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purge EntityCollisionSystem

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Andrew Meadows 2015-01-21 14:16:34 -08:00
parent 1c38b08e8f
commit 1b7074e52a
3 changed files with 0 additions and 356 deletions
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1
interface/src/Application.h
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@ -25,7 +25,6 @@
#include <AbstractScriptingServicesInterface.h>
#include <AbstractViewStateInterface.h>
#include <EntityCollisionSystem.h>
#include <EntityEditPacketSender.h>
#include <EntityTreeRenderer.h>
#include <GeometryCache.h>

297
libraries/entities/src/EntityCollisionSystem.cpp
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//
// EntityCollisionSystem.cpp
// libraries/entities/src
//
// Created by Brad Hefta-Gaub on 9/23/14.
// Copyright 2013-2014 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 <algorithm>
#include <AbstractAudioInterface.h>
#include <AvatarData.h>
#include <CollisionInfo.h>
#include <HeadData.h>
#include <HandData.h>
#include <PerfStat.h>
#include <SphereShape.h>
#include "EntityCollisionSystem.h"
#include "EntityEditPacketSender.h"
#include "EntityItem.h"
#include "EntityTreeElement.h"
#include "EntityTree.h"
const int MAX_COLLISIONS_PER_Entity = 16;
EntityCollisionSystem::EntityCollisionSystem()
: SimpleEntitySimulation(),
_packetSender(NULL),
_avatars(NULL),
_collisions(MAX_COLLISIONS_PER_Entity) {
}
void EntityCollisionSystem::init(EntityEditPacketSender* packetSender,
EntityTree* entities, AvatarHashMap* avatars) {
assert(entities);
setEntityTree(entities);
_packetSender = packetSender;
_avatars = avatars;
}
EntityCollisionSystem::~EntityCollisionSystem() {
}
void EntityCollisionSystem::updateCollisions() {
PerformanceTimer perfTimer("collisions");
assert(_entityTree);
// update all Entities
if (_entityTree->tryLockForWrite()) {
foreach (EntityItem* entity, _movingEntities) {
checkEntity(entity);
}
_entityTree->unlock();
}
}
void EntityCollisionSystem::checkEntity(EntityItem* entity) {
updateCollisionWithEntities(entity);
updateCollisionWithAvatars(entity);
}
void EntityCollisionSystem::updateCollisionWithEntities(EntityItem* entityA) {
if (entityA->getIgnoreForCollisions()) {
return; // bail early if this entity is to be ignored...
}
// don't collide entities with unknown IDs,
if (!entityA->isKnownID()) {
return;
}
glm::vec3 penetration;
EntityItem* entityB = NULL;
const int MAX_COLLISIONS_PER_ENTITY = 32;
CollisionList collisions(MAX_COLLISIONS_PER_ENTITY);
bool shapeCollisionsAccurate = false;
bool shapeCollisions = _entityTree->findShapeCollisions(&entityA->getCollisionShapeInMeters(),
collisions, Octree::NoLock, &shapeCollisionsAccurate);
if (shapeCollisions) {
for(int i = 0; i < collisions.size(); i++) {
CollisionInfo* collision = collisions[i];
penetration = collision->_penetration;
entityB = static_cast<EntityItem*>(collision->_extraData);
// The collision _extraData should be a valid entity, but if for some reason
// it's NULL then continue with a warning.
if (!entityB) {
qDebug() << "UNEXPECTED - we have a collision with missing _extraData. Something went wrong down below!";
continue; // skip this loop pass if the entity is NULL
}
// don't collide entities with unknown IDs,
if (!entityB->isKnownID()) {
continue; // skip this loop pass if the entity has an unknown ID
}
// NOTE: 'penetration' is the depth that 'entityA' overlaps 'entityB'. It points from A into B.
glm::vec3 penetrationInTreeUnits = penetration / (float)(TREE_SCALE);
// Even if the Entities overlap... when the Entities are already moving appart
// we don't want to count this as a collision.
