remake foundation for CollisionEvents

interface/src/Application.cpp

@@ -2386,6 +2386,7 @@ void Application::update(float deltaTime) {
 
         if (_physicsEngine.hasOutgoingChanges()) {
             _entitySimulation.handleOutgoingChanges(_physicsEngine.getOutgoingChanges());
+            _entitySimulation.handleCollisionEvents(_physicsEngine.getCollisionEvents());
             _physicsEngine.dumpStatsIfNecessary();
         }
     }

libraries/physics/src/PhysicalEntitySimulation.cpp

@@ -11,7 +11,6 @@
 
 #include "EntityMotionState.h"
 #include "PhysicalEntitySimulation.h"
-#include "PhysicsEngine.h"
 #include "PhysicsHelpers.h"
 #include "PhysicsLogging.h"
 #include "ShapeInfoUtil.h"
@@ -189,6 +188,7 @@ void PhysicalEntitySimulation::handleOutgoingChanges(VectorOfMotionStates& motio
     }
 }
 
-void PhysicalEntitySimulation::bump(EntityItem* bumpEntity) {
+void PhysicalEntitySimulation::handleCollisionEvents(CollisionEvents& collisionEvents) {
+    // BOOKMARK TODO: emit events 
 }
 

libraries/physics/src/PhysicalEntitySimulation.h

@@ -20,10 +20,10 @@
 #include <EntityItem.h>
 #include <EntitySimulation.h>
 
+#include "PhysicsEngine.h"
 #include "PhysicsTypedefs.h"
 
 class EntityMotionState;
-class PhysicsEngine;
 class ShapeManager;
 
 class PhysicalEntitySimulation :public EntitySimulation {
@@ -47,10 +47,9 @@ public:
     VectorOfMotionStates& getObjectsToChange();
 
     void handleOutgoingChanges(VectorOfMotionStates& motionStates);
+    void handleCollisionEvents(CollisionEvents& collisionEvents);
 
 private:
-    void bump(EntityItem* bumpEntity);
-
     // incoming changes
     SetOfEntities _pendingRemoves; // entities to be removed from PhysicsEngine (and their MotionState deleted)
     SetOfEntities _pendingAdds; // entities to be be added to PhysicsEngine (and a their MotionState created)

libraries/physics/src/PhysicsEngine.cpp

@@ -237,12 +237,13 @@ void PhysicsEngine::stepSimulation() {
         if (_characterController) {
             _characterController->postSimulation();
         }
-        computeCollisionEvents();
+        updateContactMap();
         _hasOutgoingChanges = true;
     }
 }
 
 void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const btCollisionObject* objectB) {
+    // BOOKMARK TODO: move this to PhysicalEntitySimulation
     BT_PROFILE("ownershipInfection");
     if (_sessionID.isNull()) {
         return;
@@ -263,8 +264,9 @@ void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const
     }
 }
 
-void PhysicsEngine::computeCollisionEvents() {
-    BT_PROFILE("computeCollisionEvents");
+void PhysicsEngine::updateContactMap() {
+    BT_PROFILE("updateContactMap");
+    ++_numContactFrames;
 
     // update all contacts every frame
     int numManifolds = _collisionDispatcher->getNumManifolds();
@@ -292,39 +294,31 @@ void PhysicsEngine::computeCollisionEvents() {
             doOwnershipInfection(objectA, objectB);
         }
     }
-
-    fireCollisionEvents();
-    ++_numContactFrames;
 }
 
-void PhysicsEngine::fireCollisionEvents() {
-    /* TODO: Andrew to make this work for ObjectMotionStates
+CollisionEvents& PhysicsEngine::getCollisionEvents() {
     const uint32_t CONTINUE_EVENT_FILTER_FREQUENCY = 10;
+    _collisionEvents.clear();
 
