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Splitting Bullet stuff out of ShapeInfo

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This commit is contained in:
Andrew Meadows 2014-12-01 16:47:33 -08:00
parent 1df6c32a4e
commit 8aba2a06e0
7 changed files with 145 additions and 105 deletions

4
libraries/physics/src/PhysicsEngine.cpp
View file

@ -12,6 +12,8 @@
#include "PhysicsEngine.h"
#ifdef USE_BULLET_PHYSICS
#include "ShapeInfoUtil.h"
PhysicsEngine::~PhysicsEngine() {
}
@ -176,7 +178,7 @@ bool PhysicsEngine::removeObject(CustomMotionState* motionState) {
if (body) {
const btCollisionShape* shape = body->getCollisionShape();
ShapeInfo info;
info.collectInfo(shape);
ShapeInfoUtil::collectInfoFromShape(shape, info);
_dynamicsWorld->removeRigidBody(body);
_shapeManager.releaseShape(info);
delete body;

94
libraries/physics/src/ShapeInfo.cpp
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@ -12,7 +12,6 @@
#ifdef USE_BULLET_PHYSICS
#include <math.h>
#include <btBulletDynamicsCommon.h>
#include <SharedUtil.h> // for MILLIMETERS_PER_METER
@ -20,46 +19,7 @@
#include "DoubleHashKey.h"
#include "ShapeInfo.h"
void ShapeInfo::collectInfo(const btCollisionShape* shape) {
_data.clear();
if (shape) {
_type = (unsigned int)(shape->getShapeType());
switch(_type) {
case BOX_SHAPE_PROXYTYPE:
{
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
_data.push_back(boxShape->getHalfExtentsWithMargin());
}
break;
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
_data.push_back(btVector3(0.0f, 0.0f, sphereShape->getRadius()));
}
break;
case CYLINDER_SHAPE_PROXYTYPE:
{
const btCylinderShape* cylinderShape = static_cast<const btCylinderShape*>(shape);
_data.push_back(cylinderShape->getHalfExtentsWithMargin());
}
break;
case CAPSULE_SHAPE_PROXYTYPE:
{
const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
_data.push_back(btVector3(capsuleShape->getRadius(), capsuleShape->getHalfHeight(), 0.0f));
// NOTE: we only support capsules with axis along yAxis
}
break;
default:
_type = INVALID_SHAPE_PROXYTYPE;
break;
}
} else {
_type = INVALID_SHAPE_PROXYTYPE;
}
}
void ShapeInfo::setBox(const btVector3& halfExtents) {
void ShapeInfo::setBox(const glm::vec3& halfExtents) {
_type = BOX_SHAPE_PROXYTYPE;
_data.clear();
_data.push_back(halfExtents);
@ -68,29 +28,26 @@ void ShapeInfo::setBox(const btVector3& halfExtents) {
void ShapeInfo::setBox(const glm::vec3& halfExtents) {
_type = BOX_SHAPE_PROXYTYPE;
_data.clear();
btVector3 bulletHalfExtents;
glmToBullet(halfExtents, bulletHalfExtents);
_data.push_back(bulletHalfExtents);
}
void ShapeInfo::setSphere(float radius) {
_type = SPHERE_SHAPE_PROXYTYPE;
_data.clear();
_data.push_back(btVector3(0.0f, 0.0f, radius));
_data.push_back(glm::vec3(0.0f, 0.0f, radius));
}
void ShapeInfo::setCylinder(float radius, float height) {
_type = CYLINDER_SHAPE_PROXYTYPE;
_data.clear();
// NOTE: default cylinder has (UpAxis = 1) axis along yAxis and radius stored in X
// halfExtents = btVector3(radius, halfHeight, unused)
_data.push_back(btVector3(radius, 0.5f * height, radius));
_data.push_back(glm::vec3btVector3(radius, 0.5f * height, radius));
}
void ShapeInfo::setCapsule(float radius, float height) {
_type = CAPSULE_SHAPE_PROXYTYPE;
_data.clear();
_data.push_back(btVector3(radius, 0.5f * height, 0.0f));
_data.push_back(glm::vec3(radius, 0.5f * height, 0.0f));
}
int ShapeInfo::computeHash() const {
@ -99,7 +56,7 @@ int ShapeInfo::computeHash() const {
int primeIndex = 0;
unsigned int hash = DoubleHashKey::hashFunction((unsigned int)_type, primeIndex++);
btVector3 tmpData;
glm::vec3 tmpData;
int numData = _data.size();
for (int i = 0; i < numData; ++i) {
tmpData = _data[i];
@ -119,7 +76,7 @@ int ShapeInfo::computeHash2() const {
// TODO?: provide lookup table for hash of _type?
unsigned int hash = DoubleHashKey::hashFunction2((unsigned int)_type);
btVector3 tmpData;
glm::vec3 tmpData;
int numData = _data.size();
for (int i = 0; i < numData; ++i) {
tmpData = _data[i];
@ -139,43 +96,4 @@ int ShapeInfo::computeHash2() const {
return hash;
}
btCollisionShape* ShapeInfo::createShape() const {
btCollisionShape* shape = NULL;
int numData = _data.size();
switch(_type) {
case BOX_SHAPE_PROXYTYPE: {
if (numData > 0) {
btVector3 halfExtents = _data[0];
shape = new btBoxShape(halfExtents);
}
}
break;
case SPHERE_SHAPE_PROXYTYPE: {
if (numData > 0) {
float radius = _data[0].getZ();
shape = new btSphereShape(radius);
}
}
break;
case CYLINDER_SHAPE_PROXYTYPE: {
if (numData > 0) {
btVector3 halfExtents = _data[0];
// NOTE: default cylinder has (UpAxis = 1) axis along yAxis and radius stored in X
// halfExtents = btVector3(radius, halfHeight, unused)
shape = new btCylinderShape(halfExtents);
}
}
break;
case CAPSULE_SHAPE_PROXYTYPE: {
if (numData > 0) {
float radius = _data[0].getX();
float height = 2.0f * _data[0].getY();
shape = new btCapsuleShape(radius, height);
}
}
break;
}
return shape;
}
#endif // USE_BULLET_PHYSICS

