diff options
author | Benoit Bolsee <benoit.bolsee@online.be> | 2008-08-27 23:34:19 +0400 |
---|---|---|
committer | Benoit Bolsee <benoit.bolsee@online.be> | 2008-08-27 23:34:19 +0400 |
commit | becd467be8613b1f71278d8a58337186a3f79170 (patch) | |
tree | d6a24284588dfb4d71a7201107954d4f3f0c158c /source/gameengine/Physics | |
parent | f6bdba8351d389b397ea0a8a6f1390644c36cc0e (diff) |
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information.
rayCast(to,from,dist,prop,face,xray,poly):
The face paremeter determines the orientation of the normal:
0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside)
1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect)
The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray.
The prop and xray parameters interact as follow:
prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray.
prop off, xray on : idem.
prop on, xray off: return closest hit if it matches prop, no hit otherwise.
prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray.
if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit.
if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element.
The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc.
Attributes (read-only):
matname: The name of polygon material, empty if no material.
material: The material of the polygon
texture: The texture name of the polygon.
matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy
v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy
v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex
use this to retrieve vertex proxy from mesh proxy
visible: visible state of the polygon: 1=visible, 0=invisible
collide: collide state of the polygon: 1=receives collision, 0=collision free.
Methods:
getMaterialName(): Returns the polygon material name with MA prefix
getMaterial(): Returns the polygon material
getTextureName(): Returns the polygon texture name
getMaterialIndex(): Returns the material bucket index of the polygon.
getNumVertex(): Returns the number of vertex of the polygon.
isVisible(): Returns whether the polygon is visible or not
isCollider(): Returns whether the polygon is receives collision or not
getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex
getMesh(): Returns a mesh proxy
New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects:
getNumPolygons(): Returns the number of polygon in the mesh.
getPolygon(index): Gets the specified polygon from the mesh.
More details in PyDoc.
Diffstat (limited to 'source/gameengine/Physics')
11 files changed, 157 insertions, 54 deletions
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp index a04560aaf09..6d9b41e08d2 100644 --- a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp +++ b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp @@ -206,8 +206,7 @@ void ODEPhysicsEnvironment::removeConstraint(int constraintid) } } -PHY_IPhysicsController* ODEPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, - float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ) +PHY_IPhysicsController* ODEPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback,float fromX,float fromY,float fromZ, float toX,float toY,float toZ) { //m_OdeWorld diff --git a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h index 7c61902f8e2..dcc87d614c0 100644 --- a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h +++ b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h @@ -54,8 +54,7 @@ public: float axisX,float axisY,float axisZ); virtual void removeConstraint(void * constraintid); - virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, - float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ); + virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback,float fromX,float fromY,float fromZ, float toX,float toY,float toZ); //gamelogic callbacks diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index d6a32dfd9c0..2ec96c75a68 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -767,6 +767,8 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) // assume no shape information m_shapeType = PHY_SHAPE_NONE; m_vertexArray.clear(); + m_polygonIndexArray.clear(); + m_meshObject = NULL; if (!meshobj) return false; @@ -838,6 +840,7 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) m_vertexArray.push_back(vertex0); m_vertexArray.push_back(vertex1); m_vertexArray.push_back(vertex2); + m_polygonIndexArray.push_back(p2); numvalidpolys++; } if (poly->VertexCount() == 4) @@ -857,6 +860,7 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) m_vertexArray.push_back(vertex0); m_vertexArray.push_back(vertex1); m_vertexArray.push_back(vertex2); + m_polygonIndexArray.push_back(p2); numvalidpolys++; } } @@ -869,6 +873,7 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) m_shapeType = PHY_SHAPE_NONE; return false; } + m_meshObject = meshobj; return true; } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 1e1a38aa2a6..8a7f1062f53 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -75,6 +75,16 @@ public: { return m_nextShape; } + CcdShapeConstructionInfo* GetChildShape(int i) + { + CcdShapeConstructionInfo* shape = m_nextShape; + while (i > 0 && shape != NULL) + { + shape = shape->m_nextShape; + i--; + } + return shape; + } bool SetMesh(RAS_MeshObject* mesh, bool polytope); @@ -89,6 +99,11 @@ public: std::vector<btPoint3> m_vertexArray; // Contains both vertex array for polytope shape and // triangle array for concave mesh shape. // In this case a triangle is made of 3 consecutive points + std::vector<int> m_polygonIndexArray; // Contains the array of polygon index in the + // original mesh that correspond to shape triangles. + // only