BGE Cleanup: Physics conversion is now handled by PHY_IPhysicsEnvironment

The current physics conversion code was moved from
KX_ConvertPhysicsObjects to CcdPhysicsEnvironment.

1 files changed, 2 insertions, 526 deletions

diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index 5791c9f3a7a..111d62ba83e 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -33,539 +33,15 @@
 #  pragma warning (disable:4786)
 #endif
 
-#include "MT_assert.h"
-
-#include "KX_SoftBodyDeformer.h"
 #include "KX_ConvertPhysicsObject.h"
-#include "BL_DeformableGameObject.h"
-#include "RAS_MeshObject.h"
-#include "KX_Scene.h"
-#include "BL_System.h"
-
-#include "PHY_Pro.h" //todo cleanup
-#include "KX_ClientObjectInfo.h"
-
-#include "CTR_Map.h"
-#include "CTR_HashedPtr.h"
-
-#include "MT_MinMax.h"
-
-#include "KX_PhysicsEngineEnums.h"
 
-#include "KX_MotionState.h" // bridge between motionstate and scenegraph node
-
-extern "C"{
-	#include "BLI_utildefines.h"
-	#include "BKE_object.h"
-}
-
-#include "DNA_object_force.h"
+#include "KX_GameObject.h"
+#include "RAS_MeshObject.h"
 
 #ifdef WITH_BULLET
-#include "BulletSoftBody/btSoftBody.h"
 
 #include "CcdPhysicsEnvironment.h"
 #include "CcdPhysicsController.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-
-#include "btBulletDynamicsCommon.h"
-
-#ifdef WIN32
-#if defined(_MSC_VER) && (_MSC_VER >= 1310)
-//only use SIMD Hull code under Win32
-//#define TEST_HULL 1
-#ifdef TEST_HULL
-#define USE_HULL 1
-//#define TEST_SIMD_HULL 1
-
-#include "NarrowPhaseCollision/Hull.h"
-#endif //#ifdef TEST_HULL
-
-#endif //_MSC_VER 
-#endif //WIN32
-
-
-// forward declarations
-
-void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
-	class	RAS_MeshObject* meshobj,
-	struct  DerivedMesh* dm,
-	class	KX_Scene* kxscene,
-	struct	PHY_ShapeProps* shapeprops,
-	struct	PHY_MaterialProps*	smmaterial,
-	int activeLayerBitInfo,
-	bool isCompoundChild,
-	bool hasCompoundChildren)
-{
-	Object* blenderobject = gameobj->GetBlenderObject();
-	CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
-	assert(env);
-	
-
-	bool isbulletdyna = (blenderobject->gameflag & OB_DYNAMIC) != 0;;
-	bool isbulletsensor = (blenderobject->gameflag & OB_SENSOR) != 0;
-	bool isbulletchar = (blenderobject->gameflag & OB_CHARACTER) != 0;
-	bool isbulletsoftbody = (blenderobject->gameflag & OB_SOFT_BODY) != 0;
-	bool isbulletrigidbody = (blenderobject->gameflag & OB_RIGID_BODY) != 0;
-	bool useGimpact = false;
-	CcdConstructionInfo ci;
-	class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
-	class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo();
-
-	KX_GameObject *parent = gameobj->GetParent();
-	if (parent)
-	{
-		isbulletdyna = false;
-		isbulletsoftbody = false;
-		shapeprops->m_mass = 0.f;
-	}
-
-	if (!isbulletdyna)
-	{
-		ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
-	}
-	if ((blenderobject->gameflag & (OB_GHOST | OB_SENSOR | OB_CHARACTER)) != 0)
-	{
-		ci.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
-	}
-
-	ci.m_MotionState = motionstate;
-	ci.m_gravity = btVector3(0,0,0);
-	ci.m_linearFactor = btVector3(((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_X_AXIS) !=0)? 0 : 1,
