Implement the islands computation
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@ -31,7 +31,8 @@
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using namespace reactphysics3d;
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using namespace reactphysics3d;
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// Constructor
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// Constructor
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Body::Body(bodyindex id) : mID(id) {
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Body::Body(bodyindex id)
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: mID(id), mIsAlreadyInIsland(false), mIsAllowedToSleep(true), mIsSleeping(false) {
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}
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}
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@ -47,6 +47,15 @@ class Body {
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/// ID of the body
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/// ID of the body
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bodyindex mID;
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bodyindex mID;
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/// True if the body has already been added in an island (for sleeping technique)
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bool mIsAlreadyInIsland;
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/// True if the body is allowed to go to sleep for better efficiency
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bool mIsAllowedToSleep;
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/// True if the body is sleeping (for sleeping technique)
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bool mIsSleeping;
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// -------------------- Methods -------------------- //
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// -------------------- Methods -------------------- //
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/// Private copy-constructor
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/// Private copy-constructor
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@ -68,6 +77,24 @@ class Body {
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/// Return the id of the body
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/// Return the id of the body
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bodyindex getID() const;
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bodyindex getID() const;
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/// Return true if the body has already been added in an island (for the sleeping technique)
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bool isAlreadyInIsland() const;
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/// Set the value of to know if the body has already been added into an island
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void setIsAlreadyInIsland(bool isAlreadyInIsland);
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/// Return whether or not the body is allowed to sleep
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bool isAllowedToSleep() const;
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/// Set whether or not the body is allowed to go to sleep
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void setIsAllowedToSleep(bool isAllowedToSleep);
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/// Return whether or not the body is sleeping
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bool isSleeping() const;
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/// Set the variable to know whether or not the body is sleeping
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void setIsSleeping(bool isSleeping);
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/// Smaller than operator
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/// Smaller than operator
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bool operator<(const Body& body2) const;
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bool operator<(const Body& body2) const;
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@ -79,6 +106,10 @@ class Body {
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/// Not equal operator
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/// Not equal operator
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bool operator!=(const Body& body2) const;
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bool operator!=(const Body& body2) const;
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// -------------------- Friendship -------------------- //
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friend class DynamicsWorld;
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};
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};
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// Return the id of the body
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// Return the id of the body
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@ -86,6 +117,36 @@ inline bodyindex Body::getID() const {
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return mID;
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return mID;
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}
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}
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// Return true if the body has already been added in an island (for the sleeping technique)
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inline bool Body::isAlreadyInIsland() const {
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return mIsAlreadyInIsland;
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}
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// Set the value of to know if the body has already been added into an island
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inline void Body::setIsAlreadyInIsland(bool isAlreadyInIsland) {
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mIsAlreadyInIsland = isAlreadyInIsland;
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}
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// Return whether or not the body is allowed to sleep
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inline bool Body::isAllowedToSleep() const {
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return mIsAllowedToSleep;
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}
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// Set whether or not the body is allowed to go to sleep
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inline void Body::setIsAllowedToSleep(bool isAllowedToSleep) {
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mIsAllowedToSleep = isAllowedToSleep;
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}
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// Return whether or not the body is sleeping
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inline bool Body::isSleeping() const {
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return mIsSleeping;
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}
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// Set the variable to know whether or not the body is sleeping
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inline void Body::setIsSleeping(bool isSleeping) {
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mIsSleeping = isSleeping;
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}
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// Smaller than operator
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// Smaller than operator
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inline bool Body::operator<(const Body& body2) const {
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inline bool Body::operator<(const Body& body2) const {
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return (mID < body2.mID);
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return (mID < body2.mID);
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@ -25,6 +25,7 @@
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// Libraries
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// Libraries
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#include "CollisionBody.h"
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#include "CollisionBody.h"
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#include "../engine/ContactManifold.h"
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// We want to use the ReactPhysics3D namespace
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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using namespace reactphysics3d;
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@ -33,7 +34,7 @@ using namespace reactphysics3d;
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CollisionBody::CollisionBody(const Transform& transform, CollisionShape *collisionShape,
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CollisionBody::CollisionBody(const Transform& transform, CollisionShape *collisionShape,
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bodyindex id)
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bodyindex id)
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: Body(id), mCollisionShape(collisionShape), mTransform(transform),
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: Body(id), mCollisionShape(collisionShape), mTransform(transform),
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mIsActive(true), mHasMoved(false) {
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mIsActive(true), mHasMoved(false), mContactManifoldsList(NULL) {
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assert(collisionShape);
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assert(collisionShape);
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@ -50,5 +51,24 @@ CollisionBody::CollisionBody(const Transform& transform, CollisionShape *collisi
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// Destructor
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// Destructor
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CollisionBody::~CollisionBody() {
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CollisionBody::~CollisionBody() {
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assert(mContactManifoldsList == NULL);
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}
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// Reset the contact manifold lists
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void CollisionBody::resetContactManifoldsList(MemoryAllocator& memoryAllocator) {
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// Delete the linked list of contact manifolds of that body
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ContactManifoldListElement* currentElement = mContactManifoldsList;
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while (currentElement != NULL) {
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ContactManifoldListElement* nextElement = currentElement->next;
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// Delete the current element
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currentElement->ContactManifoldListElement::~ContactManifoldListElement();
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memoryAllocator.release(currentElement, sizeof(ContactManifoldListElement));
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currentElement = nextElement;
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}
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mContactManifoldsList = NULL;
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assert(mContactManifoldsList == NULL);
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}
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}
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@ -33,11 +33,15 @@
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#include "../mathematics/Transform.h"
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#include "../mathematics/Transform.h"
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#include "../collision/shapes/AABB.h"
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#include "../collision/shapes/AABB.h"
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#include "../collision/shapes/CollisionShape.h"
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#include "../collision/shapes/CollisionShape.h"
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#include "../memory/MemoryAllocator.h"
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#include "../configuration.h"
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#include "../configuration.h"
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/// Namespace reactphysics3d
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/// Namespace reactphysics3d
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namespace reactphysics3d {
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namespace reactphysics3d {
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// Class declarations
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struct ContactManifoldListElement;
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// Class CollisionBody
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// Class CollisionBody
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/**
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/**
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* This class represents a body that is able to collide with others
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* This class represents a body that is able to collide with others
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@ -76,6 +80,9 @@ class CollisionBody : public Body {
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/// True if the body has moved during the last frame
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/// True if the body has moved during the last frame
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bool mHasMoved;
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bool mHasMoved;
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/// First element of the linked list of contact manifolds involving this body
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ContactManifoldListElement* mContactManifoldsList;
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// -------------------- Methods -------------------- //
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// -------------------- Methods -------------------- //
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/// Private copy-constructor
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/// Private copy-constructor
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@ -84,6 +91,9 @@ class CollisionBody : public Body {
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/// Private assignment operator
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/// Private assignment operator
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CollisionBody& operator=(const CollisionBody& body);
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CollisionBody& operator=(const CollisionBody& body);
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/// Reset the contact manifold lists
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void resetContactManifoldsList(MemoryAllocator& memoryAllocator);
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public :
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public :
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// -------------------- Methods -------------------- //
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// -------------------- Methods -------------------- //
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@ -144,6 +154,13 @@ class CollisionBody : public Body {
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/// Update the Axis-Aligned Bounding Box coordinates
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/// Update the Axis-Aligned Bounding Box coordinates
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void updateAABB();
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void updateAABB();
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/// Return the first element of the linked list of contact manifolds involving this body
