initial support for STATIC and KINEMATIC motion

libraries/entities/src/EntityMotionState.cpp

@@ -37,6 +37,13 @@ EntityMotionState::EntityMotionState(EntityItem* entity) : _entity(entity) {
 EntityMotionState::~EntityMotionState() {
 }
 
+MotionType EntityMotionState::getMotionType() const {
+    // HACK: According to EntityTree the meaning of "static" is "not moving" whereas
+    // to Bullet it means "can't move".  For demo purposes we temporarily interpret
+    // Entity::weightless to mean Bullet::static.
+    return _entity->hasGravity() ? MOTION_TYPE_DYNAMIC : MOTION_TYPE_STATIC;
+}
+
 // 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)

libraries/entities/src/EntityMotionState.h

@@ -27,6 +27,8 @@ public:
     EntityMotionState(EntityItem* item);
     virtual ~EntityMotionState();
 
+    MotionType getMotionType() const;
+
     void getWorldTransform (btTransform &worldTrans) const;
     void setWorldTransform (const btTransform &worldTrans);
     void applyVelocities() const;

libraries/entities/src/EntityTree.cpp

@@ -77,9 +77,9 @@ EntityItem* EntityTree::getOrCreateEntityItem(const EntityItemID& entityID, cons
 }
 
 /// Adds a new entity item to the tree
-void EntityTree::addEntityItem(EntityItem* entityItem) {
+void EntityTree::addEntityItem(EntityItem* entity) {
     // You should not call this on existing entities that are already part of the tree! Call updateEntity()
-    EntityItemID entityID = entityItem->getEntityItemID();
+    EntityItemID entityID = entity->getEntityItemID();
     EntityTreeElement* containingElement = getContainingElement(entityID);
     if (containingElement) {
         qDebug() << "UNEXPECTED!!!! don't call addEntityItem() on existing entity items. entityID=" << entityID;
@@ -87,12 +87,15 @@ void EntityTree::addEntityItem(EntityItem* entityItem) {
     }
 
     // Recurse the tree and store the entity in the correct tree element
-    AddEntityOperator theOperator(this, entityItem);
+    AddEntityOperator theOperator(this, entity);
     recurseTreeWithOperator(&theOperator);
 
     // check to see if we need to simulate this entity..
-    // BOOKMARK -- add entity to physics engine here
+    changeEntityState(entity, EntityItem::Static, entity->getSimulationState());
-    changeEntityState(entityItem, EntityItem::Static, entityItem->getSimulationState());
+
+    if (_physicsWorld && !entity->getMotionState()) {
+        addEntityToPhysicsWorld(entity);
+    }
 
     _isDirty = true;
 }
@@ -530,7 +533,7 @@ int EntityTree::processEditPacketData(PacketType packetType, const unsigned char
                     // search for the entity by EntityItemID
                     EntityItem* existingEntity = findEntityByEntityItemID(entityItemID);
                     
-                    // if the entityItem exists, then update it
+                    // if the EntityItem exists, then update it
                     if (existingEntity) {
                         updateEntity(entityItemID, properties);
                         existingEntity->markAsChangedOnServer();
@@ -621,9 +624,6 @@ void EntityTree::changeEntityState(EntityItem* const entity,
 
         case EntityItem::Moving:
             _movingEntities.push_back(entity);
-            if (_physicsWorld && !entity->getMotionState()) {
-                addEntityToPhysicsWorld(entity);
-            }
             break;
 
         case EntityItem::Mortal:
@@ -683,7 +683,11 @@ void EntityTree::updateChangingEntities(quint64 now, QSet<EntityItemID>& entitie
     // TODO: switch these to iterators so we can remove items that get deleted
     for (int i = 0; i < _changingEntities.size(); i++) {
         EntityItem* thisEntity = _changingEntities[i];
-        thisEntity->update(now);
+        EntityMotionState* motionState = thisEntity->getMotionState();
+        if (!motionState) {
+            thisEntity->update(now);
+        }
+
         // always check to see if the lifetime has expired, for immortal entities this is always false
         if (thisEntity->lifetimeHasExpired()) {
             qDebug() << "Lifetime has expired for entity:" << thisEntity->getEntityItemID();