glm::vec3 relativeVelocity = entityA->getVelocity() - entityB->getVelocity();
bool fullyEnclosedCollision = glm::length(penetrationInTreeUnits) > entityA->getLargestDimension();
bool wantToMoveA = entityA->getCollisionsWillMove();
bool wantToMoveB = entityB->getCollisionsWillMove();
bool movingTowardEachOther = glm::dot(relativeVelocity, penetrationInTreeUnits) > 0.0f;
// only do collisions if the entities are moving toward each other and one or the other
// of the entities are movable from collisions
bool doCollisions = !fullyEnclosedCollision && movingTowardEachOther && (wantToMoveA || wantToMoveB);
if (doCollisions) {
quint64 now = usecTimestampNow();
glm::vec3 axis = glm::normalize(penetration);
glm::vec3 axialVelocity = glm::dot(relativeVelocity, axis) * axis;
float massA = entityA->computeMass();
float massB = entityB->computeMass();
float totalMass = massA + massB;
float massRatioA = (2.0f * massB / totalMass);
float massRatioB = (2.0f * massA / totalMass);
// in the event that one of our entities is non-moving, then fix up these ratios
if (wantToMoveA && !wantToMoveB) {
massRatioA = 2.0f;
massRatioB = 0.0f;
}
if (!wantToMoveA && wantToMoveB) {
massRatioA = 0.0f;
massRatioB = 2.0f;
}
// unless the entity is configured to not be moved by collision, calculate it's new position
// and velocity and apply it
if (wantToMoveA) {
// handle Entity A
glm::vec3 newVelocityA = entityA->getVelocity() - axialVelocity * massRatioA;
glm::vec3 newPositionA = entityA->getPosition() - 0.5f * penetrationInTreeUnits;
EntityItemProperties propertiesA = entityA->getProperties();
EntityItemID idA(entityA->getID());
propertiesA.setVelocity(newVelocityA * (float)TREE_SCALE);
propertiesA.setPosition(newPositionA * (float)TREE_SCALE);
propertiesA.setLastEdited(now);
// NOTE: EntityTree::updateEntity() will cause the entity to get sorted correctly in the EntitySimulation,
// thereby waking up static non-moving entities.
_entityTree->updateEntity(entityA, propertiesA);
_packetSender->queueEditEntityMessage(PacketTypeEntityAddOrEdit, idA, propertiesA);
}
// unless the entity is configured to not be moved by collision, calculate it's new position
// and velocity and apply it
if (wantToMoveB) {
glm::vec3 newVelocityB = entityB->getVelocity() + axialVelocity * massRatioB;
glm::vec3 newPositionB = entityB->getPosition() + 0.5f * penetrationInTreeUnits;
EntityItemProperties propertiesB = entityB->getProperties();
EntityItemID idB(entityB->getID());
propertiesB.setVelocity(newVelocityB * (float)TREE_SCALE);
propertiesB.setPosition(newPositionB * (float)TREE_SCALE);
propertiesB.setLastEdited(now);
// NOTE: EntityTree::updateEntity() will cause the entity to get sorted correctly in the EntitySimulation,
// thereby waking up static non-moving entities.
_entityTree->updateEntity(entityB, propertiesB);
_packetSender->queueEditEntityMessage(PacketTypeEntityAddOrEdit, idB, propertiesB);
}
// NOTE: Do this after updating the entities so that the callback can delete the entities if they want to
Collision collision;
collision.penetration = penetration;
collision.contactPoint = (0.5f * (float)TREE_SCALE) * (entityA->getPosition() + entityB->getPosition());
EntityItemID idA = entityA->getEntityItemID();
EntityItemID idB = entityB->getEntityItemID();
emit entityCollisionWithEntity(idA, idB, collision);
}
}
}
}
void EntityCollisionSystem::updateCollisionWithAvatars(EntityItem* entity) {
// Entities that are in hand, don't collide with avatars
if (!_avatars) {
return;
}
if (entity->getIgnoreForCollisions() || !entity->getCollisionsWillMove()) {
return; // bail early if this entity is to be ignored or wont move
}
glm::vec3 center = entity->getPosition() * (float)(TREE_SCALE);
float radius = entity->getRadius() * (float)(TREE_SCALE);
const float ELASTICITY = 0.9f;
const float DAMPING = 0.1f;
glm::vec3 penetration;
_collisions.clear();
foreach (const AvatarSharedPointer& avatarPointer, _avatars->getAvatarHash()) {
AvatarData* avatar = avatarPointer.data();
float totalRadius = avatar->getBoundingRadius() + radius;
glm::vec3 relativePosition = center - avatar->getPosition();
if (glm::dot(relativePosition, relativePosition) > (totalRadius * totalRadius)) {
continue;
}
if (avatar->findSphereCollisions(center, radius, _collisions)) {
int numCollisions = _collisions.size();
for (int i = 0; i < numCollisions; ++i) {
CollisionInfo* collision = _collisions.getCollision(i);
collision->_damping = DAMPING;
collision->_elasticity = ELASTICITY;
collision->_addedVelocity /= (float)(TREE_SCALE);
glm::vec3 relativeVelocity = collision->_addedVelocity - entity->getVelocity();
if (glm::dot(relativeVelocity, collision->_penetration) <= 0.0f) {
// only collide when Entity and collision point are moving toward each other
// (doing this prevents some "collision snagging" when Entity penetrates the object)
collision->_penetration /= (float)(TREE_SCALE);
applyHardCollision(entity, *collision);
}
}
}
}
}
void EntityCollisionSystem::applyHardCollision(EntityItem* entity, const CollisionInfo& collisionInfo) {
// don't collide entities with unknown IDs,
if (!entity->isKnownID()) {
return;
}
// HALTING_* params are determined using expected acceleration of gravity over some timescale.