-									((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Y_AXIS) !=0)? 0 : 1,
-									((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Z_AXIS) !=0)? 0 : 1);
-	ci.m_angularFactor = btVector3(((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_X_ROT_AXIS) !=0)? 0 : 1,
-									((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Y_ROT_AXIS) !=0)? 0 : 1,
-									((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Z_ROT_AXIS) !=0)? 0 : 1);
-	ci.m_localInertiaTensor =btVector3(0,0,0);
-	ci.m_mass = isbulletdyna ? shapeprops->m_mass : 0.f;
-	ci.m_clamp_vel_min = shapeprops->m_clamp_vel_min;
-	ci.m_clamp_vel_max = shapeprops->m_clamp_vel_max;
-	ci.m_stepHeight = isbulletchar ? shapeprops->m_step_height : 0.f;
-	ci.m_jumpSpeed = isbulletchar ? shapeprops->m_jump_speed : 0.f;
-	ci.m_fallSpeed = isbulletchar ? shapeprops->m_fall_speed : 0.f;
-
-	//mmm, for now, take this for the size of the dynamicobject
-	// Blender uses inertia for radius of dynamic object
-	shapeInfo->m_radius = ci.m_radius = blenderobject->inertia;
-	useGimpact = ((isbulletdyna || isbulletsensor) && !isbulletsoftbody);
-
-	if (isbulletsoftbody)
-	{
-		if (blenderobject->bsoft)
-		{
-			ci.m_margin = blenderobject->bsoft->margin;
-		}
-		else
-		{
-			ci.m_margin = 0.f;
-		}
-	}
-	else
-	{
-		ci.m_margin = blenderobject->margin;
-	}
-
-	ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
-	
-	btCollisionShape* bm = 0;
-
-	char bounds;
-	if (blenderobject->gameflag & OB_BOUNDS)
-	{
-		bounds = blenderobject->collision_boundtype;
-	}
-	else
-	{
-		if (blenderobject->gameflag & OB_SOFT_BODY)
-			bounds = OB_BOUND_TRIANGLE_MESH;
-		else if (blenderobject->gameflag & OB_CHARACTER)
-			bounds = OB_BOUND_SPHERE;
-		else if (isbulletdyna)
-			bounds = OB_BOUND_SPHERE;
-		else
-			bounds = OB_BOUND_TRIANGLE_MESH;
-	}
-
-	// Can't use triangle mesh or convex hull on a non-mesh object, fall-back to sphere
-	if (ELEM(bounds, OB_BOUND_TRIANGLE_MESH, OB_BOUND_CONVEX_HULL) && blenderobject->type != OB_MESH)
-		bounds = OB_BOUND_SPHERE;
-
-	// Get bounds information
-	float bounds_center[3], bounds_extends[3];
-	BoundBox *bb= BKE_object_boundbox_get(blenderobject);
-	if (bb==NULL)
-	{
-		bounds_center[0] = bounds_center[1] = bounds_center[2] = 0.0;
-		bounds_extends[0] = bounds_extends[1] = bounds_extends[2] = 1.0;
-	}
-	else
-	{
-		bounds_extends[0] = 0.5f * fabsf(bb->vec[0][0] - bb->vec[4][0]);
-		bounds_extends[1] = 0.5f * fabsf(bb->vec[0][1] - bb->vec[2][1]);
-		bounds_extends[2] = 0.5f * fabsf(bb->vec[0][2] - bb->vec[1][2]);
-
-		bounds_center[0] = 0.5f * (bb->vec[0][0] + bb->vec[4][0]);
-		bounds_center[1] = 0.5f * (bb->vec[0][1] + bb->vec[2][1]);
-		bounds_center[2] = 0.5f * (bb->vec[0][2] + bb->vec[1][2]);
-	}
-
-	switch (bounds)
-	{
-	case OB_BOUND_SPHERE:
-		{
-			//float radius = objprop->m_radius;
-			//btVector3 inertiaHalfExtents (
-			//	radius,
-			//	radius,
-			//	radius);
-			
-			//blender doesn't support multisphere, but for testing:
-
-			//bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1);
-			shapeInfo->m_shapeType = PHY_SHAPE_SPHERE;
-			// XXX We calculated the radius but didn't use it?
