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Conflicts: assignment-client/src/octree/OctreeSendThread.cpp interface/src/Application.cpp libraries/entities-renderer/src/EntityTreeRenderer.cpp libraries/entities/src/EntityItem.cpp libraries/entities/src/EntityTree.cpp libraries/entities/src/EntityTreeElement.cpp libraries/entities/src/EntityTreeElement.h libraries/entities/src/EntityTreeHeadlessViewer.cpp libraries/entities/src/RecurseOctreeToMapOperator.cpp libraries/octree/src/Octree.h libraries/physics/src/EntityMotionState.cpp
137 lines
4.4 KiB
C++
137 lines
4.4 KiB
C++
//
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// PhysicsEngine.h
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// libraries/physcis/src
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//
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// Created by Andrew Meadows 2014.10.29
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// Copyright 2014 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#ifndef hifi_PhysicsEngine_h
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#define hifi_PhysicsEngine_h
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#include <stdint.h>
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#include <QUuid>
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#include <QVector>
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#include <btBulletDynamicsCommon.h>
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#include <BulletCollision/CollisionDispatch/btGhostObject.h>
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#include "BulletUtil.h"
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#include "ContactInfo.h"
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#include "DynamicCharacterController.h"
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#include "ObjectMotionState.h"
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#include "ThreadSafeDynamicsWorld.h"
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#include "ObjectAction.h"
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const float HALF_SIMULATION_EXTENT = 512.0f; // meters
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// simple class for keeping track of contacts
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class ContactKey {
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public:
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ContactKey() = delete;
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ContactKey(void* a, void* b) : _a(a), _b(b) {}
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bool operator<(const ContactKey& other) const { return _a < other._a || (_a == other._a && _b < other._b); }
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bool operator==(const ContactKey& other) const { return _a == other._a && _b == other._b; }
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void* _a; // ObjectMotionState pointer
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void* _b; // ObjectMotionState pointer
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};
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typedef std::map<ContactKey, ContactInfo> ContactMap;
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typedef QVector<Collision> CollisionEvents;
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class PhysicsEngine {
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public:
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uint32_t getNumSubsteps();
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PhysicsEngine(const glm::vec3& offset);
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~PhysicsEngine();
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void init();
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void setSessionUUID(const QUuid& sessionID) { _sessionID = sessionID; }
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const QUuid& getSessionID() const { return _sessionID; }
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void addObject(ObjectMotionState* motionState);
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void removeObject(ObjectMotionState* motionState);
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void deleteObjects(const VectorOfMotionStates& objects);
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void deleteObjects(const SetOfMotionStates& objects); // only called during teardown
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void addObjects(const VectorOfMotionStates& objects);
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VectorOfMotionStates changeObjects(const VectorOfMotionStates& objects);
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void reinsertObject(ObjectMotionState* object);
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void stepSimulation();
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void updateContactMap();
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bool hasOutgoingChanges() const { return _hasOutgoingChanges; }
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/// \return reference to list of changed MotionStates. The list is only valid until beginning of next simulation loop.
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const VectorOfMotionStates& getOutgoingChanges();
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/// \return reference to list of Collision events. The list is only valid until beginning of next simulation loop.
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const CollisionEvents& getCollisionEvents();
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/// \brief prints timings for last frame if stats have been requested.
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void dumpStatsIfNecessary();
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/// \param offset position of simulation origin in domain-frame
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void setOriginOffset(const glm::vec3& offset) { _originOffset = offset; }
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/// \return position of simulation origin in domain-frame
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const glm::vec3& getOriginOffset() const { return _originOffset; }
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/// \brief call bump on any objects that touch the object corresponding to motionState
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void bump(ObjectMotionState* motionState);
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void removeRigidBody(btRigidBody* body);
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void setCharacterController(DynamicCharacterController* character);
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void dumpNextStats() { _dumpNextStats = true; }
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int16_t getCollisionMask(int16_t group) const;
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EntityActionPointer getActionByID(const QUuid& actionID) const;
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void addAction(EntityActionPointer action);
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void removeAction(const QUuid actionID);
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private:
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void removeContacts(ObjectMotionState* motionState);
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void doOwnershipInfection(const btCollisionObject* objectA, const btCollisionObject* objectB);
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btClock _clock;
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btDefaultCollisionConfiguration* _collisionConfig = NULL;
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btCollisionDispatcher* _collisionDispatcher = NULL;
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btBroadphaseInterface* _broadphaseFilter = NULL;
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btSequentialImpulseConstraintSolver* _constraintSolver = NULL;
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ThreadSafeDynamicsWorld* _dynamicsWorld = NULL;
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btGhostPairCallback* _ghostPairCallback = NULL;
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glm::vec3 _originOffset;
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ContactMap _contactMap;
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uint32_t _numContactFrames = 0;
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uint32_t _lastNumSubstepsAtUpdateInternal = 0;
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/// character collisions
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DynamicCharacterController* _characterController = NULL;
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bool _dumpNextStats = false;
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bool _hasOutgoingChanges = false;
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QUuid _sessionID;
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CollisionEvents _collisionEvents;
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QHash<QUuid, EntityActionPointer> _objectActions;
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btHashMap<btHashInt, int16_t> _collisionMasks;
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uint32_t _numSubsteps;
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};
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typedef std::shared_ptr<PhysicsEngine> PhysicsEnginePointer;
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#endif // hifi_PhysicsEngine_h
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