improved game soft bodies, works for objects that are using 'set smooth'

use shape matching by default for game soft bodies
store soft body index for game vertices

8 files changed, 219 insertions, 108 deletions

diff --git a/source/blender/blenkernel/intern/object.c b/source/blender/blenkernel/intern/object.c
index 54908230d88..9f6921fbade 100644
--- a/source/blender/blenkernel/intern/object.c
+++ b/source/blender/blenkernel/intern/object.c
@@ -967,7 +967,7 @@ Object *add_only_object(int type, char *name)
 	ob->linearStiffness = 1.0f;
 	ob->angularStiffness = 1.0f;
 	ob->volumePreservation = 1.0f;
-	ob->gamesoftFlag = 0;
+	ob->gamesoftFlag = OB_SOFT_SHAPE_MATCHING;
 
 	/* NT fluid sim defaults */
 	ob->fluidsimFlag = 0;
diff --git a/source/blender/blenloader/intern/readfile.c b/source/blender/blenloader/intern/readfile.c
index d966d691fdd..f1823de954c 100644
--- a/source/blender/blenloader/intern/readfile.c
+++ b/source/blender/blenloader/intern/readfile.c
@@ -7853,6 +7853,7 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
 			ob->linearStiffness = 1.0f;
 			ob->angularStiffness = 1.0f;
 			ob->volumePreservation = 1.0f;
+			ob->softflag = OB_SOFT_SHAPE_MATCHING;
 		}
 	}
 
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index 6a5048a9f15..b3df2d7bc85 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -1321,6 +1321,13 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
 	objprop.m_dyna = (blenderobject->gameflag & OB_DYNAMIC) != 0;
 	objprop.m_softbody = (blenderobject->gameflag & OB_SOFT_BODY) != 0;
 	objprop.m_angular_rigidbody = (blenderobject->gameflag & OB_RIGID_BODY) != 0;
+	
+	///for game soft bodies
+	objprop.m_linearStiffness = blenderobject->linearStiffness;
+	objprop.m_angularStiffness = blenderobject->angularStiffness;
+	objprop.m_volumePreservation = blenderobject->volumePreservation;
+	objprop.m_gamesoftFlag = blenderobject->gamesoftFlag;
+
 	objprop.m_ghost = (blenderobject->gameflag & OB_GHOST) != 0;
 	objprop.m_disableSleeping = (blenderobject->gameflag & OB_COLLISION_RESPONSE) != 0;//abuse the OB_COLLISION_RESPONSE flag
 	//mmm, for now, taks this for the size of the dynamicobject
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
index 2b6c2535878..6325c9365fd 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
@@ -87,6 +87,12 @@ struct KX_ObjectProperties
 	bool	m_disableSleeping;
 	bool	m_hasCompoundChildren;
 	bool	m_isCompoundChild;
+
+	float	m_linearStiffness;
+	float m_angularStiffness;
+	float	m_volumePreservation;
+	int		m_gamesoftFlag;
+	
 	double  m_margin;
 	KX_BoundBoxClass	m_boundclass;
 	union {
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index c4411a58856..5744a860e92 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -667,6 +667,85 @@ void	KX_ConvertODEEngineObject(KX_GameObject* gameobj,
 #endif //WIN32
 
 
+							
+	class KX_SoftBodyDeformer : public RAS_Deformer
+	{
+		btSoftBody*	m_softBody;
+		class RAS_MeshObject*	m_pMeshObject;
+		class BL_DeformableGameObject*	m_gameobj;
+
+
+	public:
+		KX_SoftBodyDeformer(btSoftBody* softBody,RAS_MeshObject*	pMeshObject,BL_DeformableGameObject*	gameobj)
+			: m_softBody(softBody),
+			m_pMeshObject(pMeshObject),
+			m_gameobj(gameobj)
+		{
+			//printf("KX_SoftBodyDeformer\n");
+		};
+
+		virtual ~KX_SoftBodyDeformer()
+		{
+			//printf("~KX_SoftBodyDeformer\n");
+		};
+		virtual void Relink(GEN_Map<class GEN_HashedPtr, void*>*map)
+		{
+			//printf("relink\n");
+		}
+		virtual bool Apply(class RAS_IPolyMaterial *polymat)
+		{
+			//printf("apply\n");
+			RAS_MeshSlot::iterator it;
+			RAS_MeshMaterial *mmat;
+			RAS_MeshSlot *slot;
+			size_t i;
+
+			// update the vertex in m_transverts
+			Update();
+
+			// The vertex cache can only be updated for this deformer:
+			// Duplicated objects with more than one ploymaterial (=multiple mesh slot per object)
+			// share the same mesh (=the same cache). As the rendering is done per polymaterial
+			// cycling through the objects, the entire mesh cache cannot be updated in one shot.
+			mmat = m_pMeshObject->GetMeshMaterial(polymat);
+			if(!mmat->m_slots[(void*)m_gameobj])
+				return true;
+
+			slot = *mmat->m_slots[(void*)m_gameobj];
+
+			// for each array
+			for(slot->begin(it); !slot->end(it); slot->next(it)) 
+			{
+				btSoftBody::tNodeArray&   nodes(m_softBody->m_nodes);
+
+				int index = 0;
+				for(i=it.startvertex; i<it.endvertex; i++,index++) {
+					RAS_TexVert& v = it.vertex[i];
+
+					MT_Point3 pt (
+						nodes[v.getSoftBodyIndex()].m_x.getX(),
+						nodes[v.getSoftBodyIndex()].m_x.getY(),
+						nodes[v.getSoftBodyIndex()].m_x.getZ());
+					v.SetXYZ(pt);
+				}
+			}
+			return true;
+		}
+		virtual bool Update(void)
+		{
+			//printf("update\n");
+			return true;//??
+		}
+		virtual RAS_Deformer *GetReplica()
+		{
+			//printf("getReplica\n");
+			return 0;
+		}
+	protected:
+		//class RAS_MeshObject	*m_pMesh;
+	};
+
+
 // forward declarations
 
 void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
@@ -916,6 +995,11 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 	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 behaviour
+	ci.m_linearStiffness = objprop->m_linearStiffness;
+	ci.m_angularStiffness= objprop->m_angularStiffness;
+	ci.m_volumePreservation= objprop->m_volumePreservation;
+	ci.m_gamesoftFlag = objprop->m_gamesoftFlag;
+
 	ci.m_collisionFilterGroup = (isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) : short(CcdConstructionInfo::StaticFilter);
 	ci.m_collisionFilterMask = (isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter);
 	ci.m_bRigid = objprop->m_dyna && objprop->m_angular_rigidbody;
@@ -990,107 +1074,15 @@ void	KX_ConvertBulletObject(	class	KX_GameObject* gameobj,
 
 	physicscontroller->SetObject(gameobj->GetSGNode());
 
-	class KX_SoftBodyDeformer : public RAS_Deformer
-	{
-		btSoftBody*	m_softBody;
-		class BL_SkinMeshObject*	m_pMeshObject;
-		class BL_DeformableGameObject*	m_gameobj;
-
-
-	public:
-		KX_SoftBodyDeformer(btSoftBody* softBody,BL_SkinMeshObject*	pMeshObject,BL_DeformableGameObject*	gameobj)
-			: m_softBody(softBody),
-			m_pMeshObject(pMeshObject),
-			m_gameobj(gameobj)
-		{
-			//printf("KX_SoftBodyDeformer\n");
-		};
-
-		virtual ~KX_SoftBodyDeformer()
-		{
-			//printf("~KX_SoftBodyDeformer\n");
-		};
-		virtual void Relink(GEN_Map<class GEN_HashedPtr, void*>*map)
-		{
-			//printf("relink\n");
-		}
-		virtual bool Apply(class RAS_IPolyMaterial *polymat)
-		{
-			//printf("apply\n");
-			RAS_MeshSlot::iterator it;
-			RAS_MeshMaterial *mmat;
-			RAS_MeshSlot *slot;
-			size_t i;
-
-			// update the vertex in m_transverts
-			Update();
-
-			// The vertex cache can only be updated for this deformer:
-			// Duplicated objects with more than one ploymaterial (=multiple mesh slot per object)
-			// share the same mesh (=the same cache). As the rendering is done per polymaterial
-			// cycling through the objects, the entire mesh cache cannot be updated in one shot.
-			mmat = m_pMeshObject->GetMeshMaterial(polymat);
-			if(!mmat->m_slots[(void*)m_gameobj])
-				return true;
-
-			slot = *mmat->m_slots[(void*)m_gameobj];
-
-			// for each array
-			for(slot->begin(it); !slot->end(it); slot->next(it)) 
-			{
-				// for each vertex
-				// copy the untransformed data from the original mvert
-				int count = 0;
-				{
-
-					for(i=it.startvertex; i<it.endvertex; i++,count++)
-					{
-					}
-				}
-				btSoftBody::tNodeArray&   nodes(m_softBody->m_nodes);
-
-				if (count == m_softBody->m_userIndexMapping.size())
-				{
-					int index = 0;
-					for(i=it.startvertex; i<it.endvertex; i++,index++) {
-						RAS_TexVert& v = it.vertex[i];
-
-						MT_Point3 pt (
-							nodes[m_softBody->m_userIndexMapping[index]].m_x.getX(),
-							nodes[m_softBody->m_userIndexMapping[index]].m_x.getY(),
-							nodes[m_softBody->m_userIndexMapping[index]].m_x.getZ());
-						v.SetXYZ(pt);
-
-						//(m_transverts[v.getOrigIndex()]);
-					}
-				}
-
-			}
-
-			return true;
-		}
-		virtual bool Update(void)
-		{
-			//printf("update\n");
-			return true;//??
-		}
-		virtual RAS_Deformer *GetReplica()
-		{
-			//printf("getReplica\n");
-			return 0;
-		}
-	protected:
-		//class RAS_MeshObject	*m_pMesh;
-	};
 
 	///test for soft bodies
 	if (objprop->m_softbody && physicscontroller)
 	{
 		btSoftBody* softBody = physicscontroller->GetSoftBody();
-		if (softBody && gameobj->GetMesh(0))
+		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(softBody, (BL_SkinMeshObject*)gameobj->GetMesh(0),(BL_DeformableGameObject*)gameobj);
+			KX_SoftBodyDeformer* softbodyDeformer = new KX_SoftBodyDeformer(softBody, gameobj->GetMesh(0),(BL_DeformableGameObject*)gameobj);
 			gameobj->SetDeformer(softbodyDeformer);
 			
 		}
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index ad79db16dc4..333ecd6ea11 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -222,14 +222,57 @@ void CcdPhysicsController::CreateRigidbody()
 					psb->appendFace(idx[0],idx[1],idx[2]);
 				}
 				
+				///create a mapping between graphics mesh vertices and soft body vertices
 				{
-					for (int i=0;i<hlib.m_vertexIndexMapping.size();i++)
-						psb->m_userIndexMapping.push_back(hlib.m_vertexIndexMapping[i]);
-						//psb->m_userIndexMapping.push_back(hres.m_Indices[i]);
+					RAS_MeshObject* rasMesh= GetShapeInfo()->GetMesh();
+
+					if (rasMesh)
+					{
+						
+						//printf("apply\n");
+						RAS_MeshSlot::iterator it;
+						RAS_MeshMaterial *mmat;
+						RAS_MeshSlot *slot;
+						size_t i;
+
+						//for each material
+						for (int m=0;m<rasMesh->NumMaterials();m++)
+						{
+							// The vertex cache can only be updated for this deformer:
+							// Duplicated objects with more than one ploymaterial (=multiple mesh slot per object)
+							// share the same mesh (=the same cache). As the rendering is done per polymaterial
+							// cycling through the objects, the entire mesh cache cannot be updated in one shot.
+							mmat = rasMesh->GetMeshMaterial(m);
+
+							slot = mmat->m_baseslot;
+							for(slot->begin(it); !slot->end(it); slot->next(it))
+							{
+								int index = 0;
+								for(i=it.startvertex; i<it.endvertex; i++,index++) 
+								{
+									RAS_TexVert* vertex = &it.vertex[i];
+									//search closest index, and store it in vertex
+									vertex->setSoftBodyIndex(0);
+									btScalar maxDistSqr = 1e30;
+									btSoftBody::tNodeArray&   nodes(psb->m_nodes);
+									btVector3 xyz = trans(btVector3(vertex->getXYZ()[0],vertex->getXYZ()[1],vertex->getXYZ()[2]));
+									for (int n=0;n<nodes.size();n++)
+									{
+										btScalar distSqr = (nodes[n].m_x - xyz).length2();
+										if (distSqr<maxDistSqr)
+										{
+											maxDistSqr = distSqr;
+											vertex->setSoftBodyIndex(n);
+										}
+									}
+								}
+							}
+						}
+					}
 				}
 
 				hlib.ReleaseResult(hres);
-				psb->randomizeConstraints();
+
 				
 			}
 
@@ -292,13 +335,42 @@ void CcdPhysicsController::CreateRigidbody()
 
 		//psb->m_cfg.collisions	=	btSoftBody::fCollision::SDF_RS;//btSoftBody::fCollision::CL_SS+	btSoftBody::fCollision::CL_RS;
 		psb->m_cfg.collisions	=	btSoftBody::fCollision::SDF_RS + btSoftBody::fCollision::CL_SS;
+		//psb->m_cfg.collisions	=	btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS;
 		
