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Changes and bug fixes in ContactManifold and ContactManifoldSet

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This commit is contained in:
Daniel Chappuis 2017-10-18 00:41:32 +02:00
parent d5617526ff
commit de494bb0fd
10 changed files with 189 additions and 193 deletions
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8
src/collision/CollisionDetection.cpp
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@ -104,7 +104,7 @@ void CollisionDetection::computeMiddlePhase() {
OverlappingPair* pair = it->second;
// Make all the contact manifolds and contact points of the pair obsolete
pair->makeContactsObselete();
pair->makeContactsObsolete();
ProxyShape* shape1 = pair->getShape1();
ProxyShape* shape2 = pair->getShape2();
@ -410,12 +410,12 @@ void CollisionDetection::processPotentialContacts(OverlappingPair* pair) {
potentialManifold = potentialManifold->mNext;
}
// Reset the isNew status of the manifolds
pair->resetIsNewManifoldStatus();
// Clear the obsolete contact manifolds and contact points
pair->clearObsoleteManifoldsAndContactPoints();
// Reduce the contact manifolds and contact points if there are too many of them
pair->reduceContactManifolds();
// Reset the potential contacts of the pair
pair->clearPotentialContactManifolds();
}

146
src/collision/ContactManifold.cpp
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@ -34,20 +34,14 @@ ContactManifold::ContactManifold(const ContactManifoldInfo* manifoldInfo, ProxyS
: mShape1(shape1), mShape2(shape2), mContactPoints(nullptr), mContactNormalId(manifoldInfo->getContactNormalId()),
mNbContactPoints(0), mFrictionImpulse1(0.0), mFrictionImpulse2(0.0),
mFrictionTwistImpulse(0.0), mIsAlreadyInIsland(false),
mMemoryAllocator(memoryAllocator), mNext(nullptr), mPrevious(nullptr), mIsObsolete(false), mIsNew(true) {
mMemoryAllocator(memoryAllocator), mNext(nullptr), mPrevious(nullptr), mIsObsolete(false) {
// For each contact point info in the manifold
const ContactPointInfo* pointInfo = manifoldInfo->getFirstContactPointInfo();
while(pointInfo != nullptr) {
// Create the new contact point
ContactPoint* contact = new (mMemoryAllocator.allocate(sizeof(ContactPoint)))
ContactPoint(pointInfo, mShape1->getLocalToWorldTransform(), mShape2->getLocalToWorldTransform());
// Add the new contact point into the manifold
contact->setNext(mContactPoints);
mContactPoints = contact;
mNbContactPoints++;
// Add the new contact point
addContactPoint(pointInfo);
pointInfo = pointInfo->next;
}
@ -73,52 +67,122 @@ ContactManifold::~ContactManifold() {
}
}
// Add a contact point
void ContactManifold::addContactPoint(const ContactPointInfo* contactPointInfo) {
// Remove a contact point
void ContactManifold::removeContactPoint(ContactPoint* contactPoint) {
// Create the new contact point
ContactPoint* contactPoint = new (mMemoryAllocator.allocate(sizeof(ContactPoint)))
ContactPoint(contactPointInfo, mShape1->getLocalToWorldTransform(), mShape2->getLocalToWorldTransform());
assert(mNbContactPoints > 0);
assert(mContactPoints != nullptr);
assert(contactPoint != nullptr);
// Add the new contact point into the manifold
contactPoint->setNext(mContactPoints);
mContactPoints = contactPoint;
ContactPoint* previous = contactPoint->getPrevious();
ContactPoint* next = contactPoint->getNext();
mNbContactPoints++;
assert(mNbContactPoints <= MAX_CONTACT_POINTS_IN_MANIFOLD);
}
if (previous != nullptr) {
previous->setNext(next);
}
else {
mContactPoints = next;
}
// Clear the obsolete contact points
void ContactManifold::clearObseleteContactPoints() {
ContactPoint* contactPoint = mContactPoints;
ContactPoint* previousContactPoint = nullptr;
while (contactPoint != nullptr) {
ContactPoint* nextContactPoint = contactPoint->getNext();
if (contactPoint->getIsObsolete()) {
if (next != nullptr) {
next->setPrevious(previous);
}
// Delete the contact point
contactPoint->~ContactPoint();
mMemoryAllocator.release(contactPoint, sizeof(ContactPoint));
if (previousContactPoint != nullptr) {
previousContactPoint->setNext(nextContactPoint);
}
else {
mContactPoints = nextContactPoint;
}
mNbContactPoints--;
assert(mNbContactPoints >= 0);
}
// Add a contact point
void ContactManifold::addContactPoint(const ContactPointInfo* contactPointInfo) {
assert(contactPointInfo != nullptr);
// Create the new contact point
