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https://github.com/copyrighttxt/watrbx-game-engine.git
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GEEKING
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watrabi
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/* Copyright 2003-2005 ROBLOX Corporation, All Rights Reserved */
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#include "stdafx.h"
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#include "v8world/BulletContact.h"
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#include "v8kernel/Kernel.h"
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#include "v8world/Primitive.h"
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#include "v8world/World.h"
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#include "v8world/MaterialProperties.h"
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#include "v8world/SmoothClusterGeometry.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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DYNAMIC_FASTFLAGVARIABLE(UseTerrainCustomPhysicalProperties, false)
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namespace RBX {
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static void computeManifolds(World* world, btCollisionAlgorithm*& algorithm, btManifoldArray& manifoldArray, btCollisionObject* colObj0, btCollisionObject* colObj1)
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{
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btCollisionObjectWrapper obj0Wrap(0, colObj0->getCollisionShape(), colObj0, colObj0->getWorldTransform(), -1, -1);
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btCollisionObjectWrapper obj1Wrap(0, colObj1->getCollisionShape(), colObj1, colObj1->getWorldTransform(), -1, -1);
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if (!algorithm)
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algorithm = world->getBulletCollisionDispatcher()->findAlgorithm(&obj0Wrap, &obj1Wrap);
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btManifoldResult contactPointResult(&obj0Wrap, &obj1Wrap);
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btDispatcherInfo disInfo;
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algorithm->processCollision(&obj0Wrap, &obj1Wrap, disInfo, &contactPointResult);
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manifoldArray.resize(0);
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algorithm->getAllContactManifolds(manifoldArray);
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if (colObj0->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE ||
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colObj1->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
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{
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// GImpact algorithm does not do refreshContactPoints so let's do it ourselves!
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for (int i = 0; i < manifoldArray.size(); ++i)
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manifoldArray[i]->refreshContactPoints(colObj0->getWorldTransform(), colObj1->getWorldTransform());
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}
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}
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static void matchConnectors(World* world, btManifoldArray& manifoldArray, BulletConnectorArray& connectors)
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{
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// Mark all existing connectors as unused
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for (size_t i = 0; i < connectors.size(); ++i)
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{
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BulletConnector* conn = connectors[i];
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conn->bulletManifoldIndex = -1;
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}
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// Reassociate all contact points with existing connectors
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for (int i = 0; i < manifoldArray.size(); ++i)
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{
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btPersistentManifold* manifold = manifoldArray[i];
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for (int j = 0; j < manifold->getNumContacts(); ++j)
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{
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const btManifoldPoint& pt = manifold->getContactPoint(j);
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if (pt.getDistance() < 0)
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{
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if (pt.m_userPersistentData)
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{
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BulletConnector* conn = static_cast<BulletConnector*>(pt.m_userPersistentData);
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RBXASSERT(conn->bulletManifoldIndex < 0);
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conn->bulletManifoldIndex = i;
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conn->bulletPointCacheIndex = j;
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}
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}
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else
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{
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pt.m_userPersistentData = NULL;
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}
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}
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}
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// Remove old connectors
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Kernel* kernel = NULL;
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for (size_t i = 0; i < connectors.size(); )
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{
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BulletConnector* conn = connectors[i];
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if (conn->bulletManifoldIndex < 0)
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{
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if (conn->isInKernel())
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{
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kernel = kernel ? kernel : world->getKernel(); // optimization - getKernel walks the IPipelines
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kernel->removeConnector(conn);
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}
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connectors.fastRemove(i);
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delete conn;
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}
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else
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++i;
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}
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}
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static void createConnectors(btManifoldArray& manifoldArray, BulletConnectorArray& connectors, Body* body0, Body* body1, ContactParams* contactParams)
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{
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for (int i = 0; i < manifoldArray.size(); ++i)
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{
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btPersistentManifold* manifold = manifoldArray[i];
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for (int j = 0; j < manifold->getNumContacts(); ++j)
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{
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btManifoldPoint& pt = manifold->getContactPoint(j);
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if (!pt.m_userPersistentData && pt.getDistance() < 0)
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{
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if (connectors.size() < connectors.capacity())
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{
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BulletConnector* conn = new BulletConnector(body0, body1, *contactParams, i, j);
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connectors.push_back(conn);
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pt.m_userPersistentData = conn;
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}
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else
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{
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RBXASSERT(!"Contact array is full, dropping contact");
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}
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}
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}
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}
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}
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static float updateContactPoints(btManifoldArray& manifoldArray, BulletConnectorArray& connectors, btCollisionObject* colObj0)
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{
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float worstOverlap = -FLT_MAX;
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for (size_t i = 0; i < connectors.size(); ++i)
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{
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BulletConnector* conn = connectors[i];
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PairParams& connPoint = conn->getContactPoint();
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btPersistentManifold* manifold = manifoldArray[conn->bulletManifoldIndex];
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const btManifoldPoint& pt = manifold->getContactPoint(conn->bulletPointCacheIndex);
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Vector3 normalB = Vector3(pt.m_normalWorldOnB.x(), pt.m_normalWorldOnB.y(), pt.m_normalWorldOnB.z());
