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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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35
src/bounce/dynamics/body.cpp
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@ -335,6 +335,41 @@ bool b3Body::ShouldCollide(const b3Body* other) const
return true;
}
void b3Body::SetType(b3BodyType type)
{
if (m_type == type)
{
return;
}
m_type = type;
ResetMass();
m_force.SetZero();
m_torque.SetZero();
if (m_type == e_staticBody)
{
m_linearVelocity.SetZero();
m_angularVelocity.SetZero();
m_sweep.worldCenter0 = m_sweep.worldCenter;
m_sweep.orientation0 = m_sweep.orientation;
SynchronizeShapes();
}
SetAwake(true);
DestroyContacts();
// Move the shape proxies so new contacts can be created.
b3BroadPhase* phase = &m_world->m_contactMan.m_broadPhase;
for (b3Shape* s = m_shapeList.m_head; s; s = s->m_next)
{
phase->BufferMove(s->m_broadPhaseID);
}
}
void b3Body::Dump() const
{
i32 bodyIndex = m_islandID;

4
src/bounce/dynamics/contacts/collide/collide_capsules.cpp
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@ -79,7 +79,7 @@ void b3CollideCapsuleAndCapsule(b3Manifold& manifold,
float32 d1 = b3Distance(clipEdgeA[0].position, cp1);
float32 d2 = b3Distance(clipEdgeA[1].position, cp2);
if (d1 <= totalRadius && d2 <= totalRadius)
if (d1 > B3_EPSILON && d1 <= totalRadius && d2 > B3_EPSILON && d2 <= totalRadius)
{
b3Vec3 n1 = (cp1 - clipEdgeA[0].position) / d1;
b3Vec3 n2 = (cp2 - clipEdgeA[1].position) / d2;
@ -123,7 +123,7 @@ void b3CollideCapsuleAndCapsule(b3Manifold& manifold,
float32 distance = b3Distance(pointA, pointB);
if (distance > 0.0f)
if (distance > B3_EPSILON)
{
b3Vec3 normal = (pointB - pointA) / distance;
b3Vec3 center = 0.5f * (pointA + hullA.radius * normal + pointB - hullB.radius * normal);

1
src/bounce/dynamics/shapes/capsule_shape.cpp
View File

@ -17,6 +17,7 @@
*/
#include <bounce/dynamics/shapes/capsule_shape.h>
#include <bounce/dynamics/time_step.h>
b3CapsuleShape::b3CapsuleShape()
{

1
src/bounce/dynamics/shapes/sphere_shape.cpp
View File

@ -17,6 +17,7 @@
*/
#include <bounce/dynamics/shapes/sphere_shape.h>
#include <bounce/dynamics/time_step.h>
b3SphereShape::b3SphereShape()
{

62
src/bounce/dynamics/world.cpp
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@ -377,6 +377,68 @@ void b3World::RayCast(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec
m_contactMan.m_broadPhase.RayCast(&callback, input);
}
struct b3RayCastFirstCallback
{
float32 Report(const b3RayCastInput& input, i32 proxyId)
{
// Get shape associated with the proxy.
void* userData = broadPhase->GetUserData(proxyId);
b3Shape* shape = (b3Shape*)userData;
// Get map from shape local space to world space.
b3Transform xf = shape->GetBody()->GetTransform();
b3RayCastOutput output;
bool hit = shape->RayCast(&output, input, xf);
if (hit)
{
// Track minimum time of impact to require less memory.
if (output.fraction < output0.fraction)
{
shape0 = shape;
output0 = output;
}
}
// Continue the search from where we stopped.
return input.maxFraction;
}
b3Shape* shape0;
b3RayCastOutput output0;
const b3BroadPhase* broadPhase;
};
void b3World::RayCastFirst(b3RayCastListener* listener, const b3Vec3& p1, const b3Vec3& p2) const
{
b3RayCastInput input;
input.p1 = p1;
input.p2 = p2;
input.maxFraction = 1.0f;
b3RayCastFirstCallback callback;
callback.shape0 = NULL;
callback.output0.fraction = B3_MAX_FLOAT;
callback.broadPhase = &m_contactMan.m_broadPhase;
// Perform the ray cast.
m_contactMan.m_broadPhase.RayCast(&callback, input);
if (callback.shape0)
{
// Ray hits closest shape.
float32 fraction = callback.output0.fraction;
float32 w1 = 1.0f - fraction;
float32 w2 = fraction;
b3Vec3 point = w1 * input.p1 + w2 * input.p2;
b3Vec3 normal = callback.output0.normal;
// Report the intersection to the user.
listener->ReportShape(callback.shape0, point, normal, fraction);
}
}
struct b3QueryAABBCallback
{
bool Report(i32 proxyID)

