1046 lines
45 KiB
C++
1046 lines
45 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 "CollisionDetection.h"
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#include "engine/CollisionWorld.h"
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#include "collision/OverlapCallback.h"
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#include "body/Body.h"
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#include "collision/shapes/BoxShape.h"
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#include "collision/shapes/ConcaveShape.h"
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#include "body/RigidBody.h"
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#include "configuration.h"
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#include "collision/CollisionCallback.h"
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#include "collision/MiddlePhaseTriangleCallback.h"
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#include "collision/OverlapCallback.h"
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#include "collision/NarrowPhaseInfoBatch.h"
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#include "collision/ContactManifold.h"
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#include "utils/Profiler.h"
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#include "engine/EventListener.h"
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#include "collision/RaycastInfo.h"
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#include <cassert>
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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, MemoryManager& memoryManager)
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: mMemoryManager(memoryManager), mWorld(world), mNarrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()),
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mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseAlgorithm(*this),
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mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false) {
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// Set the default collision dispatch configuration
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setCollisionDispatch(&mDefaultCollisionDispatch);
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// Fill-in the collision detection matrix with algorithms
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fillInCollisionMatrix();
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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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// Compute the collision detection
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void CollisionDetection::computeCollisionDetection() {
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RP3D_PROFILE("CollisionDetection::computeCollisionDetection()", mProfiler);
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// Compute the broad-phase collision detection
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computeBroadPhase();
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// Compute the middle-phase collision detection
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computeMiddlePhase();
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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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RP3D_PROFILE("CollisionDetection::computeBroadPhase()", mProfiler);
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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(mMemoryManager);
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}
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}
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// Compute the middle-phase collision detection
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void CollisionDetection::computeMiddlePhase() {
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RP3D_PROFILE("CollisionDetection::computeMiddlePhase()", mProfiler);
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// For each possible collision pair of bodies
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for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) {
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OverlappingPair* pair = it->second;
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// Make all the contact manifolds and contact points of the pair obsolete
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pair->makeContactsObsolete();
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// Make all the last frame collision info obsolete
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pair->makeLastFrameCollisionInfosObsolete();
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ProxyShape* shape1 = pair->getShape1();
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ProxyShape* shape2 = pair->getShape2();
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assert(shape1->getBroadPhaseId() != -1);
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assert(shape2->getBroadPhaseId() != -1);
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assert(shape1->getBroadPhaseId() != shape2->getBroadPhaseId());
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// Check if the two shapes are still overlapping. Otherwise, we destroy the
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// overlapping pair
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if (!mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) {
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// Destroy the overlapping pair
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pair->~OverlappingPair();
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mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair));
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it = mOverlappingPairs.remove(it);
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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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// 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)) {
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CollisionBody* const body1 = shape1->getBody();
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CollisionBody* const body2 = shape2->getBody();
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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() != BodyType::STATIC;
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bool isBody2Active = !body2->isSleeping() && body2->getType() != BodyType::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.contains(bodiesIndex) > 0) continue;
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bool isShape1Convex = shape1->getCollisionShape()->isConvex();
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bool isShape2Convex = shape2->getCollisionShape()->isConvex();
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// If both shapes are convex
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if (isShape1Convex && isShape2Convex) {
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// No middle-phase is necessary, simply create a narrow phase info
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// for the narrow-phase collision detection
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mNarrowPhaseInfoBatch.addNarrowPhaseInfo(pair, shape1->getCollisionShape(), shape2->getCollisionShape(),
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shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(),
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mMemoryManager.getSingleFrameAllocator());
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}
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// Concave vs Convex algorithm
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else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) {
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computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), mNarrowPhaseInfoBatch);
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}
