physics collisions emit script collision events

interface/src/Application.cpp

@@ -192,7 +192,6 @@ Application::Application(int& argc, char** argv, QElapsedTimer &startup_time) :
         _justStarted(true),
         _physicsEngine(glm::vec3(0.0f)),
         _entities(true, this, this),
-        _entityCollisionSystem(),
         _entityClipboardRenderer(false, this, this),
         _entityClipboard(),
         _viewFrustum(),
@@ -1689,17 +1688,16 @@ void Application::init() {
     _entities.init();
     _entities.setViewFrustum(getViewFrustum());
 
-    EntityTree* entityTree = _entities.getTree();
+    EntityTree* tree = _entities.getTree();
-    
+    _physicsEngine.setEntityTree(tree);
-    _entityCollisionSystem.init(&_entityEditSender, entityTree, &_avatarManager);
+    tree->setSimulation(&_physicsEngine);
-    
+    _physicsEngine.init(&_entityEditSender);
-    entityTree->setSimulation(&_entityCollisionSystem);
 
-    connect(&_entityCollisionSystem, &EntityCollisionSystem::entityCollisionWithEntity,
+    connect(&_physicsEngine, &EntitySimulation::emitEntityCollisionWithEntity,
             ScriptEngine::getEntityScriptingInterface(), &EntityScriptingInterface::entityCollisionWithEntity);
 
     // connect the _entityCollisionSystem to our EntityTreeRenderer since that's what handles running entity scripts
-    connect(&_entityCollisionSystem, &EntityCollisionSystem::entityCollisionWithEntity,
+    connect(&_physicsEngine, &EntitySimulation::emitEntityCollisionWithEntity,
             &_entities, &EntityTreeRenderer::entityCollisionWithEntity);
 
     // connect the _entities (EntityTreeRenderer) to our script engine's EntityScriptingInterface for firing
@@ -1723,10 +1721,6 @@ void Application::init() {
     // save settings when avatar changes
     connect(_myAvatar, &MyAvatar::transformChanged, this, &Application::bumpSettings);
 
-    EntityTree* tree = _entities.getTree();
-    _physicsEngine.setEntityTree(tree);
-    tree->setSimulation(&_physicsEngine);
-    _physicsEngine.init(&_entityEditSender);
     // make sure our texture cache knows about window size changes
     DependencyManager::get<TextureCache>()->associateWithWidget(glCanvas.data());
 
@@ -2047,9 +2041,6 @@ void Application::update(float deltaTime) {
         // NOTE: the _entities.update() call below will wait for lock 
         // and will simulate entity motion (the EntityTree has been given an EntitySimulation).  
         _entities.update(); // update the models...
-        // The _entityCollisionSystem.updateCollisions() call below merely tries for lock,
-        // and on failure it skips collision detection.
-        _entityCollisionSystem.updateCollisions(); // collide the entities...
     }
 
     {

interface/src/Application.h

@@ -466,7 +466,6 @@ private:
     PhysicsEngine _physicsEngine;
 
     EntityTreeRenderer _entities;
-    EntityCollisionSystem _entityCollisionSystem;
     EntityTreeRenderer _entityClipboardRenderer;
     EntityTree _entityClipboard;
 

libraries/entities/src/EntityCollisionSystem.cpp

@@ -62,14 +62,6 @@ void EntityCollisionSystem::checkEntity(EntityItem* entity) {
     updateCollisionWithAvatars(entity);
 }
 