24
src/testbed/framework/main.cpp
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@ -25,6 +25,7 @@
GLFWwindow* g_window;
Settings g_settings;
Test* g_test;
u32 g_testCount;
Camera g_camera;
DebugDraw* g_debugDraw;
bool g_leftDown;
@ -234,7 +235,7 @@ void Interface()
ImGui::PushItemWidth(-1.0f);
ImGui::Text("Test");
if (ImGui::Combo("##Test", &g_settings.testID, GetTestName, NULL, e_testCount, e_testCount))
if (ImGui::Combo("##Test", &g_settings.testID, GetTestName, NULL, g_testCount, g_testCount))
{
delete g_test;
g_test = g_tests[g_settings.testID].create();
@ -248,12 +249,12 @@ void Interface()
}
if (ImGui::Button("Previous", buttonSize))
{
g_settings.testID = b3Clamp(g_settings.testID - 1, 0, int(e_testCount) - 1);
g_settings.testID = b3Clamp(g_settings.testID - 1, 0, int(g_testCount) - 1);
g_settings.lastTestID = -1;
}
if (ImGui::Button("Next", buttonSize))
{
g_settings.testID = b3Clamp(g_settings.testID + 1, 0, int(e_testCount) - 1);
g_settings.testID = b3Clamp(g_settings.testID + 1, 0, int(g_testCount) - 1);
g_settings.lastTestID = -1;
}
if (ImGui::Button("Exit", buttonSize))
@ -419,12 +420,12 @@ int main(int argc, char** args)
sprintf(title, "Bounce Testbed Version %d.%d.%d", b3_version.major, b3_version.minor, b3_version.revision);
glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 0);
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 0);
g_window = glfwCreateWindow(1024, 768, title, NULL, NULL);
if (g_window == NULL)
{
fprintf(stderr, "Failed to opengl GLFW window\n");
fprintf(stderr, "Failed to open GLFW window\n");
glfwTerminate();
return -1;
}
@ -436,11 +437,13 @@ int main(int argc, char** args)
glfwSetKeyCallback(g_window, KeyButton);
glfwSetCharCallback(g_window, Char);
glfwSwapInterval(1);
if (gladLoadGL() == 0)
{
fprintf(stderr, "Failed to load OpenGL extensions\n");
fprintf(stderr, "Error: %d\n", glad_glGetError());
glfwTerminate();
exit(EXIT_FAILURE);
return -1;
}
printf("OpenGL %s, GLSL %s\n", glGetString(GL_VERSION), glGetString(GL_SHADING_LANGUAGE_VERSION));
@ -457,7 +460,13 @@ int main(int argc, char** args)
g_debugDraw = new DebugDraw();
// Run the testbed
g_testCount = 0;
while (g_tests[g_testCount].create != NULL)
{
++g_testCount;
}
g_test = NULL;
Run();
// Destroy the last test
@ -475,4 +484,5 @@ int main(int argc, char** args)
// Destroy g_window
glfwTerminate();
}
return 0;
}

26
src/testbed/framework/test.cpp
View File

@ -49,7 +49,7 @@ Test::Test()
g_camera.m_center.SetZero();
g_settings.drawGrid = false;
m_rayHit.m_shape = NULL;
m_rayHit.shape = NULL;
m_mouseJoint = NULL;
{
@ -358,7 +358,7 @@ void Test::MouseMove(const Ray3& pw)
{
if (m_mouseJoint)
{
float32 hitFraction = m_rayHit.m_fraction;
float32 hitFraction = m_rayHit.fraction;
float32 w1 = 1.0f - hitFraction;
float32 w2 = hitFraction;
@ -370,7 +370,7 @@ void Test::MouseMove(const Ray3& pw)
void Test::MouseLeftDown(const Ray3& pw)
{
// Clear the current hit
m_rayHit.m_shape = NULL;
m_rayHit.shape = NULL;
if (m_mouseJoint)
{
b3Body* groundBody = m_mouseJoint->GetBodyA();
@ -384,25 +384,23 @@ void Test::MouseLeftDown(const Ray3& pw)
b3Vec3 p1 = pw.Start();
b3Vec3 p2 = pw.End();
// Perform the ray cast
RayCastListener listener;
m_world.RayCast(&listener, p1, p2);
listener.hit.shape = NULL;
int hitId = listener.FindClosestHit();
// Perform the ray cast
m_world.RayCastFirst(&listener, p1, p2);
if (hitId >= 0)
if (listener.hit.shape)
{
// Hit
// Replace current hit
m_rayHit = listener.m_hits[hitId];
m_rayHit = listener.hit;
RayHit();
}
}
void Test::MouseLeftUp(const Ray3& pw)
{
m_rayHit.m_shape = NULL;
m_rayHit.shape = NULL;
if (m_mouseJoint)
{
b3Body* groundBody = m_mouseJoint->GetBodyA();
@ -418,12 +416,12 @@ void Test::RayHit()
{
b3BodyDef bdef;
b3Body* bodyA = m_world.CreateBody(bdef);
b3Body* bodyB = m_rayHit.m_shape->GetBody();
b3Body* bodyB = m_rayHit.shape->GetBody();
b3MouseJointDef def;
def.bodyA = bodyA;
def.bodyB = bodyB;
def.target = m_rayHit.m_point;
def.target = m_rayHit.point;
def.maxForce = 2000.0f * bodyB->GetMass();
m_mouseJoint = (b3MouseJoint*)m_world.CreateJoint(def);

2
src/testbed/framework/test_entries.cpp
View File

@ -47,7 +47,7 @@
#include <testbed/tests/varying_friction.h>
#include <testbed/tests/varying_restitution.h>
TestEntry g_tests[e_testCount] =
TestEntry g_tests[] =
{
{ "Quickhull Test", &QuickhullTest::Create },
{ "Cluster Test", &Cluster::Create },