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// Concave vs Concave shape
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else {
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// Not handled
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continue;
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}
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// Remove the obsolete last frame collision infos
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pair->clearObsoleteLastFrameCollisionInfos();
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}
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}
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}
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// Compute the concave vs convex middle-phase algorithm for a given pair of bodies
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void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator,
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NarrowPhaseInfoBatch& narrowPhaseInfoBatch) {
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ProxyShape* shape1 = pair->getShape1();
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ProxyShape* shape2 = pair->getShape2();
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ProxyShape* convexProxyShape;
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ProxyShape* concaveProxyShape;
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const ConvexShape* convexShape;
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const ConcaveShape* concaveShape;
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// Collision shape 1 is convex, collision shape 2 is concave
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if (shape1->getCollisionShape()->isConvex()) {
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convexProxyShape = shape1;
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convexShape = static_cast<const ConvexShape*>(shape1->getCollisionShape());
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concaveProxyShape = shape2;
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concaveShape = static_cast<const ConcaveShape*>(shape2->getCollisionShape());
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}
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else { // Collision shape 2 is convex, collision shape 1 is concave
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convexProxyShape = shape2;
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convexShape = static_cast<const ConvexShape*>(shape2->getCollisionShape());
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concaveProxyShape = shape1;
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concaveShape = static_cast<const ConcaveShape*>(shape1->getCollisionShape());
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}
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// Set the parameters of the callback object
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MiddlePhaseTriangleCallback middlePhaseCallback(pair, concaveProxyShape, convexProxyShape,
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concaveShape, narrowPhaseInfoBatch, allocator);
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#ifdef IS_PROFILING_ACTIVE
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// Set the profiler
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middlePhaseCallback.setProfiler(mProfiler);
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#endif
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// Compute the convex shape AABB in the local-space of the convex shape
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const Transform convexToConcaveTransform = concaveProxyShape->getLocalToWorldTransform().getInverse() *
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convexProxyShape->getLocalToWorldTransform();
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AABB aabb;
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convexShape->computeAABB(aabb, convexToConcaveTransform);
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// Call the convex vs triangle callback for each triangle of the concave shape
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concaveShape->testAllTriangles(middlePhaseCallback, aabb);
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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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RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler);
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List<uint> collidingBatchIndices(mMemoryManager.getSingleFrameAllocator());
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// For each narrow phase info to process
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for(uint batchIndex=0; batchIndex < mNarrowPhaseInfoBatch.getNbObjects(); batchIndex++) {
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assert(mNarrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0);
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// Select the narrow phase algorithm to use according to the two collision shapes
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const CollisionShapeType shape1Type = mNarrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType();
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const CollisionShapeType shape2Type = mNarrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType();
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NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type);
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// If there is no collision algorithm between those two kinds of shapes, skip it
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if (narrowPhaseAlgorithm != nullptr) {
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LastFrameCollisionInfo* lastCollisionFrameInfo = mNarrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
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// Use the narrow-phase collision detection algorithm to check
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// if there really is a collision. If a collision occurs, the
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// notifyContact() callback method will be called.
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narrowPhaseAlgorithm->testCollision(mNarrowPhaseInfoBatch, batchIndex, 1, true, mMemoryManager.getSingleFrameAllocator());
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if (mNarrowPhaseInfoBatch.isColliding[batchIndex]) {
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lastCollisionFrameInfo->wasColliding = true;
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collidingBatchIndices.add(batchIndex);
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}
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else {
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lastCollisionFrameInfo->wasColliding = false;
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}
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// The previous frame collision info is now valid
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lastCollisionFrameInfo->isValid = true;
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}
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}
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// Convert the potential contact into actual contacts
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processAllPotentialContacts(mNarrowPhaseInfoBatch, collidingBatchIndices, mOverlappingPairs);
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// Add all the contact manifolds (between colliding bodies) to the bodies
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addAllContactManifoldsToBodies();
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// Report contacts to the user
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reportAllContacts();
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// Clear the list of narrow-phase infos
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mNarrowPhaseInfoBatch.clear();
