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generate contact when body type changes at runtime, decoupling, add first ray cast hit query to world query (more to add later such as sphere/box/convex casts), hotfix

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This commit is contained in:
Irlan Robson
2017-01-13 17:17:02 -02:00
parent caa9d703b5
commit 7d0f06fea2
18 changed files with 209 additions and 174 deletions
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8
include/bounce/collision/broad_phase.h
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@ -49,6 +49,10 @@ public:
// Return true if the proxy has moved.
bool MoveProxy(i32 proxyId, const b3AABB3& aabb, const b3Vec3& displacement);
// Add a proxy to the list of moved proxies.
// Only moved proxies will be used internally as an AABB query reference object.
void BufferMove(i32 proxyId);
// Get the AABB of a given proxy.
const b3AABB3& GetAABB(i32 proxyId) const;
@ -77,10 +81,6 @@ public:
private :
friend class b3DynamicTree;
// Add a proxy to the list of moved proxies.
// Only moved proxies will be used as an AABB query reference object.
void BufferMove(i32 proxyId);
// The client callback used to add an overlapping pair
// to the overlapping pair buffer.
bool Report(i32 proxyId);

29
include/bounce/common/math/mat33.h
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@ -208,34 +208,6 @@ inline b3Mat33 b3Outer(const b3Vec3& a, const b3Vec3& b)
return b3Mat33(b.x * a, b.y * a, b.z * a);
}
// Move an inertia tensor from the its current center
// to another.
inline b3Mat33 b3MoveToCOM(const b3Mat33& inertia, float32 mass, const b3Vec3& center)
{
// Paralell Axis Theorem
// J = I + m * dot(r, r) * E - outer(r, r)
// where
// I - inertia about the center of mass
// m - mass
// E - identity 3x3
// r - displacement vector from the current com to the new com
// J - inertia tensor at the new center of rotation
float32 dd = b3Dot(center, center);
b3Mat33 A = b3Diagonal(mass * dd);
b3Mat33 B = b3Outer(center, center);
return inertia + A - B;
}
// Compute the inertia matrix of a body measured in
// inertial frame (variable over time) given the
// inertia matrix in body-fixed frame (constant)
// and a rotation matrix representing the orientation
// of the body frame relative to the inertial frame.
inline b3Mat33 b3RotateToFrame(const b3Mat33& inertia, const b3Mat33& rotation)
{
return rotation * inertia * b3Transpose(rotation);
}
// Compute an orthogonal basis given one of its vectors.
// The vector must be normalized.
inline b3Mat33 b3Basis(const b3Vec3& a)
@ -250,6 +222,7 @@ inline b3Mat33 b3Basis(const b3Vec3& a)
{
A.y.Set(0.0f, a.z, -a.y);
}
A.x = a;
A.y = b3Normalize(A.y);
A.z = b3Cross(a, A.y);
return A;

37
include/bounce/dynamics/body.h
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@ -24,6 +24,7 @@
#include <bounce/common/math/quat.h>
#include <bounce/common/math/transform.h>
#include <bounce/common/template/list.h>
#include <bounce/dynamics/time_step.h>
class b3World;
class b3Shape;
@ -328,32 +329,6 @@ inline b3BodyType b3Body::GetType() const
return m_type;
}
inline void b3Body::SetType(b3BodyType type)
{
if (m_type == type)
{
return;
}
m_type = type;
ResetMass();
if (m_type == e_staticBody)
{
m_linearVelocity.SetZero();
m_angularVelocity.SetZero();
SynchronizeShapes();
}
SetAwake(true);
m_force.SetZero();
m_torque.SetZero();
DestroyContacts();
}
inline void* b3Body::GetUserData() const
{
return m_userData;
@ -430,6 +405,11 @@ inline const b3Sweep& b3Body::GetSweep() const
return m_sweep;
}
inline bool b3Body::IsAwake() const
{
return (m_flags & e_awakeFlag) != 0;
}
inline void b3Body::SetAwake(bool flag)
{
if (flag)
@ -451,11 +431,6 @@ inline void b3Body::SetAwake(bool flag)
}
}
inline bool b3Body::IsAwake() const
{
return (m_flags & e_awakeFlag) != 0;
}
inline float32 b3Body::GetGravityScale() const
{
return m_gravityScale;

28
include/bounce/dynamics/time_step.h
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@ -51,6 +51,34 @@ enum b3LimitState
e_equalLimits
};
// Move an inertia tensor from the its current center
// to another.
inline b3Mat33 b3MoveToCOM(const b3Mat33& inertia, float32 mass, const b3Vec3& center)
{
// Paralell Axis Theorem
// J = I + m * dot(r, r) * E - outer(r, r)
// where
// I - inertia about the center of mass
// m - mass
// E - identity 3x3
// r - displacement vector from the current com to the new com
// J - inertia tensor at the new center of rotation
float32 dd = b3Dot(center, center);
b3Mat33 A = b3Diagonal(mass * dd);
b3Mat33 B = b3Outer(center, center);
return inertia + A - B;
}
// Compute the inertia matrix of a body measured in
// inertial frame (variable over time) given the
// inertia matrix in body-fixed frame (constant)
// and a rotation matrix representing the orientation
// of the body frame relative to the inertial frame.
inline b3Mat33 b3RotateToFrame(const b3Mat33& inertia, const b3Mat33& rotation)
{
return rotation * inertia * b3Transpose(rotation);
}
// Compute the time derivative of an orientation given
// the angular velocity of the rotating frame represented by the orientation.
inline b3Quat b3Derivative(const b3Quat& orientation, const b3Vec3& velocity)

