Changeset 2446 for code/branches/physics_merge

Timestamp:

Dec 14, 2008, 7:08:36 PM (16 years ago)

Author:

rgrieder

Message:

• orxonox::Scene should work properly with XMLPort and network synchronisation, no matter what input. No guarantee of course
• If you disable physics completely and then reactivate it, all rigid bodies that were removed will be added again.
• new XML attributes: gravity, negativeWorldRange and positiveWorldRange

Location:

code/branches/physics_merge/src/orxonox/objects

Files:

• Scene.cc (modified) (7 diffs)
• Scene.h (modified) (5 diffs)
• worldentities/WorldEntity.cc (modified) (2 diffs)

code/branches/physics_merge/src/orxonox/objects/Scene.cc

@@ -22 +22 @@
  *   Author:
  *      Fabian 'x3n' Landau
+ *      Reto Grieder (physics)
  *   Co-authors:
- *      Reto Grieder (physics)
+ *      ...
  *
  */
@@ -77 +78 @@
         }
 
-        // No physics for default
-        this->physicalWorld_ = 0;
+        // No physics yet, XMLPort will do that.
+        const int defaultMaxWorldSize = 100000;
+        this->negativeWorldRange_ = Vector3(-defaultMaxWorldSize, -defaultMaxWorldSize, -defaultMaxWorldSize);
+        this->positiveWorldRange_ = Vector3( defaultMaxWorldSize,  defaultMaxWorldSize,  defaultMaxWorldSize);
+        this->gravity_ = Vector3(0, 0, 0);
+        this->physicalWorld_   = 0;
+        this->solver_          = 0;
+        this->dispatcher_      = 0;
+        this->collisionConfig_ = 0;
+        this->broadphase_      = 0;
 
         // test test test
@@ -107 +116 @@
                 delete this->sceneManager_;
             }
+
+            this->setPhysicalWorld(false);
         }
     }
@@ -118 +129 @@
         XMLPortParam(Scene, "shadow", setShadow, getShadow, xmlelement, mode).defaultValues(true);
 
-        //const int defaultMaxWorldSize = 100000;
-        //Vector3 worldAabbMin(-defaultMaxWorldSize, -defaultMaxWorldSize, -defaultMaxWorldSize);
-        //Vector3 worldAabbMax( defaultMaxWorldSize,  defaultMaxWorldSize,  defaultMaxWorldSize);
-        //XMLPortParamVariable(Scene, "negativeWorldRange", worldAabbMin, xmlelement, mode);
-        //XMLPortParamVariable(Scene, "positiveWorldRange", worldAabbMax, xmlelement, mode);
-        XMLPortParam(Scene, "hasPhysics", setPhysicalWorld, hasPhysics, xmlelement, mode).defaultValue(0, true);//.defaultValue(1, worldAabbMin).defaultValue(2, worldAabbMax);
+        XMLPortParam(Scene, "negativeWorldRange", setNegativeWorldRange, getNegativeWorldRange, xmlelement, mode);
+        XMLPortParam(Scene, "positiveWorldRange", setPositiveWorldRange, getPositiveWorldRange, xmlelement, mode);
+        XMLPortParam(Scene, "hasPhysics", setPhysicalWorld, hasPhysics, xmlelement, mode).defaultValues(true);
 
