Merge branch 'rigidshapeReorg' of https://github.com/Azaezel/Torque3D into alpha40_ReactiveRigidReorg

# Conflicts:
#	Engine/source/T3D/rigid.cpp
#	Engine/source/T3D/vehicles/vehicle.cpp

Engine/source/T3D/rigidShape.cpp

@@ -1215,44 +1215,46 @@ on standard collision resolution formulas.
 bool RigidShape::resolveCollision(Rigid&  ns,CollisionList& cList)
 {
    // Apply impulses to resolve collision
-   bool colliding, collided = false;
-
-   do 
+   bool collided = false;
+   for (S32 i = 0; i < cList.getCount(); i++)
    {
-      colliding = false;
-      for (S32 i = 0; i < cList.getCount(); i++) 
+      Collision& c = cList[i];
+      if (c.distance < mDataBlock->collisionTol)
       {
-         Collision& c = cList[i];
-         if (c.distance < mDataBlock->collisionTol) 
+         // Velocity into surface
+         Point3F v, r;
+         ns.getOriginVector(c.point, &r);
+         ns.getVelocity(r, &v);
+         F32 vn = mDot(v, c.normal);
+
+         // Only interested in velocities greater than sContactTol,
+         // velocities less than that will be dealt with as contacts
+         // "constraints".
+         if (vn < -mDataBlock->contactTol)
          {
-            // Velocity into surface
-            Point3F v,r;
-            ns.getOriginVector(c.point,&r);
-            ns.getVelocity(r,&v);
-            F32 vn = mDot(v,c.normal);
-
-            // Only interested in velocities greater than sContactTol,
-            // velocities less than that will be dealt with as contacts
-            // "constraints".
-            if (vn < -mDataBlock->contactTol) 
+
+            // Apply impulses to the rigid body to keep it from
+            // penetrating the surface.
+            if (c.object->getTypeMask() & VehicleObjectType)
             {
+                  RigidShape* otherRigid = dynamic_cast<RigidShape*>(c.object);
+                  if (otherRigid)
+                     ns.resolveCollision(cList[i].point, cList[i].normal, &otherRigid->mRigid);
+                  else
+                     ns.resolveCollision(cList[i].point, cList[i].normal);
+            }
+            else ns.resolveCollision(cList[i].point, cList[i].normal);
+            collided = true;
 
-               // Apply impulses to the rigid body to keep it from
-               // penetrating the surface.
-               ns.resolveCollision(cList[i].point,
-                  cList[i].normal);
-               colliding = collided  = true;
-
-               // Keep track of objects we collide with
-               if (!isGhost() && c.object->getTypeMask() & ShapeBaseObjectType) 
-               {
-                  ShapeBase* col = static_cast<ShapeBase*>(c.object);
-                  queueCollision(col,v - col->getVelocity());
-               }
+            // Keep track of objects we collide with
+            if (!isGhost() && c.object->getTypeMask() & ShapeBaseObjectType)
+            {
+               ShapeBase* col = static_cast<ShapeBase*>(c.object);
+               queueCollision(col, v - col->getVelocity());
             }
          }
       }
-   } while (colliding);
+   }
 
    return collided;
 }
@@ -1269,7 +1271,7 @@ bool RigidShape::resolveContacts(Rigid& ns,CollisionList& cList,F32 dt)
    Point3F t,p(0,0,0),l(0,0,0);
    for (S32 i = 0; i < cList.getCount(); i++) 
    {
-      Collision& c = cList[i];
+      const Collision& c = cList[i];
       if (c.distance < mDataBlock->collisionTol) 
       {
 

Engine/source/T3D/rigidShape.h

@@ -146,11 +146,6 @@ class RigidShape: public ShapeBase
    SimObjectPtr<ParticleEmitter> mDustTrailEmitter;
 
   protected:
-   enum CollisionFaceFlags 
-   {
-      BodyCollision =  BIT(0),
-      WheelCollision = BIT(1),
-   };
    enum MaskBits {
       PositionMask   = Parent::NextFreeMask << 0,
       EnergyMask     = Parent::NextFreeMask << 1,
@@ -193,7 +188,6 @@ class RigidShape: public ShapeBase
 
