diff options
author | Benoit Bolsee <benoit.bolsee@online.be> | 2008-07-21 16:37:27 +0400 |
---|---|---|
committer | Benoit Bolsee <benoit.bolsee@online.be> | 2008-07-21 16:37:27 +0400 |
commit | 4ae4ecd3ce3528a3a29ebdaaab8bb2eb01c0f5bf (patch) | |
tree | 448f96f0b71ac0e444a576effcef74b55eeadb00 | |
parent | 8f17a66036012ae3f527b95ea9489afbfb212429 (diff) |
BGE patch: Optimization of bullet adaptation layer - part 1.
First batch of optimizaton of the bullet adaptation layer in the BGE.
- remove circular motion state update.
- optimization of physic adaptation layer for bullet: bypass
unecessary conversion of rotation matrix to quaternion and back.
- remove double updates during object replication.
12 files changed, 57 insertions, 21 deletions
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp index 1553c4c61c2..c7b2a671f78 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp @@ -133,9 +133,10 @@ void KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn) CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]); orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]); } -void KX_BulletPhysicsController::setOrientation(const MT_Quaternion& orn) +void KX_BulletPhysicsController::setOrientation(const MT_Matrix3x3& orn) { - CcdPhysicsController::setOrientation(orn.x(),orn.y(),orn.z(),orn.w()); + btMatrix3x3 btmat(orn[0][0], orn[0][1], orn[1][2], orn[1][0], orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]); + CcdPhysicsController::setWorldOrientation(btmat); } void KX_BulletPhysicsController::setPosition(const MT_Point3& pos) { diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h index 93ee03660db..2efe0474b30 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.h @@ -35,7 +35,7 @@ public: virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local); virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local); virtual void getOrientation(MT_Quaternion& orn); - virtual void setOrientation(const MT_Quaternion& orn); + virtual void setOrientation(const MT_Matrix3x3& orn); virtual void setPosition(const MT_Point3& pos); virtual void setScaling(const MT_Vector3& scaling); virtual MT_Scalar GetMass(); diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp index 6d0b7219ed1..d40fa1e2446 100644 --- a/source/gameengine/Ketsji/KX_GameObject.cpp +++ b/source/gameengine/Ketsji/KX_GameObject.cpp @@ -744,7 +744,7 @@ void KX_GameObject::NodeSetLocalOrientation(const MT_Matrix3x3& rot) if (m_pPhysicsController1 && (!GetSGNode() || !GetSGNode()->GetSGParent())) { // see note above - m_pPhysicsController1->setOrientation(rot.getRotation()); + m_pPhysicsController1->setOrientation(rot); } if (GetSGNode()) GetSGNode()->SetLocalOrientation(rot); diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h index bc4cc185a04..ecfdb8c4275 100644 --- a/source/gameengine/Ketsji/KX_IPhysicsController.h +++ b/source/gameengine/Ketsji/KX_IPhysicsController.h @@ -71,7 +71,8 @@ public: virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0; virtual void getOrientation(MT_Quaternion& orn)=0; - virtual void setOrientation(const MT_Quaternion& orn)=0; + virtual void setOrientation(const MT_Matrix3x3& orn)=0; + //virtual void setOrientation(const MT_Quaternion& orn)=0; virtual void setPosition(const MT_Point3& pos)=0; virtual void setScaling(const MT_Vector3& scaling)=0; virtual MT_Scalar GetMass()=0; diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.cpp b/source/gameengine/Ketsji/KX_OdePhysicsController.cpp index 8b0a6dafc22..05feb11a2bc 100644 --- a/source/gameengine/Ketsji/KX_OdePhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_OdePhysicsController.cpp @@ -133,8 +133,9 @@ void KX_OdePhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool l ODEPhysicsController::SetLinearVelocity(lin_vel[0],lin_vel[1],lin_vel[2],local); } -void KX_OdePhysicsController::setOrientation(const MT_Quaternion& orn) +void KX_OdePhysicsController::setOrientation(const MT_Matrix3x3& rot) { + MT_Quaternion orn = rot.getRotation(); ODEPhysicsController::setOrientation(orn[0],orn[1],orn[2],orn[3]); } diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.h b/source/gameengine/Ketsji/KX_OdePhysicsController.h index c96c71c81f9..18f9edc6835 100644 --- a/source/gameengine/Ketsji/KX_OdePhysicsController.h +++ b/source/gameengine/Ketsji/KX_OdePhysicsController.h @@ -67,7 +67,7 @@ public: virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local); virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ); virtual void getOrientation(MT_Quaternion& orn); - virtual void setOrientation(const MT_Quaternion& orn); + virtual void setOrientation(const MT_Matrix3x3& orn); virtual void setPosition(const MT_Point3& pos); virtual void setScaling(const MT_Vector3& scaling); virtual MT_Scalar GetMass(); diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp index bf2ba18f490..de4979ac4c9 100644 --- a/source/gameengine/Ketsji/KX_RadarSensor.cpp +++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp @@ -176,8 +176,10 @@ void