void PhysicsEngine::bumpAndPruneContacts(ObjectMotionState* motionState) {
// Find all objects that touch the object corresponding to motionState and flag the other objects
// for simulation ownership by the local simulation.
assert(motionState);
btCollisionObject* object = motionState->getRigidBody();
int numManifolds = _collisionDispatcher->getNumManifolds();
for (int i = 0; i < numManifolds; ++i) {
btPersistentManifold* contactManifold = _collisionDispatcher->getManifoldByIndexInternal(i);
if (contactManifold->getNumContacts() > 0) {
const btCollisionObject* objectA = static_cast<const btCollisionObject*>(contactManifold->getBody0());
const btCollisionObject* objectB = static_cast<const btCollisionObject*>(contactManifold->getBody1());
if (objectB == object) {
if (!objectA->isStaticOrKinematicObject()) {
ObjectMotionState* motionStateA = static_cast<ObjectMotionState*>(objectA->getUserPointer());
if (motionStateA) {
motionStateA->bump(VOLUNTEER_SIMULATION_PRIORITY);
objectA->setActivationState(ACTIVE_TAG);
}
}
} else if (objectA == object) {
if (!objectB->isStaticOrKinematicObject()) {
ObjectMotionState* motionStateB = static_cast<ObjectMotionState*>(objectB->getUserPointer());
if (motionStateB) {
motionStateB->bump(VOLUNTEER_SIMULATION_PRIORITY);
objectB->setActivationState(ACTIVE_TAG);
}
}
}
}
}
removeContacts(motionState);
}
void ContactModel::botDisconnected()
{
MAGNORMOBOT *bot = qobject_cast<MAGNORMOBOT*>(sender());
beginResetModel();
removeContacts(bot);
endResetModel();
}
void PhysicsEngine::removeObject(ObjectMotionState* object) {
// wake up anything touching this object
bump(object);
removeContacts(object);
btRigidBody* body = object->getRigidBody();
assert(body);
_dynamicsWorld->removeRigidBody(body);
}
void ContactModel::botDestroyed()
{
MAGNORMOBOT *bot = qobject_cast<MAGNORMOBOT*>(sender());
conduits.removeOne(bot);
if (hasContacts(bot)) {
beginResetModel();
removeContacts(bot);
endResetModel();
}
}
void PhysicsEngine::stepSimulation() {
CProfileManager::Reset();
BT_PROFILE("stepSimulation");
// NOTE: the grand order of operations is:
// (1) pull incoming changes
// (2) step simulation
// (3) synchronize outgoing motion states
// (4) send outgoing packets
const float MAX_TIMESTEP = (float)PHYSICS_ENGINE_MAX_NUM_SUBSTEPS * PHYSICS_ENGINE_FIXED_SUBSTEP;
float dt = 1.0e-6f * (float)(_clock.getTimeMicroseconds());
_clock.reset();
float timeStep = btMin(dt, MAX_TIMESTEP);
if (_myAvatarController) {
BT_PROFILE("avatarController");
// TODO: move this stuff outside and in front of stepSimulation, because
// the updateShapeIfNecessary() call needs info from MyAvatar and should
// be done on the main thread during the pre-simulation stuff
if (_myAvatarController->needsRemoval()) {
_myAvatarController->setDynamicsWorld(nullptr);
// We must remove any existing contacts for the avatar so that any new contacts will have
// valid data. MyAvatar's RigidBody is the ONLY one in the simulation that does not yet
// have a MotionState so we pass nullptr to removeContacts().
removeContacts(nullptr);
}
_myAvatarController->updateShapeIfNecessary();
if (_myAvatarController->needsAddition()) {
_myAvatarController->setDynamicsWorld(_dynamicsWorld);
}
_myAvatarController->preSimulation();
}
auto onSubStep = [this]() {
updateContactMap();
};
int numSubsteps = _dynamicsWorld->stepSimulationWithSubstepCallback(timeStep, PHYSICS_ENGINE_MAX_NUM_SUBSTEPS,
PHYSICS_ENGINE_FIXED_SUBSTEP, onSubStep);
if (numSubsteps > 0) {
BT_PROFILE("postSimulation");
_numSubsteps += (uint32_t)numSubsteps;
ObjectMotionState::setWorldSimulationStep(_numSubsteps);
if (_myAvatarController) {
_myAvatarController->postSimulation();
}
_hasOutgoingChanges = true;
}
}
void ChannelContactModel::onGroupMembersChanged(const Tp::Contacts &groupMembersAdded,
const Tp::Contacts &groupLocalPendingMembersAdded,
const Tp::Contacts &groupRemotePendingMembersAdded,
const Tp::Contacts &groupMembersRemoved,
const Tp::Channel::GroupMemberChangeDetails &details)
{
kDebug();
Q_UNUSED(groupLocalPendingMembersAdded);
Q_UNUSED(groupRemotePendingMembersAdded);
Q_UNUSED(details);
addContacts(groupMembersAdded);
removeContacts(groupMembersRemoved);
}