-void EntityCollisionSystem::emitGlobalEntityCollisionWithEntity(EntityItem* entityA, 
-                                            EntityItem* entityB, const Collision& collision) {
-                                            
-    EntityItemID idA = entityA->getEntityItemID();
-    EntityItemID idB = entityB->getEntityItemID();
-    emit entityCollisionWithEntity(idA, idB, collision);
-}
-
 void EntityCollisionSystem::updateCollisionWithEntities(EntityItem* entityA) {
 
     if (entityA->getIgnoreForCollisions()) {
@@ -193,7 +185,10 @@ void EntityCollisionSystem::updateCollisionWithEntities(EntityItem* entityA) {
                 Collision collision;
                 collision.penetration = penetration;
                 collision.contactPoint = (0.5f * (float)TREE_SCALE) * (entityA->getPosition() + entityB->getPosition());
-                emitGlobalEntityCollisionWithEntity(entityA, entityB, collision);
+
+                EntityItemID idA = entityA->getEntityItemID();
+                EntityItemID idB = entityB->getEntityItemID();
+                emitEntityCollisionWithEntity(idA, idB, collision);
             }
         }
     }

libraries/entities/src/EntityCollisionSystem.h

@@ -31,8 +31,7 @@ class AvatarData;
 class EntityEditPacketSender;
 class EntityTree;
 
-class EntityCollisionSystem : public QObject, public SimpleEntitySimulation {
+class EntityCollisionSystem : public SimpleEntitySimulation {
-Q_OBJECT
 public:
     EntityCollisionSystem();
 
@@ -45,19 +44,13 @@ public:
     void checkEntity(EntityItem* Entity);
     void updateCollisionWithEntities(EntityItem* Entity);
     void updateCollisionWithAvatars(EntityItem* Entity);
-    void queueEntityPropertiesUpdate(EntityItem* Entity);
-
-signals:
-    void entityCollisionWithEntity(const EntityItemID& idA, const EntityItemID& idB, const Collision& collision);
 
 private:
     void applyHardCollision(EntityItem* entity, const CollisionInfo& collisionInfo);
 
     static bool updateOperation(OctreeElement* element, void* extraData);
-    void emitGlobalEntityCollisionWithEntity(EntityItem* entityA, EntityItem* entityB, const Collision& penetration);
 
     EntityEditPacketSender* _packetSender;
-    AbstractAudioInterface* _audio;
     AvatarHashMap* _avatars;
     CollisionList _collisions;
 };

libraries/entities/src/EntitySimulation.h

@@ -12,6 +12,7 @@
 #ifndef hifi_EntitySimulation_h
 #define hifi_EntitySimulation_h
 
+#include <QtCore/QObject>
 #include <QSet>
 
 #include <PerfStat.h>
@@ -31,7 +32,8 @@ const int DIRTY_SIMULATION_FLAGS =
         EntityItem::DIRTY_LIFETIME |
         EntityItem::DIRTY_UPDATEABLE;
 
-class EntitySimulation {
+class EntitySimulation : public QObject {
+Q_OBJECT
 public:
     EntitySimulation() : _mutex(QMutex::Recursive), _entityTree(NULL) { }
     virtual ~EntitySimulation() { setEntityTree(NULL); }
@@ -61,6 +63,9 @@ public:
 
     EntityTree* getEntityTree() { return _entityTree; }
 
+signals:
+    void emitEntityCollisionWithEntity(const EntityItemID& idA, const EntityItemID& idB, const Collision& collision);
+
 protected:
 
     // These pure virtual methods are protected because they are not to be called will-nilly. The base class

libraries/physics/src/ContactInfo.cpp

@@ -0,0 +1,29 @@
+//
+//  ContactEvent.cpp
+//  libraries/physcis/src
+//
+//  Created by Andrew Meadows 2015.01.20
+//  Copyright 2015 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 "BulletUtil.h"
+#include "ContactInfo.h"
+
+void ContactInfo::update(uint32_t currentStep, btManifoldPoint& p, const glm::vec3& worldOffset) {
+    _lastStep = currentStep;
+    ++_numSteps;
+    contactPoint = bulletToGLM(p.m_positionWorldOnB) + worldOffset;
+    penetration = bulletToGLM(p.m_distance1 * p.m_normalWorldOnB);
+    // TODO: also report normal
+    //_normal = bulletToGLM(p.m_normalWorldOnB);
+}   
+
+ContactEventType ContactInfo::computeType(uint32_t thisStep) {
+    if (_lastStep != thisStep) {
+        return CONTACT_EVENT_TYPE_END;
+    }
+    return (_numSteps == 1) ? CONTACT_EVENT_TYPE_START : CONTACT_EVENT_TYPE_CONTINUE;
+}

