472 lines
19 KiB
C++
472 lines
19 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2018 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 "CollisionBody.h"
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#include "engine/CollisionWorld.h"
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#include "collision/ContactManifold.h"
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#include "collision/RaycastInfo.h"
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#include "utils/Logger.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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/**
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* @param transform The transform of the body
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* @param world The physics world where the body is created
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* @param id ID of the body
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*/
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CollisionBody::CollisionBody(CollisionWorld& world, Entity entity)
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: Body(entity, world), mType(BodyType::DYNAMIC) {
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#ifdef IS_PROFILING_ACTIVE
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mProfiler = nullptr;
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#endif
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}
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// Destructor
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CollisionBody::~CollisionBody() {
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}
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// Add a collision shape to the body. Note that you can share a collision
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// shape between several bodies using the same collision shape instance to
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// when you add the shape to the different bodies. Do not forget to delete
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// the collision shape you have created at the end of your program.
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/// This method will return a pointer to a new proxy shape. A proxy shape is
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/// an object that links a collision shape and a given body. You can use the
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/// returned proxy shape to get and set information about the corresponding
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/// collision shape for that body.
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/**
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* @param collisionShape A pointer to the collision shape you want to add to the body
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* @param transform The transformation of the collision shape that transforms the
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* local-space of the collision shape into the local-space of the body
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* @return A pointer to the proxy shape that has been created to link the body to
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* the new collision shape you have added.
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*/
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ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, const Transform& transform) {
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// Create a new entity for the proxy-shape
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Entity proxyShapeEntity = mWorld.mEntityManager.createEntity();
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// Create a new proxy collision shape to attach the collision shape to the body
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ProxyShape* proxyShape = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
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sizeof(ProxyShape))) ProxyShape(proxyShapeEntity, this, mWorld.mMemoryManager);
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// Add the proxy-shape component to the entity of the body
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Vector3 localBoundsMin;
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Vector3 localBoundsMax;
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// TODO : Maybe this method can directly returns an AABB
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collisionShape->getLocalBounds(localBoundsMin, localBoundsMax);
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ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1,
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AABB(localBoundsMin, localBoundsMax),
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transform, collisionShape, decimal(1), 0x0001, 0xFFFF);
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bool isSleeping = mWorld.mBodyComponents.getIsSleeping(mEntity);
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mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, isSleeping, proxyShapeComponent);
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mWorld.mBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity);
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#ifdef IS_PROFILING_ACTIVE
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// Set the profiler
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proxyShape->setProfiler(mProfiler);
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#endif
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#ifdef IS_LOGGING_ACTIVE
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// Set the logger
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proxyShape->setLogger(mLogger);
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#endif
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// Compute the world-space AABB of the new collision shape
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AABB aabb;
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collisionShape->computeAABB(aabb, mWorld.mTransformComponents.getTransform(mEntity) * transform);
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// Notify the collision detection about this new collision shape
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mWorld.mCollisionDetection.addProxyCollisionShape(proxyShape, aabb);
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RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
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"Body " + std::to_string(mEntity.id) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " added to body");
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RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape,
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"ProxyShape " + std::to_string(proxyShape->getBroadPhaseId()) + ": collisionShape=" +
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proxyShape->getCollisionShape()->to_string());
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// Return a pointer to the collision shape
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return proxyShape;
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}
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// Return the number of proxy-shapes associated with this body
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/**
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* @return The number of proxy-shapes associated with this body
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*/
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uint CollisionBody::getNbProxyShapes() const {
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return static_cast<uint>(mWorld.mBodyComponents.getProxyShapes(mEntity).size());
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}
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// Return a const pointer to a given proxy-shape of the body
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/**
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* @return The const pointer of a given proxy-shape of the body
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*/
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const ProxyShape* CollisionBody::getProxyShape(uint proxyShapeIndex) const {
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assert(proxyShapeIndex < getNbProxyShapes());
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Entity proxyShapeEntity = mWorld.mBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex];
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return mWorld.mProxyShapesComponents.getProxyShape(proxyShapeEntity);
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}
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// Return a pointer to a given proxy-shape of the body
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/**
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* @return The pointer of a given proxy-shape of the body
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*/
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ProxyShape* CollisionBody::getProxyShape(uint proxyShapeIndex) {
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assert(proxyShapeIndex < getNbProxyShapes());
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Entity proxyShapeEntity = mWorld.mBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex];
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return mWorld.mProxyShapesComponents.getProxyShape(proxyShapeEntity);
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}
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// Remove a collision shape from the body
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/// To remove a collision shape, you need to specify the pointer to the proxy
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/// shape that has been returned when you have added the collision shape to the
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/// body
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/**
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* @param proxyShape The pointer of the proxy shape you want to remove
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*/
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void CollisionBody::removeCollisionShape(ProxyShape* proxyShape) {
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RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
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"Body " + std::to_string(mEntity.id) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " removed from body");
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// Remove the proxy-shape from the broad-phase
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if (proxyShape->getBroadPhaseId() != -1) {
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mWorld.mCollisionDetection.removeProxyCollisionShape(proxyShape);
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}
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mWorld.mBodyComponents.removeProxyShapeFromBody(mEntity, proxyShape->getEntity());
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// Remove the proxy-shape component
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mWorld.mProxyShapesComponents.removeComponent(proxyShape->getEntity());
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// Call the constructor of the proxy-shape
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proxyShape->~ProxyShape();
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// Release allocated memory for the proxy-shape
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mWorld.mMemoryManager.release(MemoryManager::AllocationType::Pool, proxyShape, sizeof(ProxyShape));
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}
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// Remove all the collision shapes
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void CollisionBody::removeAllCollisionShapes() {
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// Look for the proxy shape that contains the collision shape in parameter.
