449 lines
20 KiB
C++
449 lines
20 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2012 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "CollisionDetection.h"
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#include "engine/CollisionWorld.h"
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#include "body/Body.h"
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#include "collision/shapes/BoxShape.h"
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#include "body/RigidBody.h"
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#include "configuration.h"
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#include <cassert>
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#include <complex>
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#include <set>
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#include <utility>
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#include <utility>
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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using namespace std;
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// Constructor
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CollisionDetection::CollisionDetection(CollisionWorld* world, MemoryAllocator& memoryAllocator)
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: mWorld(world), mBroadPhaseAlgorithm(*this),
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mNarrowPhaseGJKAlgorithm(memoryAllocator),
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mNarrowPhaseSphereVsSphereAlgorithm(memoryAllocator),
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mIsCollisionShapesAdded(false) {
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}
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// Destructor
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CollisionDetection::~CollisionDetection() {
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}
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// Compute the collision detection
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void CollisionDetection::computeCollisionDetection() {
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PROFILE("CollisionDetection::computeCollisionDetection()");
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// Compute the broad-phase collision detection
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computeBroadPhase();
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// Compute the narrow-phase collision detection
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computeNarrowPhase();
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}
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// Compute the collision detection
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void CollisionDetection::testCollisionBetweenShapes(CollisionCallback* callback,
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const std::set<uint>& shapes1,
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const std::set<uint>& shapes2) {
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// Compute the broad-phase collision detection
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computeBroadPhase();
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// Delete all the contact points in the currently overlapping pairs
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clearContactPoints();
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// Compute the narrow-phase collision detection among given sets of shapes
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computeNarrowPhaseBetweenShapes(callback, shapes1, shapes2);
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}
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// Report collision between two sets of shapes
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void CollisionDetection::reportCollisionBetweenShapes(CollisionCallback* callback,
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const std::set<uint>& shapes1,
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const std::set<uint>& shapes2) {
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// For each possible collision pair of bodies
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map<overlappingpairid, OverlappingPair*>::iterator it;
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for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
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OverlappingPair* pair = it->second;
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ProxyShape* shape1 = pair->getShape1();
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ProxyShape* shape2 = pair->getShape2();
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assert(shape1->mBroadPhaseID != shape2->mBroadPhaseID);
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// If both shapes1 and shapes2 sets are non-empty, we check that
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// shape1 is among on set and shape2 is among the other one
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if (!shapes1.empty() && !shapes2.empty() &&
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(shapes1.count(shape1->mBroadPhaseID) == 0 || shapes2.count(shape2->mBroadPhaseID) == 0) &&
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(shapes1.count(shape2->mBroadPhaseID) == 0 || shapes2.count(shape1->mBroadPhaseID) == 0)) {
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continue;
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}
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if (!shapes1.empty() && shapes2.empty() &&
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shapes1.count(shape1->mBroadPhaseID) == 0 && shapes1.count(shape2->mBroadPhaseID) == 0)
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{
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continue;
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}
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if (!shapes2.empty() && shapes1.empty() &&
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shapes2.count(shape1->mBroadPhaseID) == 0 && shapes2.count(shape2->mBroadPhaseID) == 0)
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{
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continue;
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}
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// For each contact manifold of the overlapping pair
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ContactManifold* manifold = pair->getContactManifold();
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for (uint i=0; i<manifold->getNbContactPoints(); i++) {
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ContactPoint* contactPoint = manifold->getContactPoint(i);
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// Create the contact info object for the contact
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ContactPointInfo* contactInfo = new (mWorld->mMemoryAllocator.allocate(sizeof(ContactPointInfo)))
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ContactPointInfo(manifold->getShape1(), manifold->getShape2(),
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contactPoint->getNormal(),
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contactPoint->getPenetrationDepth(),
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contactPoint->getLocalPointOnBody1(),
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contactPoint->getLocalPointOnBody2());
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// Notify the collision callback about this new contact
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if (callback != NULL) callback->notifyContact(*contactInfo);
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// Delete and remove the contact info from the memory allocator
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contactInfo->~ContactPointInfo();
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mWorld->mMemoryAllocator.release(contactInfo, sizeof(ContactPointInfo));
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}
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}
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}
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// Compute the broad-phase collision detection
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void CollisionDetection::computeBroadPhase() {
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PROFILE("CollisionDetection::computeBroadPhase()");
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// If new collision shapes have been added to bodies
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if (mIsCollisionShapesAdded) {
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// Ask the broad-phase to recompute the overlapping pairs of collision
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// shapes. This call can only add new overlapping pairs in the collision
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// detection.
