Changeset 3329

Timestamp:

01/29/10 19:15:36 (7 months ago)

Author:

Azaezel

Message:

pruned material entries of plug-in interaction. bullet it's self doesn't have the concept, so all internal calls dealing with getting and setting restitution/friction/ect. will reference wrappers around the object-instance, with the material class here being for extension purposes via callbacks

Location:

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src

Files:

• PhysicsActor.cpp (modified) (2 diffs)
• PhysicsMaterial.cpp (modified) (10 diffs)
• PhysicsService.cpp (modified) (3 diffs)
• PhysicsZone.cpp (modified) (1 diff)

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src/PhysicsActor.cpp

@@ -132 +132 @@
     // set the transform call back function
     btRigidBodySetTransformCallback(m_pActor, TransformCallback);
-    btRigidBodySetForceAndTorqueCallback(m_pActor, ApplyForceAndTorqueCallback);
-    btRigidBodySetAutoactiveCallback(m_pActor, ActivationStateCallback);
     
     m_pActor->setUserPointer(this);
@@ -177 +175 @@
 {
     m_material = _material;
-    btRigidBodySetMaterialGroupID(m_pActor, m_material->getMaterialID());
+    //todo: assign actual bullet matrerial properties to the actor it'sself, leave this reference for extended
+    //variables for use with zen behaviors
 }
 

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src/PhysicsMaterial.cpp

@@ -117 +117 @@
     // Newton friction coefficients are normally between 0 and 1
     m_dynamicFriction = _dynamicFriction;
-    if (m_dynamicFriction < 0.01f)
-        m_dynamicFriction = 0.01f;
-    if (m_staticFriction < m_dynamicFriction + 0.01f)
-        m_staticFriction = m_dynamicFriction + 0.01f;
-
-    materials_vector_type materials = m_pZone->getAllMaterials();
-    materials_vector_type::const_iterator iter = materials.begin();
-    while (iter != materials.end())
-    {
-        pPhysicsMaterial_type pMaterial = *iter;
-
-        ZBulletMaterialSetDefaultFriction(m_pNewtonZone, pMaterial->getMaterialID(), m_id,
-            (Zen::Math::Real)((m_staticFriction + pMaterial->getStaticFriction()) / 2.0f),
-            (Zen::Math::Real)((m_dynamicFriction + pMaterial->getDynamicFriction()) / 2.0f));
-
-        iter++;
-    }
 }
 
@@ -140 +123 @@
 PhysicsMaterial::setMatMatrixDynamicFriction(pPhysicsMaterial_type _material, Math::Real _dynamicFriction)
 {
-        ZBulletMaterialSetDefaultFriction(m_pNewtonZone, getMaterialID(), m_id, getStaticFriction(), _dynamicFriction);
+//todo: for breaking the laws of physics and setting a specific dynamic friction vs a given material
+//(done more often than you'd think in practice)
 }
 
@@ -149 +133 @@
     // Newton friction coefficients are normally between 0 and 1
     m_staticFriction = _staticFriction;
-    if (m_staticFriction < 0.02f)
-        m_staticFriction = 0.02f;
-    if (m_dynamicFriction > m_staticFriction - 0.01f)
-        m_dynamicFriction = m_staticFriction - 0.01f;
-
-    materials_vector_type materials = m_pZone->getAllMaterials();
-    materials_vector_type::const_iterator iter = materials.begin();
-    while (iter != materials.end())
-    {
-        pPhysicsMaterial_type pMaterial = *iter;
-
-        ZBulletMaterialSetDefaultFriction(m_pNewtonZone, pMaterial->getMaterialID(), m_id,
-            (Zen::Math::Real)((m_staticFriction + pMaterial->getStaticFriction()) / 2.0f),
-            (Zen::Math::Real)((m_dynamicFriction + pMaterial->getDynamicFriction()) / 2.0f));
-
-        iter++;
-    }
 }
 