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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->getBroadPhaseId() != -1);
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assert(shape2->getBroadPhaseId() != -1);
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assert(shape1->getBroadPhaseId() != shape2->getBroadPhaseId());
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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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Pair<uint, uint> pairID = OverlappingPair::computeID(shape1, shape2);
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// Check if the overlapping pair already exists
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if (mOverlappingPairs.containsKey(pairID)) 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 (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair)))
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OverlappingPair(shape1, shape2, mMemoryManager.getPoolAllocator(),
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mMemoryManager.getSingleFrameAllocator(), mWorld->mConfig);
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assert(newPair != nullptr);
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// Add the new overlapping pair
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mOverlappingPairs.add(Pair<Pair<uint, uint>, OverlappingPair*>(pairID, newPair));
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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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assert(proxyShape->getBroadPhaseId() != -1);
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// Remove all the overlapping pairs involving this proxy shape
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for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) {
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OverlappingPair* pair = it->second;
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if (pair->getShape1()->getBroadPhaseId() == proxyShape->getBroadPhaseId()||
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pair->getShape2()->getBroadPhaseId() == proxyShape->getBroadPhaseId()) {
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// TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved
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// Destroy the overlapping pair
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pair->~OverlappingPair();
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mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair));
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it = mOverlappingPairs.remove(it);
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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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void CollisionDetection::addAllContactManifoldsToBodies() {
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RP3D_PROFILE("CollisionDetection::addAllContactManifoldsToBodies()", mProfiler);
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// For each overlapping pairs in contact during the narrow-phase
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for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
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// Add all the contact manifolds of the pair into the list of contact manifolds
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// of the two bodies involved in the contact
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addContactManifoldToBody(it->second);
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}
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}
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// Ray casting method
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void CollisionDetection::raycast(RaycastCallback* raycastCallback,
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const Ray& ray,
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unsigned short raycastWithCategoryMaskBits) const {
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RP3D_PROFILE("CollisionDetection::raycast()", mProfiler);
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RaycastTest rayCastTest(raycastCallback);
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// Ask the broad-phase algorithm to call the testRaycastAgainstShape()
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// callback method for each proxy shape hit by the ray in the broad-phase
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mBroadPhaseAlgorithm.raycast(ray, rayCastTest, raycastWithCategoryMaskBits);
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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(OverlappingPair* pair) {
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assert(pair != nullptr);
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CollisionBody* body1 = pair->getShape1()->getBody();
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CollisionBody* body2 = pair->getShape2()->getBody();
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const ContactManifoldSet& manifoldSet = pair->getContactManifoldSet();
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// For each contact manifold in the set of manifolds in the pair
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ContactManifold* contactManifold = manifoldSet.getContactManifolds();
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while (contactManifold != nullptr) {
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assert(contactManifold->getNbContactPoints() > 0);
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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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ContactManifoldListElement* listElement1 = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
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sizeof(ContactManifoldListElement)))
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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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ContactManifoldListElement* listElement2 = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
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sizeof(ContactManifoldListElement)))
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ContactManifoldListElement(contactManifold,
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body2->mContactManifoldsList);
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body2->mContactManifoldsList = listElement2;
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contactManifold = contactManifold->getNext();
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}
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}
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/// Convert the potential contact into actual contacts
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void CollisionDetection::processAllPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, const List<uint>& collidingBatchIndex,
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const OverlappingPairMap& overlappingPairs) {
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RP3D_PROFILE("CollisionDetection::processAllPotentialContacts()", mProfiler);
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// For each narrow phase info object
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for(uint i=0; i < collidingBatchIndex.size(); i++) {
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uint batchIndex = collidingBatchIndex[i];
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assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() > 0);
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// Transfer the contact points from the narrow phase info to the overlapping pair
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narrowPhaseInfoBatch.overlappingPairs[batchIndex]->addPotentialContactPoints(narrowPhaseInfoBatch, batchIndex);
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// Remove the contacts points from the narrow phase info object.