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mBroadPhaseAlgorithm.computeOverlappingPairs();
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}
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}
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// Compute the narrow-phase collision detection
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void CollisionDetection::computeNarrowPhase() {
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PROFILE("CollisionDetection::computeNarrowPhase()");
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// For each possible collision pair of bodies
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map<overlappingpairid, OverlappingPair*>::iterator it;
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for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) {
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ContactPointInfo* contactInfo = NULL;
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OverlappingPair* pair = it->second;
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ProxyShape* shape1 = pair->getShape1();
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ProxyShape* shape2 = pair->getShape2();
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assert(shape1->mBroadPhaseID != shape2->mBroadPhaseID);
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// Check if the collision filtering allows collision between the two shapes and
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// that the two shapes are still overlapping. Otherwise, we destroy the
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// overlapping pair
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if (((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) == 0 ||
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(shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) == 0) ||
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!mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) {
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std::map<overlappingpairid, OverlappingPair*>::iterator itToRemove = it;
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++it;
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// Destroy the overlapping pair
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itToRemove->second->~OverlappingPair();
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mWorld->mMemoryAllocator.release(itToRemove->second, sizeof(OverlappingPair));
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mOverlappingPairs.erase(itToRemove);
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continue;
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}
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else {
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++it;
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}
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CollisionBody* const body1 = shape1->getBody();
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CollisionBody* const body2 = shape2->getBody();
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// Update the contact cache of the overlapping pair
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pair->update();
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// Check that at least one body is awake and not static
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bool isBody1Active = !body1->isSleeping() && body1->getType() != STATIC;
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bool isBody2Active = !body2->isSleeping() && body2->getType() != STATIC;
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if (!isBody1Active && !isBody2Active) continue;
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// Check if the bodies are in the set of bodies that cannot collide between each other
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bodyindexpair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1, body2);
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if (mNoCollisionPairs.count(bodiesIndex) > 0) continue;
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// Select the narrow phase algorithm to use according to the two collision shapes
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NarrowPhaseAlgorithm& narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(
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shape1->getCollisionShape(),
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shape2->getCollisionShape());
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// Notify the narrow-phase algorithm about the overlapping pair we are going to test
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narrowPhaseAlgorithm.setCurrentOverlappingPair(pair);
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// Use the narrow-phase collision detection algorithm to check
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// if there really is a collision
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if (narrowPhaseAlgorithm.testCollision(shape1, shape2, contactInfo)) {
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assert(contactInfo != NULL);
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// If it is the first contact since the pair are overlapping
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if (pair->getNbContactPoints() == 0) {
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// Trigger a callback event
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if (mWorld->mEventListener != NULL) mWorld->mEventListener->beginContact(*contactInfo);
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}
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// Create a new contact
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createContact(pair, contactInfo);
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// Trigger a callback event for the new contact
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if (mWorld->mEventListener != NULL) mWorld->mEventListener->newContact(*contactInfo);
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// Delete and remove the contact info from the memory allocator
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contactInfo->~ContactPointInfo();
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mWorld->mMemoryAllocator.release(contactInfo, sizeof(ContactPointInfo));
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}
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}
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}
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// Compute the narrow-phase collision detection
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void CollisionDetection::computeNarrowPhaseBetweenShapes(CollisionCallback* callback,
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const std::set<uint>& shapes1,
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const std::set<uint>& shapes2) {
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// For each possible collision pair of bodies
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map<overlappingpairid, OverlappingPair*>::iterator it;
