diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2006-11-21 03:53:40 +0300 |
---|---|---|
committer | Erwin Coumans <blender@erwincoumans.com> | 2006-11-21 03:53:40 +0300 |
commit | 46234f90cee9b3967cb6361661ce47b455cbaa57 (patch) | |
tree | 8f32252f55c29694c1fa619d00a67ea4b4941099 /source | |
parent | 4bbbabd04957d6564d43b076e1e144f0bb4da439 (diff) |
Removed old Blender/extern/bullet, and upgraded game engine to use Bullet 2.x
All platforms/build systems: either upgrade to use extern/bullet2, or disable the game engine until the build is fixed.
Diffstat (limited to 'source')
13 files changed, 595 insertions, 1320 deletions
diff --git a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp index 20498167021..83b2a11e606 100644 --- a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp +++ b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp @@ -202,10 +202,10 @@ static struct Scene *GetSceneForName2(struct Main *maggie, const STR_String& sce #ifdef USE_BULLET -#include "IDebugDraw.h" +#include "LinearMath/btIDebugDraw.h" -struct BlenderDebugDraw : public IDebugDraw +struct BlenderDebugDraw : public btIDebugDraw { BlenderDebugDraw () : m_debugMode(0) @@ -214,7 +214,7 @@ struct BlenderDebugDraw : public IDebugDraw int m_debugMode; - virtual void DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color) + virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color) { if (m_debugMode >0) { @@ -226,16 +226,16 @@ struct BlenderDebugDraw : public IDebugDraw } } - virtual void DrawContactPoint(const SimdVector3& PointOnB,const SimdVector3& normalOnB,float distance,int lifeTime,const SimdVector3& color) + virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,float distance,int lifeTime,const btVector3& color) { //not yet } - virtual void SetDebugMode(int debugMode) + virtual void setDebugMode(int debugMode) { m_debugMode = debugMode; } - virtual int GetDebugMode() const + virtual int getDebugMode() const { return m_debugMode; } diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp index 54f8060c582..d28a8f40d6f 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp @@ -5,8 +5,7 @@ #include "KX_BulletPhysicsController.h" -#include "Dynamics/RigidBody.h" - +#include "btBulletDynamicsCommon.h" #include "SG_Spatial.h" #include "KX_GameObject.h" @@ -59,7 +58,7 @@ void KX_BulletPhysicsController::SetObject (SG_IObject* object) } -void KX_BulletPhysicsController::SetMargin (float collisionMargin) +void KX_BulletPhysicsController::setMargin (float collisionMargin) { CcdPhysicsController::SetMargin(collisionMargin); } @@ -144,12 +143,12 @@ void KX_BulletPhysicsController::setRigidBody(bool rigid) void KX_BulletPhysicsController::SuspendDynamics() { - GetRigidBody()->SetActivationState(DISABLE_SIMULATION); + GetRigidBody()->setActivationState(DISABLE_SIMULATION); } void KX_BulletPhysicsController::RestoreDynamics() { - GetRigidBody()->ForceActivationState(ACTIVE_TAG); + GetRigidBody()->forceActivationState(ACTIVE_TAG); } SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode) diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h index 272868459d0..619ac42503f 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.h @@ -19,7 +19,7 @@ public: virtual void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse); virtual void SetObject (SG_IObject* object); - virtual void SetMargin (float collisionMargin); + virtual void setMargin (float collisionMargin); virtual void RelativeTranslate(const MT_Vector3& dloc,bool local); virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local); virtual void ApplyTorque(const MT_Vector3& torque,bool local); diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index e08e5e7cbf1..d637df95756 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -662,19 +662,10 @@ void KX_ConvertODEEngineObject(KX_GameObject* gameobj, #include "CcdPhysicsEnvironment.h" #include "CcdPhysicsController.h" -#include "BroadphaseCollision/BroadphaseInterface.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" #include "KX_BulletPhysicsController.h" -#include "CollisionShapes/BoxShape.h" -#include "CollisionShapes/SphereShape.h" -#include "CollisionShapes/ConeShape.h" -#include "CollisionShapes/ConvexShape.h" -#include "CollisionShapes/CylinderShape.h" -#include "CollisionShapes/MultiSphereShape.h" -#include "CollisionShapes/ConvexHullShape.h" -#include "CollisionShapes/TriangleMesh.h" -#include "CollisionShapes/TriangleMeshShape.h" -#include "CollisionShapes/BvhTriangleMeshShape.h" +#include "btBulletDynamicsCommon.h" #ifdef WIN32 #if _MSC_VER >= 1310 @@ -691,26 +682,26 @@ void KX_ConvertODEEngineObject(KX_GameObject* gameobj, #endif //WIN32 -static GEN_Map<GEN_HashedPtr,CollisionShape*> map_gamemesh_to_bulletshape; +static GEN_Map<GEN_HashedPtr,btCollisionShape*> map_gamemesh_to_bulletshape; // forward declarations -static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool polytope) +static btCollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool polytope) { if (!meshobj) return 0; - CollisionShape* collisionMeshShape = 0; - ConvexHullShape* convexHullShape = 0; - TriangleMeshShape* concaveShape = 0; + btCollisionShape* collisionMeshShape = 0; + btConvexHullShape* convexHullShape = 0; + btTriangleMeshShape* concaveShape = 0; - TriangleMesh* collisionMeshData = 0; + btTriangleMesh* collisionMeshData = 0; //see if there is any polygons, if not, bail out. int numPoints = 0; - SimdVector3* points = 0; + btVector3* points = 0; - CollisionShape** shapeptr = map_gamemesh_to_bulletshape[GEN_HashedPtr(meshobj)]; + btCollisionShape** shapeptr = map_gamemesh_to_bulletshape[GEN_HashedPtr(meshobj)]; // Mesh has already been converted: reuse if (shapeptr) @@ -780,12 +771,12 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p if (polytope) { - convexHullShape = new ConvexHullShape(points,numPoints); + convexHullShape = new btConvexHullShape(&points[0].getX(),numPoints); collisionMeshShape = convexHullShape; } else { - collisionMeshData = new TriangleMesh(); -// concaveShape = new