ContactPoint* contactPoint = new (mMemoryAllocator.allocate(sizeof(ContactPoint))) ContactPoint(contactPointInfo);
// Add the new contact point into the manifold
contactPoint->setNext(mContactPoints);
contactPoint->setPrevious(nullptr);
if (mContactPoints != nullptr) {
mContactPoints->setPrevious(contactPoint);
}
else {
previousContactPoint = contactPoint;
mContactPoints = contactPoint;
mNbContactPoints++;
}
// Clear the obsolete contact points
void ContactManifold::clearObsoleteContactPoints() {
assert(mContactPoints != nullptr);
// For each contact point of the manifold
ContactPoint* contactPoint = mContactPoints;
while (contactPoint != nullptr) {
ContactPoint* nextContactPoint = contactPoint->getNext();
// If the contact point is obsolete
if (contactPoint->getIsObsolete()) {
// Remove the contact point
removeContactPoint(contactPoint);
}
contactPoint = nextContactPoint;
}
assert(mNbContactPoints >= 0);
assert(mNbContactPoints <= MAX_CONTACT_POINTS_IN_MANIFOLD);
assert(mNbContactPoints > 0);
assert(mContactPoints != nullptr);
}
// Make sure we do not have too much contact points by keeping only the best
// contact points of the manifold (with largest penetration depth)
void ContactManifold::reduce() {
assert(mContactPoints != nullptr);
// Remove contact points while there is too much contact points
while (mNbContactPoints > MAX_CONTACT_POINTS_IN_MANIFOLD) {
removeNonOptimalContactPoint();
}
assert(mNbContactPoints <= MAX_CONTACT_POINTS_IN_MANIFOLD && mNbContactPoints > 0);
assert(mContactPoints != nullptr);
}
// Remove a contact point that is not optimal (with a small penetration depth)
void ContactManifold::removeNonOptimalContactPoint() {
assert(mContactPoints != nullptr);
assert(mNbContactPoints > MAX_CONTACT_POINTS_IN_MANIFOLD);
// Get the contact point with the minimum penetration depth among all points
ContactPoint* contactPoint = mContactPoints;
ContactPoint* minContactPoint = nullptr;
decimal minPenetrationDepth = DECIMAL_LARGEST;
while (contactPoint != nullptr) {
ContactPoint* nextContactPoint = contactPoint->getNext();
if (contactPoint->getPenetrationDepth() < minPenetrationDepth) {
minContactPoint = contactPoint;
minPenetrationDepth = contactPoint->getPenetrationDepth();
}
contactPoint = nextContactPoint;
}
assert(minContactPoint != nullptr);
// Remove the non optimal contact point
removeContactPoint(minContactPoint);
assert(mNbContactPoints > 0);
assert(mContactPoints != nullptr);
}

32
src/collision/ContactManifold.h
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@ -143,9 +143,6 @@ class ContactManifold {
/// True if the contact manifold is obsolete
bool mIsObsolete;
/// True if the contact manifold is new (has just been added from potential contacts)
bool mIsNew;
// -------------------- Methods -------------------- //
/// Return true if the contact manifold has already been added into an island
@ -161,7 +158,7 @@ class ContactManifold {
void setIsObsolete(bool isObselete, bool setContactPoints);
/// Clear the obsolete contact points
void clearObseleteContactPoints();
void clearObsoleteContactPoints();
/// Return the contact normal direction Id of the manifold
short getContactNormalId() const;
@ -184,6 +181,15 @@ class ContactManifold {
/// Add a contact point
void addContactPoint(const ContactPointInfo* contactPointInfo);
/// Make sure we do not have too much contact points by keeping only the best ones
void reduce();
/// Remove a contact point that is not optimal (with a small penetration depth)
void removeNonOptimalContactPoint();
/// Remove a contact point
void removeContactPoint(ContactPoint* contactPoint);
/// Set the friction twist accumulated impulse
void setFrictionTwistImpulse(decimal frictionTwistImpulse);
@ -208,12 +214,6 @@ class ContactManifold {
/// Return the friction twist accumulated impulse
decimal getFrictionTwistImpulse() const;
/// Return true if the manifold has just been created
bool getIsNew() const;
/// Set the isNew attribute
void setIsNew(bool isNew);
public:
// -------------------- Methods -------------------- //
@ -417,18 +417,6 @@ inline short ContactManifold::getContactNormalId() const {
return mContactNormalId;
}
// Return true if the manifold has just been created
inline bool ContactManifold::getIsNew() const {
return mIsNew;
}
// Set the isNew attribute
inline void ContactManifold::setIsNew(bool isNew) {
mIsNew = isNew;
}
}
#endif