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// Note that we need to copy the list of proxy shapes entities because we are deleting them in a loop.
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const List<Entity> proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
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for (uint i=0; i < proxyShapesEntities.size(); i++) {
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removeCollisionShape(mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]));
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}
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}
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// Return the current position and orientation
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/**
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* @return The current transformation of the body that transforms the local-space
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* of the body into world-space
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*/
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const Transform& CollisionBody::getTransform() const {
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// TODO : Make sure we do not call this method from the internal physics engine
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return mWorld.mTransformComponents.getTransform(mEntity);
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}
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// Update the broad-phase state for this body (because it has moved for instance)
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void CollisionBody::updateBroadPhaseState() const {
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// For all the proxy collision shapes of the body
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const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
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for (uint i=0; i < proxyShapesEntities.size(); i++) {
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// Update the proxy
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mWorld.mCollisionDetection.updateProxyShape(proxyShapesEntities[i]);
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}
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}
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// Set whether or not the body is active
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/**
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* @param isActive True if you want to activate the body
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*/
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void CollisionBody::setIsActive(bool isActive) {
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// If the state does not change
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if (mWorld.mBodyComponents.getIsActive(mEntity) == isActive) return;
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Body::setIsActive(isActive);
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// If we have to activate the body
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if (isActive) {
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const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity);
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// For each proxy shape of the body
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const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
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for (uint i=0; i < proxyShapesEntities.size(); i++) {
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ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
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// Compute the world-space AABB of the new collision shape
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AABB aabb;
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proxyShape->getCollisionShape()->computeAABB(aabb, transform * mWorld.mProxyShapesComponents.getLocalToBodyTransform(proxyShape->getEntity()));
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// Add the proxy shape to the collision detection
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mWorld.mCollisionDetection.addProxyCollisionShape(proxyShape, aabb);
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}
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}
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else { // If we have to deactivate the body
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// For each proxy shape of the body
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const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
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for (uint i=0; i < proxyShapesEntities.size(); i++) {
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ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
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if (proxyShape->getBroadPhaseId() != -1) {
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// Remove the proxy shape from the collision detection
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mWorld.mCollisionDetection.removeProxyCollisionShape(proxyShape);
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}
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}
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}
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RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
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"Body " + std::to_string(mEntity.id) + ": Set isActive=" +
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(isActive ? "true" : "false"));
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}
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// Ask the broad-phase to test again the collision shapes of the body for collision
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// (as if the body has moved).
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void CollisionBody::askForBroadPhaseCollisionCheck() const {
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// For all the proxy collision shapes of the body
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const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
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for (uint i=0; i < proxyShapesEntities.size(); i++) {
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ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
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mWorld.mCollisionDetection.askForBroadPhaseCollisionCheck(proxyShape);
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}
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}
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// Return true if a point is inside the collision body
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/// This method returns true if a point is inside any collision shape of the body
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/**
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* @param worldPoint The point to test (in world-space coordinates)
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* @return True if the point is inside the body
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*/
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bool CollisionBody::testPointInside(const Vector3& worldPoint) const {
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// For each collision shape of the body
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const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
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for (uint i=0; i < proxyShapesEntities.size(); i++) {
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ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
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// Test if the point is inside the collision shape
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if (proxyShape->testPointInside(worldPoint)) return true;
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}
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return false;
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}
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// Raycast method with feedback information
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/// The method returns the closest hit among all the collision shapes of the body
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/**
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* @param ray The ray used to raycast agains the body
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* @param[out] raycastInfo Structure that contains the result of the raycasting
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* (valid only if the method returned true)
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* @return True if the ray hit the body and false otherwise
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*/
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bool CollisionBody::raycast(const Ray& ray, RaycastInfo& raycastInfo) {
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// If the body is not active, it cannot be hit by rays
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if (!mWorld.mBodyComponents.getIsActive(mEntity)) return false;
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bool isHit = false;
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Ray rayTemp(ray);
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// For each collision shape of the body
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const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
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for (uint i=0; i < proxyShapesEntities.size(); i++) {
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ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
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// Test if the ray hits the collision shape
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if (proxyShape->raycast(rayTemp, raycastInfo)) {
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rayTemp.maxFraction = raycastInfo.hitFraction;
