overte/libraries/particles/src/ParticleCollisionSystem.cpp

//
//  ParticleCollisionSystem.cpp
//  hifi
//
//  Created by Brad Hefta-Gaub on 12/4/13.
//  Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
//
//

#include <algorithm>
#include <AbstractAudioInterface.h>
#include <VoxelTree.h>
#include <AvatarData.h>
#include <HeadData.h>
#include <HandData.h>

#include "Particle.h"
#include "ParticleCollisionSystem.h"
#include "ParticleEditPacketSender.h"
#include "ParticleTree.h"

ParticleCollisionSystem::ParticleCollisionSystem(ParticleEditPacketSender* packetSender,
    ParticleTree* particles, VoxelTree* voxels, AbstractAudioInterface* audio, AvatarData* selfAvatar) {
    init(packetSender, particles, voxels, audio, selfAvatar);
}

void ParticleCollisionSystem::init(ParticleEditPacketSender* packetSender,
    ParticleTree* particles, VoxelTree* voxels, AbstractAudioInterface* audio, AvatarData* selfAvatar) {
    _packetSender = packetSender;
    _particles = particles;
    _voxels = voxels;
    _audio = audio;
    _selfAvatar = selfAvatar;
}

ParticleCollisionSystem::~ParticleCollisionSystem() {
}

bool ParticleCollisionSystem::updateOperation(OctreeElement* element, void* extraData) {
    ParticleCollisionSystem* system = static_cast<ParticleCollisionSystem*>(extraData);
    ParticleTreeElement* particleTreeElement = static_cast<ParticleTreeElement*>(element);

    // iterate the particles...
    QList<Particle>& particles = particleTreeElement->getParticles();
    uint16_t numberOfParticles = particles.size();
    for (uint16_t i = 0; i < numberOfParticles; i++) {
        Particle* particle = &particles[i];
        system->checkParticle(particle);
    }

    return true;
}


void ParticleCollisionSystem::update() {
    // update all particles
    _particles->lockForWrite();
    _particles->recurseTreeWithOperation(updateOperation, this);
    _particles->unlock();
}


void ParticleCollisionSystem::checkParticle(Particle* particle) {
    updateCollisionWithVoxels(particle);
    updateCollisionWithParticles(particle);
    updateCollisionWithAvatars(particle);
}

void ParticleCollisionSystem::updateCollisionWithVoxels(Particle* particle) {
    glm::vec3 center = particle->getPosition() * (float)(TREE_SCALE);
    float radius = particle->getRadius() * (float)(TREE_SCALE);
    const float ELASTICITY = 0.4f;
    const float DAMPING = 0.05f;
    const float COLLISION_FREQUENCY = 0.5f;
    CollisionInfo collisionInfo;
    VoxelDetail* voxelDetails = NULL;
    if (_voxels->findSpherePenetration(center, radius, collisionInfo._penetration, (void**)&voxelDetails)) {

        // let the particles run their collision scripts if they have them
        particle->collisionWithVoxel(voxelDetails);

        collisionInfo._penetration /= (float)(TREE_SCALE);
        updateCollisionSound(particle, collisionInfo._penetration, COLLISION_FREQUENCY);
        applyHardCollision(particle, ELASTICITY, DAMPING, collisionInfo);

        delete voxelDetails; // cleanup returned details
    }
}

void ParticleCollisionSystem::updateCollisionWithParticles(Particle* particleA) {
    glm::vec3 center = particleA->getPosition() * (float)(TREE_SCALE);
    float radius = particleA->getRadius() * (float)(TREE_SCALE);
    //const float ELASTICITY = 0.4f;
    //const float DAMPING = 0.0f;
    const float COLLISION_FREQUENCY = 0.5f;
    glm::vec3 penetration;
    Particle* particleB;
    if (_particles->findSpherePenetration(center, radius, penetration, (void**)&particleB)) {
        // NOTE: 'penetration' is the depth that 'particleA' overlaps 'particleB'.
        // That is, it points from A into B.

        // Even if the particles overlap... when the particles are already moving appart
        // we don't want to count this as a collision.
        glm::vec3 relativeVelocity = particleA->getVelocity() - particleB->getVelocity();
        if (glm::dot(relativeVelocity, penetration) > 0.0f) {
            particleA->collisionWithParticle(particleB);
            particleB->collisionWithParticle(particleA);

            glm::vec3 axis = glm::normalize(penetration);
            glm::vec3 axialVelocity = glm::dot(relativeVelocity, axis) * axis;

            // particles that are in hand are assigned an ureasonably large mass for collisions
            // which effectively makes them immovable but allows the other ball to reflect correctly.
            const float MAX_MASS = 1.0e6f;
            float massA = (particleA->getInHand()) ? MAX_MASS : particleA->getMass();
            float massB = (particleB->getInHand()) ? MAX_MASS : particleB->getMass();
            float totalMass = massA + massB;