libraries/physics/src/ContactInfo.h

@@ -0,0 +1,37 @@
+//
+//  ContactEvent.h
+//  libraries/physcis/src
+//
+//  Created by Andrew Meadows 2015.01.20
+//  Copyright 2015 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_ContactEvent_h
+#define hifi_ContactEvent_h
+
+#include <btBulletDynamicsCommon.h>
+#include <glm/glm.hpp>
+
+#include "RegisteredMetaTypes.h"
+
+enum ContactEventType {
+    CONTACT_EVENT_TYPE_START, 
+    CONTACT_EVENT_TYPE_CONTINUE,
+    CONTACT_EVENT_TYPE_END
+};
+
+class ContactInfo : public Collision
+{       
+public: 
+    void update(uint32_t currentStep, btManifoldPoint& p, const glm::vec3& worldOffset);
+    ContactEventType computeType(uint32_t thisStep);
+private:
+    uint32_t _lastStep = 0;
+    uint32_t _numSteps = 0;
+};  
+
+
+#endif // hifi_ContactEvent_h

libraries/physics/src/EntityMotionState.cpp

@@ -33,6 +33,7 @@ void EntityMotionState::enqueueOutgoingEntity(EntityItem* entity) {
 
 EntityMotionState::EntityMotionState(EntityItem* entity) 
     :   _entity(entity) {
+    _type = MOTION_STATE_TYPE_ENTITY;
     assert(entity != NULL);
 }
 

libraries/physics/src/EntityMotionState.h

@@ -60,6 +60,8 @@ public:
     uint32_t getIncomingDirtyFlags() const;
     void clearIncomingDirtyFlags(uint32_t flags) { _entity->clearDirtyFlags(flags); }
 
+    EntityItem* getEntity() const { return _entity; }
+
 protected:
     EntityItem* _entity;
 };

libraries/physics/src/ObjectMotionState.cpp

@@ -171,14 +171,6 @@ void ObjectMotionState::removeKinematicController() {
     }
 }
 
-void ObjectMotionState::handleContactEvent(ContactEventType type, ObjectMotionState* otherState) {
-    if (type == CONTACT_TYPE_START) {
-        std::cout << "adebug start " << (void*)(this) << " vs " << (void*)(otherState) << std::endl;  // adebug
-    } else if (type == CONTACT_TYPE_END) {
-        std::cout << "adebug end " << (void*)(this) << " vs " << (void*)(otherState) << std::endl;  // adebug
-    }
-}
-
 void ObjectMotionState::setRigidBody(btRigidBody* body) {
     // give the body a (void*) back-pointer to this ObjectMotionState
     if (_body != body) {

libraries/physics/src/ObjectMotionState.h

@@ -26,6 +26,12 @@ enum MotionType {
     MOTION_TYPE_KINEMATIC   // keyframed motion
 };
 
+enum MotionStateType {
+    MOTION_STATE_TYPE_UNKNOWN,
+    MOTION_STATE_TYPE_ENTITY,
+    MOTION_STATE_TYPE_AVATAR
+};
+
 // The update flags trigger two varieties of updates: "hard" which require the body to be pulled 
 // and re-added to the physics engine and "easy" which just updates the body properties.
 const uint32_t HARD_DIRTY_PHYSICS_FLAGS = (uint32_t)(EntityItem::DIRTY_MOTION_TYPE | EntityItem::DIRTY_SHAPE);
@@ -59,6 +65,7 @@ public:
     virtual void updateObjectEasy(uint32_t flags, uint32_t frame) = 0;
     virtual void updateObjectVelocities() = 0;
 