    CollisionList mCollisionList;
    CollisionList mContacts;
-   Rigid mRigid;
    ShapeBaseConvex mConvex;
    S32 restCount;
 
@@ -238,6 +232,7 @@ class RigidShape: public ShapeBase
 public:
    // Test code...
    static ClippedPolyList* sPolyList;
+   Rigid mRigid;
 
    //
    RigidShape();

Engine/source/T3D/vehicles/vehicle.cpp

@@ -816,14 +816,6 @@ void Vehicle::onRemove()
    SAFE_DELETE(mPhysicsRep);
 
    U32 i=0;
-   for( i=0; i<VehicleData::VC_NUM_DUST_EMITTERS; i++ )
-   {
-      if( mDustEmitterList[i] )
-      {
-         mDustEmitterList[i]->deleteWhenEmpty();
-         mDustEmitterList[i] = NULL;
-      }
-   }
 
    for( i=0; i<VehicleData::VC_NUM_DAMAGE_EMITTERS; i++ )
    {
@@ -834,15 +826,6 @@ void Vehicle::onRemove()
       }
    }
 
-   for( i=0; i<VehicleData::VC_NUM_SPLASH_EMITTERS; i++ )
-   {
-      if( mSplashEmitterList[i] )
-      {
-         mSplashEmitterList[i]->deleteWhenEmpty();
-         mSplashEmitterList[i] = NULL;
-      }
-   }
-
    mWorkingQueryBox.minExtents.set(-1e9f, -1e9f, -1e9f);
    mWorkingQueryBox.maxExtents.set(-1e9f, -1e9f, -1e9f);
 
@@ -903,7 +886,9 @@ void Vehicle::processTick(const Move* move)
       // Update the physics based on the integration rate
       S32 count = mDataBlock->integration;
       --mWorkingQueryBoxCountDown;
-      updateWorkingCollisionSet(getCollisionMask());
+
+      if (!mDisableMove)
+         updateWorkingCollisionSet(getCollisionMask());
       for (U32 i = 0; i < count; i++)
          updatePos(TickSec / count);
 
@@ -952,13 +937,6 @@ void Vehicle::advanceTime(F32 dt)
 
    updateLiftoffDust( dt );
    updateDamageSmoke( dt );
-   updateFroth(dt);
-
-   // Update 3rd person camera offset.  Camera update is done
-   // here as it's a client side only animation.
-   mCameraOffset -=
-      (mCameraOffset * mDataBlock->cameraDecay +
-      mRigid.linVelocity * mDataBlock->cameraLag) * dt;
 }
 
 
@@ -1244,7 +1222,8 @@ void Vehicle::updatePos(F32 dt)
 
    // Update collision information based on our current pos.
    bool collided = false;
-   if (!mRigid.atRest) {
+   if (!mRigid.atRest && !mDisableMove)
+   {
       collided = updateCollision(dt);
 
       // Now that all the forces have been processed, lets
@@ -1265,7 +1244,7 @@ void Vehicle::updatePos(F32 dt)
    }
 
    // Integrate forward
-   if (!mRigid.atRest)
+   if (!mRigid.atRest && !mDisableMove)
       mRigid.integrate(dt);
 
    // Deal with client and server scripting, sounds, etc.
@@ -1376,163 +1355,6 @@ bool Vehicle::updateCollision(F32 dt)
    return collided;
 }
 