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for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) {
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ContactPointInfo* contactInfo = NULL;
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OverlappingPair* pair = it->second;
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ProxyShape* shape1 = pair->getShape1();
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ProxyShape* shape2 = pair->getShape2();
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assert(shape1->mBroadPhaseID != shape2->mBroadPhaseID);
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// If both shapes1 and shapes2 sets are non-empty, we check that
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// shape1 is among on set and shape2 is among the other one
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if (!shapes1.empty() && !shapes2.empty() &&
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(shapes1.count(shape1->mBroadPhaseID) == 0 || shapes2.count(shape2->mBroadPhaseID) == 0) &&
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(shapes1.count(shape2->mBroadPhaseID) == 0 || shapes2.count(shape1->mBroadPhaseID) == 0)) {
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++it;
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continue;
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}
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if (!shapes1.empty() && shapes2.empty() &&
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shapes1.count(shape1->mBroadPhaseID) == 0 && shapes1.count(shape2->mBroadPhaseID) == 0)
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{
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++it;
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continue;
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}
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if (!shapes2.empty() && shapes1.empty() &&
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shapes2.count(shape1->mBroadPhaseID) == 0 && shapes2.count(shape2->mBroadPhaseID) == 0)
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{
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++it;
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continue;
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}
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// Check if the collision filtering allows collision between the two shapes and
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// that the two shapes are still overlapping. Otherwise, we destroy the
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// overlapping pair
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if (((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) == 0 ||
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(shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) == 0) ||
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!mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) {
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std::map<overlappingpairid, OverlappingPair*>::iterator itToRemove = it;
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++it;
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// Destroy the overlapping pair
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itToRemove->second->~OverlappingPair();
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mWorld->mMemoryAllocator.release(itToRemove->second, sizeof(OverlappingPair));
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mOverlappingPairs.erase(itToRemove);
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continue;
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}
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else {
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++it;
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}
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CollisionBody* const body1 = shape1->getBody();
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CollisionBody* const body2 = shape2->getBody();
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// Update the contact cache of the overlapping pair
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pair->update();
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// Check if the two bodies are allowed to collide, otherwise, we do not test for collision
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if (body1->getType() != DYNAMIC && body2->getType() != DYNAMIC) continue;
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bodyindexpair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1, body2);
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if (mNoCollisionPairs.count(bodiesIndex) > 0) continue;
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// Check if the two bodies are sleeping, if so, we do no test collision between them
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if (body1->isSleeping() && body2->isSleeping()) continue;
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// Select the narrow phase algorithm to use according to the two collision shapes
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NarrowPhaseAlgorithm& narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(
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shape1->getCollisionShape(),
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shape2->getCollisionShape());
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// Notify the narrow-phase algorithm about the overlapping pair we are going to test
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narrowPhaseAlgorithm.setCurrentOverlappingPair(pair);
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// Use the narrow-phase collision detection algorithm to check
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// if there really is a collision
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if (narrowPhaseAlgorithm.testCollision(shape1, shape2, contactInfo)) {
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assert(contactInfo != NULL);
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// Create a new contact
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createContact(pair, contactInfo);
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// Notify the collision callback about this new contact
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if (callback != NULL) callback->notifyContact(*contactInfo);
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// Delete and remove the contact info from the memory allocator
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contactInfo->~ContactPointInfo();
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mWorld->mMemoryAllocator.release(contactInfo, sizeof(ContactPointInfo));
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}
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}
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}
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// Allow the broadphase to notify the collision detection about an overlapping pair.
