Merge pull request #3679 from AndrewMeadows/inertia

move code out of "shared" and into new "physics" lib

assignment-client/CMakeLists.txt

@@ -8,6 +8,7 @@ include_glm()
 link_hifi_libraries( 
   audio avatars octree voxels fbx entities metavoxels 
   networking animation shared script-engine embedded-webserver
+  physics
 )
 
 if (UNIX)

interface/CMakeLists.txt

@@ -101,7 +101,7 @@ endif()
 add_executable(${TARGET_NAME} MACOSX_BUNDLE ${INTERFACE_SRCS} ${QM})
 
 # link required hifi libraries
-link_hifi_libraries(shared octree voxels fbx metavoxels networking entities avatars audio animation script-engine)
+link_hifi_libraries(shared octree voxels fbx metavoxels networking entities avatars audio animation script-engine physics)
 
 # find any optional and required libraries
 find_package(ZLIB REQUIRED)

interface/src/avatar/SkeletonModel.cpp

@@ -655,19 +655,19 @@ void SkeletonModel::buildShapes() {
         Shape::Type type = joint.shapeType;
         int parentIndex = joint.parentIndex;
         if (parentIndex == -1 || radius < EPSILON) {
-            type = UNKNOWN_SHAPE;
+            type = SHAPE_TYPE_UNKNOWN;
-        } else if (type == CAPSULE_SHAPE && halfHeight < EPSILON) {
+        } else if (type == SHAPE_TYPE_CAPSULE && halfHeight < EPSILON) {
             // this shape is forced to be a sphere
-            type = SPHERE_SHAPE;
+            type = SHAPE_TYPE_SPHERE;
         }
         Shape* shape = NULL;
-        if (type == SPHERE_SHAPE) {
+        if (type == SHAPE_TYPE_SPHERE) {
             shape = new VerletSphereShape(radius, &(points[i]));
             shape->setEntity(this);
             float mass = massScale * glm::max(MIN_JOINT_MASS, DENSITY_OF_WATER * shape->getVolume());
             points[i].setMass(mass);
             totalMass += mass;
-        } else if (type == CAPSULE_SHAPE) {
+        } else if (type == SHAPE_TYPE_CAPSULE) {
             assert(parentIndex != -1);
             shape = new VerletCapsuleShape(radius, &(points[parentIndex]), &(points[i]));
             shape->setEntity(this);

libraries/avatars/CMakeLists.txt

@@ -5,7 +5,7 @@ setup_hifi_library(Network Script)
 
 include_glm()
 
-link_hifi_libraries(shared octree voxels networking)
+link_hifi_libraries(shared octree voxels networking physics)
 include_hifi_library_headers(fbx)
 
 # call macro to link our dependencies and bubble them up via a property on our target

libraries/entities/CMakeLists.txt

@@ -5,7 +5,7 @@ setup_hifi_library(Network Script)
 
 include_glm()
 
-link_hifi_libraries(shared octree fbx networking animation)
+link_hifi_libraries(shared octree fbx networking animation physics)
 
 # call macro to link our dependencies and bubble them up via a property on our target
 link_shared_dependencies()

libraries/entities/src/EntityItem.h

@@ -18,6 +18,7 @@
 
 #include <AACubeShape.h>
 #include <AnimationCache.h> // for Animation, AnimationCache, and AnimationPointer classes
+#include <CollisionInfo.h>
 #include <Octree.h> // for EncodeBitstreamParams class
 #include <OctreeElement.h> // for OctreeElement::AppendState
 #include <OctreePacketData.h>

libraries/fbx/src/FBXReader.cpp

@@ -25,7 +25,6 @@
 #include <GeometryUtil.h>
 #include <GLMHelpers.h>
 #include <OctalCode.h>
-#include <Shape.h>
 
