Physics: Static colliders shouldn't use rigid bodies for collisions #493

(#494) Physics: Static colliders shouldn't use rigid bodies to process collisions #493 - MeshCollider fixed - CharacterController fixed
thunder-engine · Dec 8, 2022 · e4e2264 · e4e2264
1 parent a9d22bb
commit e4e2264
Show file tree

Hide file tree

Showing 16 changed files with 179 additions and 144 deletions.
diff --git a/modules/physics/bullet/includes/components/boxcollider.h b/modules/physics/bullet/includes/components/boxcollider.h
@@ -28,5 +28,6 @@ class BULLET_EXPORT BoxCollider : public VolumeCollider {
     Vector3 m_size;
 
 };
+typedef BoxCollider* BoxColliderPtr;
 
 #endif // BOXCOLLIDER_H
diff --git a/modules/physics/bullet/includes/components/capsulecollider.h b/modules/physics/bullet/includes/components/capsulecollider.h
@@ -28,5 +28,6 @@ class BULLET_EXPORT CapsuleCollider : public SphereCollider {
     float m_height;
 
 };
+typedef CapsuleCollider* CapsuleColliderPtr;
 
 #endif // CAPSULECOLLIDER_H
diff --git a/modules/physics/bullet/includes/components/charactercontroller.h b/modules/physics/bullet/includes/components/charactercontroller.h
@@ -80,6 +80,9 @@ class BULLET_EXPORT CharacterController : public Collider {
 
     float m_step;
 
+    bool m_dirty;
+
 };
+typedef CharacterController* CharacterControllerPtr;
 
 #endif // CHARACTERCONTROLLER_H
diff --git a/modules/physics/bullet/includes/components/collider.h b/modules/physics/bullet/includes/components/collider.h
@@ -8,6 +8,8 @@ class btCollisionShape;
 class btCollisionObject;
 class btDynamicsWorld;
 
+class RigidBody;
+
 class BULLET_EXPORT Collider : public Component {
     A_REGISTER(Collider, Component, General)
 
@@ -24,6 +26,10 @@ class BULLET_EXPORT Collider : public Component {
 
     virtual void update();
 
+    RigidBody *attachedRigidBody() const;
+    void setAttachedRigidBody(RigidBody *body);
+
+public: // Signals
     void entered();
     void stay();
     void exited();
@@ -47,19 +53,22 @@ class BULLET_EXPORT Collider : public Component {
     void destroyCollider();
 
 protected:
-    friend class BulletSystem;
     friend class RigidBody;
+    friend class BulletSystem;
 
     typedef unordered_map<uint32_t, bool> CollisionMap;
 
-    CollisionMap m_Collisions;
+    CollisionMap m_collisions;
 
     btCollisionShape *m_collisionShape;
 
     btCollisionObject *m_collisionObject;
 
     btDynamicsWorld *m_world;
 
+    RigidBody *m_rigidBody;
+
 };
+typedef Collider* ColliderPtr;
 
 #endif // COLLIDER_H
diff --git a/modules/physics/bullet/includes/components/meshcollider.h b/modules/physics/bullet/includes/components/meshcollider.h
@@ -27,8 +27,6 @@ class BULLET_EXPORT MeshCollider : public Collider {
 private:
     btCollisionShape *shape() override;
 
-    void createCollider() override;
-
     void setEnabled(bool enable) override;
 
 protected:
@@ -37,5 +35,6 @@ class BULLET_EXPORT MeshCollider : public Collider {
     PhysicMaterial *m_material;
 
 };
+typedef MeshCollider* MeshColliderPtr;
 
 #endif // MESHCOLLIDER_H
diff --git a/modules/physics/bullet/includes/components/rigidbody.h b/modules/physics/bullet/includes/components/rigidbody.h
@@ -3,8 +3,9 @@
 
 #include "collider.h"
 
-class RigidBodyPrivate;
+class VolumeCollider;
 class PhysicMaterial;
+class MotionState;
 
 class BULLET_EXPORT RigidBody : public Collider {
     A_REGISTER(RigidBody, Collider, Components/Physics)
@@ -51,8 +52,18 @@ class BULLET_EXPORT RigidBody : public Collider {
     PhysicMaterial *material() const;
 
 protected:
-    RigidBodyPrivate *p_ptr;
+    list<VolumeCollider *> m_colliders;
+
+    MotionState *m_state;
+
+    float m_mass;
+
+    int32_t m_lockPosition;
+    int32_t m_lockRotation;
+
+    bool m_kinematic;
 