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narrowPhaseInfoBatch.resetContactPoints(batchIndex);
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}
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// For each overlapping pairs in contact during the narrow-phase
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for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) {
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OverlappingPair* pair = it->second;
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// Clear the obsolete contact manifolds and contact points
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pair->clearObsoleteManifoldsAndContactPoints();
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// Reduce the contact manifolds and contact points if there are too many of them
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pair->reduceContactManifolds();
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}
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}
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// Report contacts for all the colliding overlapping pairs
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void CollisionDetection::reportAllContacts() {
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RP3D_PROFILE("CollisionDetection::reportAllContacts()", mProfiler);
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// For each overlapping pairs in contact during the narrow-phase
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for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
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OverlappingPair* pair = it->second;
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// If there is a user callback
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if (mWorld->mEventListener != nullptr && pair->hasContacts()) {
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CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager);
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// Trigger a callback event to report the new contact to the user
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mWorld->mEventListener->newContact(collisionInfo);
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}
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}
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}
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// Compute the middle-phase collision detection between two proxy shapes
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void CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair, NarrowPhaseInfoBatch& outNarrowPhaseInfoBatch) {
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ProxyShape* shape1 = pair->getShape1();
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ProxyShape* shape2 = pair->getShape2();
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// -------------------------------------------------------
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const bool isShape1Convex = shape1->getCollisionShape()->isConvex();
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const bool isShape2Convex = shape2->getCollisionShape()->isConvex();
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pair->makeLastFrameCollisionInfosObsolete();
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// If both shapes are convex
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if ((isShape1Convex && isShape2Convex)) {
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// No middle-phase is necessary, simply create a narrow phase info
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// for the narrow-phase collision detection
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outNarrowPhaseInfoBatch.addNarrowPhaseInfo(pair, shape1->getCollisionShape(), shape2->getCollisionShape(),
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shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(),
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mMemoryManager.getPoolAllocator());
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}
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// Concave vs Convex algorithm
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else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) {
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|
|
// Run the middle-phase collision detection algorithm to find the triangles of the concave
|
|
// shape we need to use during the narrow-phase collision detection
|
|
computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getPoolAllocator(), outNarrowPhaseInfoBatch);
|
|
}
|
|
|
|
pair->clearObsoleteLastFrameCollisionInfos();
|
|
}
|
|
|
|
// Report all the bodies that overlap with the aabb in parameter
|
|
void CollisionDetection::testAABBOverlap(const AABB& aabb, OverlapCallback* overlapCallback,
|
|
unsigned short categoryMaskBits) {
|
|
assert(overlapCallback != nullptr);
|
|
|
|
Set<bodyindex> reportedBodies(mMemoryManager.getPoolAllocator());
|
|
|
|
// Ask the broad-phase to get all the overlapping shapes
|
|
LinkedList<int> overlappingNodes(mMemoryManager.getPoolAllocator());
|
|
mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(aabb, overlappingNodes);
|
|
|
|
// For each overlaping proxy shape
|
|
LinkedList<int>::ListElement* element = overlappingNodes.getListHead();
|
|
while (element != nullptr) {
|
|
|
|
// Get the overlapping proxy shape
|
|
int broadPhaseId = element->data;
|
|
ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId);
|
|
|
|
CollisionBody* overlapBody = proxyShape->getBody();
|
|
|
|
// If the proxy shape is from a body that we have not already reported collision
|
|
if (reportedBodies.find(overlapBody->getId()) == reportedBodies.end()) {
|
|
|
|
// Check if the collision filtering allows collision between the two shapes
|
|
if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) {
|
|
|
|
// Add the body into the set of reported bodies
|
|
reportedBodies.add(overlapBody->getId());
|
|
|
|
// Notify the overlap to the user
|
|
overlapCallback->notifyOverlap(overlapBody);
|
|
}
|
|
}
|
|
|
|
// Go to the next overlapping proxy shape
|
|
element = element->next;
|
|
}
|
|
}
|
|
|
|
// Return true if two bodies overlap
|
|
bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) {
|
|
|
|
NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator());
|
|
|
|
// For each proxy shape proxy shape of the first body
|
|
ProxyShape* body1ProxyShape = body1->getProxyShapesList();
|
|
while (body1ProxyShape != nullptr) {
|
|
|
|
AABB aabb1 = body1ProxyShape->getWorldAABB();
|
|
|
|
// For each proxy shape of the second body
|
|
ProxyShape* body2ProxyShape = body2->getProxyShapesList();
|
|
while (body2ProxyShape != nullptr) {
|
|
|
|
AABB aabb2 = body2ProxyShape->getWorldAABB();
|
|
|
|
// Test if the AABBs of the two proxy shapes overlap
|
|
if (aabb1.testCollision(aabb2)) {
|
|
|
|
// Create a temporary overlapping pair
|
|
OverlappingPair pair(body1ProxyShape, body2ProxyShape, mMemoryManager.getPoolAllocator(),
|
|
mMemoryManager.getPoolAllocator(), mWorld->mConfig);
|
|
|
|
// Compute the middle-phase collision detection between the two shapes
|
|
computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInfoBatch);
|
|
|
|
bool isColliding = false;
|
|
|
|
// For each narrow-phase info object
|
|
for(uint batchIndex=0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) {
|
|
|
|
// If we have not found a collision yet
|
|
if (!isColliding) {
|
|
|
|
const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType();
|
|
const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType();
|
|
|
|
// Select the narrow phase algorithm to use according to the two collision shapes
|
|
NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type);
|
|
|
|
// If there is a collision algorithm for those two kinds of shapes
|
|
if (narrowPhaseAlgorithm != nullptr) {
|
|
|
|
// Use the narrow-phase collision detection algorithm to check
|
|
// if there really is a collision. If a collision occurs, the
|
|
// notifyContact() callback method will be called.