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const ContactManifoldListElement* getContactManifoldsLists() const;
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// -------------------- Friendship -------------------- //
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friend class DynamicsWorld;
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};
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};
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// Return true if the body has moved during the last frame
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// Return true if the body has moved during the last frame
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mCollisionShape->updateAABB(mAabb, mTransform);
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mCollisionShape->updateAABB(mAabb, mTransform);
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}
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}
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// Return the first element of the linked list of contact manifolds involving this body
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inline const ContactManifoldListElement* CollisionBody::getContactManifoldsLists() const {
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return mContactManifoldsList;
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}
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}
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}
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#endif
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#endif
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// Libraries
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// Libraries
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#include "RigidBody.h"
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#include "RigidBody.h"
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#include "constraint/Constraint.h"
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#include "../collision/shapes/CollisionShape.h"
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#include "../collision/shapes/CollisionShape.h"
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// We want to use the ReactPhysics3D namespace
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// We want to use the ReactPhysics3D namespace
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: CollisionBody(transform, collisionShape, id), mInertiaTensorLocal(inertiaTensorLocal),
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: CollisionBody(transform, collisionShape, id), mInertiaTensorLocal(inertiaTensorLocal),
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mMass(mass), mInertiaTensorLocalInverse(inertiaTensorLocal.getInverse()),
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mMass(mass), mInertiaTensorLocalInverse(inertiaTensorLocal.getInverse()),
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mMassInverse(decimal(1.0) / mass), mIsGravityEnabled(true),
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mMassInverse(decimal(1.0) / mass), mIsGravityEnabled(true),
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mLinearDamping(decimal(0.0)), mAngularDamping(decimal(0.0)) {
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mLinearDamping(decimal(0.0)), mAngularDamping(decimal(0.0)), mJointsList(NULL) {
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assert(collisionShape);
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assert(collisionShape);
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}
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}
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// Destructor
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// Destructor
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RigidBody::~RigidBody() {
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RigidBody::~RigidBody() {
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assert(mJointsList == NULL);
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}
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}
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// Remove a joint from the joints list
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void RigidBody::removeJointFromJointsList(MemoryAllocator& memoryAllocator, const Constraint* joint) {
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assert(joint != NULL);
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assert(mJointsList != NULL);
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// Remove the joint from the linked list of the joints of the first body
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if (mJointsList->joint == joint) { // If the first element is the one to remove
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JointListElement* elementToRemove = mJointsList;
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mJointsList = elementToRemove->next;
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elementToRemove->JointListElement::~JointListElement();
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memoryAllocator.release(elementToRemove, sizeof(JointListElement));
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}
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else { // If the element to remove is not the first one in the list
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JointListElement* currentElement = mJointsList;
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while (currentElement->next != NULL) {
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if (currentElement->next->joint == joint) {
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JointListElement* elementToRemove = currentElement->next;
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currentElement->next = elementToRemove->next;
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elementToRemove->JointListElement::~JointListElement();
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memoryAllocator.release(elementToRemove, sizeof(JointListElement));
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break;
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}
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}
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}
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}
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#include "CollisionBody.h"
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#include "CollisionBody.h"
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#include "../engine/Material.h"
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#include "../engine/Material.h"
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#include "../mathematics/mathematics.h"
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#include "../mathematics/mathematics.h"
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#include "../memory/MemoryAllocator.h"
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/// Namespace reactphysics3d
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/// Namespace reactphysics3d
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namespace reactphysics3d {
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namespace reactphysics3d {
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// Class declarations
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struct JointListElement;
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class Constraint;
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// Class RigidBody
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// Class RigidBody
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/**
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/**
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* This class represents a rigid body of the physics
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* This class represents a rigid body of the physics
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/// Angular velocity damping factor
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/// Angular velocity damping factor
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decimal mAngularDamping;
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decimal mAngularDamping;
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/// First element of the linked list of joints involving this body
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JointListElement* mJointsList;
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// -------------------- Methods -------------------- //
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// -------------------- Methods -------------------- //
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/// Private copy-constructor
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/// Private copy-constructor
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/// Private assignment operator
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/// Private assignment operator
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RigidBody& operator=(const RigidBody& body);
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RigidBody& operator=(const RigidBody& body);
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/// Remove a joint from the joints list
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void removeJointFromJointsList(MemoryAllocator& memoryAllocator, const Constraint* joint);
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public :
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public :
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// -------------------- Methods -------------------- //
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// -------------------- Methods -------------------- //
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/// Set the angular damping factor
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/// Set the angular damping factor
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void setAngularDamping(decimal angularDamping);
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void setAngularDamping(decimal angularDamping);
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/// Return the first element of the linked list of joints involving this body
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const JointListElement* getJointsList() const;
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// -------------------- Friendship -------------------- //
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friend class DynamicsWorld;
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};
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};
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// Method that return the mass of the body
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// Method that return the mass of the body
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mAngularDamping = angularDamping;
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mAngularDamping = angularDamping;
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}
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}
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// Return the first element of the linked list of joints involving this body
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inline const JointListElement* RigidBody::getJointsList() const {
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return mJointsList;
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}
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}
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}
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#endif
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#endif
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/// Default bounciness factor for a rigid body
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/// Default bounciness factor for a rigid body
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const decimal DEFAULT_BOUNCINESS = decimal(0.5);
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const decimal DEFAULT_BOUNCINESS = decimal(0.5);
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/// True if the deactivation (sleeping) of inactive bodies is enabled
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/// True if the spleeping technique for inactive bodies is enabled
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const bool DEACTIVATION_ENABLED = true;
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const bool SPLEEPING_ENABLED = true;
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/// Object margin for collision detection in meters (for the GJK-EPA Algorithm)
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/// Object margin for collision detection in meters (for the GJK-EPA Algorithm)
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const decimal OBJECT_MARGIN = decimal(0.04);
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const decimal OBJECT_MARGIN = decimal(0.04);
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:mBody1(constraintInfo.body1), mBody2(constraintInfo.body2), mActive(true),
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:mBody1(constraintInfo.body1), mBody2(constraintInfo.body2), mActive(true),
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mType(constraintInfo.type),
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mType(constraintInfo.type),
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mPositionCorrectionTechnique(constraintInfo.positionCorrectionTechnique),
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mPositionCorrectionTechnique(constraintInfo.positionCorrectionTechnique),
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mIsCollisionEnabled(constraintInfo.isCollisionEnabled){
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mIsCollisionEnabled(constraintInfo.isCollisionEnabled), mIsAlreadyInIsland(false) {
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assert(mBody1 != NULL);
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assert(mBody1 != NULL);
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assert(mBody2 != NULL);
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assert(mBody2 != NULL);
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@ -39,6 +39,32 @@ enum ConstraintType {CONTACT, BALLSOCKETJOINT, SLIDERJOINT, HINGEJOINT, FIXEDJOI
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// Class declarations
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// Class declarations
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struct ConstraintSolverData;
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struct ConstraintSolverData;
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class Constraint;
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// Structure JointListElement
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/**
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* This structure represents a single element of a linked list of joints
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*/
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struct JointListElement {
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public:
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// -------------------- Attributes -------------------- //
|
||||||
|
|
||||||
|
/// Pointer to the actual joint
|
||||||
|
Constraint* joint;
|
||||||
|
|
||||||
|
/// Next element of the list
|
||||||
|
JointListElement* next;
|
||||||
|
|
||||||
|
// -------------------- Methods -------------------- //
|
||||||
|
|
||||||
|
/// Constructor
|
||||||
|
JointListElement(Constraint* initJoint, JointListElement* initNext)
|
||||||
|
:joint(initJoint), next(initNext){
|
||||||
|
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
// Structure ConstraintInfo
|
// Structure ConstraintInfo
|
||||||
/**
|
/**
|
||||||
|
@ -87,9 +113,8 @@ struct ConstraintInfo {
|
||||||
// Class Constraint
|
// Class Constraint
|
||||||
/**
|
/**
|
||||||
* This abstract class represents a constraint in the physics engine.
|
* This abstract class represents a constraint in the physics engine.
|
||||||
* A constraint can be a collision contact or a joint for
|
* A constraint can be a collision contact point or a joint for
|
||||||
* instance. Each constraint can be made of several "mathematical
|
* instance.
|
||||||
* constraints" needed to represent the main constraint.