 		//btSoftBody::Material*	pm=psb->appendMaterial();
 		btSoftBody::Material*	pm=psb->m_materials[0];
-		pm->m_kLST				=	0.1f;
+		
+		pm->m_kLST				=	m_cci.m_linearStiffness;
+		pm->m_kAST				=	m_cci.m_angularStiffness;
+		pm->m_kVST				=	m_cci.m_volumePreservation;
+		
+
+		
+
 		//pm->m_kAST = 0.01f;
 		//pm->m_kVST = 0.001f;
 		psb->generateBendingConstraints(2,pm);
+		//psb->m_cfg.piterations		=	4;
+		//psb->m_cfg.viterations		=	4;
+		//psb->m_cfg.diterations = 4;
+		//psb->m_cfg.citerations = 4;
+		if (m_cci.m_gamesoftFlag & 1)///OB_SOFT_SHAPE_MATCHING)
+		{
+			psb->setPose(false,true);//
+		} else
+		{
+			psb->setPose(true,false);
+		}
+
+		psb->m_cfg.kDF				=	0.5;
+		psb->m_cfg.kMT				=	0.05;
+		psb->m_cfg.piterations		=	5;
+		
+		psb->m_cfg.piterations		=	5;
+		//psb->m_cfg.kVC				=	20;
+
+		psb->randomizeConstraints();
+
 /*
 		psb->m_cfg.kDF = 0.1f;//1.f;
 		psb->m_cfg.kDP		=	0.0001;
@@ -315,10 +387,10 @@ void CcdPhysicsController::CreateRigidbody()
 //		psb->activate();
 //		psb->setActivationState(1);
 //		psb->setDeactivationTime(1.f);
-		//psb->m_cfg.piterations		=	4;
+		
 		//psb->m_materials[0]->m_kLST	=	0.1+(i/(btScalar)(n-1))*0.9;
 		psb->setTotalMass(m_cci.m_mass);
-		psb->generateClusters(64);		
+		//psb->generateClusters(8);//(64);		
 		psb->setCollisionFlags(0);
 //		m_object->setCollisionShape(rbci.m_collisionShape);
 		btTransform startTrans;
@@ -1147,7 +1219,19 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope)
 				{
 					const float* vtx = poly->GetVertex(i)->getXYZ();
 					btPoint3 point(vtx[0],vtx[1],vtx[2]);
-					m_vertexArray.push_back(point);
+					//avoid duplicates (could better directly use vertex offsets, rather than a vertex compare)
+					bool found = false;
+					for (int j=0;j<m_vertexArray.size();j++)
+					{
+						if (m_vertexArray[j]==point)
+						{
+							found = true;
+							break;
+						}
+					}
+					if (!found)
+						m_vertexArray.push_back(point);
+
 					numvalidpolys++;
 				}
 			} else
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index c45f4590749..65c23eb2543 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -147,6 +147,10 @@ struct CcdConstructionInfo
 		m_linearDamping(0.1f),
 		m_angularDamping(0.1f),
 		m_margin(0.06f),
+		m_linearStiffness(1.f),
+		m_angularStiffness(1.f),
+		m_volumePreservation(1.f),
+		m_gamesoftFlag(0),
 		m_collisionFlags(0),
 		m_bRigid(false),
 		m_bSoft(false),
@@ -169,6 +173,12 @@ struct CcdConstructionInfo
 	btScalar	m_linearDamping;
 	btScalar	m_angularDamping;
 	btScalar	m_margin;
+
+	btScalar	m_linearStiffness;
+	btScalar	m_angularStiffness;
+	btScalar	m_volumePreservation;
+	int			m_gamesoftFlag;
+
 	int			m_collisionFlags;
 	bool		m_bRigid;
 	bool		m_bSoft;
diff --git a/source/gameengine/Rasterizer/RAS_TexVert.h b/source/gameengine/Rasterizer/RAS_TexVert.h
index 4ec4db19e53..54da109cbf1 100644
--- a/source/gameengine/Rasterizer/RAS_TexVert.h
+++ b/source/gameengine/Rasterizer/RAS_TexVert.h
@@ -44,15 +44,16 @@ class RAS_TexVert
 	float			m_uv1[2];		// 2*4 =  8
 	float			m_uv2[2];		// 2*4 =  8
 	unsigned int	m_rgba;			//        4
-	float			m_tangent[4];   // 4*2 =  8
-	float			m_normal[3];	// 3*2 =  6 
+	float			m_tangent[4];   // 4*4 =  16
+	float			m_normal[3];	// 3*4 =  12
 	short			m_flag;			//        2
+	short			m_softBodyIndex;		//2
 	unsigned int	m_unit;			//		  4
-	unsigned int	m_origindex;		//        4
+	unsigned int	m_origindex;		//    4
 									//---------
-									//       56
+									//       56+6+8+2=72
 	// 32 bytes total size, fits nice = 56 = not fit nice.
-	// We'll go for 64 bytes total size - 24 bytes left.
+
 public:
 	enum {
 		FLAT = 1,
@@ -91,6 +92,16 @@ public:
 		return m_normal;
 	}
 	
+	short int getSoftBodyIndex() const
+	{
+		return m_softBodyIndex;
+	}
+	
+	void	setSoftBodyIndex(short int sbIndex)
+	{
+		m_softBodyIndex = sbIndex;
+	}
+
 	const float* getTangent() const {
 		return m_tangent;
 	}