|
|
narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, false, mMemoryManager.getPoolAllocator());
|
|
isColliding |= narrowPhaseInfoBatch.isColliding[batchIndex];
|
|
}
|
|
}
|
|
}
|
|
|
|
narrowPhaseInfoBatch.clear();
|
|
|
|
// Return if we have found a narrow-phase collision
|
|
if (isColliding) return true;
|
|
}
|
|
|
|
// Go to the next proxy shape
|
|
body2ProxyShape = body2ProxyShape->getNext();
|
|
}
|
|
|
|
// Go to the next proxy shape
|
|
body1ProxyShape = body1ProxyShape->getNext();
|
|
}
|
|
|
|
// No overlap has been found
|
|
return false;
|
|
}
|
|
|
|
// Report all the bodies that overlap with the body in parameter
|
|
void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overlapCallback,
|
|
unsigned short categoryMaskBits) {
|
|
|
|
assert(overlapCallback != nullptr);
|
|
|
|
Set<bodyindex> reportedBodies(mMemoryManager.getPoolAllocator());
|
|
NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator());
|
|
|
|
// For each proxy shape proxy shape of the body
|
|
ProxyShape* bodyProxyShape = body->getProxyShapesList();
|
|
while (bodyProxyShape != nullptr) {
|
|
|
|
if (bodyProxyShape->getBroadPhaseId() != -1) {
|
|
|
|
// Get the AABB of the shape
|
|
const AABB& shapeAABB = mBroadPhaseAlgorithm.getFatAABB(bodyProxyShape->getBroadPhaseId());
|
|
|
|
// Ask the broad-phase to get all the overlapping shapes
|
|
LinkedList<int> overlappingNodes(mMemoryManager.getPoolAllocator());
|
|
mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes);
|
|
|
|
const bodyindex bodyId = body->getId();
|
|
|
|
// For each overlaping proxy shape
|
|
LinkedList<int>::ListElement* element = overlappingNodes.getListHead();
|
|
while (element != nullptr) {
|
|
|
|
// Get the overlapping proxy shape
|
|
int broadPhaseId = element->data;
|
|
ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId);
|
|
|
|
// If the proxy shape is from a body that we have not already reported collision and the
|
|
// two proxy collision shapes are not from the same body
|
|
if (reportedBodies.find(proxyShape->getBody()->getId()) == reportedBodies.end() &&
|
|
proxyShape->getBody()->getId() != bodyId) {
|
|
|
|
// Check if the collision filtering allows collision between the two shapes
|
|
if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) {
|
|
|
|
// Create a temporary overlapping pair
|
|
OverlappingPair pair(bodyProxyShape, proxyShape, mMemoryManager.getPoolAllocator(),
|
|
mMemoryManager.getPoolAllocator(), mWorld->mConfig);
|
|
|
|
// Compute the middle-phase collision detection between the two shapes
|
|
computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInfoBatch);
|
|
|
|
bool isColliding = false;
|
|
|
|
// For each narrow-phase info object
|
|
for (uint batchIndex=0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) {
|
|
|
|
// If we have not found a collision yet
|
|
if (!isColliding) {
|
|
|
|
const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType();
|
|
const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType();
|
|
|
|
// Select the narrow phase algorithm to use according to the two collision shapes
|
|
NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type);
|
|
|
|
// If there is a collision algorithm for those two kinds of shapes
|
|
if (narrowPhaseAlgorithm != nullptr) {
|
|
|
|
// Use the narrow-phase collision detection algorithm to check
|
|
// if there really is a collision. If a collision occurs, the
|
|
// notifyContact() callback method will be called.
