappuis 2019-07-22 18:28:19 +02:00
parent 0191244b57
commit 9deb90dc6f
5 changed files with 40 additions and 152 deletions
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20
src/collision/CollisionDetection.cpp
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@ -728,8 +728,8 @@ void CollisionDetection::initContactsWithPreviousOnes() {
assert(m < mCurrentContactManifolds->size());
ContactManifold& currentContactManifold = (*mCurrentContactManifolds)[m];
assert(currentContactManifold.mNbContactPoints > 0);
ContactPoint& currentContactPoint = (*mCurrentContactPoints)[currentContactManifold.mContactPointsIndex];
assert(currentContactManifold.nbContactPoints > 0);
ContactPoint& currentContactPoint = (*mCurrentContactPoints)[currentContactManifold.contactPointsIndex];
const Vector3& currentContactPointNormal = currentContactPoint.getNormal();
// Find a similar contact manifold among the contact manifolds from the previous frame (for warmstarting)
@ -738,19 +738,19 @@ void CollisionDetection::initContactsWithPreviousOnes() {
for (uint p=previousContactManifoldIndex; p < previousContactManifoldIndex + previousNbContactManifolds; p++) {
ContactManifold& previousContactManifold = (*mPreviousContactManifolds)[p];
assert(previousContactManifold.mNbContactPoints > 0);
ContactPoint& previousContactPoint = (*mPreviousContactPoints)[previousContactManifold.mContactPointsIndex];
assert(previousContactManifold.nbContactPoints > 0);
ContactPoint& previousContactPoint = (*mPreviousContactPoints)[previousContactManifold.contactPointsIndex];
// If the previous contact manifold has a similar contact normal with the current manifold
if (previousContactPoint.getNormal().dot(currentContactPointNormal) >= mWorld->mConfig.cosAngleSimilarContactManifold) {
// Transfer data from the previous contact manifold to the current one
currentContactManifold.mFrictionVector1 = previousContactManifold.mFrictionVector1;
currentContactManifold.mFrictionVector2 = previousContactManifold.mFrictionVector2;
currentContactManifold.mFrictionImpulse1 = previousContactManifold.mFrictionImpulse1;
currentContactManifold.mFrictionImpulse2 = previousContactManifold.mFrictionImpulse2;
currentContactManifold.mFrictionTwistImpulse = previousContactManifold.mFrictionTwistImpulse;
currentContactManifold.mRollingResistanceImpulse = previousContactManifold.mRollingResistanceImpulse;
currentContactManifold.frictionVector1 = previousContactManifold.frictionVector1;
currentContactManifold.frictionVector2 = previousContactManifold.frictionVector2;
currentContactManifold.frictionImpulse1 = previousContactManifold.frictionImpulse1;
currentContactManifold.frictionImpulse2 = previousContactManifold.frictionImpulse2;
currentContactManifold.frictionTwistImpulse = previousContactManifold.frictionTwistImpulse;
currentContactManifold.rollingResistanceImpulse = previousContactManifold.rollingResistanceImpulse;
break;
}

9
src/collision/ContactManifold.cpp
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@ -33,13 +33,10 @@ using namespace reactphysics3d;
// Constructor
ContactManifold::ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity proxyShapeEntity1, Entity proxyShapeEntity2,
uint contactPointsIndex, int8 nbContactPoints)
:mContactPointsIndex(0), bodyEntity1(bodyEntity1), bodyEntity2(bodyEntity2),
proxyShapeEntity1(proxyShapeEntity1), proxyShapeEntity2(proxyShapeEntity2), mFrictionImpulse1(0), mFrictionImpulse2(0),
mFrictionTwistImpulse(0), mIsAlreadyInIsland(false) {
:contactPointsIndex(contactPointsIndex), bodyEntity1(bodyEntity1), bodyEntity2(bodyEntity2),
proxyShapeEntity1(proxyShapeEntity1), proxyShapeEntity2(proxyShapeEntity2), nbContactPoints(nbContactPoints), frictionImpulse1(0), frictionImpulse2(0),
frictionTwistImpulse(0), isAlreadyInIsland(false) {
mContactPointsIndex = contactPointsIndex;
mNbContactPoints = nbContactPoints;
}
// Destructor

129
src/collision/ContactManifold.h
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@ -53,8 +53,7 @@ class PoolAllocator;
*/
class ContactManifold {
// TODO : Check if we can use public fields in this class (maybe this class is used by users directly)
private:
public:
// -------------------- Constants -------------------- //
@ -63,10 +62,8 @@ class ContactManifold {
// -------------------- Attributes -------------------- //
// TODO : For each of the attributes, check if we need to keep it or not
/// Index of the first contact point of the manifold in the list of contact points
uint mContactPointsIndex;
uint contactPointsIndex;
/// Entity of the first body in contact
Entity bodyEntity1;
@ -81,66 +78,28 @@ class ContactManifold {
Entity proxyShapeEntity2;
/// Number of contacts in the cache
int8 mNbContactPoints;
int8 nbContactPoints;
/// First friction vector of the contact manifold
Vector3 mFrictionVector1;
Vector3 frictionVector1;
/// Second friction vector of the contact manifold
Vector3 mFrictionVector2;
Vector3 frictionVector2;