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/// This method is called by the broad-phase collision detection algorithm
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void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* shape1, ProxyShape* shape2) {
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assert(shape1->mBroadPhaseID != shape2->mBroadPhaseID);
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// If the two proxy collision shapes are from the same body, skip it
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if (shape1->getBody()->getID() == shape2->getBody()->getID()) return;
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// Check if the collision filtering allows collision between the two shapes
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if ((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) == 0 ||
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(shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) == 0) return;
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// Compute the overlapping pair ID
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overlappingpairid pairID = OverlappingPair::computeID(shape1, shape2);
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// Check if the overlapping pair already exists
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if (mOverlappingPairs.find(pairID) != mOverlappingPairs.end()) return;
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// Create the overlapping pair and add it into the set of overlapping pairs
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OverlappingPair* newPair = new (mWorld->mMemoryAllocator.allocate(sizeof(OverlappingPair)))
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OverlappingPair(shape1, shape2, mWorld->mMemoryAllocator);
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assert(newPair != NULL);
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std::pair<map<overlappingpairid, OverlappingPair*>::iterator, bool> check =
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mOverlappingPairs.insert(make_pair(pairID, newPair));
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assert(check.second);
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// Wake up the two bodies
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shape1->getBody()->setIsSleeping(false);
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shape2->getBody()->setIsSleeping(false);
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}
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// Remove a body from the collision detection
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void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) {
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// Remove all the overlapping pairs involving this proxy shape
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std::map<overlappingpairid, OverlappingPair*>::iterator it;
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for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) {
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if (it->second->getShape1()->mBroadPhaseID == proxyShape->mBroadPhaseID||
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it->second->getShape2()->mBroadPhaseID == proxyShape->mBroadPhaseID) {
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std::map<overlappingpairid, OverlappingPair*>::iterator itToRemove = it;
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++it;
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// Destroy the overlapping pair
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itToRemove->second->~OverlappingPair();
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mWorld->mMemoryAllocator.release(itToRemove->second, sizeof(OverlappingPair));
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mOverlappingPairs.erase(itToRemove);
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}
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else {
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++it;
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}
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}
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// Remove the body from the broad-phase
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mBroadPhaseAlgorithm.removeProxyCollisionShape(proxyShape);
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}
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// Create a new contact
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void CollisionDetection::createContact(OverlappingPair* overlappingPair,
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const ContactPointInfo* contactInfo) {
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// Create a new contact
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ContactPoint* contact = new (mWorld->mMemoryAllocator.allocate(sizeof(ContactPoint)))
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ContactPoint(*contactInfo);
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assert(contact != NULL);
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// Add the contact to the contact cache of the corresponding overlapping pair
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overlappingPair->addContact(contact);
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// Add the contact manifold into the list of contact manifolds
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// of the two bodies involved in the contact
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addContactManifoldToBody(overlappingPair->getContactManifold(),
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overlappingPair->getShape1()->getBody(),
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overlappingPair->getShape2()->getBody());
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}
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// Add a contact manifold to the linked list of contact manifolds of the two bodies involved
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// in the corresponding contact
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void CollisionDetection::addContactManifoldToBody(ContactManifold* contactManifold,
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CollisionBody* body1, CollisionBody* body2) {
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assert(contactManifold != NULL);
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// Add the contact manifold at the beginning of the linked
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// list of contact manifolds of the first body
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void* allocatedMemory1 = mWorld->mMemoryAllocator.allocate(sizeof(ContactManifoldListElement));
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ContactManifoldListElement* listElement1 = new (allocatedMemory1)
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ContactManifoldListElement(contactManifold,
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body1->mContactManifoldsList);
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body1->mContactManifoldsList = listElement1;
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// Add the contact manifold at the beginning of the linked
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// list of the contact manifolds of the second body
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void* allocatedMemory2 = mWorld->mMemoryAllocator.allocate(sizeof(ContactManifoldListElement));
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ContactManifoldListElement* listElement2 = new (allocatedMemory2)
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ContactManifoldListElement(contactManifold,
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body2->mContactManifoldsList);
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body2->mContactManifoldsList = listElement2;
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}
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// Delete all the contact points in the currently overlapping pairs
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void CollisionDetection::clearContactPoints() {
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// For each overlapping pair
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std::map<overlappingpairid, OverlappingPair*>::iterator it;
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for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
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it->second->clearContactPoints();
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}
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}
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