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isHit = true;
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}
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}
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return isHit;
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}
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// Compute and return the AABB of the body by merging all proxy shapes AABBs
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/**
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* @return The axis-aligned bounding box (AABB) of the body in world-space coordinates
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*/
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AABB CollisionBody::getAABB() const {
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AABB bodyAABB;
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const List<Entity>& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity);
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if (proxyShapesEntities.size() == 0) return bodyAABB;
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// TODO : Make sure we compute this in a system
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const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity);
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ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[0]);
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proxyShape->getCollisionShape()->computeAABB(bodyAABB, transform * proxyShape->getLocalToBodyTransform());
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// For each proxy shape of the body
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for (uint i=1; i < proxyShapesEntities.size(); i++) {
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ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]);
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// Compute the world-space AABB of the collision shape
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AABB aabb;
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proxyShape->getCollisionShape()->computeAABB(aabb, transform * proxyShape->getLocalToBodyTransform());
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// Merge the proxy shape AABB with the current body AABB
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bodyAABB.mergeWithAABB(aabb);
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}
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return bodyAABB;
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}
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// Set the current position and orientation
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/**
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* @param transform The transformation of the body that transforms the local-space
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* of the body into world-space
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*/
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void CollisionBody::setTransform(const Transform& transform) {
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// TODO : Make sure this method is never called from the internal physics engine
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// Awake the body if it is sleeping
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setIsSleeping(false);
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// Update the transform of the body
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mWorld.mTransformComponents.setTransform(mEntity, transform);
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// Update the broad-phase state of the body
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updateBroadPhaseState();
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RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
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"Body " + std::to_string(mEntity.id) + ": Set transform=" + transform.to_string());
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}
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// Set the variable to know whether or not the body is sleeping
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void CollisionBody::setIsSleeping(bool isSleeping) {
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if (mWorld.mBodyComponents.getIsSleeping(mEntity) == isSleeping) return;
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Body::setIsSleeping(isSleeping);
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// Notify all the components
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mWorld.notifyBodyDisabled(mEntity, isSleeping);
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}
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// Return the world-space coordinates of a point given the local-space coordinates of the body
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/**
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* @param localPoint A point in the local-space coordinates of the body
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* @return The point in world-space coordinates
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*/
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Vector3 CollisionBody::getWorldPoint(const Vector3& localPoint) const {
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return mWorld.mTransformComponents.getTransform(mEntity) * localPoint;
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}
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// Return the world-space vector of a vector given in local-space coordinates of the body
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/**
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* @param localVector A vector in the local-space coordinates of the body
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* @return The vector in world-space coordinates
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*/
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Vector3 CollisionBody::getWorldVector(const Vector3& localVector) const {
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return mWorld.mTransformComponents.getTransform(mEntity).getOrientation() * localVector;
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}
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// Return the body local-space coordinates of a point given in the world-space coordinates
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/**
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* @param worldPoint A point in world-space coordinates
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* @return The point in the local-space coordinates of the body
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*/
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Vector3 CollisionBody::getLocalPoint(const Vector3& worldPoint) const {
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return mWorld.mTransformComponents.getTransform(mEntity).getInverse() * worldPoint;
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}
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// Return the body local-space coordinates of a vector given in the world-space coordinates
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/**
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* @param worldVector A vector in world-space coordinates
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* @return The vector in the local-space coordinates of the body
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*/
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Vector3 CollisionBody::getLocalVector(const Vector3& worldVector) const {
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return mWorld.mTransformComponents.getTransform(mEntity).getOrientation().getInverse() * worldVector;
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}
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// Set the type of the body
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/// The type of the body can either STATIC, KINEMATIC or DYNAMIC as described bellow:
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/// STATIC : A static body has infinite mass, zero velocity but the position can be
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/// changed manually. A static body does not collide with other static or kinematic bodies.
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/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its
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/// position is computed by the physics engine. A kinematic body does not collide with
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/// other static or kinematic bodies.
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/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its
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/// position is determined by the physics engine. A dynamic body can collide with other
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/// dynamic, static or kinematic bodies.
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/**
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* @param type The type of the body (STATIC, KINEMATIC, DYNAMIC)
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*/
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void CollisionBody::setType(BodyType type) {
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mType = type;
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if (mType == BodyType::STATIC) {
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// Update the broad-phase state of the body
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updateBroadPhaseState();
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}
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RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
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"Body " + std::to_string(mEntity.id) + ": Set type=" +
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(mType == BodyType::STATIC ? "Static" : (mType == BodyType::DYNAMIC ? "Dynamic" : "Kinematic")));
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}
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