         XMLPortObjectExtended(Scene, BaseObject, "", addObject, getObject, xmlelement, mode, true, false);
@@ -130 +138 @@
     void Scene::registerVariables()
     {
-        registerVariable(this->skybox_,       variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_applySkybox));
-        registerVariable(this->ambientLight_, variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_applyAmbientLight));
-        registerVariable(this->bHasPhysics_,  variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_hasPhysics));
-    }
-
-    void Scene::setPhysicalWorld(bool wantPhysics)//, const Vector3& worldAabbMin, const Vector3& worldAabbMax)
+        registerVariable(this->skybox_,             variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_applySkybox));
+        registerVariable(this->ambientLight_,       variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_applyAmbientLight));
+        registerVariable(this->negativeWorldRange_, variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_negativeWorldRange));
+        registerVariable(this->positiveWorldRange_, variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_positiveWorldRange));
+        registerVariable(this->gravity_,            variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_gravity));
+        registerVariable(this->bHasPhysics_,        variableDirection::toclient, new NetworkCallback<Scene>(this, &Scene::networkcallback_hasPhysics));
+    }
+
+    void Scene::setNegativeWorldRange(const Vector3& range)
+    {
+        if (range.length() < 10.0f)
+        {
+            CCOUT(2) << "Warning: Setting the negative world range to a very small value: "
+                     << omni_cast<std::string>(range) << std::endl;
+        }
+        if (this->hasPhysics())
+        {
+            CCOUT(2) << "Warning: Attempting to set the physical world range at run time. " 
+                     << "This causes a complete physical reload which might take some time." << std::endl;
+            this->setPhysicalWorld(false);
+            this->negativeWorldRange_ = range;
+            this->setPhysicalWorld(true);
+        }
+        else
+            this->negativeWorldRange_ = range;
+    }
+
+    void Scene::setPositiveWorldRange(const Vector3& range)
+    {
+        if (range.length() < 10.0f)
+        {
+            CCOUT(2) << "Warning: Setting the positive world range to a very small value: "
+                     << omni_cast<std::string>(range) << std::endl;
+        }
+        if (this->hasPhysics())
+        {
+            CCOUT(2) << "Warning: Attempting to set the physical world range at run time. " 
+                     << "This causes a complete physical reload which might take some time." << std::endl;
+            this->setPhysicalWorld(false);
+            this->positiveWorldRange_ = range;
+            this->setPhysicalWorld(true);
+        }
+        else
+            this->positiveWorldRange_ = range;
+    }
+
+    void Scene::setGravity(const Vector3& gravity)
+    {
+        this->gravity_ = gravity;
+        if (this->hasPhysics())
+            this->physicalWorld_->setGravity(omni_cast<btVector3>(this->gravity_));
+    }
+
+    void Scene::setPhysicalWorld(bool wantPhysics)
     {
         this->bHasPhysics_ = wantPhysics;
         if (wantPhysics && !hasPhysics())
         {
-            //float x = worldAabbMin.x;
-            //float y = worldAabbMin.y;
-            //float z = worldAabbMin.z;
-            btVector3 worldAabbMin(-100000, -100000, -100000);
-            //x = worldAabbMax.x;
-            //y = worldAabbMax.y;
-            //z = worldAabbMax.z;
-            btVector3 worldAabbMax(100000, 100000, 100000);
-
-            btDefaultCollisionConfiguration*     collisionConfig = new btDefaultCollisionConfiguration();
-            btCollisionDispatcher*               dispatcher      = new btCollisionDispatcher(collisionConfig);
-            bt32BitAxisSweep3*                   broadphase      = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax);
-            btSequentialImpulseConstraintSolver* solver          = new btSequentialImpulseConstraintSolver;
-
-            this->physicalWorld_ =  new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);
-
-            // Disable Gravity for space
-            this->physicalWorld_->setGravity(btVector3(0,0,0));
-        }
-        else
-        {
-            // TODO: Destroy Bullet physics
+            // Note: These are all little known default classes and values.
+            //       It would require further investigation to properly dertermine the right choices.
+            this->broadphase_      = new bt32BitAxisSweep3(
+                omni_cast<btVector3>(this->negativeWorldRange_), omni_cast<btVector3>(this->positiveWorldRange_));
+            this->collisionConfig_ = new btDefaultCollisionConfiguration();
+            this->dispatcher_      = new btCollisionDispatcher(this->collisionConfig_);
+            this->solver_          = new btSequentialImpulseConstraintSolver;
+
+            this->physicalWorld_   = new btDiscreteDynamicsWorld(this->dispatcher_, this->broadphase_, this->solver_, this->collisionConfig_);
+            this->physicalWorld_->setGravity(omni_cast<btVector3>(this->gravity_));
+        }
+        else if (!wantPhysics && hasPhysics())
+        {
+            // Remove all WorldEntities and shove them to the queue since they would still like to be in a physical world.
+            for (std::set<WorldEntity*>::const_iterator it = this->physicalObjects_.begin();
+                it != this->physicalObjects_.end(); ++it)
+            {
+                this->physicalWorld_->removeRigidBody((*it)->getPhysicalBody());
+                this->physicalObjectQueue_.insert(*it);
+            }
+            this->physicalObjects_.clear();
+
+            delete this->physicalWorld_;
+            delete this->solver_;
+            delete this->dispatcher_;
+            delete this->collisionConfig_;
+            delete this->broadphase_;
+            this->physicalWorld_   = 0;
+            this->solver_          = 0;
+            this->dispatcher_      = 0;
+            this->collisionConfig_ = 0;
+            this->broadphase_      = 0;
         }
     }
@@ -172 +238 @@
             this->rootSceneNode_->_update(true, false);
         }
-        if (physicalWorld_)
-        {
-            if (this->physicsQueue_.size() > 0)
+        if (this->hasPhysics())
+        {
+            // TODO: This here is bad practice! It will slow down the first tick() by ages.
+            //       Rather have an initialise() method as well, called by the Level after everything has been loaded.
+            if (this->physicalObjectQueue_.size() > 0)
             {
                 // Add all scheduled WorldEntities
-                for (std::set<btRigidBody*>::const_iterator it = this->physicsQueue_.begin();
-                    it != this->physicsQueue_.end(); ++it)
+                for (std::set<WorldEntity*>::const_iterator it = this->physicalObjectQueue_.begin();
+                    it != this->physicalObjectQueue_.end(); ++it)
                 {
-                    if (!(*it)->isInWorld())
-                    {
-                        //COUT(0) << "body position: " << omni_cast<Vector3>((*it)->getWorldTransform().getOrigin()) << std::endl;
-                        //COUT(0) << "body velocity: " << omni_cast<Vector3>((*it)->getLinearVelocity()) << std::endl;
-                        //COUT(0) << "body orientation: " << omni_cast<Quaternion>((*it)->getWorldTransform().getRotation()) << std::endl;
-                        //COUT(0) << "body angular: " << omni_cast<Vector3>((*it)->getAngularVelocity()) << std::endl;
-                        //COUT(0) << "body mass: " << omni_cast<float>((*it)->getInvMass()) << std::endl;
-                        //COUT(0) << "body inertia: " << omni_cast<Vector3>((*it)->getInvInertiaDiagLocal()) << std::endl;
-                        this->physicalWorld_->addRigidBody(*it);
-                    }
+                    this->physicalWorld_->addRigidBody((*it)->getPhysicalBody());
                 }
-                this->physicsQueue_.clear();
-            }
-
-            // TODO: This is not stable! If physics cannot be calculated real time anymore,
-            //       framerate will drop exponentially.
-            physicalWorld_->stepSimulation(dt,(int)(dt/0.0166666f + 1.0f));
+                this->physicalObjectQueue_.clear();
+            }
+
+            // Note: 60 means that Bullet will do physics correctly down to 1 frames per seconds.
+            //       Under that mark, the simulation will "loose time" and get unusable.
+            physicalWorld_->stepSimulation(dt, 60);
         }
     }
@@ -247 +306 @@
     }
 
