BGE bug #17491 fixed: BGE, Dupli instance with different scale, massive slowdown.

The root cause of this bug is the fact that Bullet shapes 
are shared between duplicated game objects. As the physics
object scale is stored in the shape, all duplicas must 
have the same scale otherwise the physics representation
is incorrect.
This fix introduces a mechanism to duplicate shapes at
runtime so that Bullet shapes are not shared anymore.
The drawback is an increased memory consuption. 
A reference count mechanism will be introduced in a 
later revision to keep Bullet shape shared between
duplicas that have the same scale.

1 files changed, 60 insertions, 278 deletions

diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index e0cd5a3bc9e..c95ab954022 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -680,188 +680,6 @@ void	KX_ConvertODEEngineObject(KX_GameObject* gameobj,
 
 
 // forward declarations
-static btCollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool polytope)
-{
-	if (!meshobj)
-		return 0;
-
-	btCollisionShape* collisionMeshShape = 0;
-	btConvexHullShape* convexHullShape = 0;
-	btTriangleMeshShape* concaveShape = 0;
-
-	btTriangleMesh* collisionMeshData = 0;
-
-	//see if there is any polygons, if not, bail out.
-
-	int numPoints = 0;
-	btVector3* points = 0;
-
-	// Mesh has no polygons!
-	int numpolys = meshobj->NumPolygons();
-	if (!numpolys)
-	{
-		return NULL;
-	}
-
-	// Count the number of collision polygons and check they all come from the same 
-	// vertex array
-	int numvalidpolys = 0;
-	int vtxarray = -1;
-	RAS_IPolyMaterial *poly_material = NULL;
-	bool reinstance = true;
-
-	for (int p=0; p<numpolys; p++)
-	{
-		RAS_Polygon* poly = meshobj->GetPolygon(p);
-
-		// only add polygons that have the collisionflag set
-		if (poly->IsCollider())
-		{
-			// check polygon is from the same vertex array
-			if (poly->GetVertexIndexBase().m_vtxarray != vtxarray)
-			{
-				if (vtxarray < 0)
-					vtxarray = poly->GetVertexIndexBase().m_vtxarray;
-				else
-				{
-					reinstance = false;
-					vtxarray = -1;
-				}
-			}
-
-			// check poly is from the same material
-			if (poly->GetMaterial()->GetPolyMaterial() != poly_material)
-			{
-				if (poly_material)
-				{
-					reinstance = false;
-					poly_material = NULL;
-				}
-				else
-					poly_material = poly->GetMaterial()->GetPolyMaterial();
-			}
-
-			// count the number of collision polys
-			numvalidpolys++;
-
-			// We have one collision poly, and we can't reinstance, so we
-			// might as well break here.
-			if (!reinstance)
-				break;
-		}
-	}
-
-	// No collision polygons
-	if (numvalidpolys < 1)
-		return NULL;
-
-
-	if (polytope)
-	{
-		convexHullShape = new btConvexHullShape(&points[0].getX(),numPoints);
-		collisionMeshShape = convexHullShape;
-	} else
-	{
-		collisionMeshData = new btTriangleMesh();
-//		concaveShape = new btTriangleMeshShape(collisionMeshData);
-		//collisionMeshShape = concaveShape;
-
-	}
-
-
-	numvalidpolys = 0;
-
-	for (int p2=0; p2<numpolys; p2++)
-	{
-		RAS_Polygon* poly = meshobj->GetPolygon(p2);
-
-		// only add polygons that have the collisionflag set
-		if (poly->IsCollider())
-		{   
-			//Bullet can raycast any shape, so
-			if (polytope)
-			{
-				for (int i=0;i<poly->VertexCount();i++)
-				{
-					const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
-						poly->GetVertexIndexBase().m_indexarray[i],
-						poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
-					btPoint3 point(vtx[0],vtx[1],vtx[2]);
-					convexHullShape->addPoint(point);
-				}
-				if (poly->VertexCount())
-					numvalidpolys++;
-
-			} else
-			{
-				{
-					const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
-						poly->GetVertexIndexBase().m_indexarray[2],
-						poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
-					btPoint3 vertex0(vtx[0],vtx[1],vtx[2]);
-					vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
-						poly->GetVertexIndexBase().m_indexarray[1],
-						poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
-					btPoint3 vertex1(vtx[0],vtx[1],vtx[2]);
-					vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
-						poly->GetVertexIndexBase().m_indexarray[0],
-						poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
-					btPoint3 vertex2(vtx[0],vtx[1],vtx[2]);
-					collisionMeshData->addTriangle(vertex0,vertex1,vertex2);
-					numvalidpolys++;
-				}
-				if (poly->VertexCount() == 4)
-				{
-					const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
-						poly->GetVertexIndexBase().m_indexarray[3],
-						poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
-					btPoint3 vertex0(vtx[0],vtx[1],vtx[2]);
-					vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
-						poly->GetVertexIndexBase().m_indexarray[2],
-						poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
-					btPoint3 vertex1(vtx[0],vtx[1],vtx[2]);
-					vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, 
-						poly->GetVertexIndexBase().m_indexarray[0],
-						poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
-					btPoint3 vertex2(vtx[0],vtx[1],vtx[2]);
-					collisionMeshData->addTriangle(vertex0,vertex1,vertex2);
-					numvalidpolys++;
-				}
-
-			}		
-		}
-	}
-
-
-
-	if (numvalidpolys > 0)
-	{
-		
-		if (!polytope)
-		{
-			bool useQuantization = true;
-			concaveShape = new btBvhTriangleMeshShape( collisionMeshData, useQuantization );
-			//concaveShape = new btTriangleMeshShape( collisionMeshData );
-
-			concaveShape->recalcLocalAabb();
-			if (collisionMeshShape)
-				delete collisionMeshShape;
-			collisionMeshShape = concaveShape;
-
-		} 
-		
-		
-
-		return collisionMeshShape;
-	}
-	if (collisionMeshShape)
-		delete collisionMeshShape;
-	if (collisionMeshData)
-		delete collisionMeshData;
-	return NULL;
-
-}
-
 
