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Merge branch 'develop' of https://github.com/jingqi/reactphysics3d into jingqi-develop

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This commit is contained in:
Daniel Chappuis 2021-12-16 22:27:49 +01:00
commit cce33af906
7 changed files with 37 additions and 21 deletions
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2
include/reactphysics3d/collision/shapes/BoxShape.h
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@ -112,7 +112,7 @@ class BoxShape : public ConvexPolyhedronShape {
virtual uint32 getNbVertices() const override;
/// Return a given vertex of the polyhedron
virtual HalfEdgeStructure::Vertex getVertex(uint32 vertexIndex) const override;
virtual const HalfEdgeStructure::Vertex& getVertex(uint32 vertexIndex) const override;
/// Return the number of half-edges of the polyhedron
virtual uint32 getNbHalfEdges() const override;

4
include/reactphysics3d/collision/shapes/ConvexMeshShape.h
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@ -118,7 +118,7 @@ class ConvexMeshShape : public ConvexPolyhedronShape {
virtual uint32 getNbVertices() const override;
/// Return a given vertex of the polyhedron
virtual HalfEdgeStructure::Vertex getVertex(uint32 vertexIndex) const override;
virtual const HalfEdgeStructure::Vertex& getVertex(uint32 vertexIndex) const override;
/// Return the number of half-edges of the polyhedron
virtual uint32 getNbHalfEdges() const override;
@ -208,7 +208,7 @@ RP3D_FORCE_INLINE uint32 ConvexMeshShape::getNbVertices() const {
}
// Return a given vertex of the polyhedron
RP3D_FORCE_INLINE HalfEdgeStructure::Vertex ConvexMeshShape::getVertex(uint32 vertexIndex) const {
RP3D_FORCE_INLINE const HalfEdgeStructure::Vertex& ConvexMeshShape::getVertex(uint32 vertexIndex) const {
assert(vertexIndex < getNbVertices());
return mPolyhedronMesh->getHalfEdgeStructure().getVertex(vertexIndex);
}

2
include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h
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@ -68,7 +68,7 @@ class ConvexPolyhedronShape : public ConvexShape {
virtual uint32 getNbVertices() const=0;
/// Return a given vertex of the polyhedron
virtual HalfEdgeStructure::Vertex getVertex(uint32 vertexIndex) const=0;
virtual const HalfEdgeStructure::Vertex& getVertex(uint32 vertexIndex) const=0;
/// Return the position of a given vertex
virtual Vector3 getVertexPosition(uint32 vertexIndex) const=0;

13
include/reactphysics3d/collision/shapes/TriangleShape.h
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@ -151,7 +151,7 @@ class TriangleShape : public ConvexPolyhedronShape {
virtual uint32 getNbVertices() const override;
/// Return a given vertex of the polyhedron
virtual HalfEdgeStructure::Vertex getVertex(uint32 vertexIndex) const override;
virtual const HalfEdgeStructure::Vertex& getVertex(uint32 vertexIndex) const override;
/// Return the position of a given vertex
virtual Vector3 getVertexPosition(uint32 vertexIndex) const override;
@ -244,16 +244,9 @@ RP3D_FORCE_INLINE uint32 TriangleShape::getNbVertices() const {
}
// Return a given vertex of the polyhedron
RP3D_FORCE_INLINE HalfEdgeStructure::Vertex TriangleShape::getVertex(uint32 vertexIndex) const {
RP3D_FORCE_INLINE const HalfEdgeStructure::Vertex& TriangleShape::getVertex(uint32 vertexIndex) const {
assert(vertexIndex < 3);
HalfEdgeStructure::Vertex vertex(vertexIndex);
switch (vertexIndex) {
case 0: vertex.edgeIndex = 0; break;
case 1: vertex.edgeIndex = 2; break;
case 2: vertex.edgeIndex = 4; break;
}
return vertex;
return mTriangleHalfEdgeStructure.getVertex(vertexIndex);
}
// Return the position of a given vertex