|
|
||||||
*/
|
*/
|
||||||
class Constraint {
|
class Constraint {
|
||||||
|
|
||||||
|
@ -121,6 +146,9 @@ class Constraint {
|
||||||
/// True if the two bodies of the constraint are allowed to collide with each other
|
/// True if the two bodies of the constraint are allowed to collide with each other
|
||||||
bool mIsCollisionEnabled;
|
bool mIsCollisionEnabled;
|
||||||
|
|
||||||
|
/// True if the joint has already been added into an island
|
||||||
|
bool mIsAlreadyInIsland;
|
||||||
|
|
||||||
// -------------------- Methods -------------------- //
|
// -------------------- Methods -------------------- //
|
||||||
|
|
||||||
/// Private copy-constructor
|
/// Private copy-constructor
|
||||||
|
@ -154,6 +182,9 @@ class Constraint {
|
||||||
/// Return true if the collision between the two bodies of the constraint is enabled
|
/// Return true if the collision between the two bodies of the constraint is enabled
|
||||||
bool isCollisionEnabled() const;
|
bool isCollisionEnabled() const;
|
||||||
|
|
||||||
|
/// Return true if the joint has already been added into an island
|
||||||
|
bool isAlreadyInIsland() const;
|
||||||
|
|
||||||
/// Return the number of bytes used by the constraint
|
/// Return the number of bytes used by the constraint
|
||||||
virtual size_t getSizeInBytes() const = 0;
|
virtual size_t getSizeInBytes() const = 0;
|
||||||
|
|
||||||
|
@ -168,6 +199,11 @@ class Constraint {
|
||||||
|
|
||||||
/// Solve the position constraint
|
/// Solve the position constraint
|
||||||
virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) = 0;
|
virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) = 0;
|
||||||
|
|
||||||
|
// -------------------- Friendship -------------------- //
|
||||||
|
|
||||||
|
friend class DynamicsWorld;
|
||||||
|
friend class Island;
|
||||||
};
|
};
|
||||||
|
|
||||||
// Return the reference to the body 1
|
// Return the reference to the body 1
|
||||||
|
@ -195,6 +231,11 @@ inline bool Constraint::isCollisionEnabled() const {
|
||||||
return mIsCollisionEnabled;
|
return mIsCollisionEnabled;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// Return true if the joint has already been added into an island
|
||||||
|
inline bool Constraint::isAlreadyInIsland() const {
|
||||||
|
return mIsAlreadyInIsland;
|
||||||
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
|
@ -30,10 +30,10 @@
|
||||||
using namespace reactphysics3d;
|
using namespace reactphysics3d;
|
||||||
|
|
||||||
// Constructor
|
// Constructor
|
||||||
ContactManifold::ContactManifold(Body* const body1, Body* const body2,
|
ContactManifold::ContactManifold(CollisionBody* body1, CollisionBody* body2,
|
||||||
MemoryAllocator& memoryAllocator)
|
MemoryAllocator& memoryAllocator)
|
||||||
: mBody1(body1), mBody2(body2), mNbContactPoints(0), mFrictionImpulse1(0.0),
|
: mBody1(body1), mBody2(body2), mNbContactPoints(0), mFrictionImpulse1(0.0),
|
||||||
mFrictionImpulse2(0.0), mFrictionTwistImpulse(0.0),
|
mFrictionImpulse2(0.0), mFrictionTwistImpulse(0.0), mIsAlreadyInIsland(false),
|
||||||
mMemoryAllocator(memoryAllocator) {
|
mMemoryAllocator(memoryAllocator) {
|
||||||
|
|
||||||
}
|
}
|
||||||
|
@ -107,9 +107,12 @@ void ContactManifold::update(const Transform& transform1, const Transform& trans
|
||||||
|
|
||||||
// Update the world coordinates and penetration depth of the contact points in the manifold
|
// Update the world coordinates and penetration depth of the contact points in the manifold
|
||||||
for (uint i=0; i<mNbContactPoints; i++) {
|
for (uint i=0; i<mNbContactPoints; i++) {
|
||||||
mContactPoints[i]->setWorldPointOnBody1(transform1 * mContactPoints[i]->getLocalPointOnBody1());
|
mContactPoints[i]->setWorldPointOnBody1(transform1 *
|
||||||
mContactPoints[i]->setWorldPointOnBody2(transform2 * mContactPoints[i]->getLocalPointOnBody2());
|
mContactPoints[i]->getLocalPointOnBody1());
|
||||||
mContactPoints[i]->setPenetrationDepth((mContactPoints[i]->getWorldPointOnBody1() - mContactPoints[i]->getWorldPointOnBody2()).dot(mContactPoints[i]->getNormal()));
|
mContactPoints[i]->setWorldPointOnBody2(transform2 *
|
||||||
|
mContactPoints[i]->getLocalPointOnBody2());
|
||||||
|
mContactPoints[i]->setPenetrationDepth((mContactPoints[i]->getWorldPointOnBody1() -
|
||||||
|
mContactPoints[i]->getWorldPointOnBody2()).dot(mContactPoints[i]->getNormal()));
|
||||||
}
|
}
|
||||||
|
|
||||||
const decimal squarePersistentContactThreshold = PERSISTENT_CONTACT_DIST_THRESHOLD *
|
const decimal squarePersistentContactThreshold = PERSISTENT_CONTACT_DIST_THRESHOLD *
|
||||||
|
@ -172,7 +175,8 @@ int ContactManifold::getIndexOfDeepestPenetration(ContactPoint* newContact) cons
|
||||||
/// Area = 0.5 * | AC x BD | where AC and BD form the diagonals of the quadrilateral. Note that
|
/// Area = 0.5 * | AC x BD | where AC and BD form the diagonals of the quadrilateral. Note that
|
||||||
/// when we compute this area, we do not calculate it exactly but we
|
/// when we compute this area, we do not calculate it exactly but we
|
||||||
/// only estimate it because we do not compute the actual diagonals of the quadrialteral. Therefore,
|
/// only estimate it because we do not compute the actual diagonals of the quadrialteral. Therefore,
|
||||||
/// this is only a guess that is faster to compute.
|
/// this is only a guess that is faster to compute. This idea comes from the Bullet Physics library
|
||||||
|
/// by Erwin Coumans (http://wwww.bulletphysics.org).
|
||||||
int ContactManifold::getIndexToRemove(int indexMaxPenetration, const Vector3& newPoint) const {
|
int ContactManifold::getIndexToRemove(int indexMaxPenetration, const Vector3& newPoint) const {
|
||||||
|
|
||||||
assert(mNbContactPoints == MAX_CONTACT_POINTS_IN_MANIFOLD);
|
assert(mNbContactPoints == MAX_CONTACT_POINTS_IN_MANIFOLD);
|
||||||
|
@ -185,28 +189,32 @@ int ContactManifold::getIndexToRemove(int indexMaxPenetration, const Vector3& ne
|
||||||
if (indexMaxPenetration != 0) {
|
if (indexMaxPenetration != 0) {
|
||||||
// Compute the area
|
// Compute the area
|
||||||
Vector3 vector1 = newPoint - mContactPoints[1]->getLocalPointOnBody1();
|
Vector3 vector1 = newPoint - mContactPoints[1]->getLocalPointOnBody1();
|
||||||
Vector3 vector2 = mContactPoints[3]->getLocalPointOnBody1() - mContactPoints[2]->getLocalPointOnBody1();
|
Vector3 vector2 = mContactPoints[3]->getLocalPointOnBody1() -
|
||||||
|
mContactPoints[2]->getLocalPointOnBody1();
|
||||||
Vector3 crossProduct = vector1.cross(vector2);
|
Vector3 crossProduct = vector1.cross(vector2);
|
||||||
area0 = crossProduct.lengthSquare();
|
area0 = crossProduct.lengthSquare();
|
||||||
}
|
}
|
||||||
if (indexMaxPenetration != 1) {
|
if (indexMaxPenetration != 1) {
|
||||||
// Compute the area
|
// Compute the area
|
||||||
Vector3 vector1 = newPoint - mContactPoints[0]->getLocalPointOnBody1();
|
Vector3 vector1 = newPoint - mContactPoints[0]->getLocalPointOnBody1();
|
||||||
Vector3 vector2 = mContactPoints[3]->getLocalPointOnBody1() - mContactPoints[2]->getLocalPointOnBody1();
|
Vector3 vector2 = mContactPoints[3]->getLocalPointOnBody1() -
|
||||||
|
mContactPoints[2]->getLocalPointOnBody1();
|
||||||
Vector3 crossProduct = vector1.cross(vector2);
|
Vector3 crossProduct = vector1.cross(vector2);
|
||||||
area1 = crossProduct.lengthSquare();
|
area1 = crossProduct.lengthSquare();
|
||||||
}
|
}
|
||||||
if (indexMaxPenetration != 2) {
|
if (indexMaxPenetration != 2) {
|
||||||
// Compute the area
|
// Compute the area
|
||||||
Vector3 vector1 = newPoint - mContactPoints[0]->getLocalPointOnBody1();
|
Vector3 vector1 = newPoint - mContactPoints[0]->getLocalPointOnBody1();
|
||||||
Vector3 vector2 = mContactPoints[3]->getLocalPointOnBody1() - mContactPoints[1]->getLocalPointOnBody1();
|
Vector3 vector2 = mContactPoints[3]->getLocalPointOnBody1() -
|
||||||
|
mContactPoints[1]->getLocalPointOnBody1();
|
||||||
Vector3 crossProduct = vector1.cross(vector2);
|
Vector3 crossProduct = vector1.cross(vector2);
|
||||||
area2 = crossProduct.lengthSquare();
|
area2 = crossProduct.lengthSquare();
|
||||||
}
|
}
|
||||||
if (indexMaxPenetration != 3) {
|
if (indexMaxPenetration != 3) {
|
||||||
// Compute the area
|
// Compute the area
|
||||||
Vector3 vector1 = newPoint - mContactPoints[0]->getLocalPointOnBody1();
|
Vector3 vector1 = newPoint - mContactPoints[0]->getLocalPointOnBody1();
|
||||||
Vector3 vector2 = mContactPoints[2]->getLocalPointOnBody1() - mContactPoints[1]->getLocalPointOnBody1();
|
Vector3 vector2 = mContactPoints[2]->getLocalPointOnBody1() -
|
||||||
|
mContactPoints[1]->getLocalPointOnBody1();
|
||||||
Vector3 crossProduct = vector1.cross(vector2);
|
Vector3 crossProduct = vector1.cross(vector2);
|
||||||
area3 = crossProduct.lengthSquare();
|
area3 = crossProduct.lengthSquare();
|
||||||
}
|
}
|
||||||
|
|
|
@ -28,7 +28,7 @@
|
||||||
|
|
||||||
// Libraries
|
// Libraries
|
||||||
#include <vector>
|
#include <vector>
|
||||||
#include "../body/Body.h"
|
#include "../body/CollisionBody.h"
|
||||||
#include "../constraint/ContactPoint.h"
|
#include "../constraint/ContactPoint.h"
|
||||||
#include "../memory/MemoryAllocator.h"
|
#include "../memory/MemoryAllocator.h"
|
||||||
|
|
||||||
|
@ -38,6 +38,35 @@ namespace reactphysics3d {
|
||||||
// Constants
|
// Constants
|
||||||
const uint MAX_CONTACT_POINTS_IN_MANIFOLD = 4; // Maximum number of contacts in the manifold
|
const uint MAX_CONTACT_POINTS_IN_MANIFOLD = 4; // Maximum number of contacts in the manifold
|
||||||
|
|
||||||
|
// Class declarations
|
||||||
|
class ContactManifold;
|
||||||
|
|
||||||
|
// Structure ContactManifoldListElement
|
||||||
|
/**
|
||||||
|
* This structure represents a single element of a linked list of contact manifolds
|
||||||
|
*/
|
||||||
|
struct ContactManifoldListElement {
|
||||||
|
|
||||||
|
public:
|
||||||
|
|
||||||
|
// -------------------- Attributes -------------------- //
|
||||||
|
|
||||||
|
/// Pointer to the actual contact manifold
|
||||||
|
ContactManifold* contactManifold;
|
||||||
|
|
||||||
|
/// Next element of the list
|
||||||
|
ContactManifoldListElement* next;
|
||||||
|
|
||||||
|
// -------------------- Methods -------------------- //
|
||||||
|
|
||||||
|
/// Constructor
|
||||||
|
ContactManifoldListElement(ContactManifold* initContactManifold,
|
||||||
|
ContactManifoldListElement* initNext)
|
||||||
|
:contactManifold(initContactManifold), next(initNext) {
|
||||||
|
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
// Class ContactManifold
|
// Class ContactManifold
|
||||||
/**
|
/**
|
||||||
* This class represents the set of contact points between two bodies.