 void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	class	RAS_MeshObject* meshobj,
@@ -878,6 +696,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	bool isbulletdyna = false;
 	CcdConstructionInfo ci;
 	class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
+	class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo();
 
 	
 
@@ -894,120 +713,80 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	ci.m_gravity = btVector3(0,0,0);
 	ci.m_localInertiaTensor =btVector3(0,0,0);
 	ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f;
+	shapeInfo->m_radius = objprop->m_radius;
 	isbulletdyna = objprop->m_dyna;
 	
 	ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
 	
-	btTransform trans;
-	trans.setIdentity();
-	
 	btCollisionShape* bm = 0;
 
 	switch (objprop->m_boundclass)
 	{
 	case KX_BOUNDSPHERE:
 		{
-			float radius = objprop->m_radius;
-			btVector3 inertiaHalfExtents (
-				radius,
-				radius,
-				radius);
+			//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);
-			bm = new btSphereShape(objprop->m_radius);
-			bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
+			shapeInfo->m_shapeType = PHY_SHAPE_SPHERE;
+			bm = shapeInfo->CreateBulletShape();
 			break;
 		};
 	case KX_BOUNDBOX:
 		{
-			MT_Vector3 halfExtents (
+			shapeInfo->m_halfExtend.setValue(
 				objprop->m_boundobject.box.m_extends[0],
-			objprop->m_boundobject.box.m_extends[1],
-			objprop->m_boundobject.box.m_extends[2]);
-
-			halfExtents /= 2.f;
-
-			//btVector3 he (halfExtents[0]-CONVEX_DISTANCE_MARGIN ,halfExtents[1]-CONVEX_DISTANCE_MARGIN ,halfExtents[2]-CONVEX_DISTANCE_MARGIN );
-			//he = he.absolute();
-
-			btVector3 he (halfExtents[0],halfExtents[1],halfExtents[2]);
-			he = he.absolute();
-
+				objprop->m_boundobject.box.m_extends[1],
+				objprop->m_boundobject.box.m_extends[2]);
 
-			bm = new btBoxShape(he);
-			bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
+			shapeInfo->m_halfExtend /= 2.0;
+			shapeInfo->m_halfExtend = shapeInfo->m_halfExtend.absolute();
+			shapeInfo->m_shapeType = PHY_SHAPE_BOX;
+			bm = shapeInfo->CreateBulletShape();
 			break;
 		};
 	case KX_BOUNDCYLINDER:
 		{
-			btVector3 halfExtents (
+			shapeInfo->m_halfExtend.setValue(
 				objprop->m_boundobject.c.m_radius,
 				objprop->m_boundobject.c.m_radius,
 				objprop->m_boundobject.c.m_height * 0.5f
 			);
-			bm = new btCylinderShapeZ(halfExtents);
-			bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
-
+			shapeInfo->m_shapeType = PHY_SHAPE_CYLINDER;
+			bm = shapeInfo->CreateBulletShape();
 			break;
 		}
 