15
libraries/physics/src/ShapeInfo.h
View file

@ -14,19 +14,14 @@
#ifdef USE_BULLET_PHYSICS
#include <btBulletDynamicsCommon.h>
#include <LinearMath/btHashMap.h>
//#include <btBulletDynamicsCommon.h>
#include <QVector>
#include <glm/glm.hpp>
class ShapeInfo {
public:
ShapeInfo() : _type(INVALID_SHAPE_PROXYTYPE) {}
ShapeInfo(const btCollisionShape* shape) : _type(INVALID_SHAPE_PROXYTYPE) {
collectInfo(shape);
}
void collectInfo(const btCollisionShape* shape);
void setBox(const btVector3& halfExtents);
void setBox(const glm::vec3& halfExtents);
@ -37,12 +32,10 @@ public:
int computeHash() const;
int computeHash2() const;
btCollisionShape* createShape() const;
private:
int _type;
btAlignedObjectArray<btVector3> _data;
QVector<glm::vec3> _data;
};
#endif // USE_BULLET_PHYSICS
#endif // hifi_ShapeInfo_h

94
libraries/physics/src/ShapeInfoUtil.cpp Normal file
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@ -0,0 +1,94 @@
//
// ShapeInfoUtil.cpp
// libraries/physcis/src
//
// Created by Andrew Meadows 2014.12.01
// 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 "ShapeInfoUtil.h"
#ifdef USE_BULLET_PHYSICS
void ShapeInfoUtil::collectInfoFromShape(const btCollisionShape* shape, ShapeInfo& info) {
info._data.clear();
if (shape) {
info._type = (unsigned int)(shape->getShapeType());
switch(_type) {
case BOX_SHAPE_PROXYTYPE:
{
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
info._data.push_back(boxShape->getHalfExtentsWithMargin());
}
break;
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
info._data.push_back(btVector3(0.0f, 0.0f, sphereShape->getRadius()));
}
break;
case CYLINDER_SHAPE_PROXYTYPE:
{
const btCylinderShape* cylinderShape = static_cast<const btCylinderShape*>(shape);
info._data.push_back(cylinderShape->getHalfExtentsWithMargin());
}
break;
case CAPSULE_SHAPE_PROXYTYPE:
{
const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
info._data.push_back(btVector3(capsuleShape->getRadius(), capsuleShape->getHalfHeight(), 0.0f));
// NOTE: we only support capsules with axis along yAxis
}
break;
default:
info._type = INVALID_SHAPE_PROXYTYPE;
break;
}
} else {
info._type = INVALID_SHAPE_PROXYTYPE;
}
}
btCollisionShape* ShapeInfoUtil::createShape(const ShapeInfo& info) {
btCollisionShape* shape = NULL;
int numData = info._data.size();
switch(info._type) {
case BOX_SHAPE_PROXYTYPE: {
if (numData > 0) {
btVector3 halfExtents = info._data[0];
shape = new btBoxShape(halfExtents);
}
}
break;
case SPHERE_SHAPE_PROXYTYPE: {
if (numData > 0) {
float radius = info._data[0].getZ();
shape = new btSphereShape(radius);
}
}
break;
case CYLINDER_SHAPE_PROXYTYPE: {
if (numData > 0) {
btVector3 halfExtents = info._data[0];
// NOTE: default cylinder has (UpAxis = 1) axis along yAxis and radius stored in X
// halfExtents = btVector3(radius, halfHeight, unused)
shape = new btCylinderShape(halfExtents);
}
}
break;
case CAPSULE_SHAPE_PROXYTYPE: {
if (numData > 0) {
float radius = info._data[0].getX();
float height = 2.0f * info._data[0].getY();
shape = new btCapsuleShape(radius, height);
}
}
break;
}
return shape;
}
#endif // USE_BULLET_PHYSICS