 #include <VoxelTree.h>
 
@@ -1534,7 +1533,7 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
         joint.inverseBindRotation = joint.inverseDefaultRotation;
         joint.name = model.name;
         joint.shapePosition = glm::vec3(0.f);
-        joint.shapeType = UNKNOWN_SHAPE;
+        joint.shapeType = SHAPE_TYPE_UNKNOWN;
         
         foreach (const QString& childID, childMap.values(modelID)) {
             QString type = typeFlags.value(childID);
@@ -1911,10 +1910,10 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
         if (collideLikeCapsule) {
             joint.shapeRotation = rotationBetween(defaultCapsuleAxis, jointShapeInfo.boneBegin);
             joint.shapePosition = 0.5f * jointShapeInfo.boneBegin;
-            joint.shapeType = CAPSULE_SHAPE;
+            joint.shapeType = SHAPE_TYPE_CAPSULE;
         } else {
             // collide the joint like a sphere
-            joint.shapeType = SPHERE_SHAPE;
+            joint.shapeType = SHAPE_TYPE_SPHERE;
             if (jointShapeInfo.numVertices > 0) {
                 jointShapeInfo.averageVertex /= (float)jointShapeInfo.numVertices;
                 joint.shapePosition = jointShapeInfo.averageVertex;
@@ -1934,8 +1933,8 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
             if (distanceFromEnd > joint.distanceToParent && distanceFromBegin > joint.distanceToParent) {
                 // The shape is further from both joint endpoints than the endpoints are from each other
                 // which probably means the model has a bad transform somewhere.  We disable this shape
-                // by setting its type to UNKNOWN_SHAPE.
+                // by setting its type to SHAPE_TYPE_UNKNOWN.
-                joint.shapeType = UNKNOWN_SHAPE;
+                joint.shapeType = SHAPE_TYPE_UNKNOWN;
             }
         }
     }

libraries/fbx/src/FBXReader.h

@@ -19,8 +19,6 @@
 #include <QVector>
 
 #include <Extents.h>
-#include <Shape.h>
-
 
 #include <glm/glm.hpp>
 #include <glm/gtc/quaternion.hpp>
@@ -55,6 +53,12 @@ public:
     QVector<glm::vec3> normals;
 };
 
+enum ShapeType {
+    SHAPE_TYPE_SPHERE = 0,
+    SHAPE_TYPE_CAPSULE = 1,
+    SHAPE_TYPE_UNKNOWN = 2
+};
+
 /// A single joint (transformation node) extracted from an FBX document.
 class FBXJoint {
 public:
@@ -79,7 +83,7 @@ public:
     QString name;
     glm::vec3 shapePosition;  // in joint frame
     glm::quat shapeRotation;  // in joint frame
-    Shape::Type shapeType;
+    ShapeType shapeType;
     bool isSkeletonJoint;
 };
 

libraries/octree/CMakeLists.txt

@@ -5,7 +5,7 @@ setup_hifi_library()
 
 include_glm()
 
-link_hifi_libraries(shared networking)
+link_hifi_libraries(shared networking physics)
 
 # find ZLIB
 find_package(ZLIB REQUIRED)

libraries/octree/src/Octree.h

@@ -31,8 +31,6 @@ class Shape;
 #include "OctreePacketData.h"
 #include "OctreeSceneStats.h"
 
-#include <CollisionInfo.h>
-
 #include <QHash>
 #include <QObject>
 #include <QReadWriteLock>

libraries/physics/CMakeLists.txt

@@ -0,0 +1,19 @@
+set(TARGET_NAME physics)
+
+# use setup_hifi_library macro to setup our project and link appropriate Qt modules
+setup_hifi_library()
+
+include_glm()
+
+link_hifi_libraries(shared)
+
+## find BULLET
+#find_package(BULLET REQUIRED)
+#
+#include_directories(SYSTEM "${BULLET_INCLUDE_DIRS}")
+#
+## append BULLET to our list of libraries to link
+#list(APPEND ${TARGET_NAME}_LIBRARIES_TO_LINK "${BULLET_LIBRARIES}")
+
+# call macro to link our dependencies and bubble them up via a property on our target
+link_shared_dependencies()

