New physics interfaces (part)

proj/SkyXEngine/vs2013/SkyXEngine.sln

@@ -359,659 +359,355 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "xEngine", "..\..\xEngine\vs
 EndProject
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proj/sxphysics/vs2013/sxphysics.vcxproj

@@ -183,7 +183,9 @@
     <ClInclude Include="..\..\..\source\common\file_utils.h" />
     <ClInclude Include="..\..\..\source\common\string.h" />
     <ClInclude Include="..\..\..\source\common\string_utils.h" />
+    <ClInclude Include="..\..\..\source\physics\ICollisionObject.h" />
     <ClInclude Include="..\..\..\source\physics\ICollisionShape.h" />
+    <ClInclude Include="..\..\..\source\physics\IXPhysics.h" />
     <ClInclude Include="..\..\..\source\physics\PhyWorld.h" />
     <ClInclude Include="..\..\..\source\physics\sxphysics.h" />
   </ItemGroup>

proj/sxphysics/vs2013/sxphysics.vcxproj.filters

@@ -53,5 +53,11 @@
     <ClInclude Include="..\..\..\source\physics\ICollisionShape.h">
       <Filter>Header Files\xcommon</Filter>
     </ClInclude>
+    <ClInclude Include="..\..\..\source\physics\IXPhysics.h">
+      <Filter>Header Files\xcommon</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\source\physics\ICollisionObject.h">
+      <Filter>Header Files\xcommon</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>
\ No newline at end of file

source/game/BaseAnimating.cpp

@@ -266,7 +266,7 @@ void CBaseAnimating::createPhysBody()
 			vInertia  // local inertia
 			);
 		m_pRigidBody = new btRigidBody(rigidBodyCI);
-		m_pRigidBody->getInvMass();
+		//m_pRigidBody->getInvMass();
 
 		//m_pRigidBody->setFriction(100.0f);
 		m_pRigidBody->setUserPointer(this);

source/game/BaseEntity.cpp

@@ -897,7 +897,7 @@ void CBaseEntity::_initEditorBoxes()
 		btVector3(0,0,0)  // local inertia
 		);
 	m_pEditorRigidBody = new btRigidBody(rigidBodyCI);
-	m_pEditorRigidBody->getInvMass();
+	//m_pEditorRigidBody->getInvMass();
 	m_pEditorRigidBody->setUserPointer(this);
 
 	SPhysics_AddShapeEx(m_pEditorRigidBody, CG_DEFAULT, CG_BULLETFIRE);

source/game/BaseTrigger.cpp

@@ -158,21 +158,12 @@ void CBaseTrigger::onSync()
 	{
 		const btBroadphasePair &pair = pairArray[i];
 		btBroadphasePair *pCollisionPair = SPhysics_GetDynWorld()->getPairCache()->findPair(pair.m_pProxy0, pair.m_pProxy1);
-		if(!pCollisionPair)
-		{
-			continue;
-		}
-		else
-		{
-			if(pCollisionPair->m_algorithm)
+		
+		if(pCollisionPair && pCollisionPair->m_algorithm)
 		{
+			manifoldArray.resize(0);
 			pCollisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
-				if(!manifoldArray.size())
-				{
-					continue;
-				}
-				else
-				{
+
 			for(int j = 0, jl = manifoldArray.size(); j < jl; ++j)
 			{
 				if(manifoldArray[j]->getNumContacts() > 0)
@@ -187,13 +178,12 @@ void CBaseTrigger::onSync()
 						m_aNewTouches.push_back(pEnt);
 						//printf("touched %s\n", pEnt->getClassName());
 					}
-						}
+					break;
 				}
 			}
 			//printf("m=%d ", manifoldArray.size());
 		}
 	}
-	}
 	//m_pGhostObject->getOverlappingObject(0);
 	//printf("%d\n", m_iTouches);
 }

source/game/PropStatic.cpp

@@ -34,7 +34,7 @@ void CPropStatic::createPhysBody()
 			btVector3(0, 0, 0)  // local inertia
 			);
 		m_pRigidBody = new btRigidBody(rigidBodyCI);
-		m_pRigidBody->getInvMass();
+		//m_pRigidBody->getInvMass();
 
