redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp
479 строк17 KB
erwincoumans
Code-style consistency improvement:
24 сен 2018, 00:17
24 сен 2018, 00:17ab8f169
#define BLAAT
#include "RealTimeBullet3CollisionSdk.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"

//convert the opaque pointer to int
struct RTB3_ColliderOpaque2Int
{
	union {
		plCollisionObjectHandle m_ptrValue;
		int m_intValue;
	};
};
struct RTB3_ShapeOpaque2Int
{
	union {
		plCollisionShapeHandle m_ptrValue;
		int m_intValue;
	};
};

enum RTB3ShapeTypes
{
	RTB3_SHAPE_SPHERE = 0,
	RTB3_SHAPE_PLANE,
	RTB3_SHAPE_CAPSULE,
	MAX_NUM_SINGLE_SHAPE_TYPES,
	RTB3_SHAPE_COMPOUND_INTERNAL,

};

//we start at 1, so that the 0 index is 'invalid' just like a nullptr
#define START_COLLIDABLE_INDEX 1
#define START_SHAPE_INDEX 1

struct RTB3CollisionWorld
{
	b3AlignedObjectArray<void*> m_collidableUserPointers;
	b3AlignedObjectArray<int> m_collidableUserIndices;
	b3AlignedObjectArray<b3Float4> m_collidablePositions;
	b3AlignedObjectArray<b3Quaternion> m_collidableOrientations;
	b3AlignedObjectArray<b3Transform> m_collidableTransforms;

	b3AlignedObjectArray<b3Collidable> m_collidables;

	b3AlignedObjectArray<b3GpuChildShape> m_childShapes;
	b3AlignedObjectArray<b3Aabb> m_localSpaceAabbs;
	b3AlignedObjectArray<b3Aabb> m_worldSpaceAabbs;
	b3AlignedObjectArray<b3GpuFace> m_planeFaces;
	b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;

	union {
		int m_nextFreeShapeIndex;
		void* m_nextFreeShapePtr;
	};
	int m_nextFreeCollidableIndex;
	int m_nextFreePlaneFaceIndex;

	RTB3CollisionWorld()
		: m_nextFreeShapeIndex(START_SHAPE_INDEX),
		  m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
		  m_nextFreePlaneFaceIndex(0)  //this value is never exposed to the user, so we can start from 0
	{
	}
};

struct RealTimeBullet3CollisionSdkInternalData
{
	b3AlignedObjectArray<RTB3CollisionWorld*> m_collisionWorlds;
};

RealTimeBullet3CollisionSdk::RealTimeBullet3CollisionSdk()
{
	//	int szCol = sizeof(b3Collidable);
	//	int szShap = sizeof(b3GpuChildShape);
	//	int szComPair = sizeof(b3CompoundOverlappingPair);
	m_internalData = new RealTimeBullet3CollisionSdkInternalData;
}

RealTimeBullet3CollisionSdk::~RealTimeBullet3CollisionSdk()
{
	delete m_internalData;
	m_internalData = 0;
}

plCollisionWorldHandle RealTimeBullet3CollisionSdk::createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity)
{
	RTB3CollisionWorld* world = new RTB3CollisionWorld();
	world->m_collidables.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
	world->m_collidablePositions.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
	world->m_collidableOrientations.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
	world->m_collidableTransforms.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
	world->m_collidableUserPointers.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
	world->m_collidableUserIndices.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
	world->m_childShapes.resize(maxNumShapesCapacity + START_SHAPE_INDEX);
	world->m_planeFaces.resize(maxNumShapesCapacity);

	world->m_compoundOverlappingPairs.resize(maxNumPairsCapacity);

	m_internalData->m_collisionWorlds.push_back(world);
	return (plCollisionWorldHandle)world;
}

void RealTimeBullet3CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
{
	RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
	int loc = m_internalData->m_collisionWorlds.findLinearSearch(world);
	b3Assert(loc >= 0 && loc < m_internalData->m_collisionWorlds.size());
	if (loc >= 0 && loc < m_internalData->m_collisionWorlds.size())
	{
		m_internalData->m_collisionWorlds.remove(world);
		delete world;
	}
}

plCollisionShapeHandle RealTimeBullet3CollisionSdk::createSphereShape(plCollisionWorldHandle worldHandle, plReal radius)
{
	RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
	b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size());
	if (world->m_nextFreeShapeIndex < world->m_childShapes.size())
	{
		b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
		shape.m_childPosition.setZero();
		shape.m_childOrientation.setValue(0, 0, 0, 1);
		shape.m_radius = radius;
		shape.m_shapeType = RTB3_SHAPE_SPHERE;
		world->m_nextFreeShapeIndex++;
		return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
	}
	return 0;
}

plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollisionWorldHandle worldHandle,
																	 plReal planeNormalX,
																	 plReal planeNormalY,
																	 plReal planeNormalZ,
																	 plReal planeConstant)
{
	RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
	b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());

	if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
	{
		b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
		shape.m_childPosition.setZero();
		shape.m_childOrientation.setValue(0, 0, 0, 1);
		world->m_planeFaces[world->m_nextFreePlaneFaceIndex].m_plane = b3MakeVector4(planeNormalX, planeNormalY, planeNormalZ, planeConstant);
		shape.m_shapeIndex = world->m_nextFreePlaneFaceIndex++;
		shape.m_shapeType = RTB3_SHAPE_PLANE;
		world->m_nextFreeShapeIndex++;
		return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
	}
	return 0;
}

plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
																	   plReal radius,
																	   plReal height,
																	   int capsuleAxis)
{
	RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
	b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());

	if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
	{
		b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
		shape.m_childPosition.setZero();
		shape.m_childOrientation.setValue(0, 0, 0, 1);
		shape.m_radius = radius;
		shape.m_height = height;
		shape.m_shapeIndex = capsuleAxis;
		shape.m_shapeType = RTB3_SHAPE_CAPSULE;
		world->m_nextFreeShapeIndex++;
		return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
	}
	return 0;
}

plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
{
	RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
	b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());

	if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
	{
		b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
		shape.m_childPosition.setZero();
		shape.m_childOrientation.setValue(0, 0, 0, 1);
		shape.m_numChildShapes = 0;
		shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
		world->m_nextFreeShapeIndex++;
		return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
	}
	return 0;
}

void RealTimeBullet3CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn)
{
}
void RealTimeBullet3CollisionSdk::deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape)
{
	///todo
	//deleting shapes would involve a garbage collection phase, and mess up all user indices
	//this would be solved by one more in-direction, at some performance penalty for certain operations
	//for now, we don't delete and eventually run out-of-shapes
}

void RealTimeBullet3CollisionSdk::addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
{
	///createCollisionObject already adds it to the world
}

void RealTimeBullet3CollisionSdk::removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
{
	///todo, see deleteShape
}

plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject(plCollisionWorldHandle worldHandle, void* userPointer,
																		   int userIndex, plCollisionShapeHandle shapeHandle,
																		   plVector3 startPosition, plQuaternion startOrientation)
{
	RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
	b3Assert(world->m_nextFreeCollidableIndex < world->m_collidables.size());
	if (world->m_nextFreeCollidableIndex < world->m_collidables.size())
	{
		b3Collidable& collidable = world->m_collidables[world->m_nextFreeCollidableIndex];
		world->m_collidablePositions[world->m_nextFreeCollidableIndex].setValue(startPosition[0], startPosition[1], startPosition[2]);
		world->m_collidableOrientations[world->m_nextFreeCollidableIndex].setValue(startOrientation[0], startOrientation[1], startOrientation[2], startOrientation[3]);
		world->m_collidableTransforms[world->m_nextFreeCollidableIndex].setOrigin(world->m_collidablePositions[world->m_nextFreeCollidableIndex]);
		world->m_collidableTransforms[world->m_nextFreeCollidableIndex].setRotation(world->m_collidableOrientations[world->m_nextFreeCollidableIndex]);
		world->m_collidableUserPointers[world->m_nextFreeCollidableIndex] = userPointer;
		world->m_collidableUserIndices[world->m_nextFreeCollidableIndex] = userIndex;
		RTB3_ShapeOpaque2Int caster;
		caster.m_ptrValue = shapeHandle;
		int shapeIndex = caster.m_intValue;
		collidable.m_shapeIndex = shapeIndex;
		b3GpuChildShape& shape = world->m_childShapes[shapeIndex];
		collidable.m_shapeType = shape.m_shapeType;
		collidable.m_numChildShapes = 1;

		switch (collidable.m_shapeType)
		{
			case RTB3_SHAPE_SPHERE:
			{
				break;
			}
			case RTB3_SHAPE_PLANE:
			{
				break;
			}
			case RTB3_SHAPE_COMPOUND_INTERNAL:
			{
				break;
			}
			default:
			{
				b3Assert(0);
			}
		}