|
* This class represents the set of contact points between two bodies.
|
||||||
|
@ -59,11 +88,11 @@ class ContactManifold {
|
||||||
|
|
||||||
// -------------------- Attributes -------------------- //
|
// -------------------- Attributes -------------------- //
|
||||||
|
|
||||||
/// Pointer to the first body
|
/// Pointer to the first body of the contact
|
||||||
Body* const mBody1;
|
CollisionBody* mBody1;
|
||||||
|
|
||||||
/// Pointer to the second body
|
/// Pointer to the second body of the contact
|
||||||
Body* const mBody2;
|
CollisionBody* mBody2;
|
||||||
|
|
||||||
/// Contact points in the manifold
|
/// Contact points in the manifold
|
||||||
ContactPoint* mContactPoints[MAX_CONTACT_POINTS_IN_MANIFOLD];
|
ContactPoint* mContactPoints[MAX_CONTACT_POINTS_IN_MANIFOLD];
|
||||||
|
@ -86,6 +115,9 @@ class ContactManifold {
|
||||||
/// Twist friction constraint accumulated impulse
|
/// Twist friction constraint accumulated impulse
|
||||||
decimal mFrictionTwistImpulse;
|
decimal mFrictionTwistImpulse;
|
||||||
|
|
||||||
|
/// True if the contact manifold has already been added into an island
|
||||||
|
bool mIsAlreadyInIsland;
|
||||||
|
|
||||||
/// Reference to the memory allocator
|
/// Reference to the memory allocator
|
||||||
MemoryAllocator& mMemoryAllocator;
|
MemoryAllocator& mMemoryAllocator;
|
||||||
|
|
||||||
|
@ -97,6 +129,12 @@ class ContactManifold {
|
||||||
/// Private assignment operator
|
/// Private assignment operator
|
||||||
ContactManifold& operator=(const ContactManifold& contactManifold);
|
ContactManifold& operator=(const ContactManifold& contactManifold);
|
||||||
|
|
||||||
|
/// Return a pointer to the first body of the contact manifold
|
||||||
|
CollisionBody* getBody1() const;
|
||||||
|
|
||||||
|
/// Return a pointer to the second body of the contact manifold
|
||||||
|
CollisionBody* getBody2() const;
|
||||||
|
|
||||||
/// Return the index of maximum area
|
/// Return the index of maximum area
|
||||||
int getMaxArea(decimal area0, decimal area1, decimal area2, decimal area3) const;
|
int getMaxArea(decimal area0, decimal area1, decimal area2, decimal area3) const;
|
||||||
|
|
||||||
|
@ -109,15 +147,16 @@ class ContactManifold {
|
||||||
/// Remove a contact point from the manifold
|
/// Remove a contact point from the manifold
|
||||||
void removeContactPoint(uint index);
|
void removeContactPoint(uint index);
|
||||||
|
|
||||||
/// Return true if two vectors are approximatively equal
|
/// Return true if the contact manifold has already been added into an island
|
||||||
bool isApproxEqual(const Vector3& vector1, const Vector3& vector2) const;
|
bool isAlreadyInIsland() const;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
|
|
||||||
// -------------------- Methods -------------------- //
|
// -------------------- Methods -------------------- //
|
||||||
|
|
||||||
/// Constructor
|
/// Constructor
|
||||||
ContactManifold(Body* const mBody1, Body* const mBody2, MemoryAllocator& memoryAllocator);
|
ContactManifold(CollisionBody* body1, CollisionBody* body2,
|
||||||
|
MemoryAllocator& memoryAllocator);
|
||||||
|
|
||||||
/// Destructor
|
/// Destructor
|
||||||
~ContactManifold();
|
~ContactManifold();
|
||||||
|
@ -166,8 +205,23 @@ class ContactManifold {
|
||||||
|
|
||||||
/// Return a contact point of the manifold
|
/// Return a contact point of the manifold
|
||||||
ContactPoint* getContactPoint(uint index) const;
|
ContactPoint* getContactPoint(uint index) const;
|
||||||
|
|
||||||
|
// -------------------- Friendship -------------------- //
|
||||||
|
|
||||||
|
friend class DynamicsWorld;
|
||||||
|
friend class Island;
|
||||||
};
|
};
|
||||||
|
|
||||||
|
// Return a pointer to the first body of the contact manifold
|
||||||
|
inline CollisionBody* ContactManifold::getBody1() const {
|
||||||
|
return mBody1;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Return a pointer to the second body of the contact manifold
|
||||||
|
inline CollisionBody* ContactManifold::getBody2() const {
|
||||||
|
return mBody2;
|
||||||
|
}
|
||||||
|
|
||||||
// Return the number of contact points in the manifold
|
// Return the number of contact points in the manifold
|
||||||
inline uint ContactManifold::getNbContactPoints() const {
|
inline uint ContactManifold::getNbContactPoints() const {
|
||||||
return mNbContactPoints;
|
return mNbContactPoints;
|
||||||
|
@ -229,6 +283,11 @@ inline ContactPoint* ContactManifold::getContactPoint(uint index) const {
|
||||||
return mContactPoints[index];
|
return mContactPoints[index];
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// Return true if the contact manifold has already been added into an island
|
||||||
|
inline bool ContactManifold::isAlreadyInIsland() const {
|
||||||
|
return mIsAlreadyInIsland;
|
||||||
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
|
@ -44,7 +44,8 @@ DynamicsWorld::DynamicsWorld(const Vector3 &gravity, decimal timeStep = DEFAULT_
|
||||||
mMapBodyToConstrainedVelocityIndex),
|
mMapBodyToConstrainedVelocityIndex),
|
||||||
mNbVelocitySolverIterations(DEFAULT_VELOCITY_SOLVER_NB_ITERATIONS),
|
mNbVelocitySolverIterations(DEFAULT_VELOCITY_SOLVER_NB_ITERATIONS),
|
||||||
mNbPositionSolverIterations(DEFAULT_POSITION_SOLVER_NB_ITERATIONS),
|
mNbPositionSolverIterations(DEFAULT_POSITION_SOLVER_NB_ITERATIONS),
|
||||||
mIsDeactivationActive(DEACTIVATION_ENABLED) {
|
mIsSleepingEnabled(SPLEEPING_ENABLED), mNbIslands(0), mNbIslandsCapacity(0),
|
||||||
|
mIslands(NULL) {
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -59,6 +60,19 @@ DynamicsWorld::~DynamicsWorld() {
|
||||||
mMemoryAllocator.release((*it).second, sizeof(OverlappingPair));
|
mMemoryAllocator.release((*it).second, sizeof(OverlappingPair));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// Release the memory allocated for the islands
|
||||||
|
for (uint i=0; i<mNbIslands; i++) {
|
||||||
|
|
||||||
|
// Call the island destructor
|
||||||
|
mIslands[i]->Island::~Island();
|
||||||
|
|
||||||
|
// Release the allocated memory for the island
|
||||||
|
mMemoryAllocator.release(mIslands[i], sizeof(Island));
|
||||||
|
}
|
||||||
|
if (mNbIslandsCapacity > 0) {
|
||||||
|
mMemoryAllocator.release(mIslands, sizeof(Island*) * mNbIslandsCapacity);
|
||||||
|
}
|
||||||
|
|
||||||
// Free the allocated memory for the constrained velocities
|
// Free the allocated memory for the constrained velocities
|
||||||
cleanupConstrainedVelocitiesArray();
|
cleanupConstrainedVelocitiesArray();
|
||||||
|
|
||||||
|
@ -94,6 +108,9 @@ void DynamicsWorld::update() {
|
||||||
// Remove all contact manifolds
|
// Remove all contact manifolds
|
||||||
mContactManifolds.clear();
|
mContactManifolds.clear();
|
||||||
|
|
||||||
|
// Reset all the contact manifolds lists of each body
|
||||||
|
resetContactManifoldListsOfBodies();
|
||||||
|
|
||||||
// Compute the collision detection
|
// Compute the collision detection
|
||||||