-    void Scene::addRigidBody(btRigidBody* body)
-    {
-        if (!this->physicalWorld_)
-            COUT(1) << "Error: Cannot add WorldEntity body to physical Scene: No physics." << std::endl;
-        else if (body)
-            this->physicsQueue_.insert(body);
-    }
-
-    void Scene::removeRigidBody(btRigidBody* body)
-    {
-        if (!this->physicalWorld_)
-            COUT(1) << "Error: Cannot remove WorldEntity body from physical Scene: No physics." << std::endl;
-        else if (body)
-        {
-            this->physicalWorld_->removeRigidBody(body);
-            // Also check queue
-            std::set<btRigidBody*>::iterator it = this->physicsQueue_.find(body);
-            if (it != this->physicsQueue_.end())
-                this->physicsQueue_.erase(it);
-        }
+    void Scene::addPhysicalObject(WorldEntity* object)
+    {
+        if (object)
+        {
+            std::set<WorldEntity*>::iterator it = this->physicalObjects_.find(object);
+            if (it != this->physicalObjects_.end())
+                return;
+
+            this->physicalObjectQueue_.insert(object);
+        }
+    }
+
+    void Scene::removePhysicalObject(WorldEntity* object)
+    {
+        // check queue first
+        std::set<WorldEntity*>::iterator it = this->physicalObjectQueue_.find(object);
+        if (it != this->physicalObjectQueue_.end())
+        {
+            this->physicalObjectQueue_.erase(it);
+            return;
+        }
+
+        it = this->physicalObjects_.find(object);
+        if (it == this->physicalObjects_.end())
+            return;
+        this->physicalObjects_.erase(it);
+
+        if (this->hasPhysics())
+            this->physicalWorld_->removeRigidBody(object->getPhysicalBody());
     }
 }

code/branches/physics_merge/src/orxonox/objects/Scene.h

@@ -22 +22 @@
  *   Author:
  *      Fabian 'x3n' Landau
+ *      Reto Grieder (physics)
  *   Co-authors:
  *      ...
@@ -53 +54 @@
                 { return this->rootSceneNode_; }
 
