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This commit is contained in:
Daniel Chappuis 2020-05-25 21:40:44 +02:00
parent 8893f22e70
commit fa4eb297bf
16 changed files with 125 additions and 93 deletions
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3
CHANGELOG.md
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@ -2,6 +2,9 @@
## Version 0.8.0
Note that this release contains some public API changes. Please read carefully the following changes before upgrading to this new version and
do not hesitate to take a look at the user manual.
### Added
- It is now possible to change the size of a BoxShape using the BoxShape::setHalfExtents() method

3
include/reactphysics3d/collision/shapes/CapsuleShape.h
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@ -137,7 +137,7 @@ inline decimal CapsuleShape::getRadius() const {
* @param radius The radius of the capsule (in meters)
*/
inline void CapsuleShape::setRadius(decimal radius) {
// TODO : Throw a library error here if radius is not larger than zero
assert(radius > decimal(0.0));
mMargin = radius;
@ -160,7 +160,6 @@ inline decimal CapsuleShape::getHeight() const {
*/
inline void CapsuleShape::setHeight(decimal height) {
// TODO : Throw a library error here if radius is not larger than zero
assert(height > decimal(0.0));
mHalfHeight = height * decimal(0.5);

1
include/reactphysics3d/configuration.h
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@ -63,7 +63,6 @@ using uint32 = std::uint32_t;
using int64 = std::int64_t;
using uint64 = std::uint64_t;
// TODO : Delete this
struct Entity;
using bodypair = Pair<Entity, Entity>;

56
include/reactphysics3d/engine/PhysicsWorld.h
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@ -710,34 +710,6 @@ inline uint PhysicsWorld::getNbCollisionBodies() const {
return mCollisionBodies.size();
}
// Return a constant pointer to a given CollisionBody of the world
/**
* @param index Index of a CollisionBody in the world
* @return Constant pointer to a given CollisionBody
*/
inline const CollisionBody* PhysicsWorld::getCollisionBody(uint index) const {
assert(index < mCollisionBodies.size());
// TODO : Report error here if index is not within bounds
return mCollisionBodies[index];
}
// Return a pointer to a given CollisionBody of the world
/**
* @param index Index of a CollisionBody in the world
* @return Pointer to a given CollisionBody
*/
inline CollisionBody* PhysicsWorld::getCollisionBody(uint index) {
assert(index < mCollisionBodies.size());
// TODO : Report error here if index is not within bounds
return mCollisionBodies[index];
}
// Return the number of RigidBody in the physics world
/**
* @return The number of rigid bodies in the physics world
@ -746,34 +718,6 @@ inline uint PhysicsWorld::getNbRigidBodies() const {
return mRigidBodies.size();
}
// Return a constant pointer to a given RigidBody of the world
/**
* @param index Index of a RigidBody in the world
* @return Constant pointer to a given RigidBody
*/
inline const RigidBody* PhysicsWorld::getRigidBody(uint index) const {
assert(index < mRigidBodies.size());
// TODO : Report error here if index is not within bounds
return mRigidBodies[index];
}
// Return a pointer to a given RigidBody of the world
/**
* @param index Index of a RigidBody in the world
* @return Pointer to a given RigidBody
*/
inline RigidBody* PhysicsWorld::getRigidBody(uint index) {
assert(index < mRigidBodies.size());
// TODO : Report error here if index is not within bounds
return mRigidBodies[index];
}
// Return true if the debug rendering is enabled
/**
* @return True if the debug rendering is enabled and false otherwise

8
include/reactphysics3d/systems/CollisionDetectionSystem.h
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@ -319,7 +319,7 @@ class CollisionDetectionSystem {
void removeNoCollisionPair(Entity body1Entity, Entity body2Entity);
/// Ask for a collision shape to be tested again during broad-phase.
void askForBroadPhaseCollisionCheck(Collider* shape);
void askForBroadPhaseCollisionCheck(Collider* collider);
/// Notify that the overlapping pairs where a given collider is involved need to be tested for overlap
void notifyOverlappingPairsToTestOverlap(Collider* collider);
@ -411,10 +411,10 @@ inline void CollisionDetectionSystem::removeNoCollisionPair(Entity body1Entity,
// Ask for a collision shape to be tested again during broad-phase.
/// We simply put the shape in the list of collision shape that have moved in the
/// previous frame so that it is tested for collision again in the broad-phase.
inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(Collider* shape) {
inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(Collider* collider) {
if (shape->getBroadPhaseId() != -1) {
mBroadPhaseSystem.addMovedCollider(shape->getBroadPhaseId(), shape);
if (collider->getBroadPhaseId() != -1) {
mBroadPhaseSystem.addMovedCollider(collider->getBroadPhaseId(), collider);
}
}