-			// objprop.m_boundobject.c.m_radius = MT_max(bb.m_extends[0], MT_max(bb.m_extends[1], bb.m_extends[2]));
-			bm = shapeInfo->CreateBulletShape(ci.m_margin);
-			break;
-		};
-	case OB_BOUND_BOX:
-		{
-			shapeInfo->m_halfExtend.setValue(
-					2.f * bounds_extends[0],
-			        2.f * bounds_extends[1],
-			        2.f * bounds_extends[2]);
-
-			shapeInfo->m_halfExtend /= 2.0;
-			shapeInfo->m_halfExtend = shapeInfo->m_halfExtend.absolute();
-			shapeInfo->m_shapeType = PHY_SHAPE_BOX;
-			bm = shapeInfo->CreateBulletShape(ci.m_margin);
-			break;
-		};
-	case OB_BOUND_CYLINDER:
-		{
-			float radius = MT_max(bounds_extends[0], bounds_extends[1]);
-			shapeInfo->m_halfExtend.setValue(
-				radius,
-				radius,
-				bounds_extends[2]
-			);
-			shapeInfo->m_shapeType = PHY_SHAPE_CYLINDER;
-			bm = shapeInfo->CreateBulletShape(ci.m_margin);
-			break;
-		}
-
-	case OB_BOUND_CONE:
-		{
-			shapeInfo->m_radius = MT_max(bounds_extends[0], bounds_extends[1]);
-			shapeInfo->m_height = 2.f * bounds_extends[2];
-			shapeInfo->m_shapeType = PHY_SHAPE_CONE;
-			bm = shapeInfo->CreateBulletShape(ci.m_margin);
-			break;
-		}
-	case OB_BOUND_CONVEX_HULL:
-		{
-			shapeInfo->SetMesh(meshobj, dm,true);
-			bm = shapeInfo->CreateBulletShape(ci.m_margin);
-			break;
-		}
-	case OB_BOUND_CAPSULE:
-		{
-			shapeInfo->m_radius = MT_max(bounds_extends[0], bounds_extends[1]);
-			shapeInfo->m_height = 2.f * (bounds_extends[2] - shapeInfo->m_radius);
-			if (shapeInfo->m_height < 0.f)
-				shapeInfo->m_height = 0.f;
-			shapeInfo->m_shapeType = PHY_SHAPE_CAPSULE;
-			bm = shapeInfo->CreateBulletShape(ci.m_margin);
-			break;
-		}
-	case OB_BOUND_TRIANGLE_MESH:
-		{
-			// mesh shapes can be shared, check first if we already have a shape on that mesh
-			class CcdShapeConstructionInfo *sharedShapeInfo = CcdShapeConstructionInfo::FindMesh(meshobj, dm, false);
-			if (sharedShapeInfo != NULL) 
-			{
-				shapeInfo->Release();
-				shapeInfo = sharedShapeInfo;
-				shapeInfo->AddRef();
-			} else
-			{
-				shapeInfo->SetMesh(meshobj, dm, false);
-			}
-
-			// Soft bodies can benefit from welding, don't do it on non-soft bodies
-			if (isbulletsoftbody)
-			{
-				// disable welding: it doesn't bring any additional stability and it breaks the relation between soft body collision shape and graphic mesh
-				// shapeInfo->setVertexWeldingThreshold1((blenderobject->bsoft) ? blenderobject->bsoft->welding ? 0.f);
-				shapeInfo->setVertexWeldingThreshold1(0.f); //todo: expose this to the UI
-			}
-
-			bm = shapeInfo->CreateBulletShape(ci.m_margin, useGimpact, !isbulletsoftbody);
-			//should we compute inertia for dynamic shape?
-			//bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
-
-			break;
-		}
-	}
-
-
-//	ci.m_localInertiaTensor.setValue(0.1f,0.1f,0.1f);
-
-	if (!bm)
-	{
-		delete motionstate;
-		shapeInfo->Release();
-		return;
-	}
-
-	//bm->setMargin(ci.m_margin);
-
-
-		if (isCompoundChild)
-		{
-			//find parent, compound shape and add to it
-			//take relative transform into account!
-			CcdPhysicsController* parentCtrl = (CcdPhysicsController*)parent->GetPhysicsController();
-			assert(parentCtrl);
-			CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo();
-			btRigidBody* rigidbody = parentCtrl->GetRigidBody();
-			btCollisionShape* colShape = rigidbody->getCollisionShape();
-			assert(colShape->isCompound());
-			btCompoundShape* compoundShape = (btCompoundShape*)colShape;
-
-			// compute the local transform from parent, this may include several node in the chain
-			SG_Node* gameNode = gameobj->GetSGNode();
-			SG_Node* parentNode = parent->GetSGNode();
-			// relative transform
-			MT_Vector3 parentScale = parentNode->GetWorldScaling();
-			parentScale[0] = MT_Scalar(1.0)/parentScale[0];
-			parentScale[1] = MT_Scalar(1.0)/parentScale[1];
-			parentScale[2] = MT_Scalar(1.0)/parentScale[2];
-			MT_Vector3 relativeScale = gameNode->GetWorldScaling() * parentScale;
-			MT_Matrix3x3 parentInvRot = parentNode->GetWorldOrientation().transposed();
-			MT_Vector3 relativePos = parentInvRot*((gameNode->GetWorldPosition()-parentNode->GetWorldPosition())*parentScale);
-			MT_Matrix3x3 relativeRot = parentInvRot*gameNode->GetWorldOrientation();
-
-			shapeInfo->m_childScale.setValue(relativeScale[0],relativeScale[1],relativeScale[2]);
-			bm->setLocalScaling(shapeInfo->m_childScale);
-			shapeInfo->m_childTrans.getOrigin().setValue(relativePos[0],relativePos[1],relativePos[2]);
-			float rot[12];
-			relativeRot.getValue(rot);
-			shapeInfo->m_childTrans.getBasis().setFromOpenGLSubMatrix(rot);
-
-			parentShapeInfo->AddShape(shapeInfo);
-			compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
-			//do some recalc?