/// First friction constraint accumulated impulse
decimal mFrictionImpulse1;
decimal frictionImpulse1;
/// Second friction constraint accumulated impulse
decimal mFrictionImpulse2;
decimal frictionImpulse2;
/// Twist friction constraint accumulated impulse
decimal mFrictionTwistImpulse;
decimal frictionTwistImpulse;
/// Accumulated rolling resistance impulse
Vector3 mRollingResistanceImpulse;
Vector3 rollingResistanceImpulse;
/// True if the contact manifold has already been added into an island
bool mIsAlreadyInIsland;
// -------------------- Methods -------------------- //
/// Return true if the contact manifold has already been added into an island
bool isAlreadyInIsland() const;
/// set the first friction vector at the center of the contact manifold
void setFrictionVector1(const Vector3& mFrictionVector1);
/// set the second friction vector at the center of the contact manifold
void setFrictionVector2(const Vector3& mFrictionVector2);
/// Set the first friction accumulated impulse
void setFrictionImpulse1(decimal frictionImpulse1);
/// Set the second friction accumulated impulse
void setFrictionImpulse2(decimal frictionImpulse2);
/// Set the friction twist accumulated impulse
void setFrictionTwistImpulse(decimal frictionTwistImpulse);
/// Set the accumulated rolling resistance impulse
void setRollingResistanceImpulse(const Vector3& rollingResistanceImpulse);
/// Return the first friction vector at the center of the contact manifold
const Vector3& getFrictionVector1() const;
/// Return the second friction vector at the center of the contact manifold
const Vector3& getFrictionVector2() const;
/// Return the first friction accumulated impulse
decimal getFrictionImpulse1() const;
/// Return the second friction accumulated impulse
decimal getFrictionImpulse2() const;
/// Return the friction twist accumulated impulse
decimal getFrictionTwistImpulse() const;
bool isAlreadyInIsland;
public:
@ -159,9 +118,6 @@ class ContactManifold {
/// Assignment operator
ContactManifold& operator=(const ContactManifold& contactManifold) = default;
/// Return the number of contact points in the manifold
int8 getNbContactPoints() const;
// -------------------- Friendship -------------------- //
friend class DynamicsWorld;
@ -172,71 +128,6 @@ class ContactManifold {
friend class CollisionDetection;
};
// Return the number of contact points in the manifold
inline int8 ContactManifold::getNbContactPoints() const {
return mNbContactPoints;
}
// Return the first friction vector at the center of the contact manifold
inline const Vector3& ContactManifold::getFrictionVector1() const {
return mFrictionVector1;
}
// set the first friction vector at the center of the contact manifold
inline void ContactManifold::setFrictionVector1(const Vector3& frictionVector1) {
mFrictionVector1 = frictionVector1;
}
// Return the second friction vector at the center of the contact manifold
inline const Vector3& ContactManifold::getFrictionVector2() const {
return mFrictionVector2;
}
// set the second friction vector at the center of the contact manifold
inline void ContactManifold::setFrictionVector2(const Vector3& frictionVector2) {
mFrictionVector2 = frictionVector2;
}
// Return the first friction accumulated impulse
inline decimal ContactManifold::getFrictionImpulse1() const {
return mFrictionImpulse1;
}
// Set the first friction accumulated impulse
inline void ContactManifold::setFrictionImpulse1(decimal frictionImpulse1) {
mFrictionImpulse1 = frictionImpulse1;
}
// Return the second friction accumulated impulse
inline decimal ContactManifold::getFrictionImpulse2() const {
return mFrictionImpulse2;
}
// Set the second friction accumulated impulse
inline void ContactManifold::setFrictionImpulse2(decimal frictionImpulse2) {
mFrictionImpulse2 = frictionImpulse2;
}
// Return the friction twist accumulated impulse
inline decimal ContactManifold::getFrictionTwistImpulse() const {
return mFrictionTwistImpulse;
}
// Set the friction twist accumulated impulse
inline void ContactManifold::setFrictionTwistImpulse(decimal frictionTwistImpulse) {
mFrictionTwistImpulse = frictionTwistImpulse;
}
// Set the accumulated rolling resistance impulse
inline void ContactManifold::setRollingResistanceImpulse(const Vector3& rollingResistanceImpulse) {
mRollingResistanceImpulse = rollingResistanceImpulse;
}
// Return true if the contact manifold has already been added into an island
inline bool ContactManifold::isAlreadyInIsland() const {
return mIsAlreadyInIsland;
}
}
#endif

2
src/components/Components.h
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@ -63,7 +63,7 @@ class Components {
/// Current number of components
uint32 mNbComponents;
// Size (in bytes) of a single component
/// Size (in bytes) of a single component
size_t mComponentDataSize;
/// Number of allocated components

32
src/engine/ContactSolver.cpp