10
include/bounce/dynamics/world.h
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@ -85,11 +85,19 @@ public:
// Perform a ray cast with the world.
// The given ray cast listener will be notified when a ray intersects a shape
// in the world. The ray cast output is the intercepted shape, the intersection
// in the world.
// The ray cast output is the intercepted shape, the intersection
// point in world space, the face normal on the shape associated with the point,
// and the intersection fraction.
void RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const;
// Convenience function.
// Perform a ray cast with the world.
// If there is an intersection then the given ray cast listener will be notified once with
// the shape closest to the ray origin and the associated ray cast output.
// @todo Centralize all queries to a common scene query class?
void RayCastFirst(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const;
// Perform a AABB cast with the world.
// The query listener will be notified when two shape AABBs are overlapping.
// If the listener returns false then the query is stopped immediately.

12
include/testbed/tests/character_test.h
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@ -61,9 +61,9 @@ public:
void RayHit()
{
if (m_rayHit.m_shape)
if (m_rayHit.shape)
{
if (m_rayHit.m_shape->GetBody() != m_character)
if (m_rayHit.shape->GetBody() != m_character)
{
Test::RayHit();
}
@ -72,12 +72,12 @@ public:
void Step()
{
if (m_rayHit.m_shape)
if (m_rayHit.shape)
{
if (m_rayHit.m_shape->GetBody() != m_character)
if (m_rayHit.shape->GetBody() != m_character)
{
b3Vec3 point = m_rayHit.m_point;
b3Vec3 normal = m_rayHit.m_normal;
b3Vec3 point = m_rayHit.point;
b3Vec3 normal = m_rayHit.normal;
const b3Transform& xf = m_character->GetTransform();
b3Vec3 n = point - xf.position;

14
include/testbed/tests/ray_cast.h
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@ -206,16 +206,16 @@ public:
{
// Perform the ray cast
RayCastListener listener;
m_world.RayCast(&listener, p1, p2);
listener.hit.shape = NULL;
m_world.RayCastFirst(&listener, p1, p2);
i32 hitId = listener.FindClosestHit();
if (hitId >= 0)
RayCastHit hit = listener.hit;
if (hit.shape)
{
// Replace current hit
RayCastHit hit = listener.m_hits[hitId];
g_debugDraw->DrawSegment(p1, hit.m_point, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(hit.m_point, b3Color(1.0f, 0.0f, 0.0f));
g_debugDraw->DrawSegment(hit.m_point, hit.m_point + hit.m_normal, b3Color(1.0f, 1.0f, 1.0f));
g_debugDraw->DrawSegment(p1, hit.point, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(hit.point, b3Color(1.0f, 0.0f, 0.0f));
g_debugDraw->DrawSegment(hit.point, hit.point + hit.normal, b3Color(1.0f, 1.0f, 1.0f));
}
else
{

83
include/testbed/tests/test.h
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@ -19,10 +19,11 @@
#ifndef TEST_H
#define TEST_H
#include <bounce/bounce.h>
#include <glfw/glfw3.h>
#include <imgui/imgui.h>
#include "../framework/debug_draw.h"
#include <bounce/bounce.h>
struct Settings
{
@ -83,53 +84,14 @@ struct TestEntry
TestCreate create;
};
enum TestType
{
// Collision
e_QHull,
e_Cluster,
e_Distance,
e_CapsuleDistance,
e_CapsuleAndCapsule,
e_CapsuleAndHull,
e_HullAndHull,
// Dynamics
// Joints
e_NewtonCradle,
e_Vehicle,
e_Door,
e_HingeChain,
e_Ragdoll,
// Contacts
e_Quadric,
e_MeshContact,
// World
e_SphereStack,
e_CapsuleStack,
e_BoxStack,
e_ShapeStack,
e_Jenga,
e_Thin,
e_Pyramid,
e_Pyramids,
// World Queries
e_RayCast,
e_SensorTest,
e_Character,
e_BodyTypes,
e_VaryingFriction,
e_VaryingRestitution,
e_testCount
};
extern TestEntry g_tests[e_testCount];
extern TestEntry g_tests[];
struct RayCastHit
{
b3Shape* m_shape;
b3Vec3 m_point;
b3Vec3 m_normal;
float32 m_fraction;
b3Shape* shape;
b3Vec3 point;
b3Vec3 normal;
float32 fraction;
};
class RayCastListener : public b3RayCastListener
@ -137,35 +99,14 @@ class RayCastListener : public b3RayCastListener
public:
float32 ReportShape(b3Shape* shape, const b3Vec3& point, const b3Vec3& normal, float32 fraction)
{
RayCastHit hit;
hit.m_shape = shape;
hit.m_point = point;
hit.m_normal = normal;
hit.m_fraction = fraction;
m_hits.PushBack(hit);
// Continue.
hit.shape = shape;
hit.point = point;
hit.normal = normal;
hit.fraction = fraction;
return 1.0f;
}
int FindClosestHit() const
{
float32 minFraction = FLT_MAX;
int minIndex = -1;
for (u32 i = 0; i < m_hits.Count(); ++i)
{
const RayCastHit* hit = m_hits.Get(i);
if (hit->m_fraction < minFraction)
{
minFraction = hit->m_fraction;
minIndex = i;
}
}
return minIndex;
}
b3StackArray<RayCastHit, 256> m_hits;
RayCastHit hit;
};
class Test : public b3ContactListener