 		//m_pRigidBody->setFriction(100.0f);
 		m_pRigidBody->setUserPointer(this);

source/physics/ICollisionObject.h

+#ifndef __ICOLLISIONOBJECT_H
+#define __ICOLLISIONOBJECT_H
+
+#include "ICollisionShape.h"
+
+enum XCOLLISION_FLAGS
+{
+	XCF_STATIC_OBJECT = 1,
+	XCF_KINEMATIC_OBJECT = 2,
+	XCF_NO_CONTACT_RESPONSE = 4,
+	//XCF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
+	XCF_CHARACTER_OBJECT = 16,
+	XCF_DISABLE_VISUALIZE_OBJECT = 32 //disable debug drawing
+};
+DEFINE_ENUM_FLAG_OPERATORS(XCOLLISION_FLAGS);
+
+class ICollisionObject: public IXUnknown
+{
+public:
+	virtual void XMETHODCALLTYPE setCollisionShape(ICollisionShape *pCollisionShape) = 0;
+	virtual ICollisionShape* XMETHODCALLTYPE getCollisionShape() = 0;
+
+	virtual void XMETHODCALLTYPE setFriction(float fFriction) = 0;
+	virtual float XMETHODCALLTYPE getFriction() const = 0;
+
+	virtual void XMETHODCALLTYPE setRollingFriction(float fFriction) = 0;
+	virtual float XMETHODCALLTYPE getRollingFriction() const = 0;
+
+	virtual void XMETHODCALLTYPE setSpinningFriction(float fFriction) = 0;
+	virtual float XMETHODCALLTYPE getSpinningFriction() const = 0;
+
+	virtual void XMETHODCALLTYPE setPosition(const float3 &vPosition) = 0;
+	virtual float3 XMETHODCALLTYPE getPosition() const = 0;
+
+	virtual void XMETHODCALLTYPE setRotation(const SMQuaternion &qRotation) = 0;
+	virtual SMQuaternion XMETHODCALLTYPE getRotation() const = 0;
+
+	virtual void XMETHODCALLTYPE setCollisionFlags(XCOLLISION_FLAGS flags) = 0;
+	virtual XCOLLISION_FLAGS XMETHODCALLTYPE getCollisionFlags() const = 0;
+
+	virtual void XMETHODCALLTYPE setUserPointer(void *pUser) = 0;
+	virtual void* XMETHODCALLTYPE getUserPointer() const = 0;
+
+	virtual void XMETHODCALLTYPE setCCDsweptSphereRadius(float fRadius) = 0;
+	virtual float XMETHODCALLTYPE getCCDsweptSphereRadius() const = 0;
+
+	virtual void XMETHODCALLTYPE setCCDmotionThreshold(float fRadius) = 0;
+	virtual float XMETHODCALLTYPE getCCDmotionThreshold() const = 0;
+};
+
+struct XRIDIGBODY_DESC
+{
+	float fMass;
+	float3_t vStartWorldPosition;
+	SMQuaternion vStartWorldRotation;
+	ICollisionShape *pCollisionShape = NULL;
+	float3_t vLocalInertia;
+
+	float fLinearDamping = 0.0f;
+	float fAngularDamping = 0.0f;
+
+	///best simulation results when friction is non-zero
+	float fFriction = 0.5f;
+	///the rollingFriction prevents rounded shapes, such as spheres, cylinders and capsules from rolling forever.
+	float fRollingFriction = 0.0f;
+	float fSpinningFriction = 0.0f; //torsional friction around contact normal
+	
+	float fLinearSleepingThreshold = 0.8f;
+	float fAngularSleepingThreshold = 1.0f;
+};
+
+class IRigidBody: public ICollisionObject
+{
+public:
+	virtual void XMETHODCALLTYPE getDamping(float fLinearDamping, float fAngularDamping) = 0;
+	virtual float XMETHODCALLTYPE getLinearDamping() const = 0;
+	virtual float XMETHODCALLTYPE getAngularDamping() const = 0;
+
+	virtual float XMETHODCALLTYPE getLinearSleepingThreshold() const = 0;
+	virtual float XMETHODCALLTYPE getAngularSleepingThreshold() const = 0;
+
+	virtual void XMETHODCALLTYPE setMass(float fMass, const float3 &vLocalInertia) = 0;
+
+	virtual float3 XMETHODCALLTYPE getLinearFactor() const = 0;
+	virtual void XMETHODCALLTYPE setLinearFactor(const float3 &vLinearFactor) = 0;
+	virtual float3 XMETHODCALLTYPE getAngularFactor() const = 0;
+	virtual void XMETHODCALLTYPE setAngularFactor(const float3 &vAngularFactor) = 0;
+
+	virtual void XMETHODCALLTYPE applyCentralForce(const float3 &vForce) = 0;
+	// https://pybullet.org/Bullet/phpBB3/viewtopic.php?t=2995
+	virtual void XMETHODCALLTYPE applyForce(const float3 &vForce, const float3 &vWorldPos) = 0;
+	virtual void XMETHODCALLTYPE applyTorque(const float3 &vTorque) = 0;
+
+	virtual void XMETHODCALLTYPE applyCentralImpulse(const float3 &vForce) = 0;
+	virtual void XMETHODCALLTYPE applyImpulse(const float3 &vForce, const float3 &vWorldPos) = 0;
+	virtual void XMETHODCALLTYPE applyTorqueImpulse(const float3 &vTorque) = 0;
+
+	virtual void XMETHODCALLTYPE setLinearVelocity(const float3 &vLinearVelocity) = 0;
+	virtual void XMETHODCALLTYPE setAngularVelocity(const float3 &vAngularVelocity) = 0;
+};
+
+class IGhostObject: public ICollisionObject
+{
+public:
+	virtual UINT XMETHODCALLTYPE getOverlappingObjectCount() const = 0;
+	virtual ICollisionObject* XMETHODCALLTYPE getOverlappingObject(UINT uIndex) const = 0;
+
+};
+
+class IContactManifoldPoint
+{
+public:
+	virtual float XMETHODCALLTYPE getDistance() const = 0;
+
+	virtual float3 XMETHODCALLTYPE getLocalPointA() const = 0;
+	virtual float3 XMETHODCALLTYPE getLocalPointB() const = 0;
+
+	virtual float3 XMETHODCALLTYPE getWorldPointA() const = 0;
+	virtual float3 XMETHODCALLTYPE getWorldPointB() const = 0;
+
+	virtual float3 XMETHODCALLTYPE getWorldNormalB() const = 0;
+};
+
+class IContactManifold
+{
+public:
+	virtual UINT XMETHODCALLTYPE getContactCount() const = 0;
+	virtual IContactManifoldPoint* XMETHODCALLTYPE getContact(UINT uIndex) const = 0;
+};
+
+class ICollisionPair
+{
+public:
+	virtual ICollisionObject* XMETHODCALLTYPE getObject0() = 0;
+	virtual ICollisionObject* XMETHODCALLTYPE getObject1() = 0;
+
+	virtual UINT XMETHODCALLTYPE getContactManifoldCount() const = 0;
+	virtual IContactManifold* XMETHODCALLTYPE getContactManifold(UINT uIndex) const = 0;
+};
+
+class IGhostObjectPairCaching: public IGhostObject
+{
+public:
+	virtual UINT XMETHODCALLTYPE getOverlappingPairCount() const = 0;
+	virtual ICollisionPair* XMETHODCALLTYPE getOverlappingPair(UINT uIndex) const = 0;
+};
+
+#endif