+    MotionStateType getType() const { return _type; }
     virtual MotionType getMotionType() const { return _motionType; }
 
     virtual void computeShapeInfo(ShapeInfo& info) = 0;
@@ -89,14 +96,14 @@ public:
     virtual void addKinematicController() = 0;
     virtual void removeKinematicController();
 
-    virtual void handleContactEvent(ContactEventType type, ObjectMotionState* otherState);
-
     btRigidBody* getRigidBody() const { return _body; }
 
     friend class PhysicsEngine;
 protected:
     void setRigidBody(btRigidBody* body);
 
+    MotionStateType _type = MOTION_STATE_TYPE_UNKNOWN;
+
     // TODO: move these materials properties outside of ObjectMotionState
     float _friction;
     float _restitution;

libraries/physics/src/PhysicsEngine.cpp

@@ -256,8 +256,9 @@ void PhysicsEngine::computeCollisionEvents() {
         
             void* a = objectA->getUserPointer();
             void* b = objectB->getUserPointer();
-            if (a || b ) {
+            if (a || b) {
-				_contactMap[ContactKey(a, b)].update(_numSubsteps);
+                // the manifold has up to 4 distinct points, but only extract info from the first
+				_contactMap[ContactKey(a, b)].update(_numSubsteps, contactManifold->getContactPoint(0), _originOffset);
             }
         }
     }
@@ -265,16 +266,28 @@ void PhysicsEngine::computeCollisionEvents() {
     // scan known contacts and trigger events
 	ContactMap::iterator contactItr = _contactMap.begin();
 	while (contactItr != _contactMap.end()) {
-		ContactEventType type = contactItr->second.computeType(_numSubsteps);
 		ObjectMotionState* A = static_cast<ObjectMotionState*>(contactItr->first._a);
 		ObjectMotionState* B = static_cast<ObjectMotionState*>(contactItr->first._b);
-        if (A) {
+
-            A->handleContactEvent(type, B);
+        // TODO: make triggering these events clean and efficient.  The code at this context shouldn't 
+        // have to figure out what kind of object (entity, avatar, etc) these are in order to properly 
+        // emit a collision event.
+        if (A && A->getType() == MOTION_STATE_TYPE_ENTITY) {
+            EntityItemID idA = static_cast<EntityMotionState*>(A)->getEntity()->getEntityItemID();
+            EntityItemID idB;
+            if (B && B->getType() == MOTION_STATE_TYPE_ENTITY) {
+                idB = static_cast<EntityMotionState*>(B)->getEntity()->getEntityItemID();
+            }
+            emitEntityCollisionWithEntity(idA, idB, contactItr->second);
+        } else if (B && B->getType() == MOTION_STATE_TYPE_ENTITY) {
+            EntityItemID idA;
+            EntityItemID idB = static_cast<EntityMotionState*>(B)->getEntity()->getEntityItemID();
+            emitEntityCollisionWithEntity(idA, idB, contactItr->second);
         }
-        if (B) {
+
-            B->handleContactEvent(type, A);
+        // TODO: enable scripts to filter based on contact event type
-        }
+		ContactEventType type = contactItr->second.computeType(_numSubsteps);
-        if (type == CONTACT_TYPE_END) {
+        if (type == CONTACT_EVENT_TYPE_END) {
 			ContactMap::iterator iterToDelete = contactItr;
 			++contactItr;
 			_contactMap.erase(iterToDelete);

libraries/physics/src/PhysicsEngine.h

@@ -38,11 +38,13 @@ public:
     ContactKey() = delete;
     ContactKey(void* a, void* b) : _a(a), _b(b) {}
     bool operator<(const ContactKey& other) const { return _a < other._a || (_a == other._a && _b < other._b); }
+    bool operator==(const ContactKey& other) const { return _a == other._a && _b == other._b; }
     void* _a;
     void* _b;
 };
 
 typedef std::map<ContactKey, ContactInfo> ContactMap;
+typedef std::pair<ContactKey, ContactInfo> ContactMapElement;
 
 class PhysicsEngine : public EntitySimulation {
 public: