initial impl of PhysicsWorld::addEntity()

libraries/entities/src/EntityItem.cpp

@@ -21,6 +21,7 @@
 
 #include "EntityScriptingInterface.h"
 #include "EntityItem.h"
+#include "EntityMotionState.h"
 #include "EntityTree.h"
 
 const float EntityItem::IMMORTAL = -1.0f; /// special lifetime which means the entity lives for ever. default lifetime
@@ -87,6 +88,9 @@ EntityItem::EntityItem(const EntityItemID& entityItemID) {
     _lastEditedFromRemoteInRemoteTime = 0;
     _lastUpdated = 0;
     _created = 0;
+#ifdef USE_BULLET_PHYSICS
+    _motionState = NULL;
+#endif // USE_BULLET_PHYSICS
     initFromEntityItemID(entityItemID);
 }
 
@@ -97,10 +101,21 @@ EntityItem::EntityItem(const EntityItemID& entityItemID, const EntityItemPropert
     _lastEditedFromRemoteInRemoteTime = 0;
     _lastUpdated = 0;
     _created = properties.getCreated();
+#ifdef USE_BULLET_PHYSICS
+    _motionState = NULL;
+#endif // USE_BULLET_PHYSICS
     initFromEntityItemID(entityItemID);
     setProperties(properties, true); // force copy
 }
 
+EntityItem::~EntityItem() {
+#ifdef USE_BULLET_PHYSICS
+    // make sure the _motionState is already deleted (e.g. the entity has been removed
+    // from the physics simulation) BEFORE you get here
+    assert(_motionState == NULL);
+#endif // USE_BULLET_PHYSICS
+}
+
 EntityPropertyFlags EntityItem::getEntityProperties(EncodeBitstreamParams& params) const {
     EntityPropertyFlags requestedProperties;
 

libraries/entities/src/EntityItem.h

@@ -49,7 +49,7 @@ public:
     
     EntityItem(const EntityItemID& entityItemID);
     EntityItem(const EntityItemID& entityItemID, const EntityItemProperties& properties);
-    virtual ~EntityItem() { }
+    virtual ~EntityItem();
 
     // ID and EntityItemID related methods
     QUuid getID() const { return _id; }
@@ -260,8 +260,7 @@ public:
     virtual bool contains(const glm::vec3& point) const { return getAABox().contains(point); }
 
 #ifdef USE_BULLET_PHYSICS
-    //EntityMotionState* createMotionState() = 0;
+    virtual EntityMotionState* createMotionState() { return NULL; }
-    EntityMotionState* createMotionState() { return NULL; }
 #endif // USE_BULLET_PHYSICS
     
 protected:
@@ -304,6 +303,9 @@ protected:
     void setRadius(float value); 
 
     AACubeShape _collisionShape;
+#ifdef USE_BULLET_PHYSICS
+    EntityMotionState* _motionState;
+#endif // USE_BULLET_PHYSICS
 };
 
 

libraries/entities/src/EntityMotionState.cpp

@@ -0,0 +1,56 @@
+//
+//  EntityMotionState.cpp
+//  libraries/entities/src
+//
+//  Created by Andrew Meadows on 2014.11.06
+//  Copyright 2013 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include <BulletUtil.h>
+
+#include "EntityItem.h"
+#include "EntityMotionState.h"
+
+EntityMotionState::EntityMotionState(EntityItem* entity) : _entity(entity) {
+    assert(entity != NULL);
+}
+
+EntityMotionState::~EntityMotionState() {
+}
+
+// This callback is invoked by the physics simulation in two cases:
+// (1) when the RigidBody is first added to the world
+//     (irregardless of MotionType: STATIC, DYNAMIC, or KINEMATIC)
+// (2) at the beginning of each simulation frame for KINEMATIC RigidBody's --
+//     it is an opportunity for outside code to update the position of the object
+void EntityMotionState::getWorldTransform (btTransform &worldTrans) const {
+    btVector3 pos;
+    glmToBullet(_entity->getPosition(), pos);
+    btQuaternion rot;
+    glmToBullet(_entity->getRotation(), rot);
+    worldTrans.setOrigin(pos);
+    worldTrans.setRotation(rot);
+}
+
+// This callback is invoked by the physics simulation at the end of each simulation frame...
+// iff the corresponding RigidBody is DYNAMIC and has moved.
+void EntityMotionState::setWorldTransform (const btTransform &worldTrans) {
+    glm::vec3 pos;
+    bulletToGLM(worldTrans.getOrigin(), pos);
+    _entity->setPositionInMeters(pos);
+    glm::quat rot;
+    bulletToGLM(worldTrans.getRotation(), rot);
+    _entity->setRotation(rot);
+}
+
+void EntityMotionState::computeShapeInfo(ShapeInfo& info) {
+    // HACK: for now we make everything a box.
+    glm::vec3 halfExtents = _entity->getDimensionsInMeters();
+    btVector3 bulletHalfExtents;
+    glmToBullet(halfExtents, bulletHalfExtents);
+    info.setBox(bulletHalfExtents);
+}
+