source/physics/ICollisionShape.h

@@ -3,16 +3,50 @@
 
 #include <gdefines.h>
 
+enum XSHAPE_TYPE
+{
+	XSHAPE_INVALID,
+	XSHAPE_BOX,
+	XSHAPE_CONVEX_HULL,
+	XSHAPE_SPHERE,
+	XSHAPE_CAPSULE,
+	XSHAPE_CONE,
+	XSHAPE_CONVEX,
+	XSHAPE_CYLINDER,
+	XSHAPE_TRIANGLE_MESH,
+	XSHAPE_TERRAIN,
+	XSHAPE_STATIC_PLANE,
+	XSHAPE_COMPOUND
+};
+
 class ICollisionShape: public IXUnknown
 {
 public:
+	virtual void XMETHODCALLTYPE setLocalScaling(const float3 &vScaling) = 0;
+	virtual float3 XMETHODCALLTYPE getLocalScaling() const = 0;
+	//virtual void XMETHODCALLTYPE calculateLocalInertia(float fMass, float3 &vInertia) const = 0;
+
+	virtual void XMETHODCALLTYPE setMargin(float fMargin) = 0;
+	virtual float XMETHODCALLTYPE getMargin() const = 0;
+
+	virtual void XMETHODCALLTYPE setUserPointer(void *pUser) = 0;
+	virtual void* XMETHODCALLTYPE getUserPointer() const = 0;
 
+	virtual XSHAPE_TYPE XMETHODCALLTYPE getType() const = 0;
+
+	virtual ICompoundShape* XMETHODCALLTYPE asCompound() = 0;
+	virtual IBoxShape* XMETHODCALLTYPE asBox() = 0;
+	virtual ISphereShape* XMETHODCALLTYPE asSphere() = 0;
+	virtual ICapsuleShape* XMETHODCALLTYPE asCapsule() = 0;
+	virtual IStaticPlaneShape* XMETHODCALLTYPE asStaticPlane() = 0;
+	virtual IConvexHullShape* XMETHODCALLTYPE asConvexHull() = 0;
+	virtual ITrimeshShape* XMETHODCALLTYPE asTrimesh() = 0;
 };
 
 class IConcaveShape: public ICollisionShape
 {
 public:
-
+	// virtual void	processAllTriangles(ITriangleCallback* callback, const float3 &aabbMin, const float3 &aabbMax) const = 0;
 };
 
 class IConvexShape: public ICollisionShape
@@ -21,40 +55,54 @@ public:
 