90
src/collision/ContactManifoldSet.cpp
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@ -60,36 +60,9 @@ void ContactManifoldSet::addContactManifold(const ContactManifoldInfo* contactMa
}
else {
bool addNewManifold = true;
// If there are too much contact manifolds in the set
if (mNbManifolds >= mNbMaxManifolds) {
// We need to remove a manifold from the set.
// We search for an old manifold with the smallest maximum penetration depth among its contact points.
// If we do not find an old manifold, we select a new one that has the smallest contact penetration depth.
ContactManifold* minDepthManifold = selectManifoldToRemove(contactManifoldInfo->getLargestPenetrationDepth());
// If the manifold with the minimum penetration depth is an existing one
if (minDepthManifold != nullptr) {
// Remove the manifold
removeManifold(minDepthManifold);
}
else {
// The manifold we do not want to get is the new one. Therefore, we do not add it to the set
addNewManifold = false;
}
}
// If we need to add the new contact manifold
if (addNewManifold) {
// Create a new contact manifold
createManifold(contactManifoldInfo);
}
}
}
// Update a previous similar manifold with a new one
@ -114,7 +87,7 @@ void ContactManifoldSet::updateManifoldWithNewOne(ContactManifold* oldManifold,
if (oldContactPoint->isSimilarWithContactPoint(contactPointInfo)) {
// Replace (update) the old contact point with the new one
oldContactPoint->update(contactPointInfo, mShape1->getLocalToWorldTransform(), mShape2->getLocalToWorldTransform());
oldContactPoint->update(contactPointInfo);
isSimilarPointFound = true;
break;
}
@ -136,53 +109,34 @@ void ContactManifoldSet::updateManifoldWithNewOne(ContactManifold* oldManifold,
oldManifold->setIsObsolete(false, false);
}
// Return the manifold to remove (because it is too old or has not the largest penetration depth)
ContactManifold* ContactManifoldSet::selectManifoldToRemove(decimal penDepthNewManifold) const {
// Remove a contact manifold that is the least optimal (smaller penetration depth)
void ContactManifoldSet::removeNonOptimalManifold() {
assert(mNbManifolds == mNbMaxManifolds);
assert(mNbManifolds > mNbMaxManifolds);
assert(mManifolds != nullptr);
// Look for a manifold that is not new and with the smallest contact penetration depth.
// At the same time, we also look for a new manifold with the smallest contact penetration depth
// in case no old manifold exists.
ContactManifold* minDepthOldManifold = nullptr;
ContactManifold* minDepthNewManifold = nullptr;
decimal minDepthOld = DECIMAL_LARGEST;
decimal minDepthNew = penDepthNewManifold;
ContactManifold* minDepthManifold = nullptr;
decimal minDepth = DECIMAL_LARGEST;
ContactManifold* manifold = mManifolds;
while (manifold != nullptr) {
// Get the largest contact point penetration depth of the manifold
const decimal depth = manifold->getLargestContactDepth();
// If it is a new manifold
if (manifold->getIsNew()) {
if (depth < minDepthNew) {
minDepthNew = depth;
minDepthNewManifold = manifold;
}
}
else {
if (depth < minDepthOld) {
minDepthOld = depth;
minDepthOldManifold = manifold;
}
if (depth < minDepth) {
minDepth = depth;
minDepthManifold = manifold;
}
manifold = manifold->getNext();
}
// If there was a contact manifold that was not new
if (minDepthOldManifold != nullptr) {
// Return the old manifold with the smallest penetration depth
return minDepthOldManifold;
}
// Otherwise, we return the new manifold with the smallest penetration depth
return minDepthNewManifold;
// Remove the non optimal manifold
assert(minDepthManifold != nullptr);
removeManifold(minDepthManifold);
}
// Return the contact manifold with a similar average normal.
@ -262,7 +216,6 @@ void ContactManifoldSet::clear() {
// Create a new contact manifold and add it to the set
void ContactManifoldSet::createManifold(const ContactManifoldInfo* manifoldInfo) {
assert(mNbManifolds < mNbMaxManifolds);
ContactManifold* manifold = new (mMemoryAllocator.allocate(sizeof(ContactManifold)))
ContactManifold(manifoldInfo, mShape1, mShape2, mMemoryAllocator);
@ -333,9 +286,26 @@ void ContactManifoldSet::clearObsoleteManifoldsAndContactPoints() {
else {
// Clear the obsolete contact points of the manifold
manifold->clearObseleteContactPoints();
manifold->clearObsoleteContactPoints();
}
manifold = nextManifold;
}
}
// Remove some contact manifolds and contact points if there are too many of them
void ContactManifoldSet::reduce() {
// Remove non optimal contact manifold while there are too many manifolds in the set
while (mNbManifolds > mNbMaxManifolds) {
removeNonOptimalManifold();
}
// Reduce all the contact manifolds in case they have too many contact points
ContactManifold* manifold = mManifolds;
while (manifold != nullptr) {
manifold->reduce();
manifold = manifold->getNext();
}
}