libraries/entities/src/EntityMotionState.h

@@ -0,0 +1,34 @@
+//
+//  EntityMotionState.h
+//  libraries/entities/src
+//
+//  Created by Andrew Meadows on 2014.11.06
+//  Copyright 2013 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#ifndef hifi_EntityMotionState_h
+#define hifi_EntityMotionState_h
+
+#ifdef USE_BULLET_PHYSICS
+
+#include <CustomMotionState.h>
+
+class EntityMotionState : public CustomMotionState {
+public:
+    EntityMotionState(EntityItem* item);
+    virtual ~EntityMotionState();
+
+    virtual void getWorldTransform (btTransform &worldTrans) const;
+    virtual void setWorldTransform (const btTransform &worldTrans);
+
+    virtual void computeShapeInfo(ShapeInfo& info);
+
+protected:
+    EntityItem* _entity;
+};
+
+#endif // USE_BULLET_PHYSICS
+#endif // hifi_EntityMotionState_h

libraries/physics/src/CustomMotionState.cpp

@@ -11,58 +11,50 @@
 
 #ifdef USE_BULLET_PHYSICS
 
+#include <math.h>
+
 #include "CustomMotionState.h"
 
-CustomMotionState::CustomMotionState() : _motionType(MOTION_TYPE_STATIC), 
+const float MIN_DENSITY = 200.0f;
-    _inertiaDiagLocal(1.0f, 1.0f, 1.0f), _mass(1.0f), 
+const float DEFAULT_DENSITY = 1000.0f;
-    _shape(NULL), _object(NULL) {
+const float MAX_DENSITY = 20000.0f;
+
+const float MIN_VOLUME = 0.001f;
+const float DEFAULT_VOLUME = 1.0f;
+const float MAX_VOLUME = 1000000.0f;
+
+const float DEFAULT_FRICTION = 0.5f;
+const float MAX_FRICTION = 10.0f;
+
+const float DEFAULT_RESTITUTION = 0.0f;
+
+CustomMotionState::CustomMotionState() : 
+        _density(DEFAULT_DENSITY), 
+        _volume(DEFAULT_VOLUME), 
+        _friction(DEFAULT_FRICTION), 
+        _restitution(DEFAULT_RESTITUTION), 
+        _motionType(MOTION_TYPE_STATIC), 
+        _body(NULL) {
 }
 
-/*
+CustomMotionState::~CustomMotionState() {
-void CustomMotionState::getWorldTransform (btTransform &worldTrans) const {
+    assert(_body == NULL);
 }
 
-void CustomMotionState::setWorldTransform (const btTransform &worldTrans) {
+void CustomMotionState::setDensity(float density) {
+    _density = btMax(btMin(fabsf(density), MAX_DENSITY), MIN_DENSITY);
 }
 
-void CustomMotionState::computeMassProperties() {
+void CustomMotionState::setFriction(float friction) {
+    _friction = btMax(btMin(fabsf(friction), MAX_FRICTION), 0.0f);
 }
 
-void CustomMotionState::getShapeInfo(ShapeInfo& info) {
+void CustomMotionState::setRestitution(float restitution) {
-}
+    _restitution = btMax(btMin(fabsf(restitution), 1.0f), 0.0f);
-*/
-
-bool CustomMotionState::makeStatic() {
-    if (_motionType == MOTION_TYPE_STATIC) {
-        return true;
-    }
-    if (!_object) {
-        _motionType = MOTION_TYPE_STATIC;
-        return true;
-    }
-    return false;
 }
 
-bool CustomMotionState::makeDynamic() {
+void CustomMotionState::setVolume(float volume) {
-    if (_motionType == MOTION_TYPE_DYNAMIC) {
+    _volume = btMax(btMin(fabsf(volume), MAX_VOLUME), MIN_VOLUME);
-        return true;
-    }
-    if (!_object) {
-        _motionType = MOTION_TYPE_DYNAMIC;
-        return true;
-    }
-    return false;
-}
-
-bool CustomMotionState::makeKinematic() {
-    if (_motionType == MOTION_TYPE_KINEMATIC) {
-        return true;
-    }
-    if (!_object) {
-        _motionType = MOTION_TYPE_KINEMATIC;
-        return true;
-    }
-    return false;
 }
 
 #endif // USE_BULLET_PHYSICS

libraries/physics/src/CustomMotionState.h

@@ -17,7 +17,6 @@
 #include <btBulletDynamicsCommon.h>
 
 #include "ShapeInfo.h"
-#include "UUIDHashKey.h"
 
 enum MotionType {
     MOTION_TYPE_STATIC,     // no motion
@@ -28,29 +27,34 @@ enum MotionType {
 class CustomMotionState : public btMotionState {
 public:
     CustomMotionState();
+    ~CustomMotionState();
 
     //// these override methods of the btMotionState base class
     //virtual void getWorldTransform (btTransform &worldTrans) const;
     //virtual void setWorldTransform (const btTransform &worldTrans);
 