            // handle A particle
            particleA->setVelocity(particleA->getVelocity() - axialVelocity * (2.0f * massB / totalMass));
            particleA->setPosition(particleA->getPosition() - 0.5f * penetration);
            ParticleProperties propertiesA;
            ParticleID particleAid(particleA->getID());
            propertiesA.copyFromParticle(*particleA);
            propertiesA.setVelocity(particleA->getVelocity() * (float)TREE_SCALE);
            propertiesA.setPosition(particleA->getPosition() * (float)TREE_SCALE);
            _packetSender->queueParticleEditMessage(PACKET_TYPE_PARTICLE_ADD_OR_EDIT, particleAid, propertiesA);

            // handle B particle
            particleB->setVelocity(particleB->getVelocity() + axialVelocity * (2.0f * massA / totalMass));
            particleA->setPosition(particleB->getPosition() + 0.5f * penetration);
            ParticleProperties propertiesB;
            ParticleID particleBid(particleB->getID());
            propertiesB.copyFromParticle(*particleB);
            propertiesB.setVelocity(particleB->getVelocity() * (float)TREE_SCALE);
            propertiesB.setPosition(particleB->getPosition() * (float)TREE_SCALE);
            _packetSender->queueParticleEditMessage(PACKET_TYPE_PARTICLE_ADD_OR_EDIT, particleBid, propertiesB);

            _packetSender->releaseQueuedMessages();

            updateCollisionSound(particleA, penetration, COLLISION_FREQUENCY);
        }
    }
}

// MIN_VALID_SPEED is obtained by computing speed gained at one gravity after the shortest expected frame
const float MIN_EXPECTED_FRAME_PERIOD = 0.0167f;  // 1/60th of a second
const float HALTING_SPEED = 9.8 * MIN_EXPECTED_FRAME_PERIOD / (float)(TREE_SCALE);

void ParticleCollisionSystem::updateCollisionWithAvatars(Particle* particle) {

    // particles that are in hand, don't collide with avatars
    if (particle->getInHand()) {
        return;
    }

    glm::vec3 center = particle->getPosition() * (float)(TREE_SCALE);
    float radius = particle->getRadius() * (float)(TREE_SCALE);
    const float ELASTICITY = 0.9f;
    const float DAMPING = 0.1f;
    const float COLLISION_FREQUENCY = 0.5f;
    glm::vec3 penetration;

    // first check the selfAvatar if set...
    if (_selfAvatar) {
        CollisionInfo collisionInfo;
        if (_selfAvatar->findSphereCollision(center, radius, collisionInfo)) {
            collisionInfo._addedVelocity /= (float)(TREE_SCALE);
            glm::vec3 relativeVelocity = collisionInfo._addedVelocity - particle->getVelocity();
            if (glm::dot(relativeVelocity, collisionInfo._penetration) < 0.f) {
                // only collide when particle and collision point are moving toward each other
                // (doing this prevents some "collision snagging" when particle penetrates the object)

                // HACK BEGIN: to allow paddle hands to "hold" particles we attenuate soft collisions against the avatar.
                // NOTE: the physics are wrong (particles cannot roll) but it IS possible to catch a slow moving particle.
                // TODO: make this less hacky when we have more per-collision details
                float elasticity = ELASTICITY;
                float attenuationFactor = glm::length(collisionInfo._addedVelocity) / HALTING_SPEED;
                float damping = DAMPING;
                if (attenuationFactor < 1.f) {
                    collisionInfo._addedVelocity *= attenuationFactor;
                    elasticity *= attenuationFactor;
                    // NOTE: the math below keeps the damping piecewise continuous,
                    // while ramping it up to 1.0 when attenuationFactor = 0
                    damping = DAMPING + (1.f - attenuationFactor) * (1.f - DAMPING);
                }
                // HACK END

                collisionInfo._penetration /= (float)(TREE_SCALE);
                updateCollisionSound(particle, collisionInfo._penetration, COLLISION_FREQUENCY);
                applyHardCollision(particle, elasticity, damping, collisionInfo);
            }
        }
    }

    // loop through all the other avatars for potential interactions...
    foreach (const SharedNodePointer& node, NodeList::getInstance()->getNodeHash()) {
        //qDebug() << "updateCollisionWithAvatars()... node:" << *node << "\n";
        if (node->getLinkedData() && node->getType() == NODE_TYPE_AGENT) {
            AvatarData* avatar = static_cast<AvatarData*>(node->getLinkedData());
            CollisionInfo collisionInfo;
            if (avatar->findSphereCollision(center, radius, collisionInfo)) {
                collisionInfo._addedVelocity /= (float)(TREE_SCALE);
                glm::vec3 relativeVelocity = collisionInfo._addedVelocity - particle->getVelocity();
                if (glm::dot(relativeVelocity, collisionInfo._penetration) < 0.f) {
                    // HACK BEGIN: to allow paddle hands to "hold" particles we attenuate soft collisions against the avatar.
                    // NOTE: the physics are wrong (particles cannot roll) but it IS possible to catch a slow moving particle.
                    // TODO: make this less hacky when we have more per-collision details
                    float elasticity = ELASTICITY;
                    float attenuationFactor = glm::length(collisionInfo._addedVelocity) / HALTING_SPEED;
                    float damping = DAMPING;
                    if (attenuationFactor < 1.f) {
                        collisionInfo._addedVelocity *= attenuationFactor;
                        elasticity *= attenuationFactor;
                        // NOTE: the math below keeps the damping piecewise continuous,
                        // while ramping it up to 1.0 when attenuationFactor = 0
                        damping = DAMPING + (1.f - attenuationFactor) * (1.f - DAMPING);
                    }
                    // HACK END

