// // PhysicsEngine.h // libraries/physics/src // // Created by Andrew Meadows 2014.10.29 // 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_PhysicsEngine_h #define hifi_PhysicsEngine_h #include #include #include #include #include #include #include "BulletUtil.h" #include "ContactInfo.h" #include "ObjectMotionState.h" #include "ThreadSafeDynamicsWorld.h" #include "ObjectAction.h" #include "ObjectConstraint.h" const float HALF_SIMULATION_EXTENT = 512.0f; // meters class CharacterController; class PhysicsDebugDraw; // simple class for keeping track of contacts class ContactKey { public: ContactKey() = delete; ContactKey(void* a, void* b) : _a(a), _b(b) {} bool operator<(const ContactKey& other) const { return _a < other._a || (_a == other._a && _b < other._b); } bool operator==(const ContactKey& other) const { return _a == other._a && _b == other._b; } void* _a; // ObjectMotionState pointer void* _b; // ObjectMotionState pointer }; using ContactMap = std::map; using CollisionEvents = std::vector; class PhysicsEngine { public: PhysicsEngine(const glm::vec3& offset); ~PhysicsEngine(); void init(); uint32_t getNumSubsteps() const; void removeObjects(const VectorOfMotionStates& objects); void removeSetOfObjects(const SetOfMotionStates& objects); // only called during teardown void addObjects(const VectorOfMotionStates& objects); VectorOfMotionStates changeObjects(const VectorOfMotionStates& objects); void reinsertObject(ObjectMotionState* object); void stepSimulation(); void harvestPerformanceStats(); void printPerformanceStatsToFile(const QString& filename); void updateContactMap(); void doOwnershipInfectionForConstraints(); bool hasOutgoingChanges() const { return _hasOutgoingChanges; } /// \return reference to list of changed MotionStates. The list is only valid until beginning of next simulation loop. const VectorOfMotionStates& getChangedMotionStates(); const VectorOfMotionStates& getDeactivatedMotionStates() const { return _dynamicsWorld->getDeactivatedMotionStates(); } /// \return reference to list of Collision events. The list is only valid until beginning of next simulation loop. const CollisionEvents& getCollisionEvents(); /// \brief prints timings for last frame if stats have been requested. void dumpStatsIfNecessary(); /// \brief saves timings for last frame in filename void saveNextPhysicsStats(QString filename); /// \param offset position of simulation origin in domain-frame void setOriginOffset(const glm::vec3& offset) { _originOffset = offset; } /// \return position of simulation origin in domain-frame const glm::vec3& getOriginOffset() const { return _originOffset; } void setCharacterController(CharacterController* character); void dumpNextStats() { _dumpNextStats = true; } EntityDynamicPointer getDynamicByID(const QUuid& dynamicID) const; bool addDynamic(EntityDynamicPointer dynamic); void removeDynamic(const QUuid dynamicID); void forEachDynamic(std::function actor); void setShowBulletWireframe(bool value); void setShowBulletAABBs(bool value); void setShowBulletContactPoints(bool value); void setShowBulletConstraints(bool value); void setShowBulletConstraintLimits(bool value); private: QList removeDynamicsForBody(btRigidBody* body); void addObjectToDynamicsWorld(ObjectMotionState* motionState); /// \brief bump any objects that touch this one, then remove contact info void bumpAndPruneContacts(ObjectMotionState* motionState); void removeContacts(ObjectMotionState* motionState); void doOwnershipInfection(const btCollisionObject* objectA, const btCollisionObject* objectB); btClock _clock; btDefaultCollisionConfiguration* _collisionConfig = NULL; btCollisionDispatcher* _collisionDispatcher = NULL; btBroadphaseInterface* _broadphaseFilter = NULL; btSequentialImpulseConstraintSolver* _constraintSolver = NULL; ThreadSafeDynamicsWorld* _dynamicsWorld = NULL; btGhostPairCallback* _ghostPairCallback = NULL; std::unique_ptr _physicsDebugDraw; ContactMap _contactMap; CollisionEvents _collisionEvents; QHash _objectDynamics; QHash> _objectDynamicsByBody; std::set _activeStaticBodies; QString _statsFilename; glm::vec3 _originOffset; CharacterController* _myAvatarController; uint32_t _numContactFrames = 0; bool _dumpNextStats { false }; bool _saveNextStats { false }; bool _hasOutgoingChanges { false }; }; typedef std::shared_ptr PhysicsEnginePointer; #endif // hifi_PhysicsEngine_h