 };
+typedef RigidBody* RigidBodyPtr;
 
 #endif // RIGIDBODY_H
diff --git a/modules/physics/bullet/includes/components/spherecollider.h b/modules/physics/bullet/includes/components/spherecollider.h
@@ -28,5 +28,6 @@ class BULLET_EXPORT SphereCollider : public VolumeCollider {
     float m_radius;
 
 };
+typedef SphereCollider* SphereColliderPtr;
 
 #endif // SPHERECOLLIDER_H
diff --git a/modules/physics/bullet/includes/components/volumecollider.h b/modules/physics/bullet/includes/components/volumecollider.h
@@ -54,5 +54,6 @@ class BULLET_EXPORT VolumeCollider : public Collider {
     bool m_trigger;
 
 };
+typedef VolumeCollider* VolumeColliderPtr;
 
 #endif // VOLUMECOLLIDER_H
diff --git a/modules/physics/bullet/includes/resources/physicmaterial.h b/modules/physics/bullet/includes/resources/physicmaterial.h
@@ -35,5 +35,6 @@ class PhysicMaterial : public Resource {
     float m_Density;
 
 };
+typedef PhysicMaterial* PhysicMaterialPtr;
 
 #endif // PHYSICMATERIAL_H
diff --git a/modules/physics/bullet/src/components/capsulecollider.cpp b/modules/physics/bullet/src/components/capsulecollider.cpp
@@ -22,9 +22,7 @@ btCollisionShape *CapsuleCollider::shape() {
     if(m_collisionShape == nullptr) {
         m_collisionShape = new btCapsuleShape(m_radius, m_height);
 
-        Transform *t = actor()->transform();
-
-        Vector3 p = t->scale();
+        Vector3 p = actor()->transform()->scale();
         m_collisionShape->setLocalScaling(btVector3(p.x, p.y, p.z));
 
         m_dirty = false;

diff --git a/modules/physics/bullet/src/components/charactercontroller.cpp b/modules/physics/bullet/src/components/charactercontroller.cpp
@@ -14,14 +14,16 @@ CharacterController::CharacterController() :
         m_radius(0.5f),
         m_skin(0.08f),
         m_slope(45.0f),
-        m_step(0.3f) {
+        m_step(0.3f),
+        m_dirty(false) {
 
     m_ghostObject->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT);
     m_ghostObject->setUserPointer(this);
 }
 
 CharacterController::~CharacterController() {
     destroyCharacter();
+    destroyShape();
 
     if(m_world) {
         m_world->removeCollisionObject(m_ghostObject);
@@ -49,11 +51,7 @@ float CharacterController::height() const {
 
 void CharacterController::setHeight(float height) {
     m_height = height;
-
-    destroyCharacter();
-    destroyShape();
-
-    createCollider();
+    m_dirty = true;
 }
 
 float CharacterController::radius() const {
@@ -62,11 +60,7 @@ float CharacterController::radius() const {
 
 void CharacterController::setRadius(float radius) {
     m_radius = radius;
-
-    destroyCharacter();
-    destroyShape();
-
-    createCollider();
+    m_dirty = true;
 }
 
 float CharacterController::slopeLimit() const {
@@ -75,7 +69,7 @@ float CharacterController::slopeLimit() const {
 
 void CharacterController::setSlopeLimit(float limit) {
     m_slope = limit;
-    if(m_character == nullptr) {
+    if(m_character) {
         m_character->setMaxSlope(m_slope);
     }
 }
@@ -86,7 +80,7 @@ float CharacterController::stepOffset() const {
 
 void CharacterController::setStepOffset(float step) {
     m_step = step;
-    if(m_character == nullptr) {
+    if(m_character) {
         m_character->setStepHeight(step);
     }
 }
@@ -97,9 +91,7 @@ float CharacterController::skinWidth() const {
 
 void CharacterController::setSkinWidth(float width) {
     m_skin = width;
-
-    destroyCharacter();
-    createCollider();
+    m_dirty = true;
 }
 
 Vector3 CharacterController::center() const {
@@ -133,14 +125,11 @@ void CharacterController::createCollider() {
         m_character->setMaxSlope(m_slope);
         m_character->setStepHeight(m_step);
 