@@ -172 +139 @@
 PhysicsMaterial::setMatMatrixStaticFriction(pPhysicsMaterial_type _material, Math::Real _staticFriction)
 {
-    ZBulletMaterialSetDefaultFriction(m_pNewtonZone, getMaterialID(), m_id, _staticFriction, getDynamicFriction());
+//todo: for breaking the laws of physics and setting a specific static friction vs a given material
+//(done more often than you'd think in practice)
 }
 
@@ -180 +148 @@
 {
     m_restitution = _restitution;
-
-    materials_vector_type materials = m_pZone->getAllMaterials();
-    materials_vector_type::const_iterator iter = materials.begin();
-    while (iter != materials.end())
-    {
-        pPhysicsMaterial_type pMaterial = *iter;
-
-        ZBulletMaterialSetDefaultElasticity(m_pNewtonZone, pMaterial->getMaterialID(), m_id,
-            (Zen::Math::Real)((m_restitution + pMaterial->getRestitution()) / 2.0f));
-
-        iter++;
-    }
 }
 
@@ -198 +154 @@
 PhysicsMaterial::setMatMatrixRestitution(pPhysicsMaterial_type _material, Math::Real _restitution)
 {
-        ZBulletMaterialSetDefaultElasticity(m_pNewtonZone, getMaterialID(), m_id, _restitution);
+//todo: for breaking the laws of physics and setting a specific restitution vs a given material
+//(done more often than you'd think in practice)
 }
 
@@ -206 +163 @@
 {
     m_bAdvancedCollisionPrediction = _mode;
-
-    materials_vector_type materials = m_pZone->getAllMaterials();
-    materials_vector_type::const_iterator iter = materials.begin();
-    while (iter != materials.end())
-    {
-        pPhysicsMaterial_type pMaterial = *iter;
-
-        // advanced collision detection is infectious.  if either material has it, it's enabled.
-        if (m_bAdvancedCollisionPrediction || pMaterial->getAdvancedCollisionPrediction())
-        {
-            ZBulletMaterialSetContinuousCollisionMode(m_pNewtonZone, pMaterial->getMaterialID(), m_id, 1);
-        }
-        else
-        {
-            ZBulletMaterialSetContinuousCollisionMode(m_pNewtonZone, pMaterial->getMaterialID(), m_id, 0);
-        }
-
-        iter++;
-    }
+//todo: implement ccd (continuous collision detection)
 }
 
@@ -232 +171 @@
 {
     m_bCollidable = _collide;
-
-    materials_vector_type materials = m_pZone->getAllMaterials();
-    materials_vector_type::const_iterator iter = materials.begin();
-    while (iter != materials.end())
-    {
-        pPhysicsMaterial_type pMaterial = *iter;
-
-        // collision detection is infectious.  if either material has it turned off, it's disabled.
-        if (!m_bCollidable || !pMaterial->getCollidable())
-        {
-            ZBulletMaterialSetDefaultCollidable(m_pNewtonZone, pMaterial->getMaterialID(), m_id, 0);
-        }
-        else
-        {
-            ZBulletMaterialSetDefaultCollidable(m_pNewtonZone, pMaterial->getMaterialID(), m_id, 1);
-        }
-
-        iter++;
-    }
-}
+//todo: handle via collisiongroups
 
 //-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
@@ -257 +177 @@
 PhysicsMaterial::setMatMatrixCollidable(pPhysicsMaterial_type _material, bool _collide)
 {
-    m_bCollidable = _collide;//likely redundant...?
-        ZBulletMaterialSetDefaultCollidable(m_pNewtonZone,_material->getMaterialID(), m_id, _collide);
+//todo: handle via collisiongroups
 }
 
@@ -265 +184 @@
 PhysicsMaterial::setIgnoreCollision(pPhysicsMaterial_type _material)
 {
-    ZBulletMaterialSetDefaultCollidable(m_pNewtonZone, _material->getMaterialID(), m_id, 0);
+//todo: handle via collisiongroups
 }
 