mCollisionDetection.computeCollisionDetection();
|
mCollisionDetection.computeCollisionDetection();
|
||||||
|
|
||||||
|
@ -106,6 +123,9 @@ void DynamicsWorld::update() {
|
||||||
// Update the timer
|
// Update the timer
|
||||||
mTimer.nextStep();
|
mTimer.nextStep();
|
||||||
|
|
||||||
|
// Compute the islands (separate groups of bodies with constraints between each others)
|
||||||
|
computeIslands();
|
||||||
|
|
||||||
// Solve the contacts and constraints
|
// Solve the contacts and constraints
|
||||||
solveContactsAndConstraints();
|
solveContactsAndConstraints();
|
||||||
|
|
||||||
|
@ -448,7 +468,8 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) {
|
||||||
// Remove the collision shape from the world
|
// Remove the collision shape from the world
|
||||||
removeCollisionShape(rigidBody->getCollisionShape());
|
removeCollisionShape(rigidBody->getCollisionShape());
|
||||||
|
|
||||||
// Destroy all the joints that contains the rigid body to be destroyed
|
// Destroy all the joints in which the rigid body to be destroyed is involved
|
||||||
|
// TODO : Iterate on the mJointList of the rigid body instead over all the joints of the world
|
||||||
bodyindex idToRemove = rigidBody->getID();
|
bodyindex idToRemove = rigidBody->getID();
|
||||||
for (std::set<Constraint*>::iterator it = mJoints.begin(); it != mJoints.end(); ++it) {
|
for (std::set<Constraint*>::iterator it = mJoints.begin(); it != mJoints.end(); ++it) {
|
||||||
if ((*it)->getBody1()->getID() == idToRemove || (*it)->getBody2()->getID() == idToRemove) {
|
if ((*it)->getBody1()->getID() == idToRemove || (*it)->getBody2()->getID() == idToRemove) {
|
||||||
|
@ -456,6 +477,9 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// Reset the contact manifold list of the body
|
||||||
|
rigidBody->resetContactManifoldsList(mMemoryAllocator);
|
||||||
|
|
||||||
// Call the destructor of the rigid body
|
// Call the destructor of the rigid body
|
||||||
rigidBody->RigidBody::~RigidBody();
|
rigidBody->RigidBody::~RigidBody();
|
||||||
|
|
||||||
|
@ -529,6 +553,9 @@ Constraint* DynamicsWorld::createJoint(const ConstraintInfo& jointInfo) {
|
||||||
// Add the joint into the world
|
// Add the joint into the world
|
||||||
mJoints.insert(newJoint);
|
mJoints.insert(newJoint);
|
||||||
|
|
||||||
|
// Add the joint into the joint list of the bodies involved in the joint
|
||||||
|
addJointToBody(newJoint);
|
||||||
|
|
||||||
// Return the pointer to the created joint
|
// Return the pointer to the created joint
|
||||||
return newJoint;
|
return newJoint;
|
||||||
}
|
}
|
||||||
|
@ -548,14 +575,235 @@ void DynamicsWorld::destroyJoint(Constraint* joint) {
|
||||||
// Remove the joint from the world
|
// Remove the joint from the world
|
||||||
mJoints.erase(joint);
|
mJoints.erase(joint);
|
||||||
|
|
||||||
// Get the size in bytes of the joint
|
// Remove the joint from the joint list of the bodies involved in the joint
|
||||||
size_t nbBytes = joint->getSizeInBytes();
|
joint->mBody1->removeJointFromJointsList(mMemoryAllocator, joint);
|
||||||
|
joint->mBody2->removeJointFromJointsList(mMemoryAllocator, joint);
|
||||||
|
|
||||||
// Call the destructor of the joint
|
// Call the destructor of the joint
|
||||||
joint->Constraint::~Constraint();
|
joint->Constraint::~Constraint();
|
||||||
|
|
||||||
// Release the allocated memory
|
// Release the allocated memory
|
||||||
mMemoryAllocator.release(joint, nbBytes);
|
mMemoryAllocator.release(joint, joint->getSizeInBytes());
|
||||||
|
}
|
||||||
|
|
||||||
|
// Add the joint to the list of joints of the two bodies involved in the joint
|
||||||
|
void DynamicsWorld::addJointToBody(Constraint* joint) {
|
||||||
|
|
||||||
|
assert(joint != NULL);
|
||||||
|
|
||||||
|
// Add the joint at the beginning of the linked list of joints of the first body
|
||||||
|
void* allocatedMemory1 = mMemoryAllocator.allocate(sizeof(JointListElement));
|
||||||
|
JointListElement* jointListElement1 = new (allocatedMemory1) JointListElement(joint,
|
||||||
|
joint->mBody1->mJointsList);
|
||||||
|
joint->mBody1->mJointsList = jointListElement1;
|
||||||
|
|
||||||
|
// Add the joint at the beginning of the linked list of joints of the second body
|
||||||
|
void* allocatedMemory2 = mMemoryAllocator.allocate(sizeof(JointListElement));
|
||||||
|
JointListElement* jointListElement2 = new (allocatedMemory2) JointListElement(joint,
|
||||||
|
joint->mBody2->mJointsList);
|
||||||
|
joint->mBody2->mJointsList = jointListElement2;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Add a contact manifold to the linked list of contact manifolds of the two bodies involed
|
||||||
|
// in the corresponding contact
|
||||||
|
void DynamicsWorld::addContactManifoldToBody(ContactManifold* contactManifold,
|
||||||
|
CollisionBody* body1, CollisionBody* body2) {
|
||||||
|
|
||||||
|
assert(contactManifold != NULL);
|
||||||
|
|
||||||
|
// Add the contact manifold at the beginning of the linked
|
||||||
|
// list of contact manifolds of the first body
|
||||||
|
void* allocatedMemory1 = mMemoryAllocator.allocate(sizeof(ContactManifoldListElement));
|
||||||
|
ContactManifoldListElement* listElement1 = new (allocatedMemory1)
|
||||||
|
ContactManifoldListElement(contactManifold,
|
||||||
|
body1->mContactManifoldsList);
|
||||||
|
body1->mContactManifoldsList = listElement1;
|
||||||
|
|
||||||
|
// Add the joint at the beginning of the linked list of joints of the second body
|
||||||
|
void* allocatedMemory2 = mMemoryAllocator.allocate(sizeof(ContactManifoldListElement));
|
||||||
|
ContactManifoldListElement* listElement2 = new (allocatedMemory2)
|
||||||
|
ContactManifoldListElement(contactManifold,
|
||||||
|
body2->mContactManifoldsList);
|
||||||
|
body2->mContactManifoldsList = listElement2;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Reset all the contact manifolds linked list of each body
|
||||||
|
void DynamicsWorld::resetContactManifoldListsOfBodies() {
|
||||||
|
|
||||||
|
// For each rigid body of the world
|
||||||
|
for (std::set<RigidBody*>::iterator it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) {
|
||||||
|
|
||||||
|
// Reset the contact manifold list of the body
|
||||||
|
(*it)->resetContactManifoldsList(mMemoryAllocator);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Compute the islands of awake bodies.
|
||||||
|
/// An island is an isolated group of rigid bodies that have constraints (joints or contacts)
|
||||||
|
/// between each other. This method computes the islands at each time step as follows: For each
|
||||||
|
/// awake rigid body, we run a Depth First Search (DFS) through the constraint graph of that body
|
||||||
|
/// (graph where nodes are the bodies and where the edges are the constraints between the bodies) to
|
||||||
|
/// find all the bodies that are connected with it (the bodies that share joints or contacts with
|
||||||
|
/// it). Then, we create an island with this group of connected bodies.