		/*case SHAPE_COMPOUND_OF_CONVEX_HULLS:
		case SHAPE_COMPOUND_OF_SPHERES:
		case SHAPE_COMPOUND_OF_CAPSULES:
			{
				collidable.m_numChildShapes = shape.m_numChildShapes;
				collidable.m_shapeIndex = shape.m_shapeIndex;
				break;
		*/
		world->m_nextFreeCollidableIndex++;
		return (plCollisionObjectHandle)world->m_nextFreeShapePtr;
	}
	return 0;
}

void RealTimeBullet3CollisionSdk::deleteCollisionObject(plCollisionObjectHandle body)
{
	///todo, see deleteShape
}

void RealTimeBullet3CollisionSdk::setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
															  plVector3 position, plQuaternion orientation)
{
}

struct plContactCache
{
	lwContactPoint* pointsOut;
	int pointCapacity;
	int numAddedPoints;
};

typedef void (*plDetectCollisionFunc)(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
									  plContactCache* contactCache);

void detectCollisionDummy(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
						  plContactCache* contactCache)
{
	(void)world;
	(void)colA, (void)colB;
	(void)contactCache;
}

void plVecCopy(float* dst, const b3Vector3& src)
{
	dst[0] = src.x;
	dst[1] = src.y;
	dst[2] = src.z;
}
void plVecCopy(double* dst, const b3Vector3& src)
{
	dst[0] = src.x;
	dst[1] = src.y;
	dst[2] = src.z;
}

void ComputeClosestPointsPlaneSphere(const b3Vector3& planeNormalWorld, b3Scalar planeConstant, const b3Vector3& spherePosWorld, b3Scalar sphereRadius, plContactCache* contactCache)
{
	if (contactCache->numAddedPoints < contactCache->pointCapacity)
	{
		lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
		b3Scalar t = -(spherePosWorld.dot(-planeNormalWorld) + planeConstant);
		b3Vector3 intersectionPoint = spherePosWorld + t * -planeNormalWorld;
		b3Scalar distance = t - sphereRadius;
		if (distance <= 0)
		{
			pointOut.m_distance = distance;
			plVecCopy(pointOut.m_ptOnBWorld, intersectionPoint);
			plVecCopy(pointOut.m_ptOnAWorld, spherePosWorld + sphereRadius * -planeNormalWorld);
			plVecCopy(pointOut.m_normalOnB, planeNormalWorld);
			contactCache->numAddedPoints++;
		}
	}
}

void ComputeClosestPointsSphereSphere(b3Scalar sphereARadius, const b3Vector3& sphereAPosWorld, b3Scalar sphereBRadius, const b3Vector3& sphereBPosWorld, plContactCache* contactCache)
{
	if (contactCache->numAddedPoints < contactCache->pointCapacity)
	{
		lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
		b3Vector3 diff = sphereAPosWorld - sphereBPosWorld;

		b3Scalar len = diff.length();
		pointOut.m_distance = len - (sphereARadius + sphereBRadius);
		if (pointOut.m_distance <= 0)
		{
			b3Vector3 normOnB = b3MakeVector3(1, 0, 0);
			if (len > B3_EPSILON)
			{
				normOnB = diff / len;
			}

			plVecCopy(pointOut.m_normalOnB, normOnB);
			b3Vector3 ptAWorld = sphereAPosWorld - sphereARadius * normOnB;
			plVecCopy(pointOut.m_ptOnAWorld, ptAWorld);
			plVecCopy(pointOut.m_ptOnBWorld, ptAWorld - normOnB * pointOut.m_distance);

			contactCache->numAddedPoints++;
		}
	}
}

B3_FORCE_INLINE void detectCollisionSphereSphere(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
												 plContactCache* contactCache)
{
	const b3Scalar radiusA = world->m_childShapes[shapeIndexA].m_radius;
	const b3Scalar radiusB = world->m_childShapes[shapeIndexB].m_radius;

	const b3Transform& trA = world->m_collidableTransforms[colA];
	const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
	b3Vector3 spherePosAWorld = trA(sphereALocalPos);
	//b3Vector3 spherePosAWorld = b3QuatRotate( world->m_collidableOrientations[colA], sphereALocalPos ) + (world->m_collidablePositions[colA]);

	const b3Transform& trB = world->m_collidableTransforms[colB];
	const b3Vector3& sphereBLocalPos = world->m_childShapes[shapeIndexB].m_childPosition;
	b3Vector3 spherePosBWorld = trB(sphereBLocalPos);
	//b3Vector3 spherePosBWorld = b3QuatRotate( world->m_collidableOrientations[colB], sphereBLocalPos ) + (world->m_collidablePositions[colB]);