libraries/physics/src/CustomMotionState.cpp

@@ -34,7 +34,8 @@ CustomMotionState::CustomMotionState() :
         _volume(DEFAULT_VOLUME), 
         _friction(DEFAULT_FRICTION), 
         _restitution(DEFAULT_RESTITUTION), 
-        _motionType(MOTION_TYPE_STATIC), 
+        _wasInWorld(false),
+        _motionType(MOTION_TYPE_STATIC),
         _body(NULL) {
 }
 

libraries/physics/src/CustomMotionState.h

@@ -38,7 +38,7 @@ public:
 
     virtual void computeShapeInfo(ShapeInfo& info) = 0;
 
-    MotionType getMotionType() const { return _motionType; }
+    virtual MotionType getMotionType() const { return _motionType; }
 
     void setDensity(float density);
     void setFriction(float friction);
@@ -54,15 +54,16 @@ public:
     void getAngularVelocity(glm::vec3& angularVelocityOut) const;
 
     friend class PhysicsWorld;
-protected:
 
+protected:
     float _density;
     float _volume;
     float _friction;
     float _restitution;
-
+    bool _wasInWorld;
-    // The data members below have NO setters.  They are only changed by a PhysicsWorld instance.
     MotionType _motionType;
+
+    // _body has NO setters -- it is only changed by PhysicsWorld
     btRigidBody* _body;
 };
 

libraries/physics/src/PhysicsWorld.cpp

@@ -23,6 +23,26 @@ void PhysicsWorld::init() {
         _broadphaseFilter = new btDbvtBroadphase();
         _constraintSolver = new btSequentialImpulseConstraintSolver;
         _dynamicsWorld = new btDiscreteDynamicsWorld(_collisionDispatcher, _broadphaseFilter, _constraintSolver, _collisionConfig);
+
+        // TODO: once the initial physics system is working we will set gravity of the world to be zero
+        // and each object will have to specify its own local gravity, or we'll set up gravity zones.
+        //_dynamicsWorld->setGravity(btVector3(0.0f, 0.0f, 0.0f));
+        //
+        // GROUND HACK: In the meantime we add a big planar floor to catch falling objects
+        // NOTE: we don't care about memory leaking groundShape and groundObject --> 
+        // they'll exist until the executable exits.
+        const float halfSide = 200.0f;
+        const float halfHeight = 10.0f;
+
+        btCollisionShape* groundShape = new btBoxShape(btVector3(halfSide, halfHeight, halfSide));
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(halfSide, -halfHeight, halfSide));
+
+        btCollisionObject* groundObject = new btCollisionObject();
+        groundObject->setCollisionShape(groundShape);
+        groundObject->setWorldTransform(groundTransform);
+        _dynamicsWorld->addCollisionObject(groundObject);
     }
 }
 
@@ -93,19 +113,103 @@ bool PhysicsWorld::removeVoxel(const glm::vec3& position, float scale) {
     return false;
 }
 