libraries/physics/src/AACubeShape.cpp

@@ -13,7 +13,7 @@
 #include <glm/gtx/norm.hpp>
 
 #include "AACubeShape.h"
-#include "SharedUtil.h" // for SQUARE_ROOT_OF_3 
+#include <SharedUtil.h> // for SQUARE_ROOT_OF_3 
 
 glm::vec3 faceNormals[3] = { glm::vec3(1.0f, 0.0f, 0.0f), glm::vec3(0.0f, 1.0f, 0.0f), glm::vec3(0.0f, 0.0f, 1.0f) };
 

libraries/physics/src/CapsuleShape.cpp

@@ -12,10 +12,10 @@
 #include <iostream>
 #include <glm/gtx/vector_angle.hpp>
 
-#include "CapsuleShape.h"
+#include <GeometryUtil.h>
+#include <SharedUtil.h> 
 
-#include "GeometryUtil.h"
+#include "CapsuleShape.h"
-#include "SharedUtil.h" 
 
 
 CapsuleShape::CapsuleShape() : Shape(CAPSULE_SHAPE), _radius(0.0f), _halfHeight(0.0f) {}

libraries/physics/src/CapsuleShape.h

@@ -12,9 +12,9 @@
 #ifndef hifi_CapsuleShape_h
 #define hifi_CapsuleShape_h
 
-#include "Shape.h"
+#include <SharedUtil.h>
 
-#include "SharedUtil.h"
+#include "Shape.h"
 
 // default axis of CapsuleShape is Y-axis
 const glm::vec3 DEFAULT_CAPSULE_AXIS(0.0f, 1.0f, 0.0f);

libraries/physics/src/CollisionInfo.cpp

@@ -9,10 +9,11 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
-#include "CollisionInfo.h"
 
+#include <SharedUtil.h>
+
+#include "CollisionInfo.h"
 #include "Shape.h"
-#include "SharedUtil.h"
 
 CollisionInfo::CollisionInfo() :
         _data(NULL),

libraries/physics/src/ContactConstraint.cpp

@@ -0,0 +1,53 @@
+//
+//  ContactConstraint.cpp
+//  interface/src/avatar
+//
+//  Created by Andrew Meadows 2014.07.24
+//  Copyright 2014 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 <SharedUtil.h>
+
+#include "ContactConstraint.h"
+#include "VerletPoint.h"
+
+
+ContactConstraint::ContactConstraint(VerletPoint* pointA, VerletPoint* pointB) 
+        : _pointA(pointA), _pointB(pointB), _strength(1.0f) {
+    assert(_pointA != NULL && _pointB != NULL);
+    _offset = _pointB->_position - _pointA->_position;
+}
+
+float ContactConstraint::enforce() {
+    _pointB->_position += _strength * (_pointA->_position + _offset - _pointB->_position);
+    return 0.0f;
+}
+
+float ContactConstraint::enforceWithNormal(const glm::vec3& normal) {
+    glm::vec3 delta = _pointA->_position + _offset - _pointB->_position;
+
+    // split delta into parallel (pDelta) and perpendicular (qDelta) components
+    glm::vec3 pDelta = glm::dot(delta, normal) * normal;
+    glm::vec3 qDelta = delta - pDelta;
+
+    // use the relative sizes of the components to decide how much perpenducular delta to use
+    // (i.e. dynamic friction)
+    float lpDelta = glm::length(pDelta);
+    float lqDelta = glm::length(qDelta);
+    float qFactor = lqDelta > lpDelta ? (lpDelta / lqDelta - 1.0f) : 0.0f;
+    // recombine the two components to get the final delta
+    delta = pDelta + qFactor * qDelta;
+
+    // attenuate strength by how much _offset is perpendicular to normal
+    float distance = glm::length(_offset);
+    float strength = _strength * ((distance > EPSILON) ? glm::abs(glm::dot(_offset, normal)) / distance : 1.0f);
+
+    // move _pointB
+    _pointB->_position += strength * delta;
+
+    return strength * glm::length(delta);
+}
+