|
||||||
|
void DynamicsWorld::computeIslands() {
|
||||||
|
|
||||||
|
PROFILE("DynamicsWorld::computeIslands()");
|
||||||
|
|
||||||
|
uint nbBodies = mRigidBodies.size();
|
||||||
|
|
||||||
|
// Clear all the islands
|
||||||
|
for (uint i=0; i<mNbIslands; i++) {
|
||||||
|
|
||||||
|
// Call the island destructor
|
||||||
|
mIslands[i]->Island::~Island();
|
||||||
|
|
||||||
|
// Release the allocated memory for the island
|
||||||
|
mMemoryAllocator.release(mIslands[i], sizeof(Island));
|
||||||
|
}
|
||||||
|
|
||||||
|
// Allocate and create the array of islands
|
||||||
|
if (mNbIslandsCapacity != nbBodies && nbBodies > 0) {
|
||||||
|
if (mNbIslandsCapacity > 0) {
|
||||||
|
mMemoryAllocator.release(mIslands, sizeof(Island*) * mNbIslandsCapacity);
|
||||||
|
}
|
||||||
|
mNbIslandsCapacity = nbBodies;
|
||||||
|
mIslands = (Island**)mMemoryAllocator.allocate(sizeof(Island*) * mNbIslandsCapacity);
|
||||||
|
}
|
||||||
|
mNbIslands = 0;
|
||||||
|
|
||||||
|
// Reset all the isAlreadyInIsland variables of bodies, joints and contact manifolds
|
||||||
|
for (std::set<RigidBody*>::iterator it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) {
|
||||||
|
(*it)->mIsAlreadyInIsland = false;
|
||||||
|
}
|
||||||
|
for (std::vector<ContactManifold*>::iterator it = mContactManifolds.begin();
|
||||||
|
it != mContactManifolds.end(); ++it) {
|
||||||
|
(*it)->mIsAlreadyInIsland = false;
|
||||||
|
}
|
||||||
|
for (std::set<Constraint*>::iterator it = mJoints.begin(); it != mJoints.end(); ++it) {
|
||||||
|
(*it)->mIsAlreadyInIsland = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create a stack (using an array) for the rigid bodies to visit during the Depth First Search
|
||||||
|
size_t nbBytesStack = sizeof(RigidBody*) * nbBodies;
|
||||||
|
RigidBody** stackBodiesToVisit = (RigidBody**)mMemoryAllocator.allocate(nbBytesStack);
|
||||||
|
|
||||||
|
uint idIsland = 0; // TODO : REMOVE THIS
|
||||||
|
|
||||||
|
// For each rigid body of the world
|
||||||
|
for (std::set<RigidBody*>::iterator it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) {
|
||||||
|
|
||||||
|
RigidBody* body = *it;
|
||||||
|
|
||||||
|
// If the body has already been added to an island, we go to the next body
|
||||||
|
if (body->isAlreadyInIsland()) continue;
|
||||||
|
|
||||||
|
// If the body is not moving, we go to the next body
|
||||||
|
// TODO : When we will use STATIC bodies, we will need to take care of this case here
|
||||||
|
if (!body->getIsMotionEnabled()) continue;
|
||||||
|
|
||||||
|
// If the body is sleeping, we go to the next body
|
||||||
|
if (body->isSleeping()) continue;
|
||||||
|
|
||||||
|
// Reset the stack of bodies to visit
|
||||||
|
uint stackIndex = 0;
|
||||||
|
stackBodiesToVisit[stackIndex] = body;
|
||||||
|
stackIndex++;
|
||||||
|
body->mIsAlreadyInIsland = true;
|
||||||
|
|
||||||
|
// Create the new island
|
||||||
|
void* allocatedMemoryIsland = mMemoryAllocator.allocate(sizeof(Island));
|
||||||
|
mIslands[mNbIslands] = new (allocatedMemoryIsland) Island(idIsland, nbBodies,mContactManifolds.size(),
|
||||||
|
mJoints.size(), mMemoryAllocator);
|
||||||
|
idIsland++;
|
||||||
|
|
||||||
|
// While there are still some bodies to visit in the stack
|
||||||
|
while (stackIndex > 0) {
|
||||||
|
|
||||||
|
// Get the next body to visit from the stack
|
||||||
|
stackIndex--;
|
||||||
|
RigidBody* bodyToVisit = stackBodiesToVisit[stackIndex];
|
||||||
|
|
||||||
|
// Awake the body if it is slepping
|
||||||
|
bodyToVisit->setIsSleeping(false);
|
||||||
|
|
||||||
|
// Add the body into the island
|
||||||
|
mIslands[mNbIslands]->addBody(bodyToVisit);
|
||||||
|
|
||||||
|
// If the current body is not moving, we do not want to perform the DFS
|
||||||
|
// search across that body
|
||||||
|
if (!bodyToVisit->getIsMotionEnabled()) continue;
|
||||||
|
|
||||||
|
// For each contact manifold in which the current body is involded
|
||||||
|
ContactManifoldListElement* contactElement;
|
||||||
|
for (contactElement = bodyToVisit->mContactManifoldsList; contactElement != NULL;
|
||||||
|
contactElement = contactElement->next) {
|
||||||
|
|
||||||
|
ContactManifold* contactManifold = contactElement->contactManifold;
|
||||||
|
|
||||||
|
// Check if the current contact manifold has already been added into an island
|
||||||
|
if (contactManifold->isAlreadyInIsland()) continue;
|
||||||
|
|
||||||
|
// Add the contact manifold into the island
|
||||||
|
mIslands[mNbIslands]->addContactManifold(contactManifold);
|
||||||
|
contactManifold->mIsAlreadyInIsland = true;
|
||||||
|
|
||||||
|
// Get the other body of the contact manifold
|
||||||
|
RigidBody* body1 = dynamic_cast<RigidBody*>(contactManifold->getBody1());
|
||||||
|
RigidBody* body2 = dynamic_cast<RigidBody*>(contactManifold->getBody2());
|
||||||
|
RigidBody* otherBody = (body1->getID() == bodyToVisit->getID()) ? body2 : body1;
|
||||||
|
|
||||||
|
// Check if the other body has already been added to the island
|
||||||
|
if (otherBody->isAlreadyInIsland()) continue;
|
||||||
|
|
||||||
|
// Insert the other body into the stack of bodies to visit
|
||||||
|
stackBodiesToVisit[stackIndex] = otherBody;
|
||||||
|
stackIndex++;
|
||||||
|
otherBody->mIsAlreadyInIsland = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
// For each joint in which the current body is involved
|
||||||
|
JointListElement* jointElement;
|
||||||
|
for (jointElement = bodyToVisit->mJointsList; jointElement != NULL;
|
||||||
|
jointElement = jointElement->next) {
|
||||||
|
|
||||||
|
Constraint* joint = jointElement->joint;
|
||||||
|
|
||||||
|
// Check if the current joint has already been added into an island
|
||||||
|
if (joint->isAlreadyInIsland()) continue;
|
||||||
|
|
||||||
|
// Add the joint into the island
|
||||||
|
mIslands[mNbIslands]->addJoint(joint);
|
||||||
|
joint->mIsAlreadyInIsland = true;
|
||||||
|
|
||||||
|
// Get the other body of the contact manifold
|
||||||
|
RigidBody* body1 = dynamic_cast<RigidBody*>(joint->getBody1());
|
||||||
|
RigidBody* body2 = dynamic_cast<RigidBody*>(joint->getBody2());
|
||||||
|
RigidBody* otherBody = (body1->getID() == bodyToVisit->getID()) ? body2 : body1;
|
||||||
|
|
||||||
|
// Check if the other body has already been added to the island
|
||||||
|
if (otherBody->isAlreadyInIsland()) continue;
|
||||||
|
|
||||||
|
// Insert the other body into the stack of bodies to visit
|
||||||
|
stackBodiesToVisit[stackIndex] = otherBody;
|
||||||
|
stackIndex++;
|
||||||
|
otherBody->mIsAlreadyInIsland = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Reset the isAlreadyIsland variable of the static bodies so that they
|
||||||
|
// can also be included in the other islands
|
||||||
|
for (uint i=0; i < mIslands[mNbIslands]->mNbBodies; i++) {
|
||||||
|
|
||||||
|
if (!mIslands[mNbIslands]->mBodies[i]->getIsMotionEnabled()) {
|
||||||
|
mIslands[mNbIslands]->mBodies[i]->mIsAlreadyInIsland = false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
mNbIslands++;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Release the allocated memory for the stack of bodies to visit
|
||||||
|
mMemoryAllocator.release(stackBodiesToVisit, nbBytesStack);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Notify the world about a new broad-phase overlapping pair
|
// Notify the world about a new broad-phase overlapping pair
|
||||||
|
@ -565,8 +813,8 @@ void DynamicsWorld::notifyAddedOverlappingPair(const BroadPhasePair* addedPair)
|
||||||
bodyindexpair indexPair = addedPair->getBodiesIndexPair();
|
bodyindexpair indexPair = addedPair->getBodiesIndexPair();
|
||||||
|
|
||||||
// Add the pair into the set of overlapping pairs (if not there yet)
|
// Add the pair into the set of overlapping pairs (if not there yet)
|
||||||
OverlappingPair* newPair = new (mMemoryAllocator.allocate(sizeof(OverlappingPair))) OverlappingPair(
|
OverlappingPair* newPair = new (mMemoryAllocator.allocate(sizeof(OverlappingPair)))
|
||||||
addedPair->body1, addedPair->body2, mMemoryAllocator);
|
OverlappingPair(addedPair->body1, addedPair->body2, mMemoryAllocator);
|
||||||
assert(newPair != NULL);
|
assert(newPair != NULL);
|
||||||
std::pair<map<bodyindexpair, OverlappingPair*>::iterator, bool> check =
|
std::pair<map<bodyindexpair, OverlappingPair*>::iterator, bool> check =
|
||||||
mOverlappingPairs.insert(make_pair(indexPair, newPair));
|
mOverlappingPairs.insert(make_pair(indexPair, newPair));
|
||||||
|
@ -604,4 +852,9 @@ void DynamicsWorld::notifyNewContact(const BroadPhasePair* broadPhasePair,
|
||||||
|
|
||||||
// Add the contact manifold to the world
|
// Add the contact manifold to the world
|
||||||
mContactManifolds.push_back(overlappingPair->getContactManifold());
|
mContactManifolds.push_back(overlappingPair->getContactManifold());
|
||||||
|
|
||||||
|
// Add the contact manifold into the list of contact manifolds
|
||||||
|
// of the two bodies involved in the contact
|
||||||
|
addContactManifoldToBody(overlappingPair->getContactManifold(), overlappingPair->mBody1,
|
||||||
|
overlappingPair->mBody2);
|
||||||
}
|
}
|
||||||
|
|
|
@ -33,6 +33,7 @@
|
||||||
#include "ConstraintSolver.h"
|
#include "ConstraintSolver.h"
|
||||||
#include "../body/RigidBody.h"
|
#include "../body/RigidBody.h"
|
||||||
#include "Timer.h"
|
#include "Timer.h"
|
||||||
|
#include "Island.h"
|
||||||
#include "../configuration.h"
|