19
src/collision/ContactManifoldSet.h
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@ -74,8 +74,8 @@ class ContactManifoldSet {
// Return the contact manifold with a similar average normal.
ContactManifold* selectManifoldWithSimilarNormal(short int normalDirectionId) const;
/// Return the manifold to remove (because it is too old or has not the largest penetration depth)
ContactManifold* selectManifoldToRemove(decimal penDepthNewManifold) const;
/// Remove a contact manifold that is the least optimal (smaller penetration depth)
void removeNonOptimalManifold();
/// Update a previous similar manifold with a new one
void updateManifoldWithNewOne(ContactManifold* oldManifold, const ContactManifoldInfo* newManifold);
@ -124,8 +124,8 @@ class ContactManifoldSet {
/// Clear the obsolete contact manifolds and contact points
void clearObsoleteManifoldsAndContactPoints();
/// Reset the isNew status of all the manifolds
void resetIsNewManifoldStatus();
// Remove some contact manifolds and contact points if there are too many of them
void reduce();
// Map the normal vector into a cubemap face bucket (a face contains 4x4 buckets)
// Each face of the cube is divided into 4x4 buckets. This method maps the
@ -180,17 +180,6 @@ inline int ContactManifoldSet::computeNbMaxContactManifolds(const CollisionShape
}
}
// Reset the isNew status of all the manifolds
inline void ContactManifoldSet::resetIsNewManifoldStatus() {
ContactManifold* manifold = mManifolds;
while (manifold != nullptr) {
manifold->setIsNew(false);
manifold = manifold->getNext();
}
}
}
#endif

2
src/collision/ContactPointInfo.h
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@ -77,6 +77,8 @@ struct ContactPointInfo {
: normal(contactNormal), penetrationDepth(penDepth),
localPoint1(localPt1), localPoint2(localPt2), next(nullptr), isUsed(false) {
assert(contactNormal.lengthSquare() > decimal(0.8));
assert(penDepth > decimal(0.0));
}
/// Destructor