2
include/reactphysics3d/systems/ContactSolverSystem.h
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@ -296,11 +296,9 @@ class ContactSolverSystem {
decimal& mRestitutionVelocityThreshold;
/// Contact constraints
// TODO : Use List<> here
ContactManifoldSolver* mContactConstraints;
/// Contact points
// TODO : Use List<> here
ContactPointSolver* mContactPoints;
/// Number of contact point constraints

6
src/body/RigidBody.cpp
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@ -531,7 +531,11 @@ void RigidBody::setMass(decimal mass) {
mWorld.mRigidBodyComponents.setMass(mEntity, mass);
// TODO : Report error if mass is negative
if (mass < decimal(0.0)) {
RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Error, Logger::Category::Body,
"Error when setting the mass of a rigid body: the mass must be a positive value", __FILE__, __LINE__);
}
if (mWorld.mRigidBodyComponents.getMass(mEntity) > decimal(0.0)) {
mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mass);

14
src/collision/Collider.cpp
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@ -71,14 +71,13 @@ bool Collider::testPointInside(const Vector3& worldPoint) {
*/
void Collider::setCollisionCategoryBits(unsigned short collisionCategoryBits) {
// TODO : Here we should probably remove all overlapping pairs with this shape in the
// broad-phase and add the shape in the "has moved" shape list so it is reevaluated
// with the new mask bits
mBody->mWorld.mCollidersComponents.setCollisionCategoryBits(mEntity, collisionCategoryBits);
int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity);
// Ask the broad-phase collision detection to test this collider next frame
mBody->mWorld.mCollisionDetection.askForBroadPhaseCollisionCheck(this);
RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider,
"Collider " + std::to_string(broadPhaseId) + ": Set collisionCategoryBits=" +
std::to_string(collisionCategoryBits), __FILE__, __LINE__);
@ -90,14 +89,13 @@ void Collider::setCollisionCategoryBits(unsigned short collisionCategoryBits) {
*/
void Collider::setCollideWithMaskBits(unsigned short collideWithMaskBits) {
// TODO : Here we should probably remove all overlapping pairs with this shape in the
// broad-phase and add the shape in the "has moved" shape list so it is reevaluated
// with the new mask bits
mBody->mWorld.mCollidersComponents.setCollideWithMaskBits(mEntity, collideWithMaskBits);
int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity);
// Ask the broad-phase collision detection to test this collider next frame
mBody->mWorld.mCollisionDetection.askForBroadPhaseCollisionCheck(this);
RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider,
"Collider" + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" +
std::to_string(collideWithMaskBits), __FILE__, __LINE__);

6
src/collision/TriangleVertexArray.cpp
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@ -196,7 +196,7 @@ void TriangleVertexArray::computeVerticesNormals() {
*/
void TriangleVertexArray::getTriangleVerticesIndices(uint triangleIndex, uint* outVerticesIndices) const {
assert(triangleIndex >= 0 && triangleIndex < mNbTriangles);
assert(triangleIndex < mNbTriangles);
const uchar* triangleIndicesPointer = mIndicesStart + triangleIndex * mIndicesStride;
const void* startTriangleIndices = static_cast<const void*>(triangleIndicesPointer);
@ -224,7 +224,7 @@ void TriangleVertexArray::getTriangleVerticesIndices(uint triangleIndex, uint* o
*/
void TriangleVertexArray::getTriangleVertices(uint triangleIndex, Vector3* outTriangleVertices) const {
assert(triangleIndex >= 0 && triangleIndex < mNbTriangles);
assert(triangleIndex < mNbTriangles);
// Get the three vertex index of the three vertices of the triangle
uint verticesIndices[3];
@ -262,7 +262,7 @@ void TriangleVertexArray::getTriangleVertices(uint triangleIndex, Vector3* outTr
*/
void TriangleVertexArray::getTriangleVerticesNormals(uint triangleIndex, Vector3* outTriangleVerticesNormals) const {
assert(triangleIndex >= 0 && triangleIndex < mNbTriangles);
assert(triangleIndex < mNbTriangles);
// Get the three vertex index of the three vertices of the triangle
uint verticesIndices[3];

1
src/collision/narrowphase/SAT/SATAlgorithm.cpp
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@ -823,7 +823,6 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
// Now, we will clip the shapes along this axis to find the contact points
assert(minPenetrationDepth > decimal(0.0));
assert((isMinPenetrationFaceNormal && minFaceIndex >= 0) || !isMinPenetrationFaceNormal);
// If the minimum separating axis is a face normal
if (isMinPenetrationFaceNormal) {