-		case KX_BOUNDCONE:
+	case KX_BOUNDCONE:
 		{
-				btVector3 halfExtents (objprop->m_boundobject.box.m_extends[0],
-				objprop->m_boundobject.box.m_extends[1],
-				objprop->m_boundobject.box.m_extends[2]);
-
-
-				halfExtents /= 2.f;
-
-				bm = new btConeShapeZ(objprop->m_boundobject.c.m_radius,objprop->m_boundobject.c.m_height);
-				bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
-
+			shapeInfo->m_radius = objprop->m_boundobject.c.m_radius;
+			shapeInfo->m_height = objprop->m_boundobject.c.m_height;
+			shapeInfo->m_shapeType = PHY_SHAPE_CONE;
+			bm = shapeInfo->CreateBulletShape();
 			break;
 		}
-		case KX_BOUNDPOLYTOPE:
-			{
-				bm = CreateBulletShapeFromMesh(meshobj,true);
-				if (bm)
-				{
-					bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
-				}
-				break;
-			}
-		case KX_BOUNDMESH:
-			{
-				if (!ci.m_mass)
-				{				
-					bm = CreateBulletShapeFromMesh(meshobj,false);
-					ci.m_localInertiaTensor.setValue(0.f,0.f,0.f);
-					//no moving concave meshes, so don't bother calculating inertia
-					//bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
-				}
-
-				break;
-			}
-
-	default:
-		//interpret the shape as a concave triangle-mesh
+	case KX_BOUNDPOLYTOPE:
 		{
-			if (meshobj)
-			{
-				bm = CreateBulletShapeFromMesh(meshobj,false);
-				ci.m_localInertiaTensor.setValue(0.f,0.f,0.f);
-
-			//	assert(0);
-
-					/*
-				meshobj->ScheduleCollisionPolygons();
-
-				KX_DeformableMesh* gfxmesh = new KX_DeformableMesh(meshobj);
-				gfxmesh->sendFixedMapping();
-				//trianglemesh
-				bm = new TriangleMeshInterface(gfxmesh,trans);
-				*/
+			shapeInfo->SetMesh(meshobj, true);
+			bm = shapeInfo->CreateBulletShape();
+			break;
+		}
+	case KX_BOUNDMESH:
+		{
+			if (!ci.m_mass)
+			{				
+				shapeInfo->SetMesh(meshobj, false);
+				bm = shapeInfo->CreateBulletShape();
+				//no moving concave meshes, so don't bother calculating inertia
+				//bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
 			}
+
+			break;
 		}
 	}
 
@@ -1017,10 +796,13 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	if (!bm)
 	{
 		delete motionstate;
+		delete shapeInfo;
 		return;
 	}
 
 	bm->setMargin(0.06);
+	if (objprop->m_dyna)
+		bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
 
 
 
@@ -1030,31 +812,28 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 			//take relative transform into account!
 			KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController();
 			assert(parentCtrl);
+			CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo();
 			btRigidBody* rigidbody = parentCtrl->GetRigidBody();
 			btCollisionShape* colShape = rigidbody->getCollisionShape();
 			assert(colShape->isCompound());
 			btCompoundShape* compoundShape = (btCompoundShape*)colShape;
-			btTransform childTrans;
-			childTrans.setIdentity();
-			NodeList& children = objprop->m_dynamic_parent->GetSGNode()->GetSGChildren();
 
 			MT_Point3 childPos = gameobj->GetSGNode()->GetLocalPosition();
 			MT_Matrix3x3 childRot = gameobj->GetSGNode()->GetLocalOrientation();
 			MT_Vector3 childScale = gameobj->GetSGNode()->GetLocalScale();
 
 			bm->setLocalScaling(btVector3(childScale.x(),childScale.y(),childScale.z()));
-			childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
+			shapeInfo->m_childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
 			float rotval[12];
 			childRot.getValue(rotval);
 			btMatrix3x3 newRot;
 			newRot.setValue(rotval[0],rotval[1],rotval[2],rotval[4],rotval[5],rotval[6],rotval[8],rotval[9],rotval[10]);
 			newRot = newRot.transpose();
 
-			childTrans.setBasis(newRot);
-				
-
-			compoundShape->addChildShape(childTrans,bm);
-			kxscene->AddShape(bm);
+			shapeInfo->m_childTrans.setBasis(newRot);
+			parentShapeInfo->AddShape(shapeInfo);	
+			
+			compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
 			//do some recalc?
 			//recalc inertia for rigidbody
 			if (!rigidbody->isStaticOrKinematicObject())
@@ -1069,15 +848,16 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 
 		if (objprop->m_hasCompoundChildren)
 		{
-			//replace shape by compoundShape
+			// 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();
-			btTransform identTrans;
-			identTrans.setIdentity();
-			compoundShape->addChildShape(identTrans,bm);
-			//note abount compoundShape: Bullet does not delete the child shapes when 
-			//the compound shape is deleted, so insert also the child shapes 
-			kxscene->AddShape(bm);
+			compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
+			// now replace the shape
 			bm = compoundShape;
+			shapeInfo = compoundShapeInfo;
 		}
 
 
@@ -1113,6 +893,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 
 
 	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;
@@ -1125,8 +906,9 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	ci.m_collisionFilterMask = (isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter);
 	ci.m_bRigid = objprop->m_dyna && objprop->m_angular_rigidbody;
 	KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna);
-	//remember that we created a shape so that we can delete it when the scene is removed (bullet will not delete it) 
-	kxscene->AddShape(bm);
+	// shapeInfo is reference counted, decrement now as we don't use it anymore
+	if (shapeInfo)
+		shapeInfo->Release();
 
 	if (objprop->m_in_active_layer)
 	{