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float distance = pt.m_distance1;
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// GImpact likes to swap bodies
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if (manifold->getBody0() == colObj0)
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{
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connPoint.position = Vector3(pt.m_positionWorldOnA.x(), pt.m_positionWorldOnA.y(), pt.m_positionWorldOnA.z());
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connPoint.normal = -normalB;
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connPoint.length = distance;
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}
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else
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{
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connPoint.position = Vector3(pt.m_positionWorldOnB.x(), pt.m_positionWorldOnB.y(), pt.m_positionWorldOnB.z());
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connPoint.normal = normalB;
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connPoint.length = distance;
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}
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worstOverlap = std::max(worstOverlap, -connPoint.length);
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}
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return worstOverlap;
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}
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static bool areContactPointsCloserThan(const btManifoldArray& manifoldArray, float distance)
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{
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for (int i = 0; i < manifoldArray.size(); ++i)
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{
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const btPersistentManifold* manifold = manifoldArray[i];
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for (int j = 0; j < manifold->getNumContacts(); ++j)
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{
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const btManifoldPoint& p = manifold->getContactPoint(j);
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if (p.getDistance() < distance)
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return true;
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}
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}
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return false;
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}
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static void removeConnectorsFromKernel(World* world, BulletConnectorArray& connectors)
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{
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Kernel* kernel = NULL;
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for (size_t i = 0; i < connectors.size(); ++i)
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{
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if (connectors[i]->isInKernel())
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{
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kernel = kernel ? kernel : world->getKernel(); // optimization - getKernel walks the IPipelines
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kernel->removeConnector(connectors[i]);
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}
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}
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}
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static void putConnectorsInKernel(World* world, BulletConnectorArray& connectors)
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{
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Kernel* kernel = NULL;
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for (size_t i = 0; i < connectors.size(); ++i)
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{
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if (!connectors[i]->isInKernel())
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{
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kernel = kernel ? kernel : world->getKernel(); // optimization - getKernel walks the IPipelines
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kernel->insertConnector(connectors[i]);
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}
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}
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}
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static void deleteConnectors(World* world, btManifoldArray& manifoldArray, BulletConnectorArray& connectors)
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{
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removeConnectorsFromKernel(world, connectors);
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for (size_t i = 0; i < connectors.size(); ++i)
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{
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RBXASSERT(!connectors[i]->isInKernel());
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delete connectors[i];
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}
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connectors.fastClear();
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for (int i = 0; i < manifoldArray.size(); ++i)
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manifoldArray[i]->clearManifold();
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manifoldArray.resize(0);
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}
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static void deleteAlgorithm(World* world, btCollisionAlgorithm* algorithm)
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{
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if (algorithm)
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{
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algorithm->~btCollisionAlgorithm();
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world->getBulletCollisionDispatcher()->freeCollisionAlgorithm(algorithm);
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}
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}
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static void clearCache(btManifoldArray& manifoldArray)
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{
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for (int i = 0; i < manifoldArray.size(); ++i)
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manifoldArray[i]->clearManifold();
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}
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BulletContact::BulletContact(World* world, Primitive* p0, Primitive* p1)
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: Contact(p0, p1)
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, world(world)
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, algorithm(NULL)
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{
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}
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BulletContact::~BulletContact()
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{
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deleteConnectors(world, manifoldArray, connectors);
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deleteAlgorithm(world, algorithm);
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}
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ContactConnector* BulletContact::getConnector(int i)
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{
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return connectors[i];
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}
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int BulletContact::numConnectors() const
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{
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return connectors.size();
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}
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void BulletContact::deleteAllConnectors()
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{
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deleteConnectors(world, manifoldArray, connectors);
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}
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bool BulletContact::stepContact()
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{
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bool result = computeIsColliding(0.0f);
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if (inKernel())
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{
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if (result)
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putConnectorsInKernel(world, connectors);
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else
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removeConnectorsFromKernel(world, connectors);
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}
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return result;
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}
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void BulletContact::invalidateContactCache()
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{
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clearCache(manifoldArray);
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}
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bool BulletContact::computeIsColliding(float overlapIgnored)
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{
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Primitive* prim0 = getPrimitive(0);
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Primitive* prim1 = getPrimitive(1);
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if (!Primitive::aaBoxCollide(*prim0, *prim1))
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{
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deleteConnectors(world, manifoldArray, connectors);
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return false;