libraries/physics/src/ContactConstraint.h

@@ -0,0 +1,39 @@
+//
+//  ContactConstraint.h
+//  interface/src/avatar
+//
+//  Created by Andrew Meadows 2014.07.24
+//  Copyright 2014 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_ContactConstraint_h
+#define hifi_ContactConstraint_h
+
+#include <glm/glm.hpp>
+
+#include "Constraint.h"
+#include "VerletPoint.h"
+
+class ContactConstraint : public Constraint {
+public:
+    ContactConstraint(VerletPoint* pointA, VerletPoint* pointB);
+
+    float enforce();
+    float enforceWithNormal(const glm::vec3& normal);
+
+    glm::vec3 getTargetPointA() const { return _pointB->_position - _offset; }
+
+    void setOffset(const glm::vec3& offset) { _offset = offset; }
+    void setStrength(float strength) { _strength = glm::clamp(strength, 0.0f, 1.0f); }
+    float getStrength() const { return _strength; }
+private:
+    VerletPoint* _pointA;
+    VerletPoint* _pointB;
+    glm::vec3 _offset;  // from pointA toward pointB
+    float _strength;    // a value in range [0,1]
+};
+
+#endif // hifi_ContactConstraint_h

libraries/physics/src/ContactPoint.cpp

@@ -9,9 +9,10 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
+#include <SharedUtil.h>
+
 #include "ContactPoint.h"
 #include "Shape.h"
-#include "SharedUtil.h"
 
 // This parameter helps keep the actual point of contact slightly inside each shape 
 // which allows the collisions to happen almost every frame for more frequent updates.

libraries/physics/src/DistanceConstraint.cpp

@@ -9,8 +9,9 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
+#include <SharedUtil.h> // for EPSILON
+
 #include "DistanceConstraint.h"
-#include "SharedUtil.h" // for EPSILON
 #include "VerletPoint.h"
 
 DistanceConstraint::DistanceConstraint(VerletPoint* startPoint, VerletPoint* endPoint) : _distance(-1.0f) {

libraries/physics/src/PhysicsSimulation.cpp

@@ -11,14 +11,14 @@
 
 #include <glm/glm.hpp>
 
-#include "PhysicsSimulation.h"
+#include <PerfStat.h>
+#include <SharedUtil.h>
 
-#include "PerfStat.h"
+#include "PhysicsSimulation.h"
 #include "PhysicsEntity.h"
 #include "Ragdoll.h"
 #include "Shape.h"
 #include "ShapeCollider.h"
-#include "SharedUtil.h"
 
 int MAX_DOLLS_PER_SIMULATION = 16;
 int MAX_ENTITIES_PER_SIMULATION = 64;

libraries/physics/src/PlaneShape.cpp

@@ -9,9 +9,10 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
+#include <SharedUtil.h>
+#include <GLMHelpers.h>
+
 #include "PlaneShape.h"
-#include "SharedUtil.h"
-#include "GLMHelpers.h"
 
 const glm::vec3 UNROTATED_NORMAL(0.0f, 1.0f, 0.0f);
 

libraries/physics/src/Ragdoll.cpp

@@ -11,13 +11,14 @@
 
 #include <glm/gtx/norm.hpp>
 
+#include <SharedUtil.h> // for EPSILON
+
 #include "Ragdoll.h"
 
 #include "Constraint.h"
 #include "DistanceConstraint.h"
 #include "FixedConstraint.h"
 #include "PhysicsSimulation.h"
-#include "SharedUtil.h" // for EPSILON
 