+// Bullet collision flags are as follows:
+// CF_STATIC_OBJECT= 1,
+// CF_KINEMATIC_OBJECT= 2,
+// CF_NO_CONTACT_RESPONSE = 4,
+// CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
+// CF_CHARACTER_OBJECT = 16,
+// CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
+// CF_DISABLE_SPU_COLLISION_PROCESSING = 64//disable parallel/SPU processing
+
 bool PhysicsWorld::addEntity(CustomMotionState* motionState) {
     assert(motionState);
     ShapeInfo info;
     motionState->computeShapeInfo(info);
     btCollisionShape* shape = _shapeManager.getShape(info);
     if (shape) {
-        btVector3 inertia;
+        btVector3 inertia(0.0f, 0.0f, 0.0f);
-        float mass = motionState->getMass();
+        float mass = 0.0f;
-        shape->calculateLocalInertia(mass, inertia);
+        btRigidBody* body = NULL;
-        btRigidBody* body = new btRigidBody(mass, motionState, shape, inertia);
+        switch(motionState->_motionType) {
-        motionState->_body = body;
+            case MOTION_TYPE_KINEMATIC: {
-        motionState->applyVelocities();
+                body = new btRigidBody(mass, motionState, shape, inertia);
-        // TODO: set dynamic/kinematic/static property from data stored in motionState
+                body->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
+                body->setActivationState(DISABLE_DEACTIVATION);
+                body->updateInertiaTensor();
+                motionState->_body = body;
+                break;
+            }
+            case MOTION_TYPE_DYNAMIC: {
+                mass = motionState->getMass();
+                shape->calculateLocalInertia(mass, inertia);
+                body = new btRigidBody(mass, motionState, shape, inertia);
+                body->updateInertiaTensor();
+                motionState->_body = body;
+                motionState->applyVelocities();
+                break;
+            }
+            default: {
+                // MOTION_TYPE_STATIC
+                body = new btRigidBody(mass, motionState, shape, inertia);
+                body->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);
+                body->updateInertiaTensor();
+                motionState->_body = body;
+                break;
+            }
+        }
+        body->setRestitution(motionState->_restitution);
+        body->setFriction(motionState->_friction);
+        _dynamicsWorld->addRigidBody(body);
+        return true;
+    }
+    return false;
+}
+
+bool PhysicsWorld::updateEntityMotionType(CustomMotionState* motionState) {
+    btRigidBody* body = motionState->_body;
+    if (!body) {
+        return false;
+    }
+   
+    MotionType oldType = MOTION_TYPE_DYNAMIC;
+    if (body->isStaticObject()) {
+        oldType = MOTION_TYPE_STATIC;
+    } else if (body->isKinematicObject()) {
+        oldType = MOTION_TYPE_KINEMATIC;
+    }
+    MotionType newType = motionState->getMotionType();
+    if (oldType != newType) {
+        // pull body out of physics engine
+        _dynamicsWorld->removeRigidBody(body);
+
+        // update various properties and flags
+        switch (newType) {
+            case MOTION_TYPE_KINEMATIC: {
+                body->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
+                body->setActivationState(DISABLE_DEACTIVATION);
+                body->updateInertiaTensor();
+                break;
+            }
+            case MOTION_TYPE_DYNAMIC: {
+                btVector3 inertia(0.0f, 0.0f, 0.0f);
+                float mass = motionState->getMass();
+                body->getCollisionShape()->calculateLocalInertia(mass, inertia);
+                body->updateInertiaTensor();
+                motionState->applyVelocities();
+                break;
+            }
+            default: {
+                // MOTION_TYPE_STATIC
+                body->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);
+                body->updateInertiaTensor();
+                break;
+            }
+        }
+
+        // reinsert body into physics engine
+        body->setRestitution(motionState->_restitution);
+        body->setFriction(motionState->_friction);
         _dynamicsWorld->addRigidBody(body);
         return true;
     }

libraries/physics/src/PhysicsWorld.h

@@ -59,11 +59,15 @@ public:
     /// \return true if Voxel removed
     bool removeVoxel(const glm::vec3& position, float scale);
 
-    /// \param info information about collision shapes to create
+    /// \param motionState pointer to Entity's MotionState
     /// \return true if Entity added
     bool addEntity(CustomMotionState* motionState);
 
-    /// \param id UUID of the entity
+    /// \param motionState pointer to Entity's MotionState
+    /// \return true if entity updated
+    bool updateEntityMotionType(CustomMotionState* motionState);
+
+    /// \param motionState pointer to Entity's MotionState
     /// \return true if Entity removed
     bool removeEntity(CustomMotionState* motionState);