-        Transform *t = actor()->transform();
-        if(t) {
-            Vector3 center = m_center;
-            center += actor()->transform()->position();
+        Vector3 center = m_center;
+        center += actor()->transform()->worldPosition();
 
-            btTransform &transform = m_ghostObject->getWorldTransform();
-            transform.setOrigin(btVector3(center.x, center.y, center.z));
-        }
+        btTransform &transform = m_ghostObject->getWorldTransform();
+        transform.setOrigin(btVector3(center.x, center.y, center.z));
     }
 
     if(m_character && m_world) {
@@ -154,9 +143,7 @@ btCollisionShape *CharacterController::shape() {
     if(m_collisionShape == nullptr) {
         m_collisionShape = new btCapsuleShape(m_radius, m_height);
 
-        Transform *t = actor()->transform();
-
-        Vector3 p = t->scale();
+        Vector3 p = actor()->transform()->scale();
         m_collisionShape->setLocalScaling(btVector3(p.x, p.y, p.z));
 
         m_ghostObject->setCollisionShape(m_collisionShape);

diff --git a/modules/physics/bullet/src/components/collider.cpp b/modules/physics/bullet/src/components/collider.cpp
@@ -1,11 +1,15 @@
 #include "components/collider.h"
 
+#include <components/actor.h>
+#include <components/transform.h>
+
 #include <btBulletDynamicsCommon.h>
 
 Collider::Collider() :
         m_collisionShape(nullptr),
         m_collisionObject(nullptr),
-        m_world(nullptr) {
+        m_world(nullptr),
+        m_rigidBody(nullptr) {
 
 }
 
@@ -18,6 +22,17 @@ void Collider::update() {
 
 }
 
+RigidBody *Collider::attachedRigidBody() const {
+    return m_rigidBody;
+}
+
+void Collider::setAttachedRigidBody(RigidBody *body) {
+    m_rigidBody = body;
+    if(m_rigidBody) {
+        destroyCollider();
+    }
+}
+
 btDynamicsWorld *Collider::world() const {
     return m_world;
 }
@@ -30,7 +45,23 @@ void Collider::setWorld(btDynamicsWorld *world) {
 }
 
 void Collider::createCollider() {
+    destroyCollider();
 
+    if(m_rigidBody == nullptr) {
+        m_collisionObject = new btCollisionObject();
+        m_collisionObject->setCollisionShape(shape());
+        if(m_world) {
+            Transform *t = actor()->transform();
+
+            Quaternion q = t->worldQuaternion();
+            Vector3 p = t->worldPosition();
+
+            m_collisionObject->setWorldTransform(btTransform(btQuaternion(q.x, q.y, q.z, q.w),
+                                                             btVector3(p.x, p.y, p.z)));
+
+            m_world->addCollisionObject(m_collisionObject);
+        }
+    }
 }
 
 btCollisionShape *Collider::shape() {
@@ -43,22 +74,25 @@ void Collider::destroyShape() {
 }
 
 void Collider::destroyCollider() {
-    delete m_collisionObject;
-    m_collisionObject = nullptr;
+    if(m_collisionObject && m_world) {
+        m_world->removeCollisionObject(m_collisionObject);
+        delete m_collisionObject;
+        m_collisionObject = nullptr;
+    }
 }
 
 void Collider::dirtyContacts() {
-    for(auto &it : m_Collisions) {
+    for(auto &it : m_collisions) {
         it.second = true;
     }
 }
 
 void Collider::cleanContacts() {
-    auto it = m_Collisions.begin();
-    while(it != m_Collisions.end()) {
+    auto it = m_collisions.begin();
+    while(it != m_collisions.end()) {
         if(it->second == true) {
             emitSignal(_SIGNAL(exited()));
-            it = m_Collisions.erase(it);
+            it = m_collisions.erase(it);
             if(m_collisionObject) {
                 m_collisionObject->activate(true);
             }
@@ -70,7 +104,7 @@ void Collider::cleanContacts() {
 
 void Collider::setContact(Collider *other) {
     bool result = true;
-    for(auto &it : m_Collisions) {
+    for(auto &it : m_collisions) {
         if(it.first == other->uuid()) {
             emitSignal(_SIGNAL(stay()));
             it.second = false;
@@ -80,6 +114,6 @@ void Collider::setContact(Collider *other) {
     }
     if(result) {
         emitSignal(_SIGNAL(entered()));
-        m_Collisions[other->uuid()] = false;
+        m_collisions[other->uuid()] = false;
     }
 }