-
-//----------------------------------------------------------------------------
-/** Resolve collision impacts
-   Handle collision impacts, as opposed to contacts. Impulses are calculated based
-   on standard collision resolution formulas.
-*/
-bool Vehicle::resolveCollision(Rigid&  ns,CollisionList& cList)
-{
-   PROFILE_SCOPE( Vehicle_ResolveCollision );
-
-   // Apply impulses to resolve collision
-   bool collided = false;
-   for (S32 i = 0; i < cList.getCount(); i++) 
-   {
-      Collision& c = cList[i];
-      if (c.distance < mDataBlock->collisionTol) 
-      {
-         // Velocity into surface
-         Point3F v,r;
-         ns.getOriginVector(c.point,&r);
-         ns.getVelocity(r,&v);
-         F32 vn = mDot(v,c.normal);
-
-         // Only interested in velocities greater than sContactTol,
-         // velocities less than that will be dealt with as contacts
-         // "constraints".
-         if (vn < -mDataBlock->contactTol) 
-         {
-
-            // Apply impulses to the rigid body to keep it from
-            // penetrating the surface.
-            ns.resolveCollision(cList[i].point,
-               cList[i].normal);
-            collided  = true;
-
-            // Keep track of objects we collide with
-            if (!isGhost() && c.object->getTypeMask() & ShapeBaseObjectType) 
-            {
-               ShapeBase* col = static_cast<ShapeBase*>(c.object);
-               queueCollision(col,v - col->getVelocity());
-            }
-         }
-      }
-   }
-
-   return collided;
-}
-
-//----------------------------------------------------------------------------
-/** Resolve contact forces
-   Resolve contact forces using the "penalty" method. Forces are generated based
-   on the depth of penetration and the moment of inertia at the point of contact.
-*/
-bool Vehicle::resolveContacts(Rigid& ns,CollisionList& cList,F32 dt)
-{
-   PROFILE_SCOPE( Vehicle_ResolveContacts );
-
-   // Use spring forces to manage contact constraints.
-   bool collided = false;
-   Point3F t,p(0,0,0),l(0,0,0);
-   for (S32 i = 0; i < cList.getCount(); i++) 
-   {
-      const Collision& c = cList[i];
-      if (c.distance < mDataBlock->collisionTol) 
-      {
-
-         // Velocity into the surface
-         Point3F v,r;
-         ns.getOriginVector(c.point,&r);
-         ns.getVelocity(r,&v);
-         F32 vn = mDot(v,c.normal);
-
-         // Only interested in velocities less than mDataBlock->contactTol,
-         // velocities greater than that are dealt with as collisions.
-         if (mFabs(vn) < mDataBlock->contactTol) 
-         {
-            collided = true;
-
-            // Penetration force. This is actually a spring which
-            // will seperate the body from the collision surface.
-            F32 zi = 2 * mFabs(mRigid.getZeroImpulse(r,c.normal));
-            F32 s = (mDataBlock->collisionTol - c.distance) * zi - ((vn / mDataBlock->contactTol) * zi);
-            Point3F f = c.normal * s;
-
-            // Friction impulse, calculated as a function of the
-            // amount of force it would take to stop the motion
-            // perpendicular to the normal.
-            Point3F uv = v - (c.normal * vn);
-            F32 ul = uv.len();
-            if (s > 0 && ul) 
-            {
-               uv /= -ul;
-               F32 u = ul * ns.getZeroImpulse(r,uv);
-               s *= mRigid.friction;
-               if (u > s)
-                  u = s;
-               f += uv * u;
-            }
-
-            // Accumulate forces
-            p += f;
-            mCross(r,f,&t);
-            l += t;
-         }
-      }
-   }
-
-   // Contact constraint forces act over time...
-   ns.linMomentum += p * dt;
-   ns.angMomentum += l * dt;
-   ns.updateVelocity();
-   return true;
-}
-
-
-//----------------------------------------------------------------------------
-
-bool Vehicle::resolveDisplacement(Rigid& ns,CollisionState *state, F32 dt)
-{
-   PROFILE_SCOPE( Vehicle_ResolveDisplacement );
-
-   SceneObject* obj = (state->mA->getObject() == this)?
-       state->mB->getObject(): state->mA->getObject();
-
-   if (obj->isDisplacable() && ((obj->getTypeMask() & ShapeBaseObjectType) != 0))
-   {
-      // Try to displace the object by the amount we're trying to move
-      Point3F objNewMom = ns.linVelocity * obj->getMass() * 1.1f;
-      Point3F objOldMom = obj->getMomentum();
-      Point3F objNewVel = objNewMom / obj->getMass();
-
-      Point3F myCenter;
-      Point3F theirCenter;
-      getWorldBox().getCenter(&myCenter);
-      obj->getWorldBox().getCenter(&theirCenter);
-      if (mDot(myCenter - theirCenter, objNewMom) >= 0.0f || objNewVel.len() < 0.01)
-      {
-         objNewMom = (theirCenter - myCenter);
-         objNewMom.normalize();
-         objNewMom *= 1.0f * obj->getMass();
-         objNewVel = objNewMom / obj->getMass();
-      }
-
-      obj->setMomentum(objNewMom);
-      if (obj->displaceObject(objNewVel * 1.1f * dt) == true)
-      {
-         // Queue collision and change in velocity
-         VectorF dv = (objOldMom - objNewMom) / obj->getMass();
-         queueCollision(static_cast<ShapeBase*>(obj), dv);
-         return true;
-      }
-   }
-
-   return false;
-}
-
-
 //----------------------------------------------------------------------------
 
