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support disabling collisions btw adjacent joints

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This commit is contained in:
Andrew Meadows 2014-06-19 17:39:50 -07:00
parent f0c2417206
commit 4a0ce7a9ae
4 changed files with 80 additions and 39 deletions
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38
interface/src/avatar/SkeletonModel.cpp
View file

@ -594,10 +594,11 @@ void SkeletonModel::buildShapes() {
// This method moves the shapes to their default positions in Model frame
computeBoundingShape(geometry);
// while the shapes are in their default position we create the constraints
// while the shapes are in their default position...
disableSelfCollisions();
buildRagdollConstraints();
// move shapes back to current joint positions
// ... then move shapes back to current joint positions
moveShapesTowardJoints(1.0f);
}
@ -613,39 +614,6 @@ void SkeletonModel::moveShapesTowardJoints(float fraction) {
}
}
/* TODO: Andrew to remove this when done with ragdoll work.
void SkeletonModel::updateShapePositionsLegacy() {
if (_shapesAreDirty && _shapes.size() == _jointStates.size()) {
glm::vec3 rootPosition(0.0f);
_boundingRadius = 0.0f;
float uniformScale = extractUniformScale(_scale);
for (int i = 0; i < _jointStates.size(); i++) {
const JointState& state = _jointStates[i];
const FBXJoint& joint = state.getFBXJoint();
// shape position and rotation need to be in world-frame
glm::quat stateRotation = state.getRotation();
glm::vec3 shapeOffset = uniformScale * (stateRotation * joint.shapePosition);
glm::vec3 worldPosition = _translation + _rotation * (state.getPosition() + shapeOffset);
Shape* shape = _shapes[i];
if (shape) {
shape->setTranslation(worldPosition);
shape->setRotation(_rotation * stateRotation * joint.shapeRotation);
float distance = glm::distance(worldPosition, _translation) + shape->getBoundingRadius();
if (distance > _boundingRadius) {
_boundingRadius = distance;
}
}
if (joint.parentIndex == -1) {
rootPosition = worldPosition;
}
}
_shapesAreDirty = false;
_boundingShape.setTranslation(rootPosition + _rotation * _boundingShapeLocalOffset);
_boundingShape.setRotation(_rotation);
}
}
*/
void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
// compute default joint transforms
int numJoints = geometry.joints.size();

