187 lines
8.2 KiB
C++
187 lines
8.2 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 "broadphase/SweepAndPruneAlgorithm.h"
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#include "broadphase/NoBroadPhaseAlgorithm.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), mMemoryAllocator(memoryAllocator),
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mNarrowPhaseGJKAlgorithm(memoryAllocator),
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mNarrowPhaseSphereVsSphereAlgorithm(memoryAllocator) {
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// Create the broad-phase algorithm that will be used (Sweep and Prune with AABB)
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mBroadPhaseAlgorithm = new SweepAndPruneAlgorithm(*this);
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assert(mBroadPhaseAlgorithm != NULL);
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}
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// Destructor
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CollisionDetection::~CollisionDetection() {
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// Delete the broad-phase algorithm
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delete mBroadPhaseAlgorithm;
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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 broad-phase collision detection
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void CollisionDetection::computeBroadPhase() {
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PROFILE("CollisionDetection::computeBroadPhase()");
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// Notify the broad-phase algorithm about the bodies that have moved since last frame
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for (set<CollisionBody*>::iterator it = mWorld->getBodiesBeginIterator();
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it != mWorld->getBodiesEndIterator(); it++) {
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// If the body has moved
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if ((*it)->getHasMoved()) {
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// Notify the broad-phase that the body has moved
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mBroadPhaseAlgorithm->updateObject(*it, (*it)->getAABB());
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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::computeNarrowPhase() {
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PROFILE("CollisionDetection::computeNarrowPhase()");
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map<bodyindexpair, BroadPhasePair*>::iterator it;
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// For each possible collision pair of bodies
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for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); it++) {
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ContactPointInfo* contactInfo = NULL;
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BroadPhasePair* pair = (*it).second;
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assert(pair != NULL);
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CollisionBody* const body1 = pair->body1;
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CollisionBody* const body2 = pair->body2;
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// Update the contact cache of the overlapping pair
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mWorld->updateOverlappingPair(pair);
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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 (mNoCollisionPairs.count(pair->getBodiesIndexPair()) > 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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body1->getCollisionShape(),
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body2->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(body1->getCollisionShape(), body1->getTransform(),
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body2->getCollisionShape(), body2->getTransform(),
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contactInfo)) {
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assert(contactInfo != NULL);
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// Set the bodies of the contact
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contactInfo->body1 = dynamic_cast<RigidBody*>(body1);
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contactInfo->body2 = dynamic_cast<RigidBody*>(body2);
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assert(contactInfo->body1 != NULL);
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assert(contactInfo->body2 != NULL);
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// Notify the world about the new narrow-phase contact
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mWorld->notifyNewContact(pair, contactInfo);
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// Delete and remove the contact info from the memory allocator
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contactInfo->ContactPointInfo::~ContactPointInfo();
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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 a broad-phase collision detection algorithm
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void CollisionDetection::broadPhaseNotifyAddedOverlappingPair(BodyPair* addedPair) {
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// Get the pair of body index
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bodyindexpair indexPair = addedPair->getBodiesIndexPair();
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// Create the corresponding broad-phase pair object
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BroadPhasePair* broadPhasePair = new (mMemoryAllocator.allocate(sizeof(BroadPhasePair)))
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BroadPhasePair(addedPair->body1, addedPair->body2);
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assert(broadPhasePair != NULL);
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// Add the pair into the set of overlapping pairs (if not there yet)
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pair<map<bodyindexpair, BroadPhasePair*>::iterator, bool> check = mOverlappingPairs.insert(
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make_pair(indexPair,
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broadPhasePair));
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assert(check.second);
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// Notify the world about the new broad-phase overlapping pair
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mWorld->notifyAddedOverlappingPair(broadPhasePair);
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}
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// Allow the broadphase to notify the collision detection about a removed overlapping pair
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void CollisionDetection::broadPhaseNotifyRemovedOverlappingPair(BodyPair* removedPair) {
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// Get the pair of body index
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bodyindexpair indexPair = removedPair->getBodiesIndexPair();
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// Get the broad-phase pair
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BroadPhasePair* broadPhasePair = mOverlappingPairs.find(indexPair)->second;
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assert(broadPhasePair != NULL);
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// Notify the world about the removed broad-phase pair
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mWorld->notifyRemovedOverlappingPair(broadPhasePair);
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// Remove the overlapping pair from the memory allocator
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broadPhasePair->BroadPhasePair::~BroadPhasePair();
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mMemoryAllocator.release(broadPhasePair, sizeof(BroadPhasePair));
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mOverlappingPairs.erase(indexPair);
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}
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