	ComputeClosestPointsSphereSphere(radiusA, spherePosAWorld, radiusB, spherePosBWorld, contactCache);
}

void detectCollisionSpherePlane(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
								plContactCache* contactCache)
{
	const b3Transform& trA = world->m_collidableTransforms[colA];
	const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
	b3Vector3 spherePosAWorld = trA(sphereALocalPos);

	int planeFaceIndex = world->m_childShapes[shapeIndexB].m_shapeIndex;
	b3Vector3 planeNormal = world->m_planeFaces[planeFaceIndex].m_plane;
	b3Scalar planeConstant = planeNormal[3];
	planeNormal[3] = 0.f;

	ComputeClosestPointsPlaneSphere(planeNormal, planeConstant, spherePosAWorld, world->m_childShapes[shapeIndexA].m_radius, contactCache);
}

void detectCollisionPlaneSphere(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
								plContactCache* contactCache)
{
	(void)world;
	(void)colA, (void)shapeIndexA, (void)colB, (void)shapeIndexB;
	(void)contactCache;
}

#ifdef RTB3_SHAPE_CAPSULE
plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES, ][MAX_NUM_SINGLE_SHAPE_TYPES, ] = {
	{detectCollisionSphereSphere, detectCollisionSpherePlane, detectCollisionSphereCapsule},
	{detectCollisionPlaneSphere, detectCollisionDummy, detectCollisionPlaneCapsule},
	{detectCollisionCapsuleSphere, detectCollisionCapsulePlane, detectCollisionCapsuleCapsule},
};
#else
plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES][MAX_NUM_SINGLE_SHAPE_TYPES] = {
	{detectCollisionSphereSphere, detectCollisionSpherePlane},
	{detectCollisionPlaneSphere, detectCollisionDummy},
};

#endif

int RealTimeBullet3CollisionSdk::collide(plCollisionWorldHandle worldHandle, plCollisionObjectHandle colAHandle, plCollisionObjectHandle colBHandle,
										 lwContactPoint* pointsOutOrg, int pointCapacity)
{
	RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
	RTB3_ColliderOpaque2Int caster;
	caster.m_ptrValue = colAHandle;
	int colAIndex = caster.m_intValue;
	caster.m_ptrValue = colBHandle;
	int colBIndex = caster.m_intValue;
	const b3Collidable& colA = world->m_collidables[colAIndex];
	const b3Collidable& colB = world->m_collidables[colBIndex];

	plContactCache contactCache;
	contactCache.pointCapacity = pointCapacity;
	contactCache.pointsOut = pointsOutOrg;
	contactCache.numAddedPoints = 0;

	for (int i = 0; i < colA.m_numChildShapes; i++)
	{
		for (int j = 0; j < colB.m_numChildShapes; j++)
		{
			if (contactCache.numAddedPoints < pointCapacity)
			{
				//funcTbl_detectCollision[world->m_childShapes[colA.m_shapeIndex+i].m_shapeType]
				//					   [world->m_childShapes[colB.m_shapeIndex+j].m_shapeType](world,colAIndex,colA.m_shapeIndex+i,colBIndex,colB.m_shapeIndex+j,&contactCache);
			}
		}
		return contactCache.numAddedPoints;
	}

	return 0;
}

void RealTimeBullet3CollisionSdk::collideWorld(plCollisionWorldHandle worldHandle,
											   plNearCallback filter, void* userData)
{
	RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
	if (filter)
	{
		RTB3_ColliderOpaque2Int caster;
		plCollisionObjectHandle colA;
		plCollisionObjectHandle colB;
		for (int i = START_COLLIDABLE_INDEX; i < world->m_nextFreeCollidableIndex; i++)
		{
			for (int j = i + 1; j < world->m_nextFreeCollidableIndex; j++)
			{
				caster.m_intValue = i;
				colA = caster.m_ptrValue;
				caster.m_intValue = j;
				colB = caster.m_ptrValue;
				filter((plCollisionSdkHandle)this, worldHandle, userData, colA, colB);
			}
		}
	}
}

plCollisionSdkHandle RealTimeBullet3CollisionSdk::createRealTimeBullet3CollisionSdkHandle()
{
	return (plCollisionSdkHandle) new RealTimeBullet3CollisionSdk();
}