2
src/collision/shapes/CapsuleShape.cpp
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@ -39,7 +39,7 @@ using namespace reactphysics3d;
*/
CapsuleShape::CapsuleShape(decimal radius, decimal height, MemoryAllocator& allocator)
: ConvexShape(CollisionShapeName::CAPSULE, CollisionShapeType::CAPSULE, allocator, radius), mHalfHeight(height * decimal(0.5)) {
// TODO : Throw a library error here if radius or height is not larger than zero
assert(radius > decimal(0.0));
assert(height > decimal(0.0));
}

35
src/engine/PhysicsCommon.cpp
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@ -167,6 +167,12 @@ void PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) {
*/
SphereShape* PhysicsCommon::createSphereShape(const decimal radius) {
if (radius <= decimal(0.0)) {
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
"Error when creating a SphereShape: radius must be a positive value", __FILE__, __LINE__);
}
SphereShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SphereShape))) SphereShape(radius, mMemoryManager.getHeapAllocator());
mSphereShapes.add(shape);
@ -182,7 +188,7 @@ void PhysicsCommon::destroySphereShape(SphereShape* sphereShape) {
// If the shape is still part of some colliders
if (sphereShape->mColliders.size() > 0) {
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::World,
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
"Error when destroying the SphereShape because it is still used by some colliders", __FILE__, __LINE__);
}
@ -202,6 +208,11 @@ void PhysicsCommon::destroySphereShape(SphereShape* sphereShape) {
*/
BoxShape* PhysicsCommon::createBoxShape(const Vector3& halfExtents) {
if (halfExtents.x <= decimal(0.0) || halfExtents.y <= decimal(0.0) || halfExtents.z <= decimal(0.0)) {
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
"Error when creating a BoxShape: the half extents must be positive values", __FILE__, __LINE__);
}
BoxShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(BoxShape))) BoxShape(halfExtents, mMemoryManager.getHeapAllocator());
mBoxShapes.add(shape);
@ -218,7 +229,7 @@ void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) {
// If the shape is still part of some colliders
if (boxShape->mColliders.size() > 0) {
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::World,
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
"Error when destroying the BoxShape because it is still used by some colliders", __FILE__, __LINE__);
}
@ -239,6 +250,18 @@ void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) {
*/
CapsuleShape* PhysicsCommon::createCapsuleShape(decimal radius, decimal height) {
if (radius <= decimal(0.0)) {
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
"Error when creating a CapsuleShape: radius must be a positive value", __FILE__, __LINE__);
}
if (height <= decimal(0.0)) {
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
"Error when creating a CapsuleShape: height must be a positive value", __FILE__, __LINE__);
}
CapsuleShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CapsuleShape))) CapsuleShape(radius, height, mMemoryManager.getHeapAllocator());
mCapsuleShapes.add(shape);
@ -255,7 +278,7 @@ void PhysicsCommon::destroyCapsuleShape(CapsuleShape* capsuleShape) {
// If the shape is still part of some colliders
if (capsuleShape->mColliders.size() > 0) {
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::World,
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
"Error when destroying the CapsuleShape because it is still used by some colliders", __FILE__, __LINE__);
}
@ -292,7 +315,7 @@ void PhysicsCommon::destroyConvexMeshShape(ConvexMeshShape* convexMeshShape) {
// If the shape is still part of some colliders
if (convexMeshShape->mColliders.size() > 0) {
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::World,
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
"Error when destroying the ConvexMeshShape because it is still used by some colliders", __FILE__, __LINE__);
}
@ -338,7 +361,7 @@ void PhysicsCommon::destroyHeightFieldShape(HeightFieldShape* heightFieldShape)
// If the shape is still part of some colliders
if (heightFieldShape->mColliders.size() > 0) {
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::World,
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
"Error when destroying the HeightFieldShape because it is still used by some colliders", __FILE__, __LINE__);
}
@ -375,7 +398,7 @@ void PhysicsCommon::destroyConcaveMeshShape(ConcaveMeshShape* concaveMeshShape)
// If the shape is still part of some colliders
if (concaveMeshShape->mColliders.size() > 0) {
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::World,
RP3D_LOG("PhysicsCommon", Logger::Level::Error, Logger::Category::PhysicCommon,
"Error when destroying the ConcaveMeshShape because it is still used by some colliders", __FILE__, __LINE__);
}