|
|
narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, false, mMemoryManager.getPoolAllocator());
|
|
isColliding |= narrowPhaseInfoBatch.isColliding[batchIndex];
|
|
}
|
|
}
|
|
}
|
|
|
|
narrowPhaseInfoBatch.clear();
|
|
|
|
// Return if we have found a narrow-phase collision
|
|
if (isColliding) {
|
|
|
|
CollisionBody* overlapBody = proxyShape->getBody();
|
|
|
|
// Add the body into the set of reported bodies
|
|
reportedBodies.add(overlapBody->getId());
|
|
|
|
// Notify the overlap to the user
|
|
overlapCallback->notifyOverlap(overlapBody);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Go to the next overlapping proxy shape
|
|
element = element->next;
|
|
}
|
|
}
|
|
|
|
// Go to the next proxy shape
|
|
bodyProxyShape = bodyProxyShape->getNext();
|
|
}
|
|
}
|
|
|
|
// Test and report collisions between two bodies
|
|
void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* collisionCallback) {
|
|
|
|
assert(collisionCallback != nullptr);
|
|
|
|
List<uint> collidingNarrowPhaseInfos(mMemoryManager.getPoolAllocator());
|
|
NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator());
|
|
OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator());
|
|
|
|
// For each proxy shape proxy shape of the first body
|
|
ProxyShape* body1ProxyShape = body1->getProxyShapesList();
|
|
while (body1ProxyShape != nullptr) {
|
|
|
|
AABB aabb1 = body1ProxyShape->getWorldAABB();
|
|
|
|
// For each proxy shape of the second body
|
|
ProxyShape* body2ProxyShape = body2->getProxyShapesList();
|
|
while (body2ProxyShape != nullptr) {
|
|
|
|
AABB aabb2 = body2ProxyShape->getWorldAABB();
|
|
|
|
// Test if the AABBs of the two proxy shapes overlap
|
|
if (aabb1.testCollision(aabb2)) {
|
|
|
|
OverlappingPair* pair;
|
|
const Pair<uint, uint> pairID = OverlappingPair::computeID(body1ProxyShape, body2ProxyShape);
|
|
|
|
// Try to retrieve a corresponding copy of the overlapping pair (if it exists)
|
|
auto itPair = overlappingPairs.find(pairID);
|
|
|
|
// If a copy of the overlapping pair does not exist yet
|
|
if (itPair == overlappingPairs.end()) {
|
|
|
|
// Create a temporary copy of the overlapping pair
|
|
pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair)))
|
|
OverlappingPair(body1ProxyShape, body2ProxyShape, mMemoryManager.getPoolAllocator(),
|
|
mMemoryManager.getPoolAllocator(), mWorld->mConfig);
|
|
|
|
overlappingPairs.add(Pair<Pair<uint, uint>, OverlappingPair*>(pairID, pair));
|
|
}
|
|
else { // If a temporary copy of this overlapping pair already exists
|
|
|
|
// Retrieve the existing copy of the overlapping pair
|
|
pair = itPair->second;
|
|
}
|
|
|
|
// Compute the middle-phase collision detection between the two shapes
|
|
computeMiddlePhaseForProxyShapes(pair, narrowPhaseInfoBatch);
|
|
}
|
|
|
|
// Go to the next proxy shape
|
|
body2ProxyShape = body2ProxyShape->getNext();
|
|
}
|
|
|
|
// Go to the next proxy shape
|
|
body1ProxyShape = body1ProxyShape->getNext();
|
|
}
|
|
|
|
// For each narrow-phase info object
|
|
for (uint batchIndex=0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) {
|
|
|
|
const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType();
|
|
const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType();
|
|
|
|
// Select the narrow phase algorithm to use according to the two collision shapes
|
|
NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type);
|
|
|
|
// If there is a collision algorithm for those two kinds of shapes
|
|
if (narrowPhaseAlgorithm != nullptr) {
|
|
|
|
// Use the narrow-phase collision detection algorithm to check
|
|
// if there really is a collision. If a collision occurs, the
|
|
// notifyContact() callback method will be called.