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@ -116,7 +116,7 @@ void ContactSolver::initializeForIsland(uint islandIndex) {
ContactManifold& externalManifold = (*mAllContactManifolds)[m];
assert(externalManifold.getNbContactPoints() > 0);
assert(externalManifold.nbContactPoints > 0);
// Get the two bodies of the contact
RigidBody* body1 = static_cast<RigidBody*>(mBodyComponents.getBody(externalManifold.bodyEntity1));
@ -144,7 +144,7 @@ void ContactSolver::initializeForIsland(uint islandIndex) {
mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = body2->getInertiaTensorInverseWorld();
mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.getMassInverse(body1->getEntity());
mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.getMassInverse(body2->getEntity());
mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.getNbContactPoints();
mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.nbContactPoints;
mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(body1, body2);
mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(body1, body2);
mContactConstraints[mNbContactManifolds].externalContactManifold = &externalManifold;
@ -159,9 +159,9 @@ void ContactSolver::initializeForIsland(uint islandIndex) {
const Vector3& w2 = mRigidBodyComponents.getAngularVelocity(externalManifold.bodyEntity2);
// For each contact point of the contact manifold
assert(externalManifold.getNbContactPoints() > 0);
uint contactPointsStartIndex = externalManifold.mContactPointsIndex;
uint nbContactPoints = externalManifold.mNbContactPoints;
assert(externalManifold.nbContactPoints > 0);
uint contactPointsStartIndex = externalManifold.contactPointsIndex;
uint nbContactPoints = externalManifold.nbContactPoints;
for (uint c=contactPointsStartIndex; c < contactPointsStartIndex + nbContactPoints; c++) {
ContactPoint& externalContact = (*mAllContactPoints)[c];
@ -254,13 +254,13 @@ void ContactSolver::initializeForIsland(uint islandIndex) {
mContactConstraints[mNbContactManifolds].r2Friction.x = mContactConstraints[mNbContactManifolds].frictionPointBody2.x - x2.x;
mContactConstraints[mNbContactManifolds].r2Friction.y = mContactConstraints[mNbContactManifolds].frictionPointBody2.y - x2.y;
mContactConstraints[mNbContactManifolds].r2Friction.z = mContactConstraints[mNbContactManifolds].frictionPointBody2.z - x2.z;
mContactConstraints[mNbContactManifolds].oldFrictionVector1 = externalManifold.getFrictionVector1();
mContactConstraints[mNbContactManifolds].oldFrictionVector2 = externalManifold.getFrictionVector2();
mContactConstraints[mNbContactManifolds].oldFrictionVector1 = externalManifold.frictionVector1;
mContactConstraints[mNbContactManifolds].oldFrictionVector2 = externalManifold.frictionVector2;
// Initialize the accumulated impulses with the previous step accumulated impulses
mContactConstraints[mNbContactManifolds].friction1Impulse = externalManifold.getFrictionImpulse1();
mContactConstraints[mNbContactManifolds].friction2Impulse = externalManifold.getFrictionImpulse2();
mContactConstraints[mNbContactManifolds].frictionTwistImpulse = externalManifold.getFrictionTwistImpulse();
mContactConstraints[mNbContactManifolds].friction1Impulse = externalManifold.frictionImpulse1;
mContactConstraints[mNbContactManifolds].friction2Impulse = externalManifold.frictionImpulse2;
mContactConstraints[mNbContactManifolds].frictionTwistImpulse = externalManifold.frictionTwistImpulse;
// Compute the inverse K matrix for the rolling resistance constraint
bool isBody1DynamicType = body1->getType() == BodyType::DYNAMIC;
@ -805,12 +805,12 @@ void ContactSolver::storeImpulses() {
contactPointIndex++;
}
mContactConstraints[c].externalContactManifold->setFrictionImpulse1(mContactConstraints[c].friction1Impulse);
mContactConstraints[c].externalContactManifold->setFrictionImpulse2(mContactConstraints[c].friction2Impulse);
mContactConstraints[c].externalContactManifold->setFrictionTwistImpulse(mContactConstraints[c].frictionTwistImpulse);
mContactConstraints[c].externalContactManifold->setRollingResistanceImpulse(mContactConstraints[c].rollingResistanceImpulse);
mContactConstraints[c].externalContactManifold->setFrictionVector1(mContactConstraints[c].frictionVector1);
mContactConstraints[c].externalContactManifold->setFrictionVector2(mContactConstraints[c].frictionVector2);
mContactConstraints[c].externalContactManifold->frictionImpulse1 = mContactConstraints[c].friction1Impulse;
mContactConstraints[c].externalContactManifold->frictionImpulse2 = mContactConstraints[c].friction2Impulse;
mContactConstraints[c].externalContactManifold->frictionTwistImpulse = mContactConstraints[c].frictionTwistImpulse;
mContactConstraints[c].externalContactManifold->rollingResistanceImpulse = mContactConstraints[c].rollingResistanceImpulse;
mContactConstraints[c].externalContactManifold->frictionVector1 = mContactConstraints[c].frictionVector1;
mContactConstraints[c].externalContactManifold->frictionVector2 = mContactConstraints[c].frictionVector2;
}
}