diff --git a/interface/src/raypick/CollisionPick.cpp b/interface/src/raypick/CollisionPick.cpp index 87c8c91e6d..9f2e6da2e8 100644 --- a/interface/src/raypick/CollisionPick.cpp +++ b/interface/src/raypick/CollisionPick.cpp @@ -12,9 +12,33 @@ #include +#include "PhysicsCollisionGroups.h" #include "ScriptEngineLogging.h" #include "UUIDHasher.h" +PickResultPointer CollisionPickResult::compareAndProcessNewResult(const PickResultPointer& newRes) { + const std::shared_ptr newCollisionResult = std::static_pointer_cast(newRes); + + if (entityIntersections.size()) { + entityIntersections.insert(entityIntersections.cend(), newCollisionResult->entityIntersections.begin(), newCollisionResult->entityIntersections.end()); + } else { + entityIntersections = newCollisionResult->entityIntersections; + } + + if (avatarIntersections.size()) { + avatarIntersections.insert(avatarIntersections.cend(), newCollisionResult->avatarIntersections.begin(), newCollisionResult->avatarIntersections.end()); + } else { + avatarIntersections = newCollisionResult->avatarIntersections; + } + + intersects = entityIntersections.size() || avatarIntersections.size(); + if (newCollisionResult->loadState == LOAD_STATE_NOT_LOADED || loadState == LOAD_STATE_UNKNOWN) { + loadState = (LoadState)newCollisionResult->loadState; + } + + return std::make_shared(*this); +} + void buildObjectIntersectionsMap(IntersectionType intersectionType, const std::vector& objectIntersections, std::unordered_map& intersections, std::unordered_map& collisionPointPairs) { for (auto& objectIntersection : objectIntersections) { auto at = intersections.find(objectIntersection.foundID); @@ -308,20 +332,27 @@ CollisionRegion CollisionPick::getMathematicalPick() const { return _mathPick; } -const std::vector CollisionPick::filterIntersections(const std::vector& intersections) const { - std::vector filteredIntersections; - +void CollisionPick::filterIntersections(std::vector& intersections) const { const QVector& ignoreItems = getIgnoreItems(); const QVector& includeItems = getIncludeItems(); - bool isWhitelist = includeItems.size(); - for (const auto& intersection : intersections) { + bool isWhitelist = !includeItems.empty(); + + if (!isWhitelist && ignoreItems.empty()) { + return; + } + + std::vector filteredIntersections; + + int n = (int)intersections.size(); + for (int i = 0; i < n; i++) { + auto& intersection = intersections[i]; const QUuid& id = intersection.foundID; if (!ignoreItems.contains(id) && (!isWhitelist || includeItems.contains(id))) { filteredIntersections.push_back(intersection); } } - return filteredIntersections; + intersections = filteredIntersections; } PickResultPointer CollisionPick::getEntityIntersection(const CollisionRegion& pick) { @@ -330,7 +361,8 @@ PickResultPointer CollisionPick::getEntityIntersection(const CollisionRegion& pi return std::make_shared(pick.toVariantMap(), CollisionPickResult::LOAD_STATE_NOT_LOADED, std::vector(), std::vector()); } - const auto& entityIntersections = filterIntersections(_physicsEngine->getCollidingInRegion(MOTIONSTATE_TYPE_ENTITY, *pick.shapeInfo, pick.transform)); + auto entityIntersections = _physicsEngine->contactTest(USER_COLLISION_MASK_ENTITIES, *pick.shapeInfo, pick.transform); + filterIntersections(entityIntersections); return std::make_shared(pick, CollisionPickResult::LOAD_STATE_LOADED, entityIntersections, std::vector()); } @@ -343,8 +375,9 @@ PickResultPointer CollisionPick::getAvatarIntersection(const CollisionRegion& pi // Cannot compute result return std::make_shared(pick.toVariantMap(), CollisionPickResult::LOAD_STATE_NOT_LOADED, std::vector(), std::vector()); } - - const auto& avatarIntersections = filterIntersections(_physicsEngine->getCollidingInRegion(MOTIONSTATE_TYPE_AVATAR, *pick.shapeInfo, pick.transform)); + + auto avatarIntersections = _physicsEngine->contactTest(USER_COLLISION_MASK_AVATARS, *pick.shapeInfo, pick.transform); + filterIntersections(avatarIntersections); return std::make_shared(pick, CollisionPickResult::LOAD_STATE_LOADED, std::vector(), avatarIntersections); } diff --git a/interface/src/raypick/CollisionPick.h b/interface/src/raypick/CollisionPick.h index b3a7186893..6631238737 100644 --- a/interface/src/raypick/CollisionPick.h +++ b/interface/src/raypick/CollisionPick.h @@ -49,23 +49,7 @@ public: bool doesIntersect() const override { return intersects; } bool checkOrFilterAgainstMaxDistance(float maxDistance) override { return true; } - PickResultPointer compareAndProcessNewResult(const PickResultPointer& newRes) override { - const std::shared_ptr newCollisionResult = std::static_pointer_cast(newRes); - - for (ContactTestResult& entityIntersection : newCollisionResult->entityIntersections) { - entityIntersections.push_back(entityIntersection); - } - for (ContactTestResult& avatarIntersection : newCollisionResult->avatarIntersections) { - avatarIntersections.push_back(avatarIntersection); - } - - intersects = entityIntersections.size() || avatarIntersections.size(); - if (newCollisionResult->loadState == LOAD_STATE_NOT_LOADED || loadState == LOAD_STATE_UNKNOWN) { - loadState = (LoadState)newCollisionResult->loadState; - } - - return std::make_shared(*this); - } + PickResultPointer compareAndProcessNewResult(const PickResultPointer& newRes) override; }; class CollisionPick : public Pick { @@ -92,7 +76,7 @@ protected: // Returns true if pick.shapeInfo is valid. Otherwise, attempts to get the shapeInfo ready for use. bool isShapeInfoReady(); void computeShapeInfo(CollisionRegion& pick, ShapeInfo& shapeInfo, QSharedPointer resource); - const std::vector filterIntersections(const std::vector& intersections) const; + void filterIntersections(std::vector& intersections) const; CollisionRegion _mathPick; PhysicsEnginePointer _physicsEngine; diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp index 3837cee7a8..163005bc81 100644 --- a/libraries/physics/src/PhysicsEngine.cpp +++ b/libraries/physics/src/PhysicsEngine.cpp @@ -843,9 +843,8 @@ void PhysicsEngine::setShowBulletConstraintLimits(bool value) { } struct AllContactsCallback : public btCollisionWorld::ContactResultCallback { - AllContactsCallback(MotionStateType desiredObjectType, const ShapeInfo& shapeInfo, const Transform& transform, btCollisionObject* myAvatarCollisionObject) : + AllContactsCallback(int32_t mask, int32_t group, const ShapeInfo& shapeInfo, const Transform& transform, btCollisionObject* myAvatarCollisionObject) : btCollisionWorld::ContactResultCallback(), - desiredObjectType(desiredObjectType), collisionObject(), contacts(), myAvatarCollisionObject(myAvatarCollisionObject) { @@ -858,21 +857,19 @@ struct AllContactsCallback : public btCollisionWorld::ContactResultCallback { bulletTransform.setRotation(glmToBullet(transform.getRotation())); collisionObject.setWorldTransform(bulletTransform); + + m_collisionFilterMask = mask; + m_collisionFilterGroup = group; } ~AllContactsCallback() { ObjectMotionState::getShapeManager()->releaseShape(collisionObject.getCollisionShape()); } - MotionStateType desiredObjectType; btCollisionObject collisionObject; std::vector contacts; btCollisionObject* myAvatarCollisionObject; - bool needsCollision(btBroadphaseProxy* proxy) const override { - return true; - } - btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0, int partId0, int index0, const