66
libraries/shared/src/PhysicsEntity.cpp
View file

@ -161,3 +161,69 @@ bool PhysicsEntity::findPlaneCollisions(const glm::vec4& plane, CollisionList& c
}
return collided;
}
// -----------------------------------------------------------
// TODO: enforce this maximum when shapes are built. The gotcha here is that
// the Model class (derived from PhysicsEntity) expects numShapes == numJoints,
// so we have to modify that code to be safe.
const int MAX_SHAPES_PER_ENTITY = 256;
// the first 256 prime numbers
const int primes[256] = {
2, 3, 5, 7, 11, 13, 17, 19, 23, 29,
31, 37, 41, 43, 47, 53, 59, 61, 67, 71,
73, 79, 83, 89, 97, 101, 103, 107, 109, 113,
127, 131, 137, 139, 149, 151, 157, 163, 167, 173,
179, 181, 191, 193, 197, 199, 211, 223, 227, 229,
233, 239, 241, 251, 257, 263, 269, 271, 277, 281,
283, 293, 307, 311, 313, 317, 331, 337, 347, 349,
353, 359, 367, 373, 379, 383, 389, 397, 401, 409,
419, 421, 431, 433, 439, 443, 449, 457, 461, 463,
467, 479, 487, 491, 499, 503, 509, 521, 523, 541,
547, 557, 563, 569, 571, 577, 587, 593, 599, 601,
607, 613, 617, 619, 631, 641, 643, 647, 653, 659,
661, 673, 677, 683, 691, 701, 709, 719, 727, 733,
739, 743, 751, 757, 761, 769, 773, 787, 797, 809,
811, 821, 823, 827, 829, 839, 853, 857, 859, 863,
877, 881, 883, 887, 907, 911, 919, 929, 937, 941,
947, 953, 967, 971, 977, 983, 991, 997, 1009, 1013,
1019, 1021, 1031, 1033, 1039, 1049, 1051, 1061, 1063, 1069,
1087, 1091, 1093, 1097, 1103, 1109, 1117, 1123, 1129, 1151,
1153, 1163, 1171, 1181, 1187, 1193, 1201, 1213, 1217, 1223,
1229, 1231, 1237, 1249, 1259, 1277, 1279, 1283, 1289, 1291,
1297, 1301, 1303, 1307, 1319, 1321, 1327, 1361, 1367, 1373,
1381, 1399, 1409, 1423, 1427, 1429, 1433, 1439, 1447, 1451,
1453, 1459, 1471, 1481, 1483, 1487, 1489, 1493, 1499, 1511,
1523, 1531, 1543, 1549, 1553, 1559, 1567, 1571, 1579, 1583,
1597, 1601, 1607, 1609, 1613, 1619 };
void PhysicsEntity::disableCollisions(int shapeIndexA, int shapeIndexB) {
if (shapeIndexA < MAX_SHAPES_PER_ENTITY && shapeIndexB < MAX_SHAPES_PER_ENTITY) {
_disabledCollisions.insert(primes[shapeIndexA] * primes[shapeIndexB]);
}
}
bool PhysicsEntity::collisionsAreEnabled(int shapeIndexA, int shapeIndexB) const {
if (shapeIndexA < MAX_SHAPES_PER_ENTITY && shapeIndexB < MAX_SHAPES_PER_ENTITY) {
return !_disabledCollisions.contains(primes[shapeIndexA] * primes[shapeIndexB]);
}
return false;
}
void PhysicsEntity::disableSelfCollisions() {
CollisionList collisions(10);
int numShapes = _shapes.size();
for (int i = 0; i < numShapes; ++i) {
const Shape* shape = _shapes.at(i);
if (!shape) {
continue;
}
for (int j = i+1; j < numShapes; ++j) {
const Shape* otherShape = _shapes.at(j);
if (otherShape && ShapeCollider::collideShapes(shape, otherShape, collisions)) {
disableCollisions(i, j);
collisions.clear();
}
}
}
}

7
libraries/shared/src/PhysicsEntity.h
View file

@ -13,6 +13,7 @@
#define hifi_PhysicsEntity_h
#include <QVector>
#include <QSet>
#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
@ -54,6 +55,11 @@ public:
bool findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius, CollisionList& collisions, int skipIndex);
bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
void disableCollisions(int shapeIndexA, int shapeIndexB);
bool collisionsAreEnabled(int shapeIndexA, int shapeIndexB) const;
void disableSelfCollisions();
protected:
glm::vec3 _translation;
glm::quat _rotation;
@ -61,6 +67,7 @@ protected:
bool _shapesAreDirty;
bool _enableShapes;
QVector<Shape*> _shapes;
QSet<int> _disabledCollisions;
private:
// PhysicsSimulation is a friend so that it can set the protected _simulation backpointer

8
libraries/shared/src/PhysicsSimulation.cpp
View file

@ -135,7 +135,7 @@ void PhysicsSimulation::removeRagdoll(Ragdoll* doll) {
// DONE (4) collisions move points (SpecialCapsuleShape would help solve this)
// DONE (5) enforce constraints
// DONE (6) make sure MyAvatar creates shapes, adds to simulation with ragdoll support
// (7) support for pairwise collision bypass
// DONE (7) support for pairwise collision bypass
// (8) process collisions
// (9) add and enforce angular contraints for joints
void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
@ -162,7 +162,8 @@ void PhysicsSimulation::computeCollisions() {
// TODO: keep track of QSet<PhysicsEntity*> collidedEntities;
int numEntities = _entities.size();
for (int i = 0; i < numEntities; ++i) {
const QVector<Shape*> shapes = _entities.at(i)->getShapes();
PhysicsEntity* entity = _entities.at(i);
const QVector<Shape*> shapes = entity->getShapes();
int numShapes = shapes.size();
// collide with self
for (int j = 0; j < numShapes; ++j) {
@ -170,10 +171,9 @@ void PhysicsSimulation::computeCollisions() {
if (!shape) {
continue;
}
// TODO: check for pairwise collision bypass here
for (int k = j+1; k < numShapes; ++k) {
const Shape* otherShape = shapes.at(k);
if (otherShape) {
if (otherShape && entity->collisionsAreEnabled(j, k)) {
ShapeCollider::collideShapes(shape, otherShape, _collisionList);
}
}