-			//recalc inertia for rigidbody
-			if (!rigidbody->isStaticOrKinematicObject())
-			{
-				btVector3 localInertia;
-				float mass = 1.f/rigidbody->getInvMass();
-				compoundShape->calculateLocalInertia(mass,localInertia);
-				rigidbody->setMassProps(mass,localInertia);
-			}
-			shapeInfo->Release();
-			// delete motionstate as it's not used
-			delete motionstate;
-			return;
-		}
-
-		if (hasCompoundChildren)
-		{
-			// create a compound shape info
-			CcdShapeConstructionInfo *compoundShapeInfo = new CcdShapeConstructionInfo();
-			compoundShapeInfo->m_shapeType = PHY_SHAPE_COMPOUND;
-			compoundShapeInfo->AddShape(shapeInfo);
-			// create the compound shape manually as we already have the child shape
-			btCompoundShape* compoundShape = new btCompoundShape();
-			compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
-			// now replace the shape
-			bm = compoundShape;
-			shapeInfo->Release();
-			shapeInfo = compoundShapeInfo;
-		}
-
-
-
-
-
-
-#ifdef TEST_SIMD_HULL
-	if (bm->IsPolyhedral())
-	{
-		PolyhedralConvexShape* polyhedron = static_cast<PolyhedralConvexShape*>(bm);
-		if (!polyhedron->m_optionalHull)
-		{
-			//first convert vertices in 'Point3' format
-			int numPoints = polyhedron->GetNumVertices();
-			Point3* points = new Point3[numPoints+1];
-			//first 4 points should not be co-planar, so add central point to satisfy MakeHull
-			points[0] = Point3(0.f,0.f,0.f);
-			
-			btVector3 vertex;
-			for (int p=0;p<numPoints;p++)
-			{
-				polyhedron->GetVertex(p,vertex);
-				points[p+1] = Point3(vertex.getX(),vertex.getY(),vertex.getZ());
-			}
-
-			Hull* hull = Hull::MakeHull(numPoints+1,points);
-			polyhedron->m_optionalHull = hull;
-		}
-
-	}
-#endif //TEST_SIMD_HULL
-
-
-	ci.m_collisionShape = bm;
-	ci.m_shapeInfo = shapeInfo;
-	ci.m_friction = smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice
-	ci.m_restitution = smmaterial->m_restitution;
-	ci.m_physicsEnv = env;
-	// drag / damping is inverted
-	ci.m_linearDamping = 1.f - shapeprops->m_lin_drag;
-	ci.m_angularDamping = 1.f - shapeprops->m_ang_drag;
-	//need a bit of damping, else system doesn't behave well
-	ci.m_inertiaFactor = shapeprops->m_inertia/0.4f;//defaults to 0.4, don't want to change behavior
-	
-	ci.m_do_anisotropic = shapeprops->m_do_anisotropic;
-	ci.m_anisotropicFriction.setValue(shapeprops->m_friction_scaling[0],shapeprops->m_friction_scaling[1],shapeprops->m_friction_scaling[2]);
-
-
-//////////
-	//do Fh, do Rot Fh
-	ci.m_do_fh = shapeprops->m_do_fh;
-	ci.m_do_rot_fh = shapeprops->m_do_rot_fh;
-	ci.m_fh_damping = smmaterial->m_fh_damping;
-	ci.m_fh_distance = smmaterial->m_fh_distance;
-	ci.m_fh_normal = smmaterial->m_fh_normal;
-	ci.m_fh_spring = smmaterial->m_fh_spring;
-
-	ci.m_collisionFilterGroup = 
-		(isbulletsensor) ? short(CcdConstructionInfo::SensorFilter) :
-		(isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) :
-		(isbulletchar) ? short(CcdConstructionInfo::CharacterFilter) : 
-		short(CcdConstructionInfo::StaticFilter);
-	ci.m_collisionFilterMask = 
-		(isbulletsensor) ? short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter) :
-		(isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : 
-		(isbulletchar) ? short(CcdConstructionInfo::AllFilter) :
-		short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter);
-	ci.m_bRigid = isbulletdyna && isbulletrigidbody;
-	ci.m_bSoft = isbulletsoftbody;
-	ci.m_bDyna = isbulletdyna;
-	ci.m_bSensor = isbulletsensor;
-	ci.m_bCharacter = isbulletchar;
-	ci.m_bGimpact = useGimpact;
-	MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