|
|
narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, true, mMemoryManager.getPoolAllocator());
|
|
if (narrowPhaseInfoBatch.isColliding[batchIndex]) {
|
|
|
|
collidingNarrowPhaseInfos.add(batchIndex);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Process the potential contacts
|
|
processAllPotentialContacts(narrowPhaseInfoBatch, collidingNarrowPhaseInfos, overlappingPairs);
|
|
|
|
// For each overlapping pair
|
|
for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) {
|
|
|
|
OverlappingPair* pair = it->second;
|
|
|
|
if (pair->hasContacts()) {
|
|
|
|
// Report the contacts to the user
|
|
CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager);
|
|
collisionCallback->notifyContact(collisionInfo);
|
|
}
|
|
|
|
// Destroy the temporary overlapping pair
|
|
pair->~OverlappingPair();
|
|
mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair));
|
|
}
|
|
}
|
|
|
|
// Test and report collisions between a body and all the others bodies of the world
|
|
void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* callback, unsigned short categoryMaskBits) {
|
|
|
|
assert(callback != nullptr);
|
|
|
|
List<uint> collidingBatchIndices(mMemoryManager.getPoolAllocator());
|
|
NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator());
|
|
OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator());
|
|
|
|
// For each proxy shape proxy shape of the body
|
|
ProxyShape* bodyProxyShape = body->getProxyShapesList();
|
|
while (bodyProxyShape != nullptr) {
|
|
|
|
if (bodyProxyShape->getBroadPhaseId() != -1) {
|
|
|
|
// Get the AABB of the shape
|
|
const AABB& shapeAABB = mBroadPhaseAlgorithm.getFatAABB(bodyProxyShape->getBroadPhaseId());
|
|
|
|
// Ask the broad-phase to get all the overlapping shapes
|
|
LinkedList<int> overlappingNodes(mMemoryManager.getPoolAllocator());
|
|
mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes);
|
|
|
|
const bodyindex bodyId = body->getId();
|
|
|
|
// For each overlaping proxy shape
|
|
LinkedList<int>::ListElement* element = overlappingNodes.getListHead();
|
|
while (element != nullptr) {
|
|
|
|
// Get the overlapping proxy shape
|
|
int broadPhaseId = element->data;
|
|
ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId);
|
|
|
|
// If the two proxy collision shapes are not from the same body
|
|
if (proxyShape->getBody()->getId() != bodyId) {
|
|
|
|
// Check if the collision filtering allows collision between the two shapes
|
|
if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) {
|
|
|
|
OverlappingPair* pair;
|
|
const Pair<uint, uint> pairID = OverlappingPair::computeID(bodyProxyShape, proxyShape);
|
|
|
|
// Try to retrieve a corresponding copy of the overlapping pair (if it exists)
|
|
auto itPair = overlappingPairs.find(pairID);
|
|
|
|
// If a copy of the overlapping pair does not exist yet
|
|
if (itPair == overlappingPairs.end()) {
|
|
|
|
// Create a temporary overlapping pair
|
|
pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair)))
|
|
OverlappingPair(bodyProxyShape, proxyShape, mMemoryManager.getPoolAllocator(),
|
|
mMemoryManager.getPoolAllocator(), mWorld->mConfig);
|
|
|
|
overlappingPairs.add(Pair<Pair<uint, uint>, OverlappingPair*>(pairID, pair));
|
|
}
|
|
else { // If a temporary copy of this overlapping pair already exists
|
|
|
|
// Retrieve the existing copy of the overlapping pair
|
|
pair = itPair->second;
|
|
}
|
|
|
|
// Compute the middle-phase collision detection between the two shapes
|
|
computeMiddlePhaseForProxyShapes(pair, narrowPhaseInfoBatch);
|
|
}
|
|
}
|
|
|
|
// Go to the next overlapping proxy shape
|
|
element = element->next;
|
|
}
|
|
|
|
// Go to the next proxy shape
|
|
bodyProxyShape = bodyProxyShape->getNext();
|
|
}
|
|
}
|
|
|
|
// For each narrow-phase info object
|
|
for (uint batchIndex = 0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) {
|
|
|
|
const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType();
|
|
const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType();
|
|
|
|
// Select the narrow phase algorithm to use according to the two collision shapes
|
|
NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type);
|
|
|
|
// If there is a collision algorithm for those two kinds of shapes
|
|
if (narrowPhaseAlgorithm != nullptr) {
|
|
|
|
// Use the narrow-phase collision detection algorithm to check
|
|
// if there really is a collision. If a collision occurs, the
|
|
// notifyContact() callback method will be called.