 Ragdoll::Ragdoll() : _massScale(1.0f), _translation(0.0f), _translationInSimulationFrame(0.0f), 
         _rootIndex(0), _accumulatedMovement(0.0f), _simulation(NULL) {

libraries/physics/src/Ragdoll.h

@@ -14,10 +14,10 @@
 
 #include <glm/glm.hpp>
 #include <glm/gtx/quaternion.hpp>
-#include "VerletPoint.h"
 
 #include <QVector>
 
+#include "VerletPoint.h"
 //#include "PhysicsSimulation.h"
 
 class DistanceConstraint;

libraries/physics/src/ShapeCollider.cpp

@@ -11,16 +11,17 @@
 
 #include <glm/gtx/norm.hpp>
 
+#include <GeometryUtil.h>
+#include <StreamUtils.h>
+
 #include "ShapeCollider.h"
 
 #include "AACubeShape.h"
 #include "CapsuleShape.h"
-#include "GeometryUtil.h"
 #include "ListShape.h"
 #include "PlaneShape.h"
 #include "SphereShape.h"
 
-#include "StreamUtils.h"
 
 // NOTE:
 //

libraries/physics/src/ShapeCollider.h

@@ -14,9 +14,10 @@
 
 #include <QVector>
 
+#include <SharedUtil.h> 
+
 #include "CollisionInfo.h"
 #include "RayIntersectionInfo.h"
-#include "SharedUtil.h" 
 
 class Shape;
 class SphereShape;

libraries/physics/src/SphereShape.h

@@ -12,9 +12,10 @@
 #ifndef hifi_SphereShape_h
 #define hifi_SphereShape_h
 
+#include <SharedUtil.h>
+
 #include "Shape.h"
 
-#include "SharedUtil.h"
 
 class SphereShape : public Shape {
 public:

libraries/physics/src/VerletCapsuleShape.cpp

@@ -9,10 +9,11 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
+#include <SharedUtil.h>
+
 #include "VerletCapsuleShape.h"
 
-#include "Ragdoll.h"    // for VerletPoint
+#include "VerletPoint.h"
-#include "SharedUtil.h"
 
 VerletCapsuleShape::VerletCapsuleShape(VerletPoint* startPoint, VerletPoint* endPoint) : 
         CapsuleShape(), _startPoint(startPoint), _endPoint(endPoint), _startLagrangeCoef(0.5f), _endLagrangeCoef(0.5f) {

libraries/script-engine/CMakeLists.txt

@@ -5,7 +5,7 @@ setup_hifi_library(Gui Network Script Widgets)
 
 include_glm()
 
-link_hifi_libraries(shared octree voxels fbx entities animation audio)
+link_hifi_libraries(shared octree voxels fbx entities animation audio physics)
 
 # call macro to link our dependencies and bubble them up via a property on our target
 link_shared_dependencies()

libraries/shared/src/AngularConstraint.cpp

@@ -11,9 +11,8 @@
 
 #include <glm/gtx/norm.hpp>
 
-#include "GLMHelpers.h"
-
 #include "AngularConstraint.h"
+#include "GLMHelpers.h"
 
 // helper function
 /// \param angle radian angle to be clamped within angleMin and angleMax

libraries/shared/src/RegisteredMetaTypes.cpp

@@ -13,6 +13,8 @@
 #include <QUrl>
 #include <QUuid>
 
+#include <glm/gtc/quaternion.hpp>
+
 #include "RegisteredMetaTypes.h"
 
 static int vec4MetaTypeId = qRegisterMetaType<glm::vec4>();
@@ -21,7 +23,7 @@ static int vec2MetaTypeId = qRegisterMetaType<glm::vec2>();
 static int quatMetaTypeId = qRegisterMetaType<glm::quat>();
 static int xColorMetaTypeId = qRegisterMetaType<xColor>();
 static int pickRayMetaTypeId = qRegisterMetaType<PickRay>();
-static int collisionMetaTypeId = qRegisterMetaType<CollisionInfo>();
+static int collisionMetaTypeId = qRegisterMetaType<Collision>();
 
 void registerMetaTypes(QScriptEngine* engine) {
     qScriptRegisterMetaType(engine, vec4toScriptValue, vec4FromScriptValue);
@@ -163,14 +165,14 @@ void pickRayFromScriptValue(const QScriptValue& object, PickRay& pickRay) {
     }
 }
 