74
src/engine/PhysicsWorld.cpp
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@ -775,7 +775,6 @@ void PhysicsWorld::createIslands() {
// Add the body into the island
mIslands.bodyEntities[islandIndex].add(bodyToVisitEntity);
// TODO : Do not use pointer to rigid body here (maybe move getType() into a component)
RigidBody* rigidBodyToVisit = static_cast<RigidBody*>(mCollisionBodyComponents.getBody(bodyToVisitEntity));
// Awake the body if it is sleeping
@ -1023,3 +1022,76 @@ void PhysicsWorld::setIsGravityEnabled(bool isGravityEnabled) {
RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World,
"Physics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false")), __FILE__, __LINE__);
}
// Return a constant pointer to a given CollisionBody of the world
/**
* @param index Index of a CollisionBody in the world
* @return Constant pointer to a given CollisionBody
*/
const CollisionBody* PhysicsWorld::getCollisionBody(uint index) const {
if (index >= getNbCollisionBodies()) {
RP3D_LOG(mConfig.worldName, Logger::Level::Error, Logger::Category::World,
"Error when getting collision body: index is out of bounds", __FILE__, __LINE__);
}
assert(index < mCollisionBodies.size());
return mCollisionBodies[index];
}
// Return a pointer to a given CollisionBody of the world
/**
* @param index Index of a CollisionBody in the world
* @return Pointer to a given CollisionBody
*/
CollisionBody* PhysicsWorld::getCollisionBody(uint index) {
if (index >= getNbCollisionBodies()) {
RP3D_LOG(mConfig.worldName, Logger::Level::Error, Logger::Category::World,
"Error when getting collision body: index is out of bounds", __FILE__, __LINE__);
}
assert(index < mCollisionBodies.size());
return mCollisionBodies[index];
}
// Return a constant pointer to a given RigidBody of the world
/**
* @param index Index of a RigidBody in the world
* @return Constant pointer to a given RigidBody
*/
const RigidBody* PhysicsWorld::getRigidBody(uint index) const {
if (index >= getNbRigidBodies()) {
RP3D_LOG(mConfig.worldName, Logger::Level::Error, Logger::Category::World,
"Error when getting rigid body: index is out of bounds", __FILE__, __LINE__);
}
assert(index < mRigidBodies.size());
return mRigidBodies[index];
}
// Return a pointer to a given RigidBody of the world
/**
* @param index Index of a RigidBody in the world
* @return Pointer to a given RigidBody
*/
RigidBody* PhysicsWorld::getRigidBody(uint index) {
if (index >= getNbRigidBodies()) {
RP3D_LOG(mConfig.worldName, Logger::Level::Error, Logger::Category::World,
"Error when getting rigid body: index is out of bounds", __FILE__, __LINE__);
}
assert(index < mRigidBodies.size());
return mRigidBodies[index];
}

2
src/systems/BroadPhaseSystem.cpp
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@ -165,12 +165,10 @@ void BroadPhaseSystem::updateCollidersComponents(uint32 startIndex, uint32 nbIte
startIndex = std::min(startIndex, mCollidersComponents.getNbEnabledComponents());
uint32 endIndex = std::min(startIndex + nbItems, mCollidersComponents.getNbEnabledComponents());
nbItems = endIndex - startIndex;
assert(nbItems >= 0);
// For each collider component to update
for (uint32 i = startIndex; i < startIndex + nbItems; i++) {
// TODO : Can we remove this test
const int32 broadPhaseId = mCollidersComponents.mBroadPhaseIds[i];
if (broadPhaseId != -1) {

2
src/systems/CollisionDetectionSystem.cpp
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@ -1598,8 +1598,6 @@ void CollisionDetectionSystem::filterOverlappingPairs(Entity bodyEntity, List<ui
// Filter the overlapping pairs to keep only the pairs where two given bodies are involved
void CollisionDetectionSystem::filterOverlappingPairs(Entity body1Entity, Entity body2Entity, List<uint64>& convexPairs, List<uint64>& concavePairs) const {
// TODO : Do not go through all the overlapping pairs here but get all the involded overlapping pairs directly from the bodies
// For each possible collision pair of bodies
for (uint i=0; i < mOverlappingPairs.getNbPairs(); i++) {

3
testbed/src/SceneDemo.h
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@ -87,10 +87,8 @@ class SceneDemo : public Scene {
/// Constant color shader
openglframework::Shader mColorShader;
// TODO : Delete this
openglframework::Shader mQuadShader;
// TODO : Delete this
openglframework::VertexArrayObject mVAOQuad;
openglframework::VertexBufferObject mVBOQuad;
@ -134,7 +132,6 @@ class SceneDemo : public Scene {
/// Create a the VAO and VBOs to render the debug infos
void createDebugVBO();
/// TODO : Delete this
void drawTextureQuad();
/// Update the contact points