     // scan known contacts and trigger events
     ContactMap::iterator contactItr = _contactMap.begin();
 
     while (contactItr != _contactMap.end()) {
+        ContactEventType type = contactItr->second.computeType(_numContactFrames);
+        if(type != CONTACT_EVENT_TYPE_CONTINUE || _numSubsteps % CONTINUE_EVENT_FILTER_FREQUENCY == 0) {
             ObjectMotionState* A = static_cast<ObjectMotionState*>(contactItr->first._a);
             ObjectMotionState* B = static_cast<ObjectMotionState*>(contactItr->first._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.
-        // TODO: enable scripts to filter based on contact event type
-        ContactEventType type = contactItr->second.computeType(_numContactFrames);
-        if(type != CONTACT_EVENT_TYPE_CONTINUE || _numSubsteps % CONTINUE_EVENT_FILTER_FREQUENCY == 0){
             if (A && A->getType() == MOTION_STATE_TYPE_ENTITY) {
-                EntityItemID idA = static_cast<EntityMotionState*>(A)->getEntity()->getEntityItemID();
-                EntityItemID idB;
+                QUuid idA = A->getObjectID();
+                QUuid idB;
                 if (B && B->getType() == MOTION_STATE_TYPE_ENTITY) {
-                    idB = static_cast<EntityMotionState*>(B)->getEntity()->getEntityItemID();
+                    idB = B->getObjectID();
                 }
-                emit entityCollisionWithEntity(idA, idB, contactItr->second);
+                _collisionEvents.push_back(CollisionEvent(type, idA, idB));
             } else if (B && B->getType() == MOTION_STATE_TYPE_ENTITY) {
-                EntityItemID idA;
-                EntityItemID idB = static_cast<EntityMotionState*>(B)->getEntity()->getEntityItemID();
-                emit entityCollisionWithEntity(idA, idB, contactItr->second);
+                QUuid idB = B->getObjectID();
+                _collisionEvents.push_back(CollisionEvent(type, idB, QUuid()));
             }
         }
 
@@ -336,7 +330,7 @@ void PhysicsEngine::fireCollisionEvents() {
             ++contactItr;
         }
     }
-    */
+    return _collisionEvents;
 }
 
 VectorOfMotionStates& PhysicsEngine::getOutgoingChanges() {

libraries/physics/src/PhysicsEngine.h

@@ -41,7 +41,21 @@ public:
 };
 
 typedef std::map<ContactKey, ContactInfo> ContactMap;
-typedef std::pair<ContactKey, ContactInfo> ContactMapElement;
+
+class CollisionEvent {
+public:
+    CollisionEvent() : _type(CONTACT_EVENT_TYPE_START), _idA(), _idB() {}
+    CollisionEvent(ContactEventType type, const QUuid& idA, const QUuid& idB) : _type(type), _idA(idA), _idB(idB) {}
+        
+    ContactEventType _type; // START, CONTINUE, or END
+    QUuid _idA;
+    QUuid _idB;
+    // TODO: add is info to contact callback
+    //glm::vec3 _position; // world-frame
+    //glm::vec3 _normal; // world-frame
+};
+
+typedef QVector<CollisionEvent> CollisionEvents;
 
 class PhysicsEngine {
 public:
@@ -64,11 +78,17 @@ public:
     void reinsertObject(ObjectMotionState* object);
 
     void stepSimulation();
-    void computeCollisionEvents();
-    void fireCollisionEvents();
+    void updateContactMap();
 
     bool hasOutgoingChanges() const { return _hasOutgoingChanges; }
+
+    /// \return reference to list of changed MotionStates.  The list is only valid until beginning of next simulation loop.
     VectorOfMotionStates& getOutgoingChanges();
+
+    /// \return reference to list of CollisionEvent's.  The list is only valid until beginning of next simulation loop.
+    CollisionEvents& getCollisionEvents();
+
+    /// \brief prints timings for last frame if stats have been requested.
     void dumpStatsIfNecessary();
 
     /// \param offset position of simulation origin in domain-frame
@@ -77,6 +97,7 @@ 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 removeRigidBody(btRigidBody* body);
@@ -111,6 +132,7 @@ private:
     bool _hasOutgoingChanges = false;
 
     QUuid _sessionID;
+    CollisionEvents _collisionEvents;
 };
 
 #endif // hifi_PhysicsEngine_h