-	ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]);
-	CcdPhysicsController* physicscontroller = new CcdPhysicsController(ci);
-	// shapeInfo is reference counted, decrement now as we don't use it anymore
-	if (shapeInfo)
-		shapeInfo->Release();
-
-	gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
-
-	// record animation for dynamic objects
-	if (isbulletdyna)
-		gameobj->SetRecordAnimation(true);
-
-	// don't add automatically sensor object, they are added when a collision sensor is registered
-	if (!isbulletsensor && (blenderobject->lay & activeLayerBitInfo) != 0)
-	{
-		env->AddCcdPhysicsController( physicscontroller);
-	}
-	physicscontroller->SetNewClientInfo(gameobj->getClientInfo());
-	{
-		btRigidBody* rbody = physicscontroller->GetRigidBody();
-
-		if (rbody)
-		{
-			if (isbulletrigidbody)
-			{
-				rbody->setLinearFactor(ci.m_linearFactor);
-				rbody->setAngularFactor(ci.m_angularFactor);
-			}
-
-			if (rbody && (blenderobject->gameflag & OB_COLLISION_RESPONSE) != 0)
-			{
-				rbody->setActivationState(DISABLE_DEACTIVATION);
-			}
-		}
-	}
-
-	CcdPhysicsController* parentCtrl = parent ? (CcdPhysicsController*)parent->GetPhysicsController() : 0;
-	physicscontroller->SetParentCtrl(parentCtrl);
-
-	
-	//Now done directly in ci.m_collisionFlags so that it propagates to replica
-	//if (objprop->m_ghost)
-	//{
-	//	rbody->setCollisionFlags(rbody->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
-	//}
-	
-	if (isbulletdyna && !isbulletrigidbody)
-	{
-#if 0
-		//setting the inertia could achieve similar results to constraint the up
-		//but it is prone to instability, so use special 'Angular' constraint
-		btVector3 inertia = physicscontroller->GetRigidBody()->getInvInertiaDiagLocal();
-		inertia.setX(0.f);
-		inertia.setZ(0.f);
-
-		physicscontroller->GetRigidBody()->setInvInertiaDiagLocal(inertia);
-		physicscontroller->GetRigidBody()->updateInertiaTensor();
-#endif
-
-		//env->createConstraint(physicscontroller,0,PHY_ANGULAR_CONSTRAINT,0,0,0,0,0,1);
-	
-		//Now done directly in ci.m_bRigid so that it propagates to replica
-		//physicscontroller->GetRigidBody()->setAngularFactor(0.f);
-		;
-	}
-
-	bool isActor = (blenderobject->gameflag & OB_ACTOR)!=0;
-	gameobj->getClientInfo()->m_type = 
-		(isbulletsensor) ? ((isActor) ? KX_ClientObjectInfo::OBACTORSENSOR : KX_ClientObjectInfo::OBSENSOR) :
-		(isActor) ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC;
-
-	// should we record animation for this object?
-	if ((blenderobject->gameflag & OB_RECORD_ANIMATION) != 0)
-		gameobj->SetRecordAnimation(true);
-
-	// store materialname in auxinfo, needed for touchsensors
-	if (meshobj)
-	{
-		const STR_String& matname=meshobj->GetMaterialName(0);
-		gameobj->getClientInfo()->m_auxilary_info = (matname.Length() ? (void*)(matname.ReadPtr()+2) : NULL);
-	} else
-	{
-		gameobj->getClientInfo()->m_auxilary_info = 0;
-	}
-
-
-
-	STR_String materialname;
-	if (meshobj)
-		materialname = meshobj->GetMaterialName(0);
-
-
-#if 0
-	///test for soft bodies
-	if (objprop->m_softbody && physicscontroller)
-	{
-		btSoftBody* softBody = physicscontroller->GetSoftBody();
-		if (softBody && gameobj->GetMesh(0))//only the first mesh, if any
-		{
-			//should be a mesh then, so add a soft body deformer
-			KX_SoftBodyDeformer* softbodyDeformer = new KX_SoftBodyDeformer( gameobj->GetMesh(0),(BL_DeformableGameObject*)gameobj);
-			gameobj->SetDeformer(softbodyDeformer);
-		}
-	}
-#endif
-
-}
 
 /* Refresh the physics object from either an object or a mesh.
  * gameobj must be valid