-//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
-static int GenericContactBegin(const ZBulletMaterial* material, const btRigidBody* body0, const btRigidBody* body1);
-static int  GenericContactProcess(const ZBulletMaterial* material, const btManifoldPoint* contact);
-static void GenericContactEnd(const ZBulletMaterial* material);
-
-static PhysicsActor*          g_currentObjectRegister;
-static PhysicsActor*          g_hitObjectRegister;
-
-//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
-void
-PhysicsMaterial::setCallbacks()
-{
-    materials_vector_type materials = m_pZone->getAllMaterials();
-    materials_vector_type::const_iterator iter = materials.begin();
-    while (iter != materials.end())
-    {
-        pPhysicsMaterial_type pMaterial = *iter;
-
-        ZBulletMaterialSetCollisionCallback(m_pNewtonZone, pMaterial->getMaterialID(), m_id, NULL, GenericContactBegin, GenericContactProcess, GenericContactEnd);
-        ZBulletMaterialSetCollisionCallback(m_pNewtonZone, m_id, pMaterial->getMaterialID(), NULL, GenericContactBegin, GenericContactProcess, GenericContactEnd);
-        iter++;
-    }
-}
-
-//Research Note: http://bulletphysics.com/Bullet/BulletPhysics2.74_2.htm#_Toc223854903 
+//Research Note: See CustomMaterialCombinerCallback in Bullet/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp for an example implementation.
 //We'll likely want to end up putting a global material callback funciton later similar to the newton callbacks in method, if not useage
 

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src/PhysicsService.cpp

@@ -30 +30 @@
 #include <exception>
 #include <iostream>
+#include <btManifoldResult.h>
 
+extern ContactAddedCallback             gContactAddedCallback;
 //-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
 namespace Zen {
@@ -37 +39 @@
 PhysicsService::PhysicsService()
 {
+    //gContactAddedCallback usage can be found under btManifoldResult::addContactPoint
+    //it is an explicitly defined global method handle called during btManifoldResult::addContactPoint
+    gContactAddedCallback = CustomMaterialCombinerCallback;
 }
 
@@ -102 +107 @@
 }
 
+// See CustomMaterialCombinerCallback in Bullet/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp for an example implementation.
+///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
+inline btScalar calculateCombinedFriction(float friction0,float friction1)
+{
+        btScalar friction = friction0 * friction1;
+
+        const btScalar MAX_FRICTION  = 10.f;
+        if (friction < -MAX_FRICTION)
+                friction = -MAX_FRICTION;
+        if (friction > MAX_FRICTION)
+                friction = MAX_FRICTION;
+        return friction;
+
+}
+
+inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
+{
+        return restitution0 * restitution1;
+}
+
+static bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
+{
+//point of contaact, object, face, child shape, face2, child shape2. see also ConvexDecompositionDemo MyContactCallback that ships with the bullet library
+
+        float friction0 = colObj0->getFriction();
+        float friction1 = colObj1->getFriction();
+        float restitution0 = colObj0->getRestitution();
+        float restitution1 = colObj1->getRestitution();
+
+        if (colObj0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
+        {
+                friction0 = 1.0;//partId0,index0
+                restitution0 = 0.f;
+        }
+        if (colObj1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
+        {
+                if (index1&1)
+                {
+                        friction1 = 1.0f;//partId1,index1
+                } else
+                {
+                        friction1 = 0.f;
+                }
+                restitution1 = 0.f;
+        }
+
+        cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
+        cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
+
+        //this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
+        return true;
+}
+
 //-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
 }   // namespace ZBullet

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src/PhysicsZone.cpp

@@ -57 +57 @@
     // Set up the collision configuration and dispatcher
     m_pCollisionConfiguration = new btDefaultCollisionConfiguration();
-    m_pDispatcher = new btCollisionDispatcher(collisionConfiguration);
+    m_pDispatcher = new btCollisionDispatcher(m_pCollisionConfiguration);
  
     // The actual physics solver