|
|
narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, true, mMemoryManager.getPoolAllocator());
|
|
if (narrowPhaseInfoBatch.isColliding[batchIndex]) {
|
|
|
|
collidingBatchIndices.add(batchIndex);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Process the potential contacts
|
|
processAllPotentialContacts(narrowPhaseInfoBatch, collidingBatchIndices, overlappingPairs);
|
|
|
|
// For each overlapping pair
|
|
for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) {
|
|
|
|
OverlappingPair* pair = it->second;
|
|
|
|
if (pair->hasContacts()) {
|
|
|
|
// Report the contacts to the user
|
|
CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager);
|
|
callback->notifyContact(collisionInfo);
|
|
}
|
|
|
|
// Destroy the temporary overlapping pair
|
|
pair->~OverlappingPair();
|
|
mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair));
|
|
}
|
|
}
|
|
|
|
// Test and report collisions between all shapes of the world
|
|
void CollisionDetection::testCollision(CollisionCallback* callback) {
|
|
|
|
assert(callback != nullptr);
|
|
|
|
// Compute the broad-phase collision detection
|
|
computeBroadPhase();
|
|
|
|
List<uint> collidingBatchIndices(mMemoryManager.getPoolAllocator());
|
|
NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator());
|
|
OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator());
|
|
|
|
// For each possible collision pair of bodies
|
|
for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
|
|
|
|
OverlappingPair* originalPair = it->second;
|
|
|
|
OverlappingPair* pair;
|
|
const Pair<uint, uint> pairID = OverlappingPair::computeID(originalPair->getShape1(), originalPair->getShape2());
|
|
|
|
// Try to retrieve a corresponding copy of the overlapping pair (if it exists)
|
|
auto itPair = overlappingPairs.find(pairID);
|
|
|
|
// If a copy of the overlapping pair does not exist yet
|
|
if (itPair == overlappingPairs.end()) {
|
|
|
|
// Create a temporary overlapping pair
|
|
pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair)))
|
|
OverlappingPair(originalPair->getShape1(), originalPair->getShape2(), mMemoryManager.getPoolAllocator(),
|
|
mMemoryManager.getPoolAllocator(), mWorld->mConfig);
|
|
|
|
overlappingPairs.add(Pair<Pair<uint, uint>, OverlappingPair*>(pairID, pair));
|
|
}
|
|
else { // If a temporary copy of this overlapping pair already exists
|
|
|
|
// Retrieve the existing copy of the overlapping pair
|
|
pair = itPair->second;
|
|
}
|
|
|
|
ProxyShape* shape1 = pair->getShape1();
|
|
ProxyShape* shape2 = pair->getShape2();
|
|
|
|
// Check if the collision filtering allows collision between the two shapes and
|
|
// that the two shapes are still overlapping.
|
|
if (((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) != 0 &&
|
|
(shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) != 0) &&
|
|
mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) {
|
|
|
|
// Compute the middle-phase collision detection between the two shapes
|
|
computeMiddlePhaseForProxyShapes(pair, narrowPhaseInfoBatch);
|
|
}
|
|
}
|
|
|
|
// For each narrow-phase info object
|
|
for (uint batchIndex=0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) {
|
|
|
|
const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType();
|
|
const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType();
|
|
|
|
// Select the narrow phase algorithm to use according to the two collision shapes
|
|
NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type);
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// If there is a collision algorithm for those two kinds of shapes
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if (narrowPhaseAlgorithm != nullptr) {
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|
|
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// Use the narrow-phase collision detection algorithm to check
|
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// if there really is a collision. If a collision occurs, the
|
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// notifyContact() callback method will be called.
|
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narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, true, mMemoryManager.getPoolAllocator());
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if (narrowPhaseInfoBatch.isColliding[batchIndex]) {
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|
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collidingBatchIndices.add(batchIndex);
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}
|
|
}
|
|
}
|
|
|
|
// Process the potential contacts
|
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processAllPotentialContacts(narrowPhaseInfoBatch, collidingBatchIndices, overlappingPairs);
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|
|
|
// For each overlapping pair
|
|
for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) {
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|
|
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OverlappingPair* pair = it->second;
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|
|
|
if (pair->hasContacts()) {
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|
|
|
// Report the contacts to the user
|
|
CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager);
|
|
callback->notifyContact(collisionInfo);
|
|
}
|
|
|
|
// Destroy the temporary overlapping pair
|
|
pair->~OverlappingPair();
|
|
mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair));
|
|
}
|
|
}
|
|
|
|
// Fill-in the collision detection matrix
|
|
void CollisionDetection::fillInCollisionMatrix() {
|
|
|
|
// For each possible type of collision shape
|
|
for (int i=0; i<NB_COLLISION_SHAPE_TYPES; i++) {
|
|
for (int j=0; j<NB_COLLISION_SHAPE_TYPES; j++) {
|
|
mCollisionMatrix[i][j] = mCollisionDispatch->selectAlgorithm(i, j);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Return the world event listener
|
|
EventListener* CollisionDetection::getWorldEventListener() {
|
|
return mWorld->mEventListener;
|
|
}
|
|
|
|
// Return the world-space AABB of a given proxy shape
|
|
const AABB CollisionDetection::getWorldAABB(const ProxyShape* proxyShape) const {
|
|
assert(proxyShape->getBroadPhaseId() > -1);
|
|
return mBroadPhaseAlgorithm.getFatAABB(proxyShape->getBroadPhaseId());
|
|
}
|