16
src/constraint/ContactPoint.cpp
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@ -31,26 +31,22 @@ using namespace reactphysics3d;
using namespace std;
// Constructor
ContactPoint::ContactPoint(const ContactPointInfo* contactInfo, const Transform& body1Transform,
const Transform& body2Transform)
ContactPoint::ContactPoint(const ContactPointInfo* contactInfo)
: mNormal(contactInfo->normal),
mPenetrationDepth(contactInfo->penetrationDepth),
mLocalPointOnBody1(contactInfo->localPoint1),
mLocalPointOnBody2(contactInfo->localPoint2),
mIsRestingContact(false), mIsObsolete(false), mNext(nullptr) {
mIsRestingContact(false), mIsObsolete(false), mNext(nullptr), mPrevious(nullptr) {
assert(mPenetrationDepth > decimal(0.0));
// Compute the world position of the contact points
mWorldPointOnBody1 = body1Transform * mLocalPointOnBody1;
mWorldPointOnBody2 = body2Transform * mLocalPointOnBody2;
assert(mNormal.lengthSquare() > decimal(0.8));
mIsObsolete = false;
}
// Update the contact point with a new one that is similar (very close)
/// The idea is to keep the cache impulse (for warm starting the contact solver)
void ContactPoint::update(const ContactPointInfo* contactInfo, const Transform& body1Transform, const Transform& body2Transform) {
void ContactPoint::update(const ContactPointInfo* contactInfo) {
assert(isSimilarWithContactPoint(contactInfo));
assert(contactInfo->penetrationDepth > decimal(0.0));
@ -60,9 +56,5 @@ void ContactPoint::update(const ContactPointInfo* contactInfo, const Transform&
mLocalPointOnBody1 = contactInfo->localPoint1;
mLocalPointOnBody2 = contactInfo->localPoint2;
// Compute the world position of the contact points
mWorldPointOnBody1 = body1Transform * mLocalPointOnBody1;
mWorldPointOnBody2 = body2Transform * mLocalPointOnBody2;
mIsObsolete = false;
}

49
src/constraint/ContactPoint.h
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@ -59,12 +59,6 @@ class ContactPoint {
/// Contact point on body 2 in local space of body 2
Vector3 mLocalPointOnBody2;
/// Contact point on body 1 in world space
Vector3 mWorldPointOnBody1;
/// Contact point on body 2 in world space
Vector3 mWorldPointOnBody2;
/// True if the contact is a resting contact (exists for more than one time step)
bool mIsRestingContact;
@ -74,14 +68,16 @@ class ContactPoint {
/// True if the contact point is obsolete
bool mIsObsolete;
/// Pointer to the next contact point in the linked-list
/// Pointer to the next contact point in the double linked-list
ContactPoint* mNext;
/// Pointer to the previous contact point in the double linked-list
ContactPoint* mPrevious;
// -------------------- Methods -------------------- //
/// Update the contact point with a new one that is similar (very close)
void update(const ContactPointInfo* contactInfo, const Transform& body1Transform,
const Transform& body2Transform);
void update(const ContactPointInfo* contactInfo);
/// Return true if the contact point is similar (close enougth) to another given contact point
bool isSimilarWithContactPoint(const ContactPointInfo* contactPoint) const;
@ -99,6 +95,9 @@ class ContactPoint {
/// Set the next contact point in the linked list
void setNext(ContactPoint* next);
/// Set the previous contact point in the linked list
void setPrevious(ContactPoint* previous);
/// Return true if the contact point is obsolete
bool getIsObsolete() const;
@ -107,8 +106,7 @@ class ContactPoint {
// -------------------- Methods -------------------- //
/// Constructor
ContactPoint(const ContactPointInfo* contactInfo, const Transform& body1Transform,
const Transform& body2Transform);
ContactPoint(const ContactPointInfo* contactInfo);
/// Destructor
~ContactPoint() = default;
@ -128,18 +126,15 @@ class ContactPoint {
/// Return the contact local point on body 2
Vector3 getLocalPointOnBody2() const;
/// Return the contact world point on body 1
Vector3 getWorldPointOnBody1() const;
/// Return the contact world point on body 2
Vector3 getWorldPointOnBody2() const;
/// Return the cached penetration impulse
decimal getPenetrationImpulse() const;
/// Return true if the contact is a resting contact
bool getIsRestingContact() const;
/// Return the previous contact point in the linked list
inline ContactPoint* getPrevious() const;
/// Return the next contact point in the linked list
ContactPoint* getNext() const;
@ -170,16 +165,6 @@ inline Vector3 ContactPoint::getLocalPointOnBody2() const {
return mLocalPointOnBody2;
}
// Return the contact world point on body 1
inline Vector3 ContactPoint::getWorldPointOnBody1() const {
return mWorldPointOnBody1;
}
// Return the contact world point on body 2
inline Vector3 ContactPoint::getWorldPointOnBody2() const {
return mWorldPointOnBody2;
}
// Return the cached penetration impulse
inline decimal ContactPoint::getPenetrationImpulse() const {
return mPenetrationImpulse;
@ -226,6 +211,16 @@ inline void ContactPoint::setNext(ContactPoint* next) {
mNext = next;
}
// Return the previous contact point in the linked list
inline ContactPoint* ContactPoint::getPrevious() const {
return mPrevious;
}
// Set the previous contact point in the linked list
inline void ContactPoint::setPrevious(ContactPoint* previous) {
mPrevious = previous;
}
// Return the penetration depth of the contact
inline decimal ContactPoint::getPenetrationDepth() const {
return mPenetrationDepth;

