BGE: Support for collision group/mask from the api + activated on EndObject.

A Python API for the collision group / mask has been added:
```
KX_GameObject.collisionGroup
KX_GameObject.collisionMask
```
The maximum number of collision groups and masked has been increased from eight to sixteen.
This means that the max value of collisionGroup/Mask is (2 ** 16) - 1

EndObject will now activate objects that were sleeping and colliding with the removed object.
This means that, unlike now, if a rigid body starts sleeping on top of another object, when the latter is removed the rigid body will activate and fall, rather than float midair as before.

Collision groups that do not intersect used to collide on the first frame. Now this has been fixed so that they collide appropriately.

Thanks to agoose77 for his help.

Reviewers: scorpion81, hg1, agoose77, sergof

Reviewed By: agoose77, sergof

Subscribers: sergof, moguri

Projects: #game_physics, #game_engine

Differential Revision: https://developer.blender.org/D1243

4 files changed, 56 insertions, 3 deletions

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 5adff8f7f02..b2b8f30a706 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -65,7 +65,6 @@ extern bool gDisableDeactivation;
 float gLinearSleepingTreshold;
 float gAngularSleepingTreshold;
 
-
 BlenderBulletCharacterController::BlenderBulletCharacterController(btMotionState *motionState, btPairCachingGhostObject *ghost, btConvexShape* shape, float stepHeight)
 	: btKinematicCharacterController(ghost,shape,stepHeight,2),
 		m_motionState(motionState),
@@ -118,6 +117,20 @@ const btVector3& BlenderBulletCharacterController::getWalkDirection()
 	return m_walkDirection;
 }
 
+bool CleanPairCallback::processOverlap(btBroadphasePair &pair)
+{
+	if ((pair.m_pProxy0 == m_cleanProxy) || (pair.m_pProxy1 == m_cleanProxy)) {
+		m_pairCache->cleanOverlappingPair(pair, m_dispatcher);
+		CcdPhysicsController *ctrl0 = (CcdPhysicsController*)(((btCollisionObject*)pair.m_pProxy0->m_clientObject)->getUserPointer());
+		CcdPhysicsController *ctrl1 = (CcdPhysicsController*)(((btCollisionObject*)pair.m_pProxy1->m_clientObject)->getUserPointer());
+		if (ctrl0 && ctrl1) {
+			ctrl0->GetRigidBody()->activate(true);
+			ctrl1->GetRigidBody()->activate(true);
+		}
+	}
+	return false;
+}
+
 CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
 :m_cci(ci)
 {
@@ -1082,6 +1095,19 @@ void		CcdPhysicsController::ResolveCombinedVelocities(float linvelX,float linvel
 {
 }
 
+void CcdPhysicsController::RefreshCollisions()
+{
+	btSoftRigidDynamicsWorld *dw = GetPhysicsEnvironment()->GetDynamicsWorld();
+	btBroadphaseProxy *proxy = m_object->getBroadphaseHandle();
+	btDispatcher *dispatcher = dw->getDispatcher();
+	btOverlappingPairCache *pairCache = dw->getPairCache();
+
+	CleanPairCallback cleanPairs(proxy, pairCache, dispatcher);
+	pairCache->processAllOverlappingPairs(&cleanPairs, dispatcher);
+	// Forcibly recreate the physics object
+	GetPhysicsEnvironment()->UpdateCcdPhysicsController(this, m_cci.m_mass, m_cci.m_collisionFlags, m_cci.m_collisionFilterGroup, m_cci.m_collisionFilterMask);
+}
+
 void	CcdPhysicsController::SuspendDynamics(bool ghost)
 {
 	btRigidBody *body = GetRigidBody();
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 56d67ca2f64..4fcdc70c5a8 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -447,6 +447,23 @@ public:
 #endif
 };
 
+class CleanPairCallback : public btOverlapCallback
+{
+	btBroadphaseProxy *m_cleanProxy;
+	btOverlappingPairCache *m_pairCache;
+	btDispatcher *m_dispatcher;
+
+public:
+	CleanPairCallback(btBroadphaseProxy *cleanProxy, btOverlappingPairCache *pairCache, btDispatcher *dispatcher)
+		:m_cleanProxy(cleanProxy),
+		m_pairCache(pairCache),
+		m_dispatcher(dispatcher)
+	{
+	}
+
+	virtual bool processOverlap(btBroadphasePair &pair);
+};
+
 ///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
 class CcdPhysicsController : public PHY_IPhysicsController
 {
@@ -598,7 +615,7 @@ protected:
 
 		
 		virtual void		ResolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
-
+		virtual void		RefreshCollisions();
 		virtual void		SuspendDynamics(bool ghost);
 		virtual void		RestoreDynamics();
 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 6d3f6d9ddcb..984273ec63e 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -509,6 +509,13 @@ bool	CcdPhysicsEnvironment::RemoveCcdPhysicsController(CcdPhysicsController* ctr
 	btRigidBody* body = ctrl->GetRigidBody();
 	if (body)
 	{
+		btBroadphaseProxy *proxy = ctrl->GetCollisionObject()->getBroadphaseHandle();
+		btDispatcher *dispatcher = m_dynamicsWorld->getDispatcher();
+		btOverlappingPairCache *pairCache = m_dynamicsWorld->getPairCache();
+
+		CleanPairCallback cleanPairs(proxy, pairCache, dispatcher);
+		pairCache->processAllOverlappingPairs(&cleanPairs, dispatcher);
+
 		for (int i = ctrl->getNumCcdConstraintRefs() - 1; i >= 0; i--)
 		{
 			btTypedConstraint* con = ctrl->getCcdConstraintRef(i);
@@ -3525,12 +3532,14 @@ void CcdPhysicsEnvironment::ConvertObject(KX_GameObject *gameobj, RAS_MeshObject
 	if (isbulletdyna)
 		gameobj->SetRecordAnimation(true);
 
+	physicscontroller->SetNewClientInfo(gameobj->getClientInfo());
+
 	// don't add automatically sensor object, they are added when a collision sensor is registered
 	if (!isbulletsensor && (blenderobject->lay & activeLayerBitInfo) != 0)
 	{
 		this->AddCcdPhysicsController( physicscontroller);
 	}
-	physicscontroller->SetNewClientInfo(gameobj->getClientInfo());
+
 	{
 		btRigidBody* rbody = physicscontroller->GetRigidBody();
 
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsController.h b/source/gameengine/Physics/common/PHY_IPhysicsController.h
index b6cd480e655..3e2337f01ea 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsController.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsController.h
@@ -96,6 +96,7 @@ class PHY_IPhysicsController : public PHY_IController
 		virtual void		SetAngularDamping(float damping)=0;
 		virtual void		SetDamping(float linear, float angular)=0;
 
+		virtual void		RefreshCollisions() = 0;
 		virtual void		SuspendDynamics(bool ghost=false)=0;
 		virtual void		RestoreDynamics()=0;