 };
 
+class ICompoundShape: public ICollisionShape
+{
+public:
+	virtual void XMETHODCALLTYPE addChildShape(ICollisionShape *pShape, const float3 &vLocalPos, const SMQuaternion &qLocalRot) = 0;
+
+	virtual UINT XMETHODCALLTYPE getChildCount() const = 0;
+	virtual ICollisionShape *getShape(UINT uIndex) = 0;
+
+	virtual void XMETHODCALLTYPE setChildTransform(UINT uChildIndex, const float3 &vLocalPos, const SMQuaternion &qLocalRot, bool shouldRecalculateLocalAabb = true) = 0;
+	virtual void XMETHODCALLTYPE recalculateLocalAabb() = 0;
+
+	// virtual void XMETHODCALLTYPE removeChild(UINT uIndex) = 0;
+};
 
 
 
 class IBoxShape: public IConvexShape
 {
 public:
-
+	virtual float3 XMETHODCALLTYPE getHalfExtents(bool useMargin = false) const = 0;
 };
 
 class ISphereShape: public IConvexShape
 {
 public:
-
+	virtual float XMETHODCALLTYPE getRadius() const = 0;
 };
 
 class ICapsuleShape: public IConvexShape
 {
 public:
-
+	virtual float XMETHODCALLTYPE getRadius() const = 0;
+	virtual float XMETHODCALLTYPE getHeight() const = 0;
 };
 
-class IPlaneShape: public IConcaveShape
+class IStaticPlaneShape: public IConcaveShape
 {
 public:
-
+	virtual SMPLANE XMETHODCALLTYPE getPlane() const = 0;
 };
 
-class IHeightfieldShape: public IConcaveShape
+/*class ITerrainShape: public IConcaveShape
 {
 public:
 
-};
+};*/
 
-class IShapeConvex: public ICollisionShape
+class IConvexHullShape: public IConvexShape
 {
 public:
 

source/physics/IXPhysics.h

+#ifndef __IXPHYSICS_H
+#define __IXPHYSICS_H
+
+#include "ICollisionShape.h"
+#include "ICollisionObject.h"
+/*
+typedef enum PHY_ScalarType
+{
+	PHY_FLOAT,
+	PHY_DOUBLE,
+	PHY_INTEGER,
+	PHY_SHORT,
+	PHY_FIXEDPOINT88,
+	PHY_UCHAR
+} PHY_ScalarType;
+*/
+class IXPhysics: public IXUnknown
+{
+public:
+	virtual IBoxShape* XMETHODCALLTYPE newBoxShape(const float3 &vHalfExtents) = 0;
+	virtual ISphereShape* XMETHODCALLTYPE newSphereShape(float fRadius) = 0;
+	virtual ICapsuleShape* XMETHODCALLTYPE newCapsuleShape(float fRadius, float fHeight) = 0;
+	virtual IStaticPlaneShape* XMETHODCALLTYPE newStaticPlaneShape(const SMPLANE &plane) = 0;
+	/*virtual ITerrainShape* XMETHODCALLTYPE newTerrainShape(int heightStickWidth, int heightStickLength,
+		const void* heightfieldData, float heightScale,
+		float minHeight, float maxHeight,
+		char upAxis / * x/y/z * /, PHY_ScalarType heightDataType,
+		bool flipQuadEdges) = 0;*/
+	virtual IConvexHullShape* XMETHODCALLTYPE newConvexHullShape(UINT uPoints, const float3_t *pPoints, byte u8Stride = sizeof(float3_t), bool bOptimize = true) = 0;
+	virtual ITrimeshShape* XMETHODCALLTYPE newTrimeshShape(UINT uVertices, const float3_t *pVertices, UINT uIndices, UINT *pIndices, byte u8Stride = sizeof(float3_t)) = 0;
+	virtual ICompoundShape* XMETHODCALLTYPE newCompoundShape(UINT uShapes = 0) = 0;
+	
+	virtual IRigidBody* XMETHODCALLTYPE newRigidBody(const XRIDIGBODY_DESC *pDesc) = 0;
+	virtual IGhostObject* XMETHODCALLTYPE newGhostObject() = 0;
+	virtual IGhostObjectPairCaching* XMETHODCALLTYPE newGhostObjectPairCaching() = 0;
+
+	virtual void XMETHODCALLTYPE addCollisionObject(ICollisionObject *pCollisionObject) = 0;
+	virtual void XMETHODCALLTYPE removeCollisionObject(ICollisionObject *pCollisionObject) = 0;
+
+	// add/remove action
+	// rayTest
+	// convexSweepTest
+	// add/remove constraint
+};
+
+#endif