9
src/engine/ContactSolver.cpp
View File

@ -120,6 +120,10 @@ void ContactSolver::initializeForIsland(Island* island) {
assert(body1 != nullptr);
assert(body2 != nullptr);
// Get the two contact shapes
const ProxyShape* shape1 = externalManifold->getShape1();
const ProxyShape* shape2 = externalManifold->getShape2();
// Get the position of the two bodies
const Vector3& x1 = body1->mCenterOfMassWorld;
const Vector3& x2 = body2->mCenterOfMassWorld;
@ -149,11 +153,12 @@ void ContactSolver::initializeForIsland(Island* island) {
// For each contact point of the contact manifold
ContactPoint* externalContact = externalManifold->getContactPoints();
assert(externalContact != nullptr);
while (externalContact != nullptr) {
// Get the contact point on the two bodies
Vector3 p1 = externalContact->getWorldPointOnBody1();
Vector3 p2 = externalContact->getWorldPointOnBody2();
Vector3 p1 = shape1->getLocalToWorldTransform() * externalContact->getLocalPointOnBody1();
Vector3 p2 = shape2->getLocalToWorldTransform() * externalContact->getLocalPointOnBody2();
new (mContactPoints + mNbContactPoints) ContactPointSolver();
mContactPoints[mNbContactPoints].externalContact = externalContact;

23
src/engine/OverlappingPair.h
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@ -136,9 +136,6 @@ class OverlappingPair {
/// Return the last frame collision info
LastFrameCollisionInfo& getLastFrameCollisionInfo();
/// Return the number of contacts in the cache
uint getNbContactPoints() const;
/// Return the a reference to the contact manifold set
const ContactManifoldSet& getContactManifoldSet();
@ -167,13 +164,13 @@ class OverlappingPair {
void reducePotentialContactManifolds();
/// Make the contact manifolds and contact points obsolete
void makeContactsObselete();
void makeContactsObsolete();
/// Clear the obsolete contact manifold and contact points
void clearObsoleteManifoldsAndContactPoints();
/// Reset the isNew status of all the manifolds
void resetIsNewManifoldStatus();
/// Reduce the contact manifolds that have too many contact points
void reduceContactManifolds();
/// Return the pair of bodies index
static overlappingpairid computeID(ProxyShape* shape1, ProxyShape* shape2);
@ -206,18 +203,13 @@ inline LastFrameCollisionInfo& OverlappingPair::getLastFrameCollisionInfo() {
return mLastFrameCollisionInfo;
}
// Return the number of contact points in the contact manifold
inline uint OverlappingPair::getNbContactPoints() const {
return mContactManifoldSet.getTotalNbContactPoints();
}
// Return the contact manifold
inline const ContactManifoldSet& OverlappingPair::getContactManifoldSet() {
return mContactManifoldSet;
}
// Make the contact manifolds and contact points obsolete
inline void OverlappingPair::makeContactsObselete() {
inline void OverlappingPair::makeContactsObsolete() {
mContactManifoldSet.makeContactsObsolete();
}
@ -272,10 +264,9 @@ inline void OverlappingPair::clearObsoleteManifoldsAndContactPoints() {
mContactManifoldSet.clearObsoleteManifoldsAndContactPoints();
}
// Reset the isNew status of all the manifolds
inline void OverlappingPair::resetIsNewManifoldStatus() {
mContactManifoldSet.resetIsNewManifoldStatus();
// Reduce the contact manifolds that have too many contact points
inline void OverlappingPair::reduceContactManifolds() {
mContactManifoldSet.reduce();
}
}