btCollisionObjectWrapper* colObj1, int partId1, int index1) override { const btCollisionObject* otherBody; btVector3 penetrationPoint; @@ -888,7 +885,7 @@ struct AllContactsCallback : public btCollisionWorld::ContactResultCallback { } // TODO: Give MyAvatar a motion state so we don't have to do this - if (desiredObjectType == MOTIONSTATE_TYPE_AVATAR && myAvatarCollisionObject && myAvatarCollisionObject == otherBody) { + if ((m_collisionFilterMask & BULLET_COLLISION_GROUP_MY_AVATAR) && myAvatarCollisionObject && myAvatarCollisionObject == otherBody) { contacts.emplace_back(Physics::getSessionUUID(), bulletToGLM(penetrationPoint), bulletToGLM(otherPenetrationPoint)); return 0; } @@ -900,7 +897,7 @@ struct AllContactsCallback : public btCollisionWorld::ContactResultCallback { const btMotionState* motionStateCandidate = collisionCandidate->getMotionState(); const ObjectMotionState* candidate = dynamic_cast(motionStateCandidate); - if (!candidate || candidate->getType() != desiredObjectType) { + if (!candidate) { return 0; } @@ -916,14 +913,14 @@ protected: } }; -const std::vector PhysicsEngine::getCollidingInRegion(MotionStateType desiredObjectType, const ShapeInfo& regionShapeInfo, const Transform& regionTransform) const { +std::vector PhysicsEngine::contactTest(uint16_t mask, const ShapeInfo& regionShapeInfo, const Transform& regionTransform, uint16_t group) const { // TODO: Give MyAvatar a motion state so we don't have to do this btCollisionObject* myAvatarCollisionObject = nullptr; - if (desiredObjectType == MOTIONSTATE_TYPE_AVATAR && _myAvatarController) { + if ((mask & USER_COLLISION_GROUP_MY_AVATAR) && _myAvatarController) { myAvatarCollisionObject = _myAvatarController->getCollisionObject(); } - auto contactCallback = AllContactsCallback(desiredObjectType, regionShapeInfo, regionTransform, myAvatarCollisionObject); + auto contactCallback = AllContactsCallback((int32_t)mask, (int32_t)group, regionShapeInfo, regionTransform, myAvatarCollisionObject); _dynamicsWorld->contactTest(&contactCallback.collisionObject, contactCallback); return contactCallback.contacts; diff --git a/libraries/physics/src/PhysicsEngine.h b/libraries/physics/src/PhysicsEngine.h index c5ab0cfdee..c6e165632b 100644 --- a/libraries/physics/src/PhysicsEngine.h +++ b/libraries/physics/src/PhysicsEngine.h @@ -125,8 +125,9 @@ public: void setShowBulletConstraints(bool value); void setShowBulletConstraintLimits(bool value); - // Function for getting colliding ObjectMotionStates in the world of specified type - const std::vector getCollidingInRegion(MotionStateType desiredObjectType, const ShapeInfo& regionShapeInfo, const Transform& regionTransform) const; + // Function for getting colliding objects in the world of specified type + // See PhysicsCollisionGroups.h for mask flags. + std::vector contactTest(uint16_t mask, const ShapeInfo& regionShapeInfo, const Transform& regionTransform, uint16_t group = USER_COLLISION_GROUP_DYNAMIC) const; private: QList removeDynamicsForBody(btRigidBody* body); diff --git a/libraries/shared/src/PhysicsCollisionGroups.h b/libraries/shared/src/PhysicsCollisionGroups.h index ef18cb0b0e..cae3918a3f 100644 --- a/libraries/shared/src/PhysicsCollisionGroups.h +++ b/libraries/shared/src/PhysicsCollisionGroups.h @@ -104,6 +104,7 @@ const uint16_t ENTITY_COLLISION_MASK_DEFAULT = USER_COLLISION_GROUP_OTHER_AVATAR; const uint16_t USER_COLLISION_MASK_AVATARS = USER_COLLISION_GROUP_MY_AVATAR | USER_COLLISION_GROUP_OTHER_AVATAR; +const uint16_t USER_COLLISION_MASK_ENTITIES = USER_COLLISION_GROUP_STATIC | USER_COLLISION_GROUP_DYNAMIC | USER_COLLISION_GROUP_KINEMATIC; const int32_t NUM_USER_COLLISION_GROUPS = 5;