BGE: Optimize Soft body conversion: don't create BVH structure.

A btBvhTriangleMeshShape object is created when converting
a mesh to physics, also in case of Soft body although the
soft body will not use it (it only uses the mesh interface).

This patch keeps this system for compatibility with the
KX converter but avoids the creation of the BVH structure,
which consumes a lots of CPU. This should speed up
significantly the conversion of large mesh to softbody.

A secondary optimization is that the sharing of shapeInfo
is extended to rigid body using gImpact. Before it was
only active between static body and soft body.

4 files changed, 40 insertions, 35 deletions

diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
index db1595db36f..1b2ceae6560 100644
--- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
+++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
@@ -279,13 +279,15 @@ void    KX_BulletPhysicsController::AddCompoundChild(KX_IPhysicsController* chil
 	// we will need this to make sure that we remove the right proxy later when unparenting
 	proxyShapeInfo->m_userData = childCtrl;
 	proxyShapeInfo->SetProxy(childCtrl->GetShapeInfo()->AddRef());
-	// add to parent compound shapeinfo
+	// add to parent compound shapeinfo (increments ref count)
 	GetShapeInfo()->AddShape(proxyShapeInfo);
 	// create new bullet collision shape from the object shapeinfo and set scaling
-	btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(childCtrl->GetMargin());
+	btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(childCtrl->GetMargin(), childCtrl->getConstructionInfo().m_bGimpact, true);
 	newChildShape->setLocalScaling(relativeScale);
 	// add bullet collision shape to parent compound collision shape
 	compoundShape->addChildShape(proxyShapeInfo->m_childTrans,newChildShape);
+	// proxyShapeInfo is not needed anymore, release it
+	proxyShapeInfo->Release();
 	// remember we created this shape
 	childCtrl->m_bulletChildShape = newChildShape;
 	// recompute inertia of parent
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index bae32c74d1a..c693913a3a1 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -97,6 +97,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 
 	bool isbulletdyna = false;
 	bool isbulletsensor = false;
+	bool useGimpact = false;
 	CcdConstructionInfo ci;
 	class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
 	class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo();
@@ -121,7 +122,8 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	shapeInfo->m_radius = objprop->m_radius;
 	isbulletdyna = objprop->m_dyna;
 	isbulletsensor = objprop->m_sensor;
-	
+	useGimpact = ((isbulletdyna || isbulletsensor) && !objprop->m_softbody);
+
 	ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
 	
 	btCollisionShape* bm = 0;
@@ -178,24 +180,22 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 		}
 	case KX_BOUNDPOLYTOPE:
 		{
-			shapeInfo->SetMesh(meshobj, dm,true,false);
+			shapeInfo->SetMesh(meshobj, dm,true);
 			bm = shapeInfo->CreateBulletShape(ci.m_margin);
 			break;
 		}
 	case KX_BOUNDMESH:
 		{
-			bool useGimpact = ((ci.m_mass || isbulletsensor) && !objprop->m_softbody);
-
 			// mesh shapes can be shared, check first if we already have a shape on that mesh
-			class CcdShapeConstructionInfo *sharedShapeInfo = CcdShapeConstructionInfo::FindMesh(meshobj, dm, false,useGimpact);
+			class CcdShapeConstructionInfo *sharedShapeInfo = CcdShapeConstructionInfo::FindMesh(meshobj, dm, false);
 			if (sharedShapeInfo != NULL) 
 			{
-				delete shapeInfo;
+				shapeInfo->Release();
 				shapeInfo = sharedShapeInfo;
 				shapeInfo->AddRef();
 			} else
 			{
-				shapeInfo->SetMesh(meshobj, dm, false,useGimpact);
+				shapeInfo->SetMesh(meshobj, dm, false);
 			}
 
 			// Soft bodies require welding. Only avoid remove doubles for non-soft bodies!
@@ -204,7 +204,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 				shapeInfo->setVertexWeldingThreshold1(objprop->m_soft_welding); //todo: expose this to the UI
 			}
 
-			bm = shapeInfo->CreateBulletShape(ci.m_margin);
+			bm = shapeInfo->CreateBulletShape(ci.m_margin, useGimpact, !objprop->m_softbody);
 			//should we compute inertia for dynamic shape?
 			//bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
 
@@ -218,7 +218,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	if (!bm)
 	{
 		delete motionstate;
-		delete shapeInfo;
+		shapeInfo->Release();
 		return;
 	}
 