#include "../configuration.h"
|
||||||
|
|
||||||
/// Namespace ReactPhysics3D
|
/// Namespace ReactPhysics3D
|
||||||
|
@ -65,13 +66,14 @@ class DynamicsWorld : public CollisionWorld {
|
||||||
/// Number of iterations for the position solver of the Sequential Impulses technique
|
/// Number of iterations for the position solver of the Sequential Impulses technique
|
||||||
uint mNbPositionSolverIterations;
|
uint mNbPositionSolverIterations;
|
||||||
|
|
||||||
/// True if the deactivation (sleeping) of inactive bodies is enabled
|
/// True if the spleeping technique for inactive bodies is enabled
|
||||||
bool mIsDeactivationActive;
|
bool mIsSleepingEnabled;
|
||||||
|
|
||||||
/// All the rigid bodies of the physics world
|
/// All the rigid bodies of the physics world
|
||||||
std::set<RigidBody*> mRigidBodies;
|
std::set<RigidBody*> mRigidBodies;
|
||||||
|
|
||||||
/// All the contact constraints
|
/// All the contact constraints
|
||||||
|
// TODO : Remove this variable (we will use the ones in the island now)
|
||||||
std::vector<ContactManifold*> mContactManifolds;
|
std::vector<ContactManifold*> mContactManifolds;
|
||||||
|
|
||||||
/// All the joints of the world
|
/// All the joints of the world
|
||||||
|
@ -100,6 +102,15 @@ class DynamicsWorld : public CollisionWorld {
|
||||||
/// Map body to their index in the constrained velocities array
|
/// Map body to their index in the constrained velocities array
|
||||||
std::map<RigidBody*, uint> mMapBodyToConstrainedVelocityIndex;
|
std::map<RigidBody*, uint> mMapBodyToConstrainedVelocityIndex;
|
||||||
|
|
||||||
|
/// Number of islands in the world
|
||||||
|
uint mNbIslands;
|
||||||
|
|
||||||
|
/// Current allocated capacity for the islands
|
||||||
|
uint mNbIslandsCapacity;
|
||||||
|
|
||||||
|
/// Array with all the islands of awaken bodies
|
||||||
|
Island** mIslands;
|
||||||
|
|
||||||
// -------------------- Methods -------------------- //
|
// -------------------- Methods -------------------- //
|
||||||
|
|
||||||
/// Private copy-constructor
|
/// Private copy-constructor
|
||||||
|
@ -136,6 +147,9 @@ class DynamicsWorld : public CollisionWorld {
|
||||||
/// Reset the boolean movement variable of each body
|
/// Reset the boolean movement variable of each body
|
||||||
void resetBodiesMovementVariable();
|
void resetBodiesMovementVariable();
|
||||||
|
|
||||||
|
/// Compute the islands of awake bodies.
|
||||||
|
void computeIslands();
|
||||||
|
|
||||||
/// Update the overlapping pair
|
/// Update the overlapping pair
|
||||||
virtual void updateOverlappingPair(const BroadPhasePair* pair);
|
virtual void updateOverlappingPair(const BroadPhasePair* pair);
|
||||||
|
|
||||||
|
@ -198,6 +212,17 @@ public :
|
||||||
/// Destroy a joint
|
/// Destroy a joint
|
||||||
void destroyJoint(Constraint* joint);
|
void destroyJoint(Constraint* joint);
|
||||||
|
|
||||||
|
/// Add the joint to the list of joints of the two bodies involved in the joint
|
||||||
|
void addJointToBody(Constraint* joint);
|
||||||
|
|
||||||
|
//// Add a contact manifold to the linked list of contact manifolds of the two bodies involed
|
||||||
|
//// in the corresponding contact.
|
||||||
|
void addContactManifoldToBody(ContactManifold* contactManifold,
|
||||||
|
CollisionBody *body1, CollisionBody *body2);
|
||||||
|
|
||||||
|
/// Reset all the contact manifolds linked list of each body
|
||||||
|
void resetContactManifoldListsOfBodies();
|
||||||
|
|
||||||
/// Return the gravity vector of the world
|
/// Return the gravity vector of the world
|
||||||
Vector3 getGravity() const;
|
Vector3 getGravity() const;
|
||||||
|
|
||||||
|
@ -227,6 +252,12 @@ public :
|
||||||
|
|
||||||
/// Return a reference to the contact manifolds of the world
|
/// Return a reference to the contact manifolds of the world
|
||||||
const std::vector<ContactManifold*>& getContactManifolds() const;
|
const std::vector<ContactManifold*>& getContactManifolds() const;
|
||||||
|
|
||||||
|
// TODO : REMOVE THIS
|
||||||
|
Island** getIslands() { return mIslands;}
|
||||||
|
|
||||||
|
// TODO : REMOVE THIS
|
||||||
|
uint getNbIslands() const {return mNbIslands;}
|
||||||
};
|
};
|
||||||
|
|
||||||
// Start the physics simulation
|
// Start the physics simulation
|
||||||
|
|
54
src/engine/Island.cpp
Normal file
54
src/engine/Island.cpp
Normal file
|
@ -0,0 +1,54 @@
|
||||||
|
/********************************************************************************
|
||||||
|
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
|
||||||
|
* Copyright (c) 2010-2013 Daniel Chappuis *
|
||||||
|
*********************************************************************************
|
||||||
|
* *
|
||||||
|
* This software is provided 'as-is', without any express or implied warranty. *
|
||||||
|
* In no event will the authors be held liable for any damages arising from the *
|
||||||
|
* use of this software. *
|
||||||
|
* *
|
||||||
|
* Permission is granted to anyone to use this software for any purpose, *
|
||||||
|
* including commercial applications, and to alter it and redistribute it *
|
||||||
|
* freely, subject to the following restrictions: *
|
||||||
|
* *
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not claim *
|
||||||
|
* that you wrote the original software. If you use this software in a *
|
||||||
|
* product, an acknowledgment in the product documentation would be *
|
||||||
|
* appreciated but is not required. *
|
||||||
|
* *
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be *
|
||||||
|
* misrepresented as being the original software. *
|
||||||
|
* *
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution. *
|
||||||
|
* *
|
||||||
|
********************************************************************************/
|
||||||
|
|
||||||
|
// Libraries
|
||||||
|
#include "Island.h"
|
||||||
|
|
||||||
|
using namespace reactphysics3d;
|
||||||
|
|
||||||
|
// Constructor
|
||||||
|
Island::Island(uint id, uint nbMaxBodies, uint nbMaxContactManifolds, uint nbMaxJoints,
|
||||||
|
MemoryAllocator& memoryAllocator)
|
||||||
|
: mID(id), mBodies(NULL), mContactManifolds(NULL), mJoints(NULL), mNbBodies(0),
|
||||||
|
mNbContactManifolds(0), mNbJoints(0), mMemoryAllocator(memoryAllocator) {
|
||||||
|
|
||||||
|
// Allocate memory for the arrays
|
||||||
|
mNbAllocatedBytesBodies = sizeof(RigidBody*) * nbMaxBodies;
|
||||||
|
mBodies = (RigidBody**) mMemoryAllocator.allocate(mNbAllocatedBytesBodies);
|
||||||
|
mNbAllocatedBytesContactManifolds = sizeof(ContactManifold*) * nbMaxContactManifolds;
|
||||||
|
mContactManifolds = (ContactManifold**) mMemoryAllocator.allocate(
|
||||||
|
mNbAllocatedBytesContactManifolds);
|
||||||
|
mNbAllocatedBytesJoints = sizeof(Constraint*) * nbMaxJoints;
|
||||||
|
mJoints = (Constraint**) mMemoryAllocator.allocate(mNbAllocatedBytesJoints);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Destructor
|
||||||
|
Island::~Island() {
|
||||||
|
|
||||||
|
// Release the memory of the arrays
|
||||||
|
mMemoryAllocator.release(mBodies, mNbAllocatedBytesBodies);
|
||||||
|
mMemoryAllocator.release(mContactManifolds, mNbAllocatedBytesContactManifolds);
|
||||||
|
mMemoryAllocator.release(mJoints, mNbAllocatedBytesJoints);
|
||||||
|
}
|
186
src/engine/Island.h
Normal file
186
src/engine/Island.h
Normal file
|
@ -0,0 +1,186 @@
|
||||||
|
/********************************************************************************
|
||||||
|
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
|
||||||
|
* Copyright (c) 2010-2013 Daniel Chappuis *
|
||||||
|
*********************************************************************************
|
||||||
|
* *
|
||||||
|
* This software is provided 'as-is', without any express or implied warranty. *
|
||||||
|
* In no event will the authors be held liable for any damages arising from the *
|
||||||
|
* use of this software. *
|
||||||
|
* *
|
||||||
|
* Permission is granted to anyone to use this software for any purpose, *
|
||||||
|
* including commercial applications, and to alter it and redistribute it *
|
||||||
|
* freely, subject to the following restrictions: *
|
||||||
|
* *
|
||||||
|
* 1. The origin of this software must not be misrepresented; you must not claim *
|
||||||
|
* that you wrote the original software. If you use this software in a *
|
||||||
|
* product, an acknowledgment in the product documentation would be *
|
||||||
|
* appreciated but is not required. *
|
||||||
|
* *
|
||||||
|
* 2. Altered source versions must be plainly marked as such, and must not be *
|
||||||
|
* misrepresented as being the original software. *
|
||||||
|
* *
|
||||||
|
* 3. This notice may not be removed or altered from any source distribution. *
|
||||||
|
* *
|
||||||
|
********************************************************************************/
|
||||||
|
|
||||||
|
#ifndef REACTPHYSICS3D_ISLAND_H
|
||||||
|
#define REACTPHYSICS3D_ISLAND_H
|
||||||
|
|
||||||
|
// Libraries
|
||||||
|
#include "../memory/MemoryAllocator.h"
|
||||||
|
#include "../body/RigidBody.h"
|
||||||
|
#include "../constraint/Constraint.h"
|
||||||
|
#include "ContactManifold.h"
|
||||||
|
|
||||||
|
namespace reactphysics3d {
|
||||||
|
|
||||||
|
// Class Island
|
||||||
|
/**
|
||||||
|
* An island represent an isolated group of awake bodies that are connected with each other by
|
||||||
|
* some contraints (contacts or joints).