                    collisionInfo._penetration /= (float)(TREE_SCALE);
                    updateCollisionSound(particle, collisionInfo._penetration, COLLISION_FREQUENCY);
                    applyHardCollision(particle, ELASTICITY, damping, collisionInfo);
                }
            }
        }
    }
}

// TODO: convert applyHardCollision() to take a CollisionInfo& instead of penetration + addedVelocity
void ParticleCollisionSystem::applyHardCollision(Particle* particle, float elasticity, float damping, const CollisionInfo& collisionInfo) {
    //
    //  Update the particle in response to a hard collision.  Position will be reset exactly
    //  to outside the colliding surface.  Velocity will be modified according to elasticity.
    //
    //  if elasticity = 0.0, collision is inelastic (vel normal to collision is lost)
    //  if elasticity = 1.0, collision is 100% elastic.
    //
    glm::vec3 position = particle->getPosition();
    glm::vec3 velocity = particle->getVelocity();

    const float EPSILON = 0.0f;
    glm::vec3 relativeVelocity = collisionInfo._addedVelocity - velocity;
    float velocityDotPenetration = glm::dot(relativeVelocity, collisionInfo._penetration);
    if (velocityDotPenetration < EPSILON) {
        // particle is moving into collision surface
        position -= collisionInfo._penetration;

        if (glm::length(relativeVelocity) < HALTING_SPEED) {
            // static friction kicks in and particle moves with colliding object
            velocity = collisionInfo._addedVelocity;
        } else {
            glm::vec3 direction = glm::normalize(collisionInfo._penetration);
            velocity += glm::dot(relativeVelocity, direction) * (1.0f + elasticity) * direction;    // dynamic reflection
            velocity += glm::clamp(damping, 0.0f, 1.0f) * (relativeVelocity - glm::dot(relativeVelocity, direction) * direction);   // dynamic friction
        }
    }
    const bool wantDebug = false;
    if (wantDebug) {
        printf("ParticleCollisionSystem::applyHardCollision() particle id:%d new velocity:%f,%f,%f inHand:%s\n",
            particle->getID(), velocity.x, velocity.y, velocity.z, debug::valueOf(particle->getInHand()));
    }

    // send off the result to the particle server
    ParticleProperties properties;
    ParticleID particleID(particle->getID());
    properties.copyFromParticle(*particle);
    properties.setPosition(position * (float)TREE_SCALE);
    properties.setVelocity(velocity * (float)TREE_SCALE);
    _packetSender->queueParticleEditMessage(PACKET_TYPE_PARTICLE_ADD_OR_EDIT, particleID, properties);

    // change the local particle too...
    particle->setPosition(position);
    particle->setVelocity(velocity);
}


void ParticleCollisionSystem::updateCollisionSound(Particle* particle, const glm::vec3 &penetration, float frequency) {

    //  consider whether to have the collision make a sound
    const float AUDIBLE_COLLISION_THRESHOLD = 0.3f;
    const float COLLISION_LOUDNESS = 1.f;
    const float DURATION_SCALING = 0.004f;
    const float NOISE_SCALING = 0.1f;
    glm::vec3 velocity = particle->getVelocity() * (float)(TREE_SCALE);

    /*
    // how do we want to handle this??
    //
     glm::vec3 gravity = particle->getGravity() * (float)(TREE_SCALE);

    if (glm::length(gravity) > EPSILON) {
        //  If gravity is on, remove the effect of gravity on velocity for this
        //  frame, so that we are not constantly colliding with the surface
        velocity -= _scale * glm::length(gravity) * GRAVITY_EARTH * deltaTime * glm::normalize(gravity);
    }
    */
    float velocityTowardCollision = glm::dot(velocity, glm::normalize(penetration));
    float velocityTangentToCollision = glm::length(velocity) - velocityTowardCollision;

    if (velocityTowardCollision > AUDIBLE_COLLISION_THRESHOLD) {
        //  Volume is proportional to collision velocity
        //  Base frequency is modified upward by the angle of the collision
        //  Noise is a function of the angle of collision
        //  Duration of the sound is a function of both base frequency and velocity of impact
        _audio->startCollisionSound(
                    std::min(COLLISION_LOUDNESS * velocityTowardCollision, 1.f),
                    frequency * (1.f + velocityTangentToCollision / velocityTowardCollision),
                    std::min(velocityTangentToCollision / velocityTowardCollision * NOISE_SCALING, 1.f),
                    1.f - DURATION_SCALING * powf(frequency, 0.5f) / velocityTowardCollision, false);
    }
}