set for concave mesh shape. + const RAS_MeshObject* m_meshObject; // Keep a pointer to the original mesh + protected: CcdShapeConstructionInfo* m_nextShape; // for compound shape int m_refCount; // this class is shared between replicas diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index d8e05fab839..a34c70143e5 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -709,35 +709,51 @@ void CcdPhysicsEnvironment::removeConstraint(int constraintId) struct FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback { - PHY_IPhysicsController* m_ignoreClient; + PHY_IRayCastFilterCallback& m_phyRayFilter; + const btCollisionShape* m_hitTriangleShape; + int m_hitTriangleIndex; - FilterClosestRayResultCallback (PHY_IPhysicsController* ignoreClient,const btVector3& rayFrom,const btVector3& rayTo) + FilterClosestRayResultCallback (PHY_IRayCastFilterCallback& phyRayFilter,const btVector3& rayFrom,const btVector3& rayTo) : btCollisionWorld::ClosestRayResultCallback(rayFrom,rayTo), - m_ignoreClient(ignoreClient) + m_phyRayFilter(phyRayFilter), + m_hitTriangleShape(NULL), + m_hitTriangleIndex(0) { - } virtual ~FilterClosestRayResultCallback() { } + virtual bool NeedRayCast(btCollisionObject* object) + { + CcdPhysicsController* phyCtrl = static_cast<CcdPhysicsController*>(object->getUserPointer()); + if (phyCtrl != m_phyRayFilter.m_ignoreController) + { + return m_phyRayFilter.needBroadphaseRayCast(phyCtrl); + } + return false; + } + virtual float AddSingleResult( btCollisionWorld::LocalRayResult& rayResult) { CcdPhysicsController* curHit = static_cast<CcdPhysicsController*>(rayResult.m_collisionObject->getUserPointer()); - //ignore client... - if (curHit != m_ignoreClient) - { - //if valid - return ClosestRayResultCallback::AddSingleResult(rayResult); + // save shape information as ClosestRayResultCallback::AddSingleResult() does not do it + if (rayResult.m_localShapeInfo) + { + m_hitTriangleShape = rayResult.m_localShapeInfo->m_triangleShape; + m_hitTriangleIndex = rayResult.m_localShapeInfo->m_triangleIndex; + } else + { + m_hitTriangleShape = NULL; + m_hitTriangleIndex = 0; } - return m_closestHitFraction; + return ClosestRayResultCallback::AddSingleResult(rayResult); } }; -PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, - float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ) +PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ) { @@ -751,18 +767,21 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i //Either Ray Cast with or without filtering //btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo); - FilterClosestRayResultCallback rayCallback(ignoreClient,rayFrom,rayTo); + FilterClosestRayResultCallback rayCallback(filterCallback,rayFrom,rayTo); - PHY_IPhysicsController* nearestHit = 0; + PHY_RayCastResult result; + memset(&result, 0, sizeof(result)); + // don't collision with sensor object - m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback, CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter); + m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback, CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter,filterCallback.m_faceNormal); if (rayCallback.HasHit()) { - nearestHit = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->getUserPointer()); - hitX = rayCallback.m_hitPointWorld.getX(); - hitY = rayCallback.m_hitPointWorld.getY(); - hitZ = rayCallback.m_hitPointWorld.getZ(); + CcdPhysicsController* controller = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->getUserPointer()); + result.m_controller = controller; + result.m_hitPoint[0] = rayCallback.m_hitPointWorld.getX(); + result.m_hitPoint[1] = rayCallback.m_hitPointWorld.getY(); + result.m_hitPoint[2] = rayCallback.m_hitPointWorld.getZ(); if (rayCallback.m_hitNormalWorld.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { @@ -771,14 +790,42 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i { rayCallback.m_hitNormalWorld.setValue(1,0,0); } - normalX = rayCallback.m_hitNormalWorld.getX(); - normalY = rayCallback.m_hitNormalWorld.getY(); - normalZ = rayCallback.m_hitNormalWorld.getZ(); - + result.m_hitNormal[0] = rayCallback.m_hitNormalWorld.getX(); + result.m_hitNormal[1] = rayCallback.m_hitNormalWorld.getY(); + result.m_hitNormal[2] = rayCallback.m_hitNormalWorld.getZ(); + if (rayCallback.m_hitTriangleShape != NULL) + { + // identify the mesh polygon + CcdShapeConstructionInfo* shapeInfo = controller->m_shapeInfo; + if (shapeInfo) + { + btCollisionShape* shape = controller->GetRigidBody()->getCollisionShape(); + if (shape->isCompound()) + { + btCompoundShape* compoundShape = (btCompoundShape*)shape; + CcdShapeConstructionInfo* compoundShapeInfo = shapeInfo; + // need to search which sub-shape has been hit + for (int i=0; i<compoundShape->getNumChildShapes(); i++) + { + shapeInfo = compoundShapeInfo->GetChildShape(i); + shape=compoundShape->getChildShape(i); + if (shape == rayCallback.m_hitTriangleShape) + break; + } + } + if (shape == rayCallback.m_hitTriangleShape && + rayCallback.m_hitTriangleIndex < shapeInfo->m_polygonIndexArray.size()) + { + result.m_meshObject = shapeInfo->m_meshObject; + result.m_polygon = shapeInfo->m_polygonIndexArray.at(rayCallback.m_hitTriangleIndex); + } + } + } + filterCallback.reportHit(&result); } - return nearestHit; + return result.m_controller; } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index 825a5e525f2..667e310dcb3 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -157,8 +157,7 @@ protected: btTypedConstraint* getConstraintById(int