-    virtual void computeMassProperties() = 0;
+    virtual void computeShapeInfo(ShapeInfo& info) = 0;
-    virtual void getShapeInfo(ShapeInfo& info) = 0;
-
-    bool makeStatic();
-    bool makeDynamic();
-    bool makeKinematic();
 
     MotionType getMotionType() const { return _motionType; }
 
-private:
+    void setDensity(float density);
-    friend class PhysicsWorld;
+    void setFriction(float friction);
+    void setRestitution(float restitution);
+    void setVolume(float volume);
 
-    //EntityItem* _entity;
+    float getMass() const { return _volume * _density; }
+
+    friend class PhysicsWorld;
+protected:
+
+    float _density;
+    float _volume;
+    float _friction;
+    float _restitution;
+
+    // The data members below have NO setters.  They are only changed by a PhysicsWorld instance.
     MotionType _motionType;
-    btVector3 _inertiaDiagLocal;
+    btRigidBody* _body;
-    float _mass;
-    btCollisionShape* _shape;
-    btCollisionObject* _object;
 };
 
 #endif // USE_BULLET_PHYSICS

libraries/physics/src/PhysicsWorld.cpp

@@ -76,23 +76,44 @@ bool PhysicsWorld::removeVoxel(const glm::vec3& position, float scale) {
     return false;
 }
 
-bool PhysicsWorld::addEntity(const QUuid& id, CustomMotionState* motionState) {
+bool PhysicsWorld::addEntity(CustomMotionState* motionState, float mass) {
     assert(motionState);
-    UUIDHashKey key(id);
+    ShapeInfo info;
-    CustomMotionState** statePtr = _entities.find(key);
+    motionState->computeShapeInfo(info);
-    if (!statePtr) {
+    btCollisionShape* shape = _shapeManager.getShape(info);
-        // BOOKMARK: Andrew to implement this
+    if (shape) {
-    } else {
+        btVector3 inertia;
-        assert(*statePtr == motionState);
+        shape->calculateLocalInertia(mass, inertia);
+        btRigidBody* body = new btRigidBody(mass, motionState, shape, inertia);
+        _dynamicsWorld->addRigidBody(body);
+        motionState->_body = body;
     }
     return false;
 }
 
-bool PhysicsWorld::removeEntity(const QUuid& id) {
+bool PhysicsWorld::removeEntity(CustomMotionState* motionState) {
-    UUIDHashKey key(id);
+    assert(motionState);
-    CustomMotionState** statePtr = _entities.find(key);
+    btRigidBody* body = motionState->_body;
-    if (statePtr) {
+    if (body) {
-        // BOOKMARK: Andrew to implement this
+        const btCollisionShape* shape = body->getCollisionShape();
+        ShapeInfo info;
+        info.collectInfo(shape);
+        _dynamicsWorld->removeRigidBody(body);
+        _shapeManager.releaseShape(info);
+        delete body;
+        motionState->_body = NULL;
     }
     return false;
 }
+
+bool PhysicsWorld::updateEntityMotionType(CustomMotionState* motionState, MotionType type) {
+    // TODO: implement this
+    assert(motionState);
+    return false;
+}
+
+bool PhysicsWorld::updateEntityMassProperties(CustomMotionState* motionState, float mass, const glm::vec3& inertiaEigenValues) {
+    // TODO: implement this
+    assert(motionState);
+    return false;
+}

libraries/physics/src/PhysicsWorld.h

@@ -20,7 +20,6 @@
 #include "CustomMotionState.h"
 #include "PositionHashKey.h"
 #include "ShapeManager.h"
-#include "UUIDHashKey.h"
 #include "VoxelObject.h"
 
 class PhysicsWorld {
@@ -45,11 +44,15 @@ public:
 
     /// \return true if Entity added
     /// \param info information about collision shapes to create
-    bool addEntity(const QUuid& id, CustomMotionState* motionState);
+    bool addEntity(CustomMotionState* motionState, float mass);
 
     /// \return true if Entity removed
     /// \param id UUID of the entity
-    bool removeEntity(const QUuid& id);
+    bool removeEntity(CustomMotionState* motionState);
+
+    bool updateEntityMotionType(CustomMotionState* motionState, MotionType type);
+
+    bool updateEntityMassProperties(CustomMotionState* motionState, float mass, const glm::vec3& inertiaEigenValues);
 
 protected:
     btDefaultCollisionConfiguration* _collisionConfig;
@@ -57,12 +60,10 @@ protected:
     btBroadphaseInterface* _broadphaseFilter;
     btSequentialImpulseConstraintSolver* _constraintSolver;
     btDiscreteDynamicsWorld* _dynamicsWorld;
-    
     ShapeManager _shapeManager;
 
 private:
     btHashMap<PositionHashKey, VoxelObject> _voxels;
-    btHashMap<UUIDHashKey, CustomMotionState*> _entities;
 };