diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp index bcd35a1ce2..b28dd08663 100644 --- a/interface/src/avatar/SkeletonModel.cpp +++ b/interface/src/avatar/SkeletonModel.cpp @@ -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(); diff --git a/libraries/shared/src/PhysicsEntity.cpp b/libraries/shared/src/PhysicsEntity.cpp index 03d36c1c99..2955192fbf 100644 --- a/libraries/shared/src/PhysicsEntity.cpp +++ b/libraries/shared/src/PhysicsEntity.cpp @@ -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(); + } + } + } +} diff --git a/libraries/shared/src/PhysicsEntity.h b/libraries/shared/src/PhysicsEntity.h index e52ea1da23..4d2e0ae889 100644 --- a/libraries/shared/src/PhysicsEntity.h +++ b/libraries/shared/src/PhysicsEntity.h @@ -13,6 +13,7 @@ #define hifi_PhysicsEntity_h #include +#include #include #include @@ -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 _shapes; + QSet _disabledCollisions; private: // PhysicsSimulation is a friend so that it can set the protected _simulation backpointer diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp index 984d0b8fea..09e59b7b84 100644 --- a/libraries/shared/src/PhysicsSimulation.cpp +++ b/libraries/shared/src/PhysicsSimulation.cpp @@ -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 collidedEntities; int numEntities = _entities.size(); for (int i = 0; i < numEntities; ++i) { - const QVector shapes = _entities.at(i)->getShapes(); + PhysicsEntity* entity = _entities.at(i); + const QVector 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); } }