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attempt to remove dynamics associated with a rigid-body before removing the rigid-body

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This commit is contained in:
Seth Alves 2017-04-14 07:06:53 -07:00
parent 52aee63e05
commit f5a5369055
5 changed files with 40 additions and 4 deletions
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4
libraries/physics/src/ObjectConstraint.cpp
View file

@ -19,3 +19,7 @@ ObjectConstraint::ObjectConstraint(EntityDynamicType type, const QUuid& id, Enti
ObjectDynamic(type, id, ownerEntity)
{
}
void ObjectConstraint::invalidate() {
_constraint = nullptr;
}

1
libraries/physics/src/ObjectConstraint.h
View file

@ -24,6 +24,7 @@ public:
virtual btTypedConstraint* getConstraint() = 0;
virtual bool isConstraint() const override { return true; }
virtual void invalidate() override;
protected:
btTypedConstraint* _constraint { nullptr };

4
libraries/physics/src/ObjectDynamic.h
View file

@ -33,6 +33,8 @@ public:
virtual EntityItemWeakPointer getOwnerEntity() const override { return _ownerEntity; }
virtual void setOwnerEntity(const EntityItemPointer ownerEntity) override { _ownerEntity = ownerEntity; }
virtual void invalidate() {};
virtual bool updateArguments(QVariantMap arguments) override;
virtual QVariantMap getArguments() override;
@ -71,4 +73,6 @@ private:
qint64 getEntityServerClockSkew() const;
};
typedef std::shared_ptr<ObjectDynamic> ObjectDynamicPointer;
#endif // hifi_ObjectDynamic_h

32
libraries/physics/src/PhysicsEngine.cpp
View file

@ -142,6 +142,18 @@ void PhysicsEngine::addObjectToDynamicsWorld(ObjectMotionState* motionState) {
motionState->clearIncomingDirtyFlags();
}
QList<EntityDynamicPointer> PhysicsEngine::removeDynamicsForBody(btRigidBody* body) {
// remove dynamics that are attached to this body
QList<EntityDynamicPointer> removedDynamics;
QMutableSetIterator<EntityDynamicPointer> i(_objectDynamicsByBody[body]);
while (i.hasNext()) {
EntityDynamicPointer dynamic = i.next();
removeDynamic(dynamic->getID());
removedDynamics += dynamic;
}
return removedDynamics;
}
void PhysicsEngine::removeObjects(const VectorOfMotionStates& objects) {
// bump and prune contacts for all objects in the list
for (auto object : objects) {
@ -175,6 +187,7 @@ void PhysicsEngine::removeObjects(const VectorOfMotionStates& objects) {
for (auto object : objects) {
btRigidBody* body = object->getRigidBody();
if (body) {
removeDynamicsForBody(body);
_dynamicsWorld->removeRigidBody(body);
// NOTE: setRigidBody() modifies body->m_userPointer so we should clear the MotionState's body BEFORE deleting it.
@ -191,6 +204,7 @@ void PhysicsEngine::removeObjects(const SetOfMotionStates& objects) {
for (auto object : objects) {
btRigidBody* body = object->getRigidBody();
if (body) {
removeDynamicsForBody(body);
_dynamicsWorld->removeRigidBody(body);
// NOTE: setRigidBody() modifies body->m_userPointer so we should clear the MotionState's body BEFORE deleting it.
@ -239,10 +253,17 @@ void PhysicsEngine::reinsertObject(ObjectMotionState* object) {
bumpAndPruneContacts(object);
btRigidBody* body = object->getRigidBody();
if (body) {
QList<EntityDynamicPointer> removedDynamics = removeDynamicsForBody(body);
_dynamicsWorld->removeRigidBody(body);
// add it back
addObjectToDynamicsWorld(object);
foreach(EntityDynamicPointer dynamic, removedDynamics) {
bool success = addDynamic(dynamic);
if (!success) {
qCDebug(physics) << "PhysicsEngine::reinsertObject failed to recreate dynamic";
}
}
}
}
@ -587,7 +608,7 @@ bool PhysicsEngine::addDynamic(EntityDynamicPointer dynamic) {
if (success) {
_objectDynamics[dynamicID] = dynamic;
foreach(btRigidBody* rigidBody, std::static_pointer_cast<ObjectDynamic>(dynamic)->getRigidBodies()) {
_objectDynamicsByBody[rigidBody] = dynamic;
_objectDynamicsByBody[rigidBody] += dynamic;
}
}
return success;
@ -595,7 +616,8 @@ bool PhysicsEngine::addDynamic(EntityDynamicPointer dynamic) {
void PhysicsEngine::removeDynamic(const QUuid dynamicID) {
if (_objectDynamics.contains(dynamicID)) {
EntityDynamicPointer dynamic = _objectDynamics[dynamicID];
ObjectDynamicPointer dynamic = std::static_pointer_cast<ObjectDynamic>(_objectDynamics[dynamicID]);
QList<btRigidBody*> rigidBodies = dynamic->getRigidBodies();
if (dynamic->isAction()) {
ObjectAction* objectAction = static_cast<ObjectAction*>(dynamic.get());
_dynamicsWorld->removeAction(objectAction);
@ -605,10 +627,14 @@ void PhysicsEngine::removeDynamic(const QUuid dynamicID) {
if (constraint) {
_dynamicsWorld->removeConstraint(constraint);
} else {
qDebug() << "PhysicsEngine::removeDynamic of constraint failed"; // XXX
qCDebug(physics) << "PhysicsEngine::removeDynamic of constraint failed";
}
}
_objectDynamics.remove(dynamicID);
foreach(btRigidBody* rigidBody, rigidBodies) {
_objectDynamicsByBody[rigidBody].remove(dynamic);
}
dynamic->invalidate();
}
}

3
libraries/physics/src/PhysicsEngine.h
View file

@ -91,6 +91,7 @@ public:
void forEachDynamic(std::function<void(EntityDynamicPointer)> actor);
private:
QList<EntityDynamicPointer> removeDynamicsForBody(btRigidBody* body);
void addObjectToDynamicsWorld(ObjectMotionState* motionState);
void recursivelyHarvestPerformanceStats(CProfileIterator* profileIterator, QString contextName);
@ -112,7 +113,7 @@ private:
ContactMap _contactMap;
CollisionEvents _collisionEvents;
QHash<QUuid, EntityDynamicPointer> _objectDynamics;
QHash<btRigidBody*, EntityDynamicPointer> _objectDynamicsByBody;
QHash<btRigidBody*, QSet<EntityDynamicPointer>> _objectDynamicsByBody;
std::vector<btRigidBody*> _activeStaticBodies;
glm::vec3 _originOffset;