|
||||||
|
*/
|
||||||
|
class Island {
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
// -------------------- Attributes -------------------- //
|
||||||
|
|
||||||
|
// TODO : REMOVE THIS
|
||||||
|
uint mID;
|
||||||
|
|
||||||
|
/// Array with all the bodies of the island
|
||||||
|
RigidBody** mBodies;
|
||||||
|
|
||||||
|
/// Array with all the contact manifolds between bodies of the island
|
||||||
|
ContactManifold** mContactManifolds;
|
||||||
|
|
||||||
|
/// Array with all the joints between bodies of the island
|
||||||
|
Constraint** mJoints;
|
||||||
|
|
||||||
|
/// Current number of bodies in the island
|
||||||
|
uint mNbBodies;
|
||||||
|
|
||||||
|
/// Current number of contact manifold in the island
|
||||||
|
uint mNbContactManifolds;
|
||||||
|
|
||||||
|
/// Current number of joints in the island
|
||||||
|
uint mNbJoints;
|
||||||
|
|
||||||
|
/// Reference to the memory allocator
|
||||||
|
MemoryAllocator& mMemoryAllocator;
|
||||||
|
|
||||||
|
/// Number of bytes allocated for the bodies array
|
||||||
|
size_t mNbAllocatedBytesBodies;
|
||||||
|
|
||||||
|
/// Number of bytes allocated for the contact manifolds array
|
||||||
|
size_t mNbAllocatedBytesContactManifolds;
|
||||||
|
|
||||||
|
/// Number of bytes allocated for the joints array
|
||||||
|
size_t mNbAllocatedBytesJoints;
|
||||||
|
|
||||||
|
// -------------------- Methods -------------------- //
|
||||||
|
|
||||||
|
/// Private assignment operator
|
||||||
|
Island& operator=(const Island& island);
|
||||||
|
|
||||||
|
/// Private copy-constructor
|
||||||
|
Island(const Island& island);
|
||||||
|
|
||||||
|
public:
|
||||||
|
|
||||||
|
// -------------------- Methods -------------------- //
|
||||||
|
|
||||||
|
/// Constructor
|
||||||
|
Island(uint id, uint nbMaxBodies, uint nbMaxContactManifolds, uint nbMaxJoints,
|
||||||
|
MemoryAllocator& memoryAllocator);
|
||||||
|
|
||||||
|
/// Destructor
|
||||||
|
~Island();
|
||||||
|
|
||||||
|
/// Add a body into the island
|
||||||
|
void addBody(RigidBody* body);
|
||||||
|
|
||||||
|
/// Add a contact manifold into the island
|
||||||
|
void addContactManifold(ContactManifold* contactManifold);
|
||||||
|
|
||||||
|
/// Add a joint into the island
|
||||||
|
void addJoint(Constraint* joint);
|
||||||
|
|
||||||
|
/// Return the number of bodies in the island
|
||||||
|
uint getNbBodies() const;
|
||||||
|
|
||||||
|
/// Return the number of contact manifolds in the island
|
||||||
|
uint getNbContactManifolds() const;
|
||||||
|
|
||||||
|
/// Return the number of joints in the island
|
||||||
|
uint getNbJoints() const;
|
||||||
|
|
||||||
|
/// Return a pointer to the array of bodies
|
||||||
|
RigidBody** getBodies();
|
||||||
|
|
||||||
|
/// Return a pointer to the array of contact manifolds
|
||||||
|
ContactManifold** getContactManifold();
|
||||||
|
|
||||||
|
/// Return a pointer to the array of joints
|
||||||
|
Constraint** getJoints();
|
||||||
|
|
||||||
|
// TODO : REMOVE THIS
|
||||||
|
uint getID() const {return mID;}
|
||||||
|
|
||||||
|
// -------------------- Friendship -------------------- //
|
||||||
|
|
||||||
|
friend class DynamicsWorld;
|
||||||
|
};
|
||||||
|
|
||||||
|
// Add a body into the island
|
||||||
|
inline void Island::addBody(RigidBody* body) {
|
||||||
|
assert(!body->isSleeping());
|
||||||
|
mBodies[mNbBodies] = body;
|
||||||
|
mNbBodies++;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Add a contact manifold into the island
|
||||||
|
inline void Island::addContactManifold(ContactManifold* contactManifold) {
|
||||||
|
mContactManifolds[mNbContactManifolds] = contactManifold;
|
||||||
|
mNbContactManifolds++;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Add a joint into the island
|
||||||
|
inline void Island::addJoint(Constraint* joint) {
|
||||||
|
mJoints[mNbJoints] = joint;
|
||||||
|
mNbJoints++;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Return the number of bodies in the island
|
||||||
|
inline uint Island::getNbBodies() const {
|
||||||
|
return mNbBodies;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Return the number of contact manifolds in the island
|
||||||
|
inline uint Island::getNbContactManifolds() const {
|
||||||
|
return mNbContactManifolds;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Return the number of joints in the island
|
||||||
|
inline uint Island::getNbJoints() const {
|
||||||
|
return mNbJoints;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Return a pointer to the array of bodies
|
||||||
|
inline RigidBody** Island::getBodies() {
|
||||||
|
return mBodies;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Return a pointer to the array of contact manifolds
|
||||||
|
inline ContactManifold** Island::getContactManifold() {
|
||||||
|
return mContactManifolds;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Return a pointer to the array of joints
|
||||||
|
inline Constraint** Island::getJoints() {
|
||||||
|
return mJoints;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
|
@ -47,10 +47,10 @@ class OverlappingPair {
|
||||||
// -------------------- Attributes -------------------- //
|
// -------------------- Attributes -------------------- //
|
||||||
|
|
||||||
/// Pointer to the first body of the contact
|
/// Pointer to the first body of the contact
|
||||||
CollisionBody* const mBody1;
|
CollisionBody* mBody1;
|
||||||
|
|
||||||
/// Pointer to the second body of the contact
|
/// Pointer to the second body of the contact
|
||||||
CollisionBody* const mBody2;
|
CollisionBody* mBody2;
|
||||||
|
|
||||||
/// Persistent contact manifold
|
/// Persistent contact manifold
|
||||||
ContactManifold mContactManifold;
|
ContactManifold mContactManifold;
|
||||||
|
@ -100,6 +100,10 @@ class OverlappingPair {
|
||||||
|
|
||||||
/// Return the contact manifold
|
/// Return the contact manifold
|
||||||
ContactManifold* getContactManifold();
|
ContactManifold* getContactManifold();
|
||||||
|
|
||||||
|
// -------------------- Friendship -------------------- //
|
||||||
|
|
||||||
|
friend class DynamicsWorld;
|
||||||
};
|
};
|
||||||
|
|
||||||
// Return the pointer to first body
|
// Return the pointer to first body
|
||||||
|
|
Loading…
Reference in New Issue
Block a user