31
libraries/physics/src/ShapeInfoUtil.h Normal file
View file

@ -0,0 +1,31 @@
//
// ShapeInfoUtil.h
// libraries/physcis/src
//
// Created by Andrew Meadows 2014.12.01
// 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_ShapeInfoUtil_h
#define hifi_ShapeInfoUtil_h
#ifdef USE_BULLET_PHYSICS
#include <btBulletDynamicsCommon.h>
#include <glm/glm.hpp>
#include <ShapeInfo.h>
// translates between ShapeInfo and btShape
namespace ShapeInfoUtil {
void collectInfoFromShape(const btCollisionShape* shape, ShapeInfo& info);
btCollisionShape* createShapeFromInfo(const ShapeInfo& info);
};
#endif // USE_BULLET_PHYSICS
#endif // hifi_ShapeInfoUtil_h

3
libraries/physics/src/ShapeManager.cpp
View file

@ -10,6 +10,7 @@
//
#ifdef USE_BULLET_PHYSICS
#include "ShapeInfoUtil.h"
#include "ShapeManager.h"
ShapeManager::ShapeManager() {
@ -32,7 +33,7 @@ btCollisionShape* ShapeManager::getShape(const ShapeInfo& info) {
shapeRef->_refCount++;
return shapeRef->_shape;
} else {
btCollisionShape* shape = info.createShape();
btCollisionShape* shape = ShapeInfoUtil::createShapeFromInfo(info);
if (shape) {
ShapeReference newRef;
newRef._refCount = 1;

9
tests/physics/src/ShapeManagerTests.cpp
View file

@ -10,6 +10,7 @@
//
#include <iostream>
#include <ShapeInfoUtil.h>
#include <ShapeManager.h>
#include <StreamUtils.h>
@ -163,7 +164,7 @@ void ShapeManagerTests::addBoxShape() {
btCollisionShape* shape = shapeManager.getShape(info);
ShapeInfo otherInfo;
otherInfo.collectInfo(shape);
collectInfoFromShape(shape, otherInfo);
btCollisionShape* otherShape = shapeManager.getShape(otherInfo);
if (shape != otherShape) {
@ -183,7 +184,7 @@ void ShapeManagerTests::addSphereShape() {
btCollisionShape* shape = shapeManager.getShape(info);
ShapeInfo otherInfo;
otherInfo.collectInfo(shape);
collectInfoFromShape(shape, otherInfo);
btCollisionShape* otherShape = shapeManager.getShape(otherInfo);
if (shape != otherShape) {
@ -204,7 +205,7 @@ void ShapeManagerTests::addCylinderShape() {
btCollisionShape* shape = shapeManager.getShape(info);
ShapeInfo otherInfo;
otherInfo.collectInfo(shape);
collectInfoFromShape(shape, otherInfo);
btCollisionShape* otherShape = shapeManager.getShape(otherInfo);
if (shape != otherShape) {
@ -225,7 +226,7 @@ void ShapeManagerTests::addCapsuleShape() {
btCollisionShape* shape = shapeManager.getShape(info);
ShapeInfo otherInfo;
otherInfo.collectInfo(shape);
collectInfoFromShape(shape, otherInfo);
btCollisionShape* otherShape = shapeManager.getShape(otherInfo);
if (shape != otherShape) {