 void Vehicle::updateWorkingCollisionSet(const U32 mask)

Engine/source/T3D/vehicles/vehicle.h

@@ -24,13 +24,7 @@
 #define _VEHICLE_H_
 
 #ifndef _SHAPEBASE_H_
-#include "T3D/shapeBase.h"
-#endif
-#ifndef _RIGID_H_
-#include "T3D/rigid.h"
-#endif
-#ifndef _BOXCONVEX_H_
-#include "collision/boxConvex.h"
+#include "T3D/rigidShape.h"
 #endif
 
 class ParticleEmitter;
@@ -41,9 +35,9 @@ class Vehicle;
 
 //----------------------------------------------------------------------------
 
-struct VehicleData: public ShapeBaseData
+struct VehicleData : public RigidShapeData
 {
-   typedef ShapeBaseData Parent;
+   typedef RigidShapeData Parent;
 
    struct Body {
       enum Sounds {
@@ -146,20 +140,15 @@ struct VehicleData: public ShapeBaseData
 //----------------------------------------------------------------------------
 class PhysicsBody;
 
-class Vehicle: public ShapeBase
+class Vehicle : public RigidShape
 {
-   typedef ShapeBase Parent;
+   typedef RigidShape Parent;
 
   protected:
    enum CollisionFaceFlags {
       BodyCollision =  0x1,
       WheelCollision = 0x2,
    };
-   enum MaskBits {
-      PositionMask = Parent::NextFreeMask << 0,
-      EnergyMask   = Parent::NextFreeMask << 1,
-      NextFreeMask = Parent::NextFreeMask << 2
-   };
 
    struct StateDelta {
       Move move;                    ///< Last move from server
@@ -205,7 +194,6 @@ class Vehicle: public ShapeBase
 
    CollisionList mCollisionList;
    CollisionList mContacts;
-   Rigid mRigid;
    ShapeBaseConvex mConvex;
    S32 restCount;
 
@@ -217,9 +205,6 @@ class Vehicle: public ShapeBase
    virtual bool onNewDataBlock( GameBaseData *dptr, bool reload );
    void updatePos(F32 dt);
    bool updateCollision(F32 dt);
-   bool resolveCollision(Rigid& ns,CollisionList& cList);
-   bool resolveContacts(Rigid& ns,CollisionList& cList,F32 dt);
-   bool resolveDisplacement(Rigid& ns,CollisionState *state,F32 dt);
    bool findContacts(Rigid& ns,CollisionList& cList);
    void checkTriggers();
    static void findCallback(SceneObject* obj,void * key);