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}
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if (!contactParams)
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generateDataForMovingAssemblyStage();
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prim0->updateBulletCollisionObject();
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prim1->updateBulletCollisionObject();
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computeManifolds(world, algorithm, manifoldArray, prim0->getGeometry()->getBulletCollisionObject(), prim1->getGeometry()->getBulletCollisionObject());
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matchConnectors(world, manifoldArray, connectors);
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createConnectors(manifoldArray, connectors, prim0->getBody(), prim1->getBody(), contactParams);
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float worstOverlap = updateContactPoints(manifoldArray, connectors, prim0->getGeometry()->getBulletCollisionObject());
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return worstOverlap > overlapIgnored;
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}
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BulletCellContact::BulletCellContact(World* world, Primitive* p0, Primitive* p1, const Vector3int32& feature, const shared_ptr<btCollisionShape>& cellShape)
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: CellContact(p0, p1, feature)
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, world(world)
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, algorithm(NULL)
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, cellShape(cellShape)
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{
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btTransform identity;
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identity.setIdentity();
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cellCollisionObject.setWorldTransform(identity);
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cellCollisionObject.setCollisionShape(cellShape.get());
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}
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BulletCellContact::~BulletCellContact()
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{
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deleteConnectors(world, manifoldArray, connectors);
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deleteAlgorithm(world, algorithm);
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}
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ContactConnector* BulletCellContact::getConnector(int i)
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{
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return connectors[i];
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}
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int BulletCellContact::numConnectors() const
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{
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return connectors.size();
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}
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void BulletCellContact::deleteAllConnectors()
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{
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deleteConnectors(world, manifoldArray, connectors);
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}
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bool BulletCellContact::stepContact()
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{
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bool result = computeIsColliding(0.0f);
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if (inKernel())
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{
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if (result)
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putConnectorsInKernel(world, connectors);
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else
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removeConnectorsFromKernel(world, connectors);
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}
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return result;
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}
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void BulletCellContact::invalidateContactCache()
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{
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clearCache(manifoldArray);
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}
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bool BulletCellContact::computeIsColliding(float overlapIgnored)
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{
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Primitive* prim0 = getPrimitive(0);
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Primitive* prim1 = getPrimitive(1);
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if (!contactParams)
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generateDataForMovingAssemblyStage();
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prim1->updateBulletCollisionObject();
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computeManifolds(world, algorithm, manifoldArray, &cellCollisionObject, prim1->getGeometry()->getBulletCollisionObject());
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matchConnectors(world, manifoldArray, connectors);
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createConnectors(manifoldArray, connectors, prim0->getBody(), prim1->getBody(), contactParams);
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float worstOverlap = updateContactPoints(manifoldArray, connectors, &cellCollisionObject);
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updateContactParemeters(&cellCollisionObject);
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// we may have no connectors but we want to check if primitive is "close enough" to terrain, so we have to go through Bullet manifold
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if (overlapIgnored < 0)
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return areContactPointsCloserThan(manifoldArray, -overlapIgnored);
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else
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return worstOverlap > overlapIgnored;
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}
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BulletConnector::BulletConnector(Body* b0, Body* b1, const ContactParams& contactParams, int manifoldIndex, int cacheIndex)
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: ContactConnector(b0, b1, contactParams)
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, bulletManifoldIndex(manifoldIndex)
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, bulletPointCacheIndex(cacheIndex)
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{
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}
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void BulletCellContact::updateContactParemeters(btCollisionObject* cellObj)
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{
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if (!(world->getUsingNewPhysicalProperties()))
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return;
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for (size_t i = 0; i < connectors.size(); ++i)
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{
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BulletConnector* conn = connectors[i];
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PairParams& connPoint = conn->getContactPoint();
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btPersistentManifold* manifold = manifoldArray[conn->bulletManifoldIndex];
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const btManifoldPoint& pt = manifold->getContactPoint(conn->bulletPointCacheIndex);
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ContactParams newParams;
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int triangleIndex = manifold->getBody0() == cellObj ? pt.m_index0 : pt.m_index1;
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Primitive* terrainPrimitive = getPrimitive(0);
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if (DFFlag::UseTerrainCustomPhysicalProperties && terrainPrimitive->getPhysicalProperties().getCustomEnabled())
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{
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MaterialProperties::updateContactParamsPrims(newParams, getPrimitive(1), terrainPrimitive);
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conn->setContactParams(newParams);
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}
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else
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{
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PartMaterial terrainContactMaterial = SmoothClusterGeometry::getTriangleMaterial(cellObj->getCollisionShape(), triangleIndex, connPoint.position);
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MaterialProperties::updateContactParamsPrimMaterial(newParams, getPrimitive(1), terrainPrimitive, terrainContactMaterial);
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conn->setContactParams(newParams);
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}
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}
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}
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void BulletCellContact::onPrimitiveContactParametersChanged()
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{
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if (!world->getUsingNewPhysicalProperties())
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{
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Contact::onPrimitiveContactParametersChanged();
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}
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}
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} // namespace
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