// This is a HACK for entities that bounce in a 1.0 gravitational field and should eventually be made more universal.
const float HALTING_ENTITY_PERIOD = 0.0167f; // ~1/60th of a second
const float HALTING_ENTITY_SPEED = 9.8 * HALTING_ENTITY_PERIOD / (float)(TREE_SCALE);
//
// Update the entity in response to a hard collision. Position will be reset exactly
// to outside the colliding surface. Velocity will be modified according to elasticity.
//
// if elasticity = 0.0, collision is inelastic (vel normal to collision is lost)
// if elasticity = 1.0, collision is 100% elastic.
//
glm::vec3 position = entity->getPosition();
glm::vec3 velocity = entity->getVelocity();
const float EPSILON = 0.0f;
glm::vec3 relativeVelocity = collisionInfo._addedVelocity - velocity;
float velocityDotPenetration = glm::dot(relativeVelocity, collisionInfo._penetration);
if (velocityDotPenetration < EPSILON) {
// entity is moving into collision surface
//
// TODO: do something smarter here by comparing the mass of the entity vs that of the other thing
// (other's mass could be stored in the Collision Info). The smaller mass should surrender more
// position offset and should slave more to the other's velocity in the static-friction case.
position -= collisionInfo._penetration;
if (glm::length(relativeVelocity) < HALTING_ENTITY_SPEED) {
// static friction kicks in and entities moves with colliding object
velocity = collisionInfo._addedVelocity;
} else {
glm::vec3 direction = glm::normalize(collisionInfo._penetration);
velocity += glm::dot(relativeVelocity, direction) * (1.0f + collisionInfo._elasticity) * direction; // dynamic reflection
velocity += glm::clamp(collisionInfo._damping, 0.0f, 1.0f) * (relativeVelocity - glm::dot(relativeVelocity, direction) * direction); // dynamic friction
}
}
EntityItemProperties properties = entity->getProperties();
EntityItemID entityItemID(entity->getID());
properties.setPosition(position * (float)TREE_SCALE);
properties.setVelocity(velocity * (float)TREE_SCALE);
properties.setLastEdited(usecTimestampNow());
_entityTree->updateEntity(entity, properties);
_packetSender->queueEditEntityMessage(PacketTypeEntityAddOrEdit, entityItemID, properties);
}

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libraries/entities/src/EntityCollisionSystem.h
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//
// EntityCollisionSystem.h
// libraries/entities/src
//
// Created by Brad Hefta-Gaub on 9/23/14.
// Copyright 2013-2014 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_EntityCollisionSystem_h
#define hifi_EntityCollisionSystem_h
#include <glm/glm.hpp>
#include <stdint.h>
#include <QtScript/QScriptEngine>
#include <QtCore/QObject>
#include <AvatarHashMap.h>
#include <CollisionInfo.h>
#include <OctreePacketData.h>
#include <SharedUtil.h>
#include "EntityItem.h"
#include "SimpleEntitySimulation.h"
class AbstractAudioInterface;
class AvatarData;
class EntityEditPacketSender;
class EntityTree;
class EntityCollisionSystem : public SimpleEntitySimulation {
public:
EntityCollisionSystem();
void init(EntityEditPacketSender* packetSender, EntityTree* entities, AvatarHashMap* _avatars = NULL);
~EntityCollisionSystem();
void updateCollisions();
void checkEntity(EntityItem* Entity);
void updateCollisionWithEntities(EntityItem* Entity);
void updateCollisionWithAvatars(EntityItem* Entity);
private:
void applyHardCollision(EntityItem* entity, const CollisionInfo& collisionInfo);
static bool updateOperation(OctreeElement* element, void* extraData);
EntityEditPacketSender* _packetSender;
AvatarHashMap* _avatars;
CollisionList _collisions;
};
#endif // hifi_EntityCollisionSystem_h