constraintId); - virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, - float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ); + virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ); //Methods for gamelogic collision/physics callbacks diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp index f512d44c9f2..d78958b746c 100644 --- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp @@ -109,8 +109,7 @@ void DummyPhysicsEnvironment::removeConstraint(int constraintid) } } -PHY_IPhysicsController* DummyPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, - float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ) +PHY_IPhysicsController* DummyPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback,float fromX,float fromY,float fromZ, float toX,float toY,float toZ) { //collision detection / raytesting return NULL; diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h index b5a61f72e4a..975be84f2a7 100644 --- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h +++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h @@ -69,8 +69,7 @@ public: return 0; } - virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, - float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ); + virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ); //gamelogic callbacks diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp index 65018d2523e..80e4dc4044e 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp @@ -26,6 +26,7 @@ * * ***** END GPL LICENSE BLOCK ***** */ +#include <string.h> // memset #include "SumoPhysicsEnvironment.h" #include "PHY_IMotionState.h" #include "SumoPhysicsController.h" @@ -125,37 +126,35 @@ void SumoPhysicsEnvironment::removeConstraint(int constraintid) } } -PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClientCtrl, +PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, - float toX,float toY,float toZ, - float& hitX,float& hitY,float& hitZ, - float& normalX,float& normalY,float& normalZ) + float toX,float toY,float toZ) { - SumoPhysicsController* ignoreCtr = static_cast<SumoPhysicsController*> (ignoreClientCtrl); + SumoPhysicsController* ignoreCtr = static_cast<SumoPhysicsController*> (filterCallback.m_ignoreController); //collision detection / raytesting MT_Point3 hit, normal; - PHY_IPhysicsController *ret = 0; + PHY_RayCastResult result; SM_Object* sm_ignore = 0; if (ignoreCtr) sm_ignore = ignoreCtr->GetSumoObject(); + memset(&result, 0, sizeof(result)); SM_Object* smOb = m_sumoScene->rayTest(sm_ignore,MT_Point3(fromX, fromY, fromZ),MT_Point3(toX, toY, toZ), hit, normal); if (smOb) { - ret = (PHY_IPhysicsController *) smOb->getPhysicsClientObject(); + result.m_controller = (PHY_IPhysicsController *) smOb->getPhysicsClientObject(); + result.m_hitPoint[0] = hit[0]; + result.m_hitPoint[1] = hit[1]; + result.m_hitPoint[2] = hit[2]; + result.m_hitNormal[0] = normal[0]; + result.m_hitNormal[1] = normal[1]; + result.m_hitNormal[2] = normal[2]; + filterCallback.reportHit(&result); } - hitX = hit[0]; - hitY = hit[1]; - hitZ = hit[2]; - - normalX = normal[0]; - normalY = normal[1]; - normalZ = normal[2]; - - return ret; + return result.m_controller; } //gamelogic callbacks void SumoPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl) diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h index 8b9fb463034..100adf969d5 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h +++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h @@ -75,8 +75,7 @@ public: return 0; } - virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, - float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ); + virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback,float fromX,float fromY,float fromZ, float toX,float toY,float toZ); //gamelogic callbacks diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h index 5b275066665..98496fb7f9e 100644 --- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h +++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h @@ -33,6 +33,50 @@ #include <vector> #include "PHY_DynamicTypes.h" class PHY_IVehicle; +class RAS_MeshObject; +class PHY_IPhysicsController; + +/** + * pass back information from rayTest + */ +struct PHY_RayCastResult +{ + PHY_IPhysicsController* m_controller; + PHY__Vector3 m_hitPoint; + PHY__Vector3 m_hitNormal; + const RAS_MeshObject* m_meshObject; // !=NULL for mesh object (only for Bullet controllers) + int m_polygon; // index of the polygon hit by the ray, + // only if m_meshObject != NULL +}; + +/** + * This class replaces the ignoreController parameter of rayTest function. + * It allows more sophisticated filtering on the physics controller before computing the ray intersection to save CPU. + * It is only used to its full extend by the Ccd physics environement (Bullet). + */ +class PHY_IRayCastFilterCallback +{ +public: + PHY_IPhysicsController* m_ignoreController; + bool m_faceNormal; + + virtual ~PHY_IRayCastFilterCallback() + { + } + + virtual bool needBroadphaseRayCast(PHY_IPhysicsController* controller) + { + return true; + } + + virtual void reportHit(PHY_RayCastResult* result) = 0; + + PHY_IRayCastFilterCallback(PHY_IPhysicsController* ignoreController, bool faceNormal=false) + :m_ignoreController(ignoreController), + m_faceNormal(faceNormal) + { + } +}; /** * Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.) @@ -94,8 +138,7 @@ class PHY_IPhysicsEnvironment //complex constraint for vehicles virtual PHY_IVehicle* getVehicleConstraint(int constraintId) =0; - virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, - float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)=0; + virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ)=0; //Methods for gamelogic collision/physics callbacks |