KX_RadarSensor::SynchronizeTransform() if (m_physCtrl) { - m_physCtrl->setPosition(trans.getOrigin().x(),trans.getOrigin().y(),trans.getOrigin().z()); - m_physCtrl->setOrientation(trans.getRotation().x(),trans.getRotation().y(),trans.getRotation().z(),trans.getRotation().w()); + MT_Quaternion orn = trans.getRotation(); + MT_Point3 pos = trans.getOrigin(); + m_physCtrl->setPosition(pos[0],pos[1],pos[2]); + m_physCtrl->setOrientation(orn[0],orn[1],orn[2],orn[3]); m_physCtrl->calcXform(); } diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp index 1bdd4002805..c374b9d6fd1 100644 --- a/source/gameengine/Ketsji/KX_Scene.cpp +++ b/source/gameengine/Ketsji/KX_Scene.cpp @@ -712,8 +712,12 @@ void KX_Scene::DupliGroupRecurse(CValue* obj, int level) if (replica->GetPhysicsController()) { - replica->GetPhysicsController()->setPosition(newpos); - replica->GetPhysicsController()->setOrientation(newori.getRotation()); + // not required, already done in NodeSetLocalOrientation.. + //replica->GetPhysicsController()->setPosition(newpos); + //replica->GetPhysicsController()->setOrientation(newori.getRotation()); + // Scaling has been set relatively hereabove, this does not + // set the scaling of the controller. I don't know why it's just the + // relative scale and not the full scale that has to be put here... replica->GetPhysicsController()->setScaling(newscale); } @@ -843,8 +847,9 @@ SCA_IObject* KX_Scene::AddReplicaObject(class CValue* originalobject, if (replica->GetPhysicsController()) { - replica->GetPhysicsController()->setPosition(newpos); - replica->GetPhysicsController()->setOrientation(newori.getRotation()); + // not needed, already done in NodeSetLocalPosition() + //replica->GetPhysicsController()->setPosition(newpos); + //replica->GetPhysicsController()->setOrientation(newori.getRotation()); replica->GetPhysicsController()->setScaling(newscale); } diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp index ffb078b346e..4032a795ce3 100644 --- a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp @@ -170,8 +170,9 @@ void KX_SumoPhysicsController::setMargin(float collisionMargin) } -void KX_SumoPhysicsController::setOrientation(const MT_Quaternion& orn) +void KX_SumoPhysicsController::setOrientation(const MT_Matrix3x3& rot) { + MT_Quaternion orn = rot.getRotation(); SumoPhysicsController::setOrientation( orn[0],orn[1],orn[2],orn[3]); diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h index 33666036c0d..1dd930bf3d9 100644 --- a/source/gameengine/Ketsji/KX_SumoPhysicsController.h +++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h @@ -79,7 +79,7 @@ public: void SuspendDynamics(bool); void RestoreDynamics(); virtual void getOrientation(MT_Quaternion& orn); - virtual void setOrientation(const MT_Quaternion& orn); + virtual void setOrientation(const MT_Matrix3x3& orn); virtual void setPosition(const MT_Point3& pos); virtual void setScaling(const MT_Vector3& scaling); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index e444c4c73be..5c70b071661 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -337,12 +337,33 @@ void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float { m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } - - m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); + // not required + //m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); btTransform xform = m_body->getCenterOfMassTransform(); xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal)); m_body->setCenterOfMassTransform(xform); - m_bulletMotionState->setWorldTransform(xform); + // not required + //m_bulletMotionState->setWorldTransform(xform); + } + +} + +void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn) +{ + if (m_body) + { + m_body->activate(true); + if (m_body->isStaticObject()) + { + m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + } + // not required + //m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); + btTransform xform = m_body->getCenterOfMassTransform(); + xform.setBasis(orn); + m_body->setCenterOfMassTransform(xform); + // not required + //m_bulletMotionState->setWorldTransform(xform); } } @@ -356,12 +377,13 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ) { m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } - - m_MotionState->setWorldPosition(posX,posY,posZ); + // not required, this function is only used to update the physic controller + //m_MotionState->setWorldPosition(posX,posY,posZ); btTransform xform = m_body->getCenterOfMassTransform(); xform.setOrigin(btVector3(posX,posY,posZ)); m_body->setCenterOfMassTransform(xform); - m_bulletMotionState->setWorldTransform(xform); + // not required + //m_bulletMotionState->setWorldTransform(xform); } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index abb71956f5a..64f1876e199 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -116,6 +116,9 @@ class CcdPhysicsController : public PHY_IPhysicsController void CreateRigidbody(); + protected: + void setWorldOrientation(const btMatrix3x3& mat); + public: int m_collisionDelay; |