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remove all contact info before removing objects

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This commit is contained in:
Andrew Meadows 2016-02-09 11:32:58 -08:00
parent 618712538a
commit 532f0683e8
2 changed files with 29 additions and 20 deletions
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42
libraries/physics/src/PhysicsEngine.cpp
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@ -136,23 +136,19 @@ void PhysicsEngine::addObjectToDynamicsWorld(ObjectMotionState* motionState) {
motionState->clearIncomingDirtyFlags();
}
// private
void PhysicsEngine::removeObjectFromDynamicsWorld(ObjectMotionState* object) {
// wake up anything touching this object
bump(object);
removeContacts(object);
btRigidBody* body = object->getRigidBody();
assert(body);
_dynamicsWorld->removeRigidBody(body);
}
void PhysicsEngine::removeObjects(const VectorOfMotionStates& objects) {
// first bump and prune contacts for all objects in the list
for (auto object : objects) {
removeObjectFromDynamicsWorld(object);
bumpAndPruneContacts(object);
}
// then remove them
for (auto object : objects) {
btRigidBody* body = object->getRigidBody();
assert(body);
_dynamicsWorld->removeRigidBody(body);
// NOTE: setRigidBody() modifies body->m_userPointer so we should clear the MotionState's body BEFORE deleting it.
btRigidBody* body = object->getRigidBody();
object->setRigidBody(nullptr);
body->setMotionState(nullptr);
delete body;
@ -163,7 +159,8 @@ void PhysicsEngine::removeObjects(const VectorOfMotionStates& objects) {
void PhysicsEngine::removeObjects(const SetOfMotionStates& objects) {
for (auto object : objects) {
btRigidBody* body = object->getRigidBody();
removeObjectFromDynamicsWorld(object);
assert(body);
_dynamicsWorld->removeRigidBody(body);
// NOTE: setRigidBody() modifies body->m_userPointer so we should clear the MotionState's body BEFORE deleting it.
object->setRigidBody(nullptr);
@ -200,7 +197,13 @@ VectorOfMotionStates PhysicsEngine::changeObjects(const VectorOfMotionStates& ob
}
void PhysicsEngine::reinsertObject(ObjectMotionState* object) {
removeObjectFromDynamicsWorld(object);
// remove object from DynamicsWorld
bumpAndPruneContacts(object);
btRigidBody* body = object->getRigidBody();
assert(body);
_dynamicsWorld->removeRigidBody(body);
// add it back
addObjectToDynamicsWorld(object);
}
@ -402,13 +405,14 @@ void PhysicsEngine::dumpStatsIfNecessary() {
// CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
// CF_DISABLE_SPU_COLLISION_PROCESSING = 64//disable parallel/SPU processing
void PhysicsEngine::bump(ObjectMotionState* motionState) {
void PhysicsEngine::bumpAndPruneContacts(ObjectMotionState* motionState) {
// Find all objects that touch the object corresponding to motionState and flag the other objects
// for simulation ownership by the local simulation.
assert(motionState);
btCollisionObject* object = motionState->getRigidBody();
std::vector<btPersistentManifold*> staleManifolds;
int numManifolds = _collisionDispatcher->getNumManifolds();
for (int i = 0; i < numManifolds; ++i) {
btPersistentManifold* contactManifold = _collisionDispatcher->getManifoldByIndexInternal(i);
@ -423,6 +427,7 @@ void PhysicsEngine::bump(ObjectMotionState* motionState) {
objectA->setActivationState(ACTIVE_TAG);
}
}
staleManifolds.push_back(contactManifold);
} else if (objectA == object) {
if (!objectB->isStaticOrKinematicObject()) {
ObjectMotionState* motionStateB = static_cast<ObjectMotionState*>(objectB->getUserPointer());
@ -431,9 +436,14 @@ void PhysicsEngine::bump(ObjectMotionState* motionState) {
objectB->setActivationState(ACTIVE_TAG);
}
}
staleManifolds.push_back(contactManifold);
}
}
}
for (auto manifold : staleManifolds) {
_collisionDispatcher->releaseManifold(manifold);
}
removeContacts(motionState);
}
void PhysicsEngine::setCharacterController(CharacterController* character) {

7
libraries/physics/src/PhysicsEngine.h
View file

@ -78,9 +78,6 @@ public:
/// \return position of simulation origin in domain-frame
const glm::vec3& getOriginOffset() const { return _originOffset; }
/// \brief call bump on any objects that touch the object corresponding to motionState
void bump(ObjectMotionState* motionState);
void setCharacterController(CharacterController* character);
void dumpNextStats() { _dumpNextStats = true; }
@ -94,7 +91,9 @@ public:
private:
void addObjectToDynamicsWorld(ObjectMotionState* motionState);
void removeObjectFromDynamicsWorld(ObjectMotionState* motionState);
/// \brief bump any objects that touch this one, then remove contact info
void bumpAndPruneContacts(ObjectMotionState* motionState);
void removeContacts(ObjectMotionState* motionState);