@@ -268,6 +268,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 				compoundShape->calculateLocalInertia(mass,localInertia);
 				rigidbody->setMassProps(mass,localInertia);
 			}
+			shapeInfo->Release();
 			// delete motionstate as it's not used
 			delete motionstate;
 			return;
@@ -284,6 +285,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 			compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
 			// now replace the shape
 			bm = compoundShape;
+			shapeInfo->Release();
 			shapeInfo = compoundShapeInfo;
 		}
 
@@ -395,6 +397,7 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	ci.m_contactProcessingThreshold = objprop->m_contactProcessingThreshold;//todo: expose this in advanced settings, just like margin, default to 10000 or so
 	ci.m_bSoft = objprop->m_softbody;
 	ci.m_bSensor = isbulletsensor;
+	ci.m_bGimpact = useGimpact;
 	MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
 	ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]);
 	KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna,isbulletsensor,objprop->m_hasCompoundChildren);
@@ -544,7 +547,8 @@ bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *fro
 	shapeInfo->UpdateMesh(from_gameobj, from_meshobj);
 
 	/* create the new bullet mesh */
-	btCollisionShape* bm= shapeInfo->CreateBulletShape(spc->getConstructionInfo().m_margin);
+	CcdConstructionInfo& cci = spc->getConstructionInfo();
+	btCollisionShape* bm= shapeInfo->CreateBulletShape(cci.m_margin, cci.m_bGimpact, !cci.m_bSoft);
 
 	spc->ReplaceControllerShape(bm);
 	return true;
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index e0164b24769..fe429200dd4 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -236,7 +236,7 @@ bool CcdPhysicsController::CreateSoftbody()
 			}
 		} else
 		{
-			btBvhTriangleMeshShape* trimeshshape = (btBvhTriangleMeshShape*) m_cci.m_collisionShape;
+			btTriangleMeshShape* trimeshshape = (btTriangleMeshShape*) m_cci.m_collisionShape;
 			///only deal with meshes that have 1 sub part/component, for now
 			if (trimeshshape->getMeshInterface()->getNumSubParts()==1)
 			{
@@ -682,7 +682,7 @@ void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
 	if (m_shapeInfo)
 	{
 		m_shapeInfo->AddRef();
-		m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin);
+		m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin, m_cci.m_bGimpact, !m_cci.m_bSoft);
 
 		if (m_collisionShape)
 		{
@@ -1276,7 +1276,7 @@ PHY_IPhysicsController*	CcdPhysicsController::GetReplica()
 	if (m_shapeInfo)
 	{
 		// This situation does not normally happen
-		cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin);
+		cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin, m_cci.m_bGimpact, !m_cci.m_bSoft);
 	} 
 	else if (m_collisionShape)
 	{
@@ -1379,9 +1379,9 @@ void	DefaultMotionState::calculateWorldTransformations()
 // Shape constructor
 std::map<RAS_MeshObject*, CcdShapeConstructionInfo*> CcdShapeConstructionInfo::m_meshShapeMap;
 
-CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope, bool gimpact)
+CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope)
 {
-	if (polytope || dm || gimpact)
+	if (polytope || dm)
 		// not yet supported
 		return NULL;
 
@@ -1391,12 +1391,10 @@ CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mes
 	return NULL;
 }
 
-bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, DerivedMesh* dm, bool polytope,bool useGimpact)
+bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, DerivedMesh* dm, bool polytope)
 {
 	int numpolys, numverts;
 
-	m_useGimpact = useGimpact;
-
 	// assume no shape information
 	// no support for dynamic change of shape yet
 	assert(IsUnused());
@@ -1656,7 +1654,7 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, DerivedMesh* dm,
 	}
 
 	// sharing only on static mesh at present, if you change that, you must also change in FindMesh
-	if (!polytope && !dm && !useGimpact)
+	if (!polytope && !dm)
 	{
 		// triangle shape can be shared, store the mesh object in the map
 		m_meshShapeMap.insert(std::pair<RAS_MeshObject*,CcdShapeConstructionInfo*>(meshobj,this));
@@ -1991,13 +1989,13 @@ bool CcdShapeConstructionInfo::SetProxy(CcdShapeConstructionInfo* shapeInfo)
 	return true;
 }
 
-btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
+btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin, bool useGimpact, bool useBvh)
 {
 	btCollisionShape* collisionShape = 0;
 	btCompoundShape* compoundShape = 0;	
 
 	if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL)
-		return m_shapeProxy->CreateBulletShape(margin);
+		return m_shapeProxy->CreateBulletShape(margin, useGimpact, useBvh);
 
 	switch (m_shapeType) 
 	{
@@ -2037,7 +2035,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
 		// 9 multiplications/additions and one function call for each triangle that passes the mid phase filtering
 		// One possible optimization is to use directly the btBvhTriangleMeshShape when the scale is 1,1,1
 		// and btScaledBvhTriangleMeshShape otherwise.
-		if (m_useGimpact)
+		if (useGimpact)
 		{				
 				btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(
 						m_polygonIndexArray.size(),
@@ -2095,14 +2093,14 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
 				if(m_unscaledShape) {
 					DeleteBulletShape(m_unscaledShape, false);
 					m_unscaledShape->~btBvhTriangleMeshShape();
-	
-					m_unscaledShape = new(m_unscaledShape) btBvhTriangleMeshShape( indexVertexArrays, true );
+					m_unscaledShape = new(m_unscaledShape) btBvhTriangleMeshShape( indexVertexArrays, true, useBvh );
 				} else {
-					m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true );
+					m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true, useBvh );
 				}
-				
 				m_forceReInstance= false;
-				m_unscaledShape->recalcLocalAabb();
+			} else if (useBvh && m_unscaledShape->getOptimizedBvh() == NULL) {
+				// the existing unscaledShape was not build with Bvh, do it now
+				m_unscaledShape->buildOptimizedBvh();
 			}
 			collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f));
 			collisionShape->setMargin(margin);
@@ -2117,7 +2115,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
 				 sit != m_shapeArray.end();
 				 sit++)
 			{
-				collisionShape = (*sit)->CreateBulletShape(margin);
+				collisionShape = (*sit)->CreateBulletShape(margin, useGimpact, useBvh);
 				if (collisionShape)
 				{
 					collisionShape->setLocalScaling((*sit)->m_childScale);
@@ -2133,6 +2131,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
 void CcdShapeConstructionInfo::AddShape(CcdShapeConstructionInfo* shapeInfo)
 {
 	m_shapeArray.push_back(shapeInfo);
+	shapeInfo->AddRef();
 }
 
 CcdShapeConstructionInfo::~CcdShapeConstructionInfo()
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 637007e2857..607602a4d0d 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -62,7 +62,7 @@ public:
 		float uv[2];
 	};
 	
-	static CcdShapeConstructionInfo* FindMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope, bool gimpact);
+	static CcdShapeConstructionInfo* FindMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope);
 
 	CcdShapeConstructionInfo() :
 		m_shapeType(PHY_SHAPE_NONE),
@@ -74,7 +74,6 @@ public:
 		m_refCount(1),
 		m_meshObject(NULL),
 		m_unscaledShape(NULL),
-		m_useGimpact(false),
 		m_forceReInstance(false),
 		m_weldingThreshold1(0.f),
 		m_shapeProxy(NULL)
@@ -143,7 +142,7 @@ public:
 		return true;
 	}
 
-	bool SetMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope,bool useGimpact);
+	bool SetMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope);
 	RAS_MeshObject* GetMesh(void)
 	{
 		return m_meshObject;
@@ -158,7 +157,7 @@ public:
 		return m_shapeProxy;
 	}
 
-	btCollisionShape* CreateBulletShape(btScalar margin);
+	btCollisionShape* CreateBulletShape(btScalar margin, bool useGimpact=false, bool useBvh=true);
 
 	// member variables
 	PHY_ShapeType			m_shapeType;
@@ -193,7 +192,6 @@ protected:
 	btBvhTriangleMeshShape* m_unscaledShape;// holds the shared unscale BVH mesh shape, 
 											// the actual shape is of type btScaledBvhTriangleMeshShape
 	std::vector<CcdShapeConstructionInfo*> m_shapeArray;	// for compound shapes
-	bool	m_useGimpact; //use gimpact for concave dynamic/moving collision detection
 	bool	m_forceReInstance; //use gimpact for concave dynamic/moving collision detection
 	float	m_weldingThreshold1;	//welding closeby vertices together can improve softbody stability etc.
 	CcdShapeConstructionInfo* m_shapeProxy;	// only used for PHY_SHAPE_PROXY, pointer to actual shape info
@@ -240,6 +238,7 @@ struct CcdConstructionInfo
 		m_bRigid(false),
 		m_bSoft(false),
 		m_bSensor(false),
+		m_bGimpact(false),
 		m_collisionFilterGroup(DefaultFilter),
 		m_collisionFilterMask(AllFilter),
 		m_collisionShape(0),
@@ -308,6 +307,7 @@ struct CcdConstructionInfo
 	bool		m_bRigid;
 	bool		m_bSoft;
 	bool		m_bSensor;
+	bool		m_bGimpact;			// use Gimpact for mesh body
 
 	///optional use of collision group/mask:
 	///only collision with object goups that match the collision mask.