-QScriptValue collisionToScriptValue(QScriptEngine* engine, const CollisionInfo& collision) {
+QScriptValue collisionToScriptValue(QScriptEngine* engine, const Collision& collision) {
     QScriptValue obj = engine->newObject();
-    obj.setProperty("penetration", vec3toScriptValue(engine, collision._penetration));
+    obj.setProperty("penetration", vec3toScriptValue(engine, collision.penetration));
-    obj.setProperty("contactPoint", vec3toScriptValue(engine, collision._contactPoint));
+    obj.setProperty("contactPoint", vec3toScriptValue(engine, collision.contactPoint));
     return obj;
 }
 
-void collisionFromScriptValue(const QScriptValue &object, CollisionInfo& collision) {
+void collisionFromScriptValue(const QScriptValue &object, Collision& collision) {
     // TODO: implement this when we know what it means to accept collision events from JS
 }
 

libraries/shared/src/RegisteredMetaTypes.h

@@ -12,11 +12,11 @@
 #ifndef hifi_RegisteredMetaTypes_h
 #define hifi_RegisteredMetaTypes_h
 
-#include <glm/glm.hpp>
-
 #include <QtScript/QScriptEngine>
 
-#include "CollisionInfo.h"
+#include <glm/glm.hpp>
+#include <glm/gtc/quaternion.hpp>
+
 #include "SharedUtil.h"
 
 class QColor;
@@ -53,7 +53,7 @@ void qURLFromScriptValue(const QScriptValue& object, QUrl& url);
 
 class PickRay {
 public:
-    PickRay() : origin(0), direction(0)  { }; 
+    PickRay() : origin(0.0f), direction(0.0f)  { } 
     glm::vec3 origin;
     glm::vec3 direction;
 };
@@ -61,9 +61,15 @@ Q_DECLARE_METATYPE(PickRay)
 QScriptValue pickRayToScriptValue(QScriptEngine* engine, const PickRay& pickRay);
 void pickRayFromScriptValue(const QScriptValue& object, PickRay& pickRay);
 
-Q_DECLARE_METATYPE(CollisionInfo)
+class Collision {
-QScriptValue collisionToScriptValue(QScriptEngine* engine, const CollisionInfo& collision);
+public:
-void collisionFromScriptValue(const QScriptValue &object, CollisionInfo& collision);
+    Collision() : contactPoint(0.0f), penetration(0.0f) { }
+    glm::vec3 contactPoint;
+    glm::vec3 penetration;
+};
+Q_DECLARE_METATYPE(Collision)
+QScriptValue collisionToScriptValue(QScriptEngine* engine, const Collision& collision);
+void collisionFromScriptValue(const QScriptValue &object, Collision& collision);
 
 //Q_DECLARE_METATYPE(QUuid) // don't need to do this for QUuid since it's already a meta type
 QScriptValue quuidToScriptValue(QScriptEngine* engine, const QUuid& uuid);

tests/octree/CMakeLists.txt

@@ -5,6 +5,6 @@ setup_hifi_project(Script Network)
 include_glm()
 
 # link in the shared libraries
-link_hifi_libraries(shared octree voxels fbx metavoxels networking entities avatars audio animation script-engine)
+link_hifi_libraries(shared octree voxels fbx metavoxels networking entities avatars audio animation script-engine physics)
 
 link_shared_dependencies()

tests/physics/CMakeLists.txt

@@ -5,6 +5,6 @@ setup_hifi_project()
 include_glm()
 
 # link in the shared libraries
-link_hifi_libraries(shared)
+link_hifi_libraries(shared physics)
 
 link_shared_dependencies()