-            inline btDiscreteDynamicsWorld* getPhysicalWorld() const
-                { return this->physicalWorld_; }
-
             void setSkybox(const std::string& skybox);
             inline const std::string& getSkybox() const
@@ -68 +66 @@
                 { return this->bShadows_; }
 
-            inline bool hasPhysics()
-                { return this->physicalWorld_ != 0; }
-            void setPhysicalWorld(bool wantsPhysics);//, const Vector3& worldAabbMin, const Vector3& worldAabbMax);
-
-            void addRigidBody(btRigidBody* body);
-            void removeRigidBody(btRigidBody* body);
-
             virtual void tick(float dt);
 
@@ -85 +76 @@
             void networkcallback_applyAmbientLight()
                 { this->setAmbientLight(this->ambientLight_); }
-            void networkcallback_hasPhysics()
-                { this->setPhysicalWorld(this->bHasPhysics_); }
 
             Ogre::SceneManager*      sceneManager_;
             Ogre::SceneNode*         rootSceneNode_;
-
-            btDiscreteDynamicsWorld* physicalWorld_;
-            std::set<btRigidBody*>   physicsQueue_;
-            bool                     bHasPhysics_;
 
             std::string              skybox_;
@@ -99 +84 @@
             std::list<BaseObject*>   objects_;
             bool                     bShadows_;
+
+
+        /////////////
+        // Physics //
+        /////////////
+
+        public:
+            inline bool hasPhysics()
+                { return this->physicalWorld_ != 0; }
+            void setPhysicalWorld(bool wantsPhysics);
+
+            void setNegativeWorldRange(const Vector3& range);
+            inline const Vector3& getNegativeWorldRange() const
+                { return this->negativeWorldRange_; }
+
+            void setPositiveWorldRange(const Vector3& range);
+            inline const Vector3& getPositiveWorldRange() const
+                { return this->positiveWorldRange_; }
+
+            void setGravity(const Vector3& gravity);
+            inline const Vector3& getGravity() const
+                { return this->gravity_; }
+
+            void addPhysicalObject(WorldEntity* object);
+            void removePhysicalObject(WorldEntity* object);
+
+        private:
+            inline void networkcallback_hasPhysics()
+                { this->setPhysicalWorld(this->bHasPhysics_); }
+            inline void networkcallback_negativeWorldRange()
+                { this->setNegativeWorldRange(this->negativeWorldRange_); }
+            inline void networkcallback_positiveWorldRange()
+                { this->setPositiveWorldRange(this->positiveWorldRange_); }
+            inline void networkcallback_gravity()
+                { this->setGravity(this->gravity_); }
+
+            // Bullet objects
+            btDiscreteDynamicsWorld*             physicalWorld_;
+            bt32BitAxisSweep3*                   broadphase_;
+            btDefaultCollisionConfiguration*     collisionConfig_;
+            btCollisionDispatcher*               dispatcher_;
+            btSequentialImpulseConstraintSolver* solver_;
+
+            std::set<WorldEntity*>               physicalObjectQueue_;
+            std::set<WorldEntity*>               physicalObjects_;
+            bool                                 bHasPhysics_;
+            Vector3                              negativeWorldRange_;
+            Vector3                              positiveWorldRange_;
+            Vector3                              gravity_;
     };
 }

code/branches/physics_merge/src/orxonox/objects/worldentities/WorldEntity.cc

@@ -312 +312 @@
         if (this->isActive() && this->hasPhysics() && !this->isPhysicsActive() && !this->parent_)
         {
-            this->getScene()->addRigidBody(this->physicalBody_);
+            this->getScene()->addPhysicalObject(this);
             this->bPhysicsActive_ = true;
         }
@@ -321 +321 @@
         if (this->isPhysicsActive())
         {
-            this->getScene()->removeRigidBody(this->physicalBody_);
+            this->getScene()->removePhysicalObject(this);
             this->bPhysicsActive_ = false;
         }