5
include/reactphysics3d/systems/CollisionDetectionSystem.h
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@ -413,11 +413,6 @@ RP3D_FORCE_INLINE void CollisionDetectionSystem::addCollider(Collider* collider,
mMapBroadPhaseIdToColliderEntity.add(Pair<int, Entity>(broadPhaseId, collider->getEntity()));
}
// Add a pair of bodies that cannot collide with each other
RP3D_FORCE_INLINE void CollisionDetectionSystem::addNoCollisionPair(Entity body1Entity, Entity body2Entity) {
mNoCollisionPairs.add(OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity));
}
// Remove a pair of bodies that cannot collide with each other
RP3D_FORCE_INLINE void CollisionDetectionSystem::removeNoCollisionPair(Entity body1Entity, Entity body2Entity) {
mNoCollisionPairs.remove(OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity));

2
src/collision/shapes/BoxShape.cpp
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@ -130,7 +130,7 @@ const HalfEdgeStructure::Face& BoxShape::getFace(uint32 faceIndex) const {
}
// Return a given vertex of the polyhedron
HalfEdgeStructure::Vertex BoxShape::getVertex(uint32 vertexIndex) const {
const HalfEdgeStructure::Vertex& BoxShape::getVertex(uint32 vertexIndex) const {
assert(vertexIndex < getNbVertices());
return mPhysicsCommon.mBoxShapeHalfEdgeStructure.getVertex(vertexIndex);
}

30
src/systems/CollisionDetectionSystem.cpp
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@ -196,6 +196,34 @@ void CollisionDetectionSystem::addLostContactPair(OverlappingPairs::OverlappingP
mLostContactPairs.add(lostContactPair);
}
// Add a pair of bodies that cannot collide with each other
void CollisionDetectionSystem::addNoCollisionPair(Entity body1Entity, Entity body2Entity) {
mNoCollisionPairs.add(OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity));
// If there already are OverlappingPairs involved, they should be removed; Or they will remain in collision state
Array<uint64> toBeRemove(mMemoryManager.getPoolAllocator());
const Array<Entity>& colliderEntities = mWorld->mCollisionBodyComponents.getColliders(body1Entity);
for (uint32 i = 0; i < colliderEntities.size(); ++i) {
// Get the currently overlapping pairs for colliders of body1
const Array<uint64>& overlappingPairs = mCollidersComponents.getOverlappingPairs(colliderEntities[i]);
for (uint32 j = 0; j < overlappingPairs.size(); ++j) {
OverlappingPairs::OverlappingPair *pair = mOverlappingPairs.getOverlappingPair(overlappingPairs[j]);
assert(pair != nullptr);
const Entity overlappingBody1 = mOverlappingPairs.mColliderComponents.getBody(pair->collider1);
const Entity overlappingBody2 = mOverlappingPairs.mColliderComponents.getBody(pair->collider2);
if (overlappingBody1 == body2Entity || overlappingBody2 == body2Entity)
toBeRemove.add(overlappingPairs[j]);
}
}
for (uint32 i = 0; i < toBeRemove.size(); ++i)
mOverlappingPairs.removePair(toBeRemove[i]);
}
// Take an array of overlapping nodes in the broad-phase and create new overlapping pairs if necessary
void CollisionDetectionSystem::updateOverlappingPairs(const Array<Pair<int32, int32>>& overlappingNodes) {
@ -742,7 +770,7 @@ void CollisionDetectionSystem::computeOverlapSnapshotContactPairs(NarrowPhaseInf
const bool isTrigger = mCollidersComponents.mIsTrigger[collider1Index] || mCollidersComponents.mIsTrigger[collider2Index];
// Create a new contact pair
ContactPair contactPair(narrowPhaseInfoBatch.narrowPhaseInfos[i].overlappingPairId, body1Entity, body2Entity, collider1Entity, collider2Entity, static_cast<uint32>(contactPairs.size()), isTrigger, false);
ContactPair contactPair(narrowPhaseInfoBatch.narrowPhaseInfos[i].overlappingPairId, body1Entity, body2Entity, collider1Entity, collider2Entity, static_cast<uint32>(contactPairs.size()), false, isTrigger);
contactPairs.add(contactPair);
setOverlapContactPairId.add(narrowPhaseInfoBatch.narrowPhaseInfos[i].overlappingPairId);