TriangleMeshShape(collisionMeshData); + collisionMeshData = new btTriangleMesh(); +// concaveShape = new btTriangleMeshShape(collisionMeshData); //collisionMeshShape = concaveShape; } @@ -808,8 +799,8 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, poly->GetVertexIndexBase().m_indexarray[i], poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - SimdPoint3 point(vtx[0],vtx[1],vtx[2]); - convexHullShape->AddPoint(point); + btPoint3 point(vtx[0],vtx[1],vtx[2]); + convexHullShape->addPoint(point); } if (poly->VertexCount()) numvalidpolys++; @@ -820,16 +811,16 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, poly->GetVertexIndexBase().m_indexarray[2], poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - SimdPoint3 vertex0(vtx[0],vtx[1],vtx[2]); + btPoint3 vertex0(vtx[0],vtx[1],vtx[2]); vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, poly->GetVertexIndexBase().m_indexarray[1], poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - SimdPoint3 vertex1(vtx[0],vtx[1],vtx[2]); + btPoint3 vertex1(vtx[0],vtx[1],vtx[2]); vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, poly->GetVertexIndexBase().m_indexarray[0], poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - SimdPoint3 vertex2(vtx[0],vtx[1],vtx[2]); - collisionMeshData->AddTriangle(vertex0,vertex1,vertex2); + btPoint3 vertex2(vtx[0],vtx[1],vtx[2]); + collisionMeshData->addTriangle(vertex0,vertex1,vertex2); numvalidpolys++; } if (poly->VertexCount() == 4) @@ -837,16 +828,16 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, poly->GetVertexIndexBase().m_indexarray[3], poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - SimdPoint3 vertex0(vtx[0],vtx[1],vtx[2]); + btPoint3 vertex0(vtx[0],vtx[1],vtx[2]); vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, poly->GetVertexIndexBase().m_indexarray[2], poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - SimdPoint3 vertex1(vtx[0],vtx[1],vtx[2]); + btPoint3 vertex1(vtx[0],vtx[1],vtx[2]); vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, poly->GetVertexIndexBase().m_indexarray[0], poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - SimdPoint3 vertex2(vtx[0],vtx[1],vtx[2]); - collisionMeshData->AddTriangle(vertex0,vertex1,vertex2); + btPoint3 vertex2(vtx[0],vtx[1],vtx[2]); + collisionMeshData->addTriangle(vertex0,vertex1,vertex2); numvalidpolys++; } @@ -862,10 +853,10 @@ static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool p //map_gamemesh_to_bulletshape.insert(GEN_HashedPtr(meshobj),collisionMeshShape); if (!polytope) { - concaveShape = new BvhTriangleMeshShape( collisionMeshData ); - //concaveShape = new TriangleMeshShape( collisionMeshData ); + concaveShape = new btBvhTriangleMeshShape( collisionMeshData ); + //concaveShape = new btTriangleMeshShape( collisionMeshData ); - concaveShape->RecalcLocalAabb(); + concaveShape->recalcLocalAabb(); collisionMeshShape = concaveShape; } @@ -901,34 +892,34 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, if (objprop->m_ghost) { - ci.m_collisionFlags |= CollisionObject::noContactResponse; + ci.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE; } if (!objprop->m_dyna) { - ci.m_collisionFlags |= CollisionObject::isStatic; + ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT; } ci.m_MotionState = motionstate; - ci.m_gravity = SimdVector3(0,0,0); - ci.m_localInertiaTensor =SimdVector3(0,0,0); + 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; isbulletdyna = objprop->m_dyna; - ci.m_localInertiaTensor = SimdVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f); + ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f); - SimdTransform trans; + btTransform trans; trans.setIdentity(); - CollisionShape* bm = 0; + btCollisionShape* bm = 0; switch (objprop->m_boundclass) { case KX_BOUNDSPHERE: { float radius = objprop->m_radius; - SimdVector3 inertiaHalfExtents ( + btVector3 inertiaHalfExtents ( radius, radius, radius); @@ -936,8 +927,8 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, //blender doesn't support multisphere, but for testing: //bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1); - bm = new SphereShape(objprop->m_radius); - bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); + bm = new btSphereShape(objprop->m_radius); + bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); break; }; case KX_BOUNDBOX: @@ -949,41 +940,41 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, halfExtents /= 2.f; - //SimdVector3 he (halfExtents[0]-CONVEX_DISTANCE_MARGIN ,halfExtents[1]-CONVEX_DISTANCE_MARGIN ,halfExtents[2]-CONVEX_DISTANCE_MARGIN ); + //btVector3 he (halfExtents[0]-CONVEX_DISTANCE_MARGIN ,halfExtents[1]-CONVEX_DISTANCE_MARGIN ,halfExtents[2]-CONVEX_DISTANCE_MARGIN ); //he = he.absolute(); - SimdVector3 he (halfExtents[0],halfExtents[1],halfExtents[2]); + btVector3 he (halfExtents[0],halfExtents[1],halfExtents[2]); he = he.absolute(); - bm = new BoxShape(he); - bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); + bm = new btBoxShape(he); + bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); break; }; case KX_BOUNDCYLINDER: { - SimdVector3 halfExtents ( + btVector3 halfExtents ( objprop->m_boundobject.c.m_radius, objprop->m_boundobject.c.m_radius, objprop->m_boundobject.c.m_height * 0.5f ); - bm = new CylinderShapeZ(halfExtents); - bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); + bm = new btCylinderShapeZ(halfExtents); + bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); break; } case KX_BOUNDCONE: { - SimdVector3 halfExtents (objprop->m_boundobject.box.m_extends[0], + 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 ConeShape(objprop->m_boundobject.c.m_radius,objprop->m_boundobject.c.m_height); - bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); + bm = new btConeShape(objprop->m_boundobject.c.m_radius,objprop->m_boundobject.c.m_height); + bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); break; } @@ -992,7 +983,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, bm = CreateBulletShapeFromMesh(meshobj,true); if (bm) { - bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); + bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); } break; } @@ -1003,7 +994,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, 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); + //bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); } break; @@ -1034,7 +1025,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, if (!bm) return; - bm->SetMargin(0.06); + bm->setMargin(0.06); #ifdef TEST_SIMD_HULL if (bm->IsPolyhedral()) @@ -1048,7 +1039,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, //first 4 points should not be co-planar, so add central point to satisfy MakeHull points[0] = Point3(0.f,0.f,0.f); - SimdVector3 vertex; + btVector3 vertex; for (int p=0;p<numPoints;p++) { polyhedron->GetVertex(p,vertex); @@ -1089,14 +1080,14 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, physicscontroller->setNewClientInfo(gameobj->getClientInfo()); if (objprop->m_disableSleeping) - physicscontroller->GetRigidBody()->SetActivationState(DISABLE_DEACTIVATION); + physicscontroller->GetRigidBody()->setActivationState(DISABLE_DEACTIVATION); if (objprop->m_dyna && !objprop->m_angular_rigidbody) { /* //setting the inertia could achieve similar results to constraint the up //but it is prone to instability, so use special 'Angular' constraint - SimdVector3 inertia = physicscontroller->GetRigidBody()->getInvInertiaDiagLocal(); + btVector3 inertia = physicscontroller->GetRigidBody()->getInvInertiaDiagLocal(); inertia.setX(0.f); inertia.setZ(0.f); @@ -1137,7 +1128,7 @@ void KX_ClearBulletSharedShapes() { int numshapes = map_gamemesh_to_bulletshape.size(); int i; - CollisionShape*shape=0; + btCollisionShape*shape=0; for (i=0;i<numshapes ;i++) { shape = *map_gamemesh_to_bulletshape.at(i); diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp index 6e53cb4d25f..dfd9af1a93f 100644 --- a/source/gameengine/Ketsji/KX_GameObject.cpp +++ b/source/gameengine/Ketsji/KX_GameObject.cpp @@ -992,7 +992,7 @@ PyObject* KX_GameObject::PySetCollisionMargin(PyObject* self, { if (m_pPhysicsController1) { - m_pPhysicsController1->SetMargin(collisionMargin); + m_pPhysicsController1->setMargin(collisionMargin); Py_Return; } diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h index 9a64be7f99c..faf32bccbcd 100644 --- a/source/gameengine/Ketsji/KX_IPhysicsController.h +++ b/source/gameengine/Ketsji/KX_IPhysicsController.h @@ -60,7 +60,7 @@ public: virtual void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)=0; virtual void SetObject (SG_IObject* object)=0; - virtual void SetMargin (float collisionMargin)=0; + virtual void setMargin (float collisionMargin)=0; virtual void RelativeTranslate(const MT_Vector3& dloc,bool local)=0; virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local)=0; diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp index d042a302eda..6ea5461dbaa 100644 --- a/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.cpp @@ -164,7 +164,7 @@ gameobj->SetPhysicsController(this,gameobj->IsDynamic()); GetSumoObject()->setClientObject(gameobj->getClientInfo()); } -void KX_SumoPhysicsController::SetMargin(float collisionMargin) +void KX_SumoPhysicsController::setMargin(float collisionMargin) { SumoPhysicsController::SetMargin(collisionMargin); } diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h index ea803d964c8..d214091a8c6 100644 --- a/source/gameengine/Ketsji/KX_SumoPhysicsController.h +++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h @@ -64,7 +64,7 @@ public: void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse); virtual void SetObject (SG_IObject* object); - virtual void SetMargin (float collisionMargin); + virtual void setMargin (float collisionMargin); void RelativeTranslate(const MT_Vector3& dloc,bool local); void RelativeRotate(const MT_Matrix3x3& drot,bool local); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index 83bddc8ee1e..e542c336559 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -14,32 +14,28 @@ subject to the following restrictions: */ #include "CcdPhysicsController.h" +#include "btBulletDynamicsCommon.h" -#include "Dynamics/RigidBody.h" #include "PHY_IMotionState.h" -#include "BroadphaseCollision/BroadphaseProxy.h" -#include "BroadphaseCollision/BroadphaseInterface.h" -#include "CollisionShapes/ConvexShape.h" #include "CcdPhysicsEnvironment.h" -#include "SimdTransformUtil.h" -#include "CollisionShapes/SphereShape.h" -#include "CollisionShapes/ConeShape.h" class BP_Proxy; -///todo: fill all the empty CcdPhysicsController methods, hook them up to the RigidBody class +///todo: fill all the empty CcdPhysicsController methods, hook them up to the btRigidBody class //'temporarily' global variables -float gDeactivationTime = 2.f; -bool gDisableDeactivation = false; +//float gDeactivationTime = 2.f; +//bool gDisableDeactivation = false; +extern float gDeactivationTime; +extern bool gDisableDeactivation; + float gLinearSleepingTreshold = 0.8f; float gAngularSleepingTreshold = 1.0f; -#include "Dynamics/MassProps.h" -SimdVector3 startVel(0,0,0);//-10000); +btVector3 startVel(0,0,0);//-10000); CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) :m_cci(ci) { @@ -47,7 +43,7 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) m_newClientInfo = 0; m_MotionState = ci.m_MotionState; - + m_bulletMotionState = 0; CreateRigidbody(); @@ -61,51 +57,85 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) } -SimdTransform CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState) +btTransform CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState) { - SimdTransform trans; + btTransform trans; float tmp[3]; motionState->getWorldPosition(tmp[0],tmp[1],tmp[2]); - trans.setOrigin(SimdVector3(tmp[0],tmp[1],tmp[2])); + trans.setOrigin(btVector3(tmp[0],tmp[1],tmp[2])); - SimdQuaternion orn; + btQuaternion orn; motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]); trans.setRotation(orn); return trans; } +class BlenderBulletMotionState : public btMotionState +{ + PHY_IMotionState* m_blenderMotionState; + +public: + + BlenderBulletMotionState(PHY_IMotionState* bms) + :m_blenderMotionState(bms) + { + + } + + virtual void getWorldTransform(btTransform& worldTrans ) const + { + float pos[3]; + float quatOrn[4]; + + m_blenderMotionState->getWorldPosition(pos[0],pos[1],pos[2]); + m_blenderMotionState->getWorldOrientation(quatOrn[0],quatOrn[1],quatOrn[2],quatOrn[3]); + worldTrans.setOrigin(btVector3(pos[0],pos[1],pos[2])); + worldTrans.setBasis(btMatrix3x3(btQuaternion(quatOrn[0],quatOrn[1],quatOrn[2],quatOrn[3]))); + } + + virtual void setWorldTransform(const btTransform& worldTrans) + { + m_blenderMotionState->setWorldPosition(worldTrans.getOrigin().getX(),worldTrans.getOrigin().getY(),worldTrans.getOrigin().getZ()); + btQuaternion rotQuat = worldTrans.getRotation(); + m_blenderMotionState->setWorldOrientation(rotQuat[0],rotQuat[1],rotQuat[2],rotQuat[3]); + + } + +}; + void CcdPhysicsController::CreateRigidbody() { - SimdTransform trans = GetTransformFromMotionState(m_cci.m_MotionState); + btTransform trans = GetTransformFromMotionState(m_cci.m_MotionState); - MassProps mp(m_cci.m_mass, m_cci.m_localInertiaTensor); + m_bulletMotionState = new BlenderBulletMotionState(m_cci.m_MotionState); - m_body = new RigidBody(mp,0,0,m_cci.m_friction,m_cci.m_restitution); - m_body->m_collisionShape = m_cci.m_collisionShape; + m_body = new btRigidBody(m_cci.m_mass,m_bulletMotionState,m_cci.m_collisionShape,m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor,m_cci.m_friction,m_cci.m_restitution); // // init the rigidbody properly // - m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); //setMassProps this also sets collisionFlags - m_body->m_collisionFlags = m_cci.m_collisionFlags; + //convert collision flags! +// m_body->m_collisionFlags = m_cci.m_collisionFlags; m_body->setGravity( m_cci.m_gravity); m_body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping); - m_body->setCenterOfMassTransform( trans ); - } CcdPhysicsController::~CcdPhysicsController() { //will be reference counted, due to sharing - m_cci.m_physicsEnv->removeCcdPhysicsController(this); + if (m_cci.m_physicsEnv) + m_cci.m_physicsEnv->removeCcdPhysicsController(this); + delete m_MotionState; + if (m_bulletMotionState) + delete m_bulletMotionState; delete m_body; } @@ -116,29 +146,29 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) { //sync non-static to motionstate, and static from motionstate (todo: add kinematic etc.) - if (!m_body->IsStatic()) + if (!m_body->isStaticObject()) { - const SimdVector3& worldPos = m_body->getCenterOfMassPosition(); + const btVector3& worldPos = m_body->getCenterOfMassPosition(); m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); - const SimdQuaternion& worldquat = m_body->getOrientation(); + const btQuaternion& worldquat = m_body->getOrientation(); m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]); m_MotionState->calculateWorldTransformations(); float scale[3]; m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]); - SimdVector3 scaling(scale[0],scale[1],scale[2]); + btVector3 scaling(scale[0],scale[1],scale[2]); GetCollisionShape()->setLocalScaling(scaling); } else { - SimdVector3 worldPos; - SimdQuaternion worldquat; + btVector3 worldPos; + btQuaternion worldquat; m_MotionState->getWorldPosition(worldPos[0],worldPos[1],worldPos[2]); m_MotionState->getWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]); - SimdTransform oldTrans = m_body->getCenterOfMassTransform(); - SimdTransform newTrans(worldquat,worldPos); + btTransform oldTrans = m_body->getCenterOfMassTransform(); + btTransform newTrans(worldquat,worldPos); m_body->setCenterOfMassTransform(newTrans); //need to keep track of previous position for friction effects... @@ -147,7 +177,7 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) float scale[3]; m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]); - SimdVector3 scaling(scale[0],scale[1],scale[2]); + btVector3 scaling(scale[0],scale[1],scale[2]); GetCollisionShape()->setLocalScaling(scaling); } return true; @@ -217,8 +247,8 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc { m_body->activate(); - SimdVector3 dloc(dlocX,dlocY,dlocZ); - SimdTransform xform = m_body->getCenterOfMassTransform(); + btVector3 dloc(dlocX,dlocY,dlocZ); + btTransform xform = m_body->getCenterOfMassTransform(); if (local) { @@ -237,15 +267,15 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) { m_body->activate(); - SimdMatrix3x3 drotmat( rotval[0],rotval[1],rotval[2], + btMatrix3x3 drotmat( rotval[0],rotval[1],rotval[2], rotval[4],rotval[5],rotval[6], rotval[8],rotval[9],rotval[10]); - SimdMatrix3x3 currentOrn; + btMatrix3x3 currentOrn; GetWorldOrientation(currentOrn); - SimdTransform xform = m_body->getCenterOfMassTransform(); + btTransform xform = m_body->getCenterOfMassTransform(); xform.setBasis(xform.getBasis()*(local ? drotmat : (currentOrn.inverse() * drotmat * currentOrn))); @@ -255,17 +285,17 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) } -void CcdPhysicsController::GetWorldOrientation(SimdMatrix3x3& mat) +void CcdPhysicsController::GetWorldOrientation(btMatrix3x3& mat) { float orn[4]; m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]); - SimdQuaternion quat(orn[0],orn[1],orn[2],orn[3]); + btQuaternion quat(orn[0],orn[1],orn[2],orn[3]); mat.setRotation(quat); } void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal) { - SimdQuaternion q = m_body->getCenterOfMassTransform().getRotation(); + btQuaternion q = m_body->getCenterOfMassTransform().getRotation(); quatImag0 = q[0]; quatImag1 = q[1]; quatImag2 = q[2]; @@ -274,9 +304,9 @@ void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,flo void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal) { m_body->activate(); - - SimdTransform xform = m_body->getCenterOfMassTransform(); - xform.setRotation(SimdQuaternion(quatImag0,quatImag1,quatImag2,quatReal)); + m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); + btTransform xform = m_body->getCenterOfMassTransform(); + xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal)); m_body->setCenterOfMassTransform(xform); } @@ -284,9 +314,9 @@ void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float void CcdPhysicsController::setPosition(float posX,float posY,float posZ) { m_body->activate(); - - SimdTransform xform = m_body->getCenterOfMassTransform(); - xform.setOrigin(SimdVector3(posX,posY,posZ)); + m_MotionState->setWorldPosition(posX,posY,posZ); + btTransform xform = m_body->getCenterOfMassTransform(); + xform.setOrigin(btVector3(posX,posY,posZ)); m_body->setCenterOfMassTransform(xform); } @@ -296,7 +326,7 @@ void CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvel void CcdPhysicsController::getPosition(PHY__Vector3& pos) const { - const SimdTransform& xform = m_body->getCenterOfMassTransform(); + const btTransform& xform = m_body->getCenterOfMassTransform(); pos[0] = xform.getOrigin().x(); pos[1] = xform.getOrigin().y(); pos[2] = xform.getOrigin().z(); @@ -304,16 +334,16 @@ void CcdPhysicsController::getPosition(PHY__Vector3& pos) const void CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ) { - if (!SimdFuzzyZero(m_cci.m_scaling.x()-scaleX) || - !SimdFuzzyZero(m_cci.m_scaling.y()-scaleY) || - !SimdFuzzyZero(m_cci.m_scaling.z()-scaleZ)) + if (!btFuzzyZero(m_cci.m_scaling.x()-scaleX) || + !btFuzzyZero(m_cci.m_scaling.y()-scaleY) || + !btFuzzyZero(m_cci.m_scaling.z()-scaleZ)) { - m_cci.m_scaling = SimdVector3(scaleX,scaleY,scaleZ); + m_cci.m_scaling = btVector3(scaleX,scaleY,scaleZ); - if (m_body && m_body->GetCollisionShape()) + if (m_body && m_body->getCollisionShape()) { - m_body->GetCollisionShape()->setLocalScaling(m_cci.m_scaling); - m_body->GetCollisionShape()->CalculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor); + m_body->getCollisionShape()->setLocalScaling(m_cci.m_scaling); + m_body->getCollisionShape()->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor); m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); } } @@ -322,8 +352,8 @@ void CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ) // physics methods void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local) { - SimdVector3 torque(torqueX,torqueY,torqueZ); - SimdTransform xform = m_body->getCenterOfMassTransform(); + btVector3 torque(torqueX,torqueY,torqueZ); + btTransform xform = m_body->getCenterOfMassTransform(); if (local) { torque = xform.getBasis()*torque; @@ -333,8 +363,8 @@ void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local) { - SimdVector3 force(forceX,forceY,forceZ); - SimdTransform xform = m_body->getCenterOfMassTransform(); + btVector3 force(forceX,forceY,forceZ); + btTransform xform = m_body->getCenterOfMassTransform(); if (local) { force = xform.getBasis()*force; @@ -343,14 +373,14 @@ void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo } void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local) { - SimdVector3 angvel(ang_velX,ang_velY,ang_velZ); + btVector3 angvel(ang_velX,ang_velY,ang_velZ); if (angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { m_body->activate(); } { - SimdTransform xform = m_body->getCenterOfMassTransform(); + btTransform xform = m_body->getCenterOfMassTransform(); if (local) { angvel = xform.getBasis()*angvel; @@ -363,14 +393,14 @@ void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local) { - SimdVector3 linVel(lin_velX,lin_velY,lin_velZ); + btVector3 linVel(lin_velX,lin_velY,lin_velZ); if (linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { m_body->activate(); } { - SimdTransform xform = m_body->getCenterOfMassTransform(); + btTransform xform = m_body->getCenterOfMassTransform(); if (local) { linVel = xform.getBasis()*linVel; @@ -380,13 +410,13 @@ void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa } void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ) { - SimdVector3 impulse(impulseX,impulseY,impulseZ); + btVector3 impulse(impulseX,impulseY,impulseZ); if (impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { m_body->activate(); - SimdVector3 pos(attachX,attachY,attachZ); + btVector3 pos(attachX,attachY,attachZ); m_body->activate(); @@ -400,7 +430,7 @@ void CcdPhysicsController::SetActive(bool active) // reading out information from physics void CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ) { - const SimdVector3& linvel = this->m_body->getLinearVelocity(); + const btVector3& linvel = this->m_body->getLinearVelocity(); linvX = linvel.x(); linvY = linvel.y(); linvZ = linvel.z(); @@ -409,7 +439,7 @@ void CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& l void CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ) { - const SimdVector3& angvel= m_body->getAngularVelocity(); + const btVector3& angvel= m_body->getAngularVelocity(); angVelX = angvel.x(); angVelY = angvel.y(); angVelZ = angvel.z(); @@ -417,9 +447,9 @@ void CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,flo void CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ) { - SimdVector3 pos(posX,posY,posZ); - SimdVector3 rel_pos = pos-m_body->getCenterOfMassPosition(); - SimdVector3 linvel = m_body->getVelocityInLocalPoint(rel_pos); + btVector3 pos(posX,posY,posZ); + btVector3 rel_pos = pos-m_body->getCenterOfMassPosition(); + btVector3 linvel = m_body->getVelocityInLocalPoint(rel_pos); linvX = linvel.x(); linvY = linvel.y(); linvZ = linvel.z(); @@ -434,7 +464,7 @@ void CcdPhysicsController::setRigidBody(bool rigid) if (!rigid) { //fake it for now - SimdVector3 inertia = m_body->getInvInertiaDiagLocal(); + btVector3 inertia = m_body->getInvInertiaDiagLocal(); inertia[1] = 0.f; m_body->setInvInertiaDiagLocal(inertia); m_body->updateInertiaTensor(); @@ -454,62 +484,36 @@ void CcdPhysicsController::setNewClientInfo(void* clientinfo) void CcdPhysicsController::UpdateDeactivation(float timeStep) { - if ( (m_body->GetActivationState() == ISLAND_SLEEPING) || (m_body->GetActivationState() == DISABLE_DEACTIVATION)) - return; - - if ((m_body->getLinearVelocity().length2() < gLinearSleepingTreshold*gLinearSleepingTreshold) && - (m_body->getAngularVelocity().length2() < gAngularSleepingTreshold*gAngularSleepingTreshold)) - { - m_body->m_deactivationTime += timeStep; - } else - { - m_body->m_deactivationTime=0.f; - m_body->SetActivationState(0); - } - + m_body->updateDeactivation( timeStep); } bool CcdPhysicsController::wantsSleeping() { - if (m_body->GetActivationState() == DISABLE_DEACTIVATION) - return false; - - //disable deactivation - if (gDisableDeactivation || (gDeactivationTime == 0.f)) - return false; - - if ( (m_body->GetActivationState() == ISLAND_SLEEPING) || (m_body->GetActivationState() == WANTS_DEACTIVATION)) - return true; - - if (m_body->m_deactivationTime> gDeactivationTime) - { - return true; - } - return false; + return m_body->wantsSleeping(); } PHY_IPhysicsController* CcdPhysicsController::GetReplica() { //very experimental, shape sharing is not implemented yet. - //just support SphereShape/ConeShape for now + //just support btSphereShape/ConeShape for now CcdConstructionInfo cinfo = m_cci; if (cinfo.m_collisionShape) { - switch (cinfo.m_collisionShape->GetShapeType()) + switch (cinfo.m_collisionShape->getShapeType()) { case SPHERE_SHAPE_PROXYTYPE: { - SphereShape* orgShape = (SphereShape*)cinfo.m_collisionShape; - cinfo.m_collisionShape = new SphereShape(*orgShape); + btSphereShape* orgShape = (btSphereShape*)cinfo.m_collisionShape; + cinfo.m_collisionShape = new btSphereShape(*orgShape); break; } case CONE_SHAPE_PROXYTYPE: { - ConeShape* orgShape = (ConeShape*)cinfo.m_collisionShape; - cinfo.m_collisionShape = new ConeShape(*orgShape); + btConeShape* orgShape = (btConeShape*)cinfo.m_collisionShape; + cinfo.m_collisionShape = new btConeShape(*orgShape); break; } @@ -568,13 +572,13 @@ void DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,flo void DefaultMotionState::setWorldPosition(float posX,float posY,float posZ) { - SimdPoint3 pos(posX,posY,posZ); + btPoint3 pos(posX,posY,posZ); m_worldTransform.setOrigin( pos ); } void DefaultMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal) { - SimdQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal); + btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal); m_worldTransform.setRotation( orn ); } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 632d5d776d2..11fef56401f 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -21,23 +21,16 @@ subject to the following restrictions: /// PHY_IPhysicsController is the abstract simplified Interface to a physical object. /// It contains the IMotionState and IDeformableMesh Interfaces. -#include "SimdVector3.h" -#include "SimdScalar.h" -#include "SimdMatrix3x3.h" -#include "SimdTransform.h" -#include "Dynamics/RigidBody.h" +#include "btBulletDynamicsCommon.h" #include "PHY_IMotionState.h" -#include "BroadphaseCollision/BroadphaseProxy.h" //for CollisionShape access -class CollisionShape; - extern float gDeactivationTime; extern float gLinearSleepingTreshold; extern float gAngularSleepingTreshold; extern bool gDisableDeactivation; class CcdPhysicsEnvironment; - +class btMotionState; @@ -46,7 +39,7 @@ struct CcdConstructionInfo ///CollisionFilterGroups provides some optional usage of basic collision filtering ///this is done during broadphase, so very early in the pipeline - ///more advanced collision filtering should be done in CollisionDispatcher::NeedsCollision + ///more advanced collision filtering should be done in btCollisionDispatcher::NeedsCollision enum CollisionFilterGroups { DefaultFilter = 1, @@ -74,46 +67,47 @@ struct CcdConstructionInfo { } - SimdVector3 m_localInertiaTensor; - SimdVector3 m_gravity; - SimdVector3 m_scaling; - SimdScalar m_mass; - SimdScalar m_restitution; - SimdScalar m_friction; - SimdScalar m_linearDamping; - SimdScalar m_angularDamping; + btVector3 m_localInertiaTensor; + btVector3 m_gravity; + btVector3 m_scaling; + btScalar m_mass; + btScalar m_restitution; + btScalar m_friction; + btScalar m_linearDamping; + btScalar m_angularDamping; int m_collisionFlags; ///optional use of collision group/mask: ///only collision with object goups that match the collision mask. ///this is very basic early out. advanced collision filtering should be - ///done in the CollisionDispatcher::NeedsCollision and NeedsResponse + ///done in the btCollisionDispatcher::NeedsCollision and NeedsResponse ///both values default to 1 short int m_collisionFilterGroup; short int m_collisionFilterMask; - CollisionShape* m_collisionShape; + btCollisionShape* m_collisionShape; class PHY_IMotionState* m_MotionState; - + CcdPhysicsEnvironment* m_physicsEnv; //needed for self-replication float m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor' }; -class RigidBody; +class btRigidBody; ///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution. class CcdPhysicsController : public PHY_IPhysicsController { - RigidBody* m_body; + btRigidBody* m_body; class PHY_IMotionState* m_MotionState; - + btMotionState* m_bulletMotionState; + void* m_newClientInfo; CcdConstructionInfo m_cci;//needed for replication - void GetWorldOrientation(SimdMatrix3x3& mat); + void GetWorldOrientation(btMatrix3x3& mat); void CreateRigidbody(); @@ -127,10 +121,10 @@ class CcdPhysicsController : public PHY_IPhysicsController virtual ~CcdPhysicsController(); - RigidBody* GetRigidBody() { return m_body;} + btRigidBody* GetRigidBody() { return m_body;} - CollisionShape* GetCollisionShape() { - return m_body->GetCollisionShape(); + btCollisionShape* GetCollisionShape() { + return m_body->getCollisionShape(); } //////////////////////////////////// // PHY_IPhysicsController interface @@ -206,9 +200,9 @@ class CcdPhysicsController : public PHY_IPhysicsController void UpdateDeactivation(float timeStep); - static SimdTransform GetTransformFromMotionState(PHY_IMotionState* motionState); + static btTransform GetTransformFromMotionState(PHY_IMotionState* motionState); - void SetAabb(const SimdVector3& aabbMin,const SimdVector3& aabbMax); + void setAabb(const btVector3& aabbMin,const btVector3& aabbMax); class PHY_IMotionState* GetMotionState() @@ -227,7 +221,7 @@ class CcdPhysicsController : public PHY_IPhysicsController -///DefaultMotionState implements standard motionstate, using SimdTransform +///DefaultMotionState implements standard motionstate, using btTransform class DefaultMotionState : public PHY_IMotionState { @@ -245,8 +239,8 @@ class DefaultMotionState : public PHY_IMotionState virtual void calculateWorldTransformations(); - SimdTransform m_worldTransform; - SimdVector3 m_localScaling; + btTransform m_worldTransform; + btVector3 m_localScaling; }; diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 813462fdf5e..9533adfa3d5 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -20,74 +20,36 @@ subject to the following restrictions: #include "CcdPhysicsController.h" #include <algorithm> -#include "SimdTransform.h" -#include "Dynamics/RigidBody.h" -#include "BroadphaseCollision/BroadphaseInterface.h" -#include "BroadphaseCollision/SimpleBroadphase.h" -#include "BroadphaseCollision/AxisSweep3.h" - -#include "CollisionDispatch/CollisionWorld.h" - -#include "CollisionShapes/ConvexShape.h" -#include "CollisionShapes/ConeShape.h" -#include "CollisionDispatch/SimulationIslandManager.h" - -#include "BroadphaseCollision/Dispatcher.h" -#include "NarrowPhaseCollision/PersistentManifold.h" -#include "CollisionShapes/TriangleMeshShape.h" -#include "ConstraintSolver/SequentialImpulseConstraintSolver.h" - +#include "btBulletDynamicsCommon.h" +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" //profiling/timings -#include "quickprof.h" - +#include "LinearMath/btQuickprof.h" -#include "IDebugDraw.h" -#include "NarrowPhaseCollision/VoronoiSimplexSolver.h" -#include "NarrowPhaseCollision/SubSimplexConvexCast.h" -#include "NarrowPhaseCollision/GjkConvexCast.h" -#include "NarrowPhaseCollision/ContinuousConvexCollision.h" - - -#include "CollisionDispatch/CollisionDispatcher.h" #include "PHY_IMotionState.h" -#include "CollisionDispatch/EmptyCollisionAlgorithm.h" - - - -#include "CollisionShapes/SphereShape.h" bool useIslands = true; #ifdef NEW_BULLET_VEHICLE_SUPPORT -#include "Vehicle/RaycastVehicle.h" -#include "Vehicle/VehicleRaycaster.h" - -#include "Vehicle/WheelInfo.h" +#include "BulletDynamics/Vehicle/btRaycastVehicle.h" +#include "BulletDynamics/Vehicle/btVehicleRaycaster.h" +#include "BulletDynamics/Vehicle/btWheelInfo.h" #include "PHY_IVehicle.h" -RaycastVehicle::VehicleTuning gTuning; +btRaycastVehicle::btVehicleTuning gTuning; #endif //NEW_BULLET_VEHICLE_SUPPORT -#include "AabbUtil2.h" - -#include "ConstraintSolver/ConstraintSolver.h" -#include "ConstraintSolver/Point2PointConstraint.h" -#include "ConstraintSolver/HingeConstraint.h" -#include "ConstraintSolver/Generic6DofConstraint.h" - +#include "LinearMath/btAabbUtil2.h" -//#include "BroadphaseCollision/QueryDispatcher.h" -//#include "BroadphaseCollision/QueryBox.h" -//todo: change this to allow dynamic registration of types! #ifdef WIN32 void DrawRasterizerLine(const float* from,const float* to,int color); #endif -#include "ConstraintSolver/ContactConstraint.h" +#include "BulletDynamics/ConstraintSolver/btContactConstraint.h" #include <stdio.h> @@ -96,18 +58,18 @@ void DrawRasterizerLine(const float* from,const float* to,int color); class WrapperVehicle : public PHY_IVehicle { - RaycastVehicle* m_vehicle; + btRaycastVehicle* m_vehicle; PHY_IPhysicsController* m_chassis; public: - WrapperVehicle(RaycastVehicle* vehicle,PHY_IPhysicsController* chassis) + WrapperVehicle(btRaycastVehicle* vehicle,PHY_IPhysicsController* chassis) :m_vehicle(vehicle), m_chassis(chassis) { } - RaycastVehicle* GetVehicle() + btRaycastVehicle* GetVehicle() { return m_vehicle; } @@ -127,12 +89,12 @@ public: bool hasSteering ) { - SimdVector3 connectionPointCS0(connectionPoint[0],connectionPoint[1],connectionPoint[2]); - SimdVector3 wheelDirectionCS0(downDirection[0],downDirection[1],downDirection[2]); - SimdVector3 wheelAxle(axleDirection[0],axleDirection[1],axleDirection[2]); + btVector3 connectionPointCS0(connectionPoint[0],connectionPoint[1],connectionPoint[2]); + btVector3 wheelDirectionCS0(downDirection[0],downDirection[1],downDirection[2]); + btVector3 wheelAxle(axleDirection[0],axleDirection[1],axleDirection[2]); - WheelInfo& info = m_vehicle->AddWheel(connectionPointCS0,wheelDirectionCS0,wheelAxle, + btWheelInfo& info = m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxle, suspensionRestLength,wheelRadius,gTuning,hasSteering); info.m_clientInfo = motionState; @@ -144,12 +106,12 @@ public: int i; for (i=0;i<numWheels;i++) { - WheelInfo& info = m_vehicle->GetWheelInfo(i); + btWheelInfo& info = m_vehicle->getWheelInfo(i); PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ; - m_vehicle->UpdateWheelTransform(i); - SimdTransform trans = m_vehicle->GetWheelTransformWS(i); - SimdQuaternion orn = trans.getRotation(); - const SimdVector3& pos = trans.getOrigin(); + m_vehicle->updateWheelTransform(i); + btTransform trans = m_vehicle->getWheelTransformWS(i); + btQuaternion orn = trans.getRotation(); + const btVector3& pos = trans.getOrigin(); motionState->setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]); motionState->setWorldPosition(pos.x(),pos.y(),pos.z()); @@ -158,21 +120,21 @@ public: virtual int GetNumWheels() const { - return m_vehicle->GetNumWheels(); + return m_vehicle->getNumWheels(); } virtual void GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const { - SimdTransform trans = m_vehicle->GetWheelTransformWS(wheelIndex); + btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex); posX = trans.getOrigin().x(); posY = trans.getOrigin().y(); posZ = trans.getOrigin().z(); } virtual void GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const { - SimdTransform trans = m_vehicle->GetWheelTransformWS(wheelIndex); - SimdQuaternion quat = trans.getRotation(); - SimdMatrix3x3 orn2(quat); + btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex); + btQuaternion quat = trans.getRotation(); + btMatrix3x3 orn2(quat); quatX = trans.getRotation().x(); quatY = trans.getRotation().y(); @@ -189,9 +151,9 @@ public: { float rotation = 0.f; - if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) + if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) { - WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); + btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex); rotation = info.m_rotation; } return rotation; @@ -202,38 +164,38 @@ public: virtual int GetUserConstraintId() const { - return m_vehicle->GetUserConstraintId(); + return m_vehicle->getUserConstraintId(); } virtual int GetUserConstraintType() const { - return m_vehicle->GetUserConstraintType(); + return m_vehicle->getUserConstraintType(); } virtual void SetSteeringValue(float steering,int wheelIndex) { - m_vehicle->SetSteeringValue(steering,wheelIndex); + m_vehicle->setSteeringValue(steering,wheelIndex); } virtual void ApplyEngineForce(float force,int wheelIndex) { - m_vehicle->ApplyEngineForce(force,wheelIndex); + m_vehicle->applyEngineForce(force,wheelIndex); } virtual void ApplyBraking(float braking,int wheelIndex) { - if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) + if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) { - WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); + btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex); info.m_brake = braking; } } virtual void SetWheelFriction(float friction,int wheelIndex) { - if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) + if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) { - WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); + btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex); info.m_frictionSlip = friction; } @@ -241,9 +203,9 @@ public: virtual void SetSuspensionStiffness(float suspensionStiffness,int wheelIndex) { - if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) + if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) { - WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); + btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex); info.m_suspensionStiffness = suspensionStiffness; } @@ -251,18 +213,18 @@ public: virtual void SetSuspensionDamping(float suspensionDamping,int wheelIndex) { - if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) + if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) { - WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); + btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex); info.m_wheelsDampingRelaxation = suspensionDamping; } } virtual void SetSuspensionCompression(float suspensionCompression,int wheelIndex) { - if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) + if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) { - WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); + btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex); info.m_wheelsDampingCompression = suspensionCompression; } } @@ -271,13 +233,18 @@ public: virtual void SetRollInfluence(float rollInfluence,int wheelIndex) { - if ((wheelIndex>=0) && (wheelIndex< m_vehicle->GetNumWheels())) + if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) { - WheelInfo& info = m_vehicle->GetWheelInfo(wheelIndex); + btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex); info.m_rollInfluence = rollInfluence; } } + virtual void SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex) + { + m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex); + } + }; @@ -285,30 +252,30 @@ public: -static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdVector3& to,const SimdVector3& color) +static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color) { - SimdVector3 halfExtents = (to-from)* 0.5f; - SimdVector3 center = (to+from) *0.5f; + btVector3 halfExtents = (to-from)* 0.5f; + btVector3 center = (to+from) *0.5f; int i,j; - SimdVector3 edgecoord(1.f,1.f,1.f),pa,pb; + btVector3 edgecoord(1.f,1.f,1.f),pa,pb; for (i=0;i<4;i++) { for (j=0;j<3;j++) { - pa = SimdVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], + pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], edgecoord[2]*halfExtents[2]); pa+=center; int othercoord = j%3; edgecoord[othercoord]*=-1.f; - pb = SimdVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], + pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], edgecoord[2]*halfExtents[2]); pb+=center; - debugDrawer->DrawLine(pa,pb,color); + debugDrawer->drawLine(pa,pb,color); } - edgecoord = SimdVector3(-1.f,-1.f,-1.f); + edgecoord = btVector3(-1.f,-1.f,-1.f); if (i<3) edgecoord[i]*=-1.f; } @@ -321,7 +288,7 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV -CcdPhysicsEnvironment::CcdPhysicsEnvironment(Dispatcher* dispatcher,OverlappingPairCache* pairCache) +CcdPhysicsEnvironment::CcdPhysicsEnvironment(btDispatcher* dispatcher,btOverlappingPairCache* pairCache) :m_scalingPropagated(false), m_numIterations(10), m_numTimeSubSteps(1), @@ -335,71 +302,68 @@ m_enableSatCollisionDetection(false) { m_triggerCallbacks[i] = 0; } - if (!dispatcher) - dispatcher = new CollisionDispatcher(); + dispatcher = new btCollisionDispatcher(); if(!pairCache) { //todo: calculate/let user specify this world sizes - SimdVector3 worldMin(-10000,-10000,-10000); - SimdVector3 worldMax(10000,10000,10000); + btVector3 worldMin(-10000,-10000,-10000); + btVector3 worldMax(10000,10000,10000); - pairCache = new AxisSweep3(worldMin,worldMax); + pairCache = new btAxisSweep3(worldMin,worldMax); - //broadphase = new SimpleBroadphase(); + //broadphase = new btSimpleBroadphase(); } setSolverType(1);//issues with quickstep and memory allocations - m_collisionWorld = new CollisionWorld(dispatcher,pairCache); - + m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache); m_debugDrawer = 0; - m_gravity = SimdVector3(0.f,-10.f,0.f); - - m_islandManager = new SimulationIslandManager(); + m_gravity = btVector3(0.f,-10.f,0.f); + m_dynamicsWorld->setGravity(m_gravity); } void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) { - RigidBody* body = ctrl->GetRigidBody(); + btRigidBody* body = ctrl->GetRigidBody(); //this m_userPointer is just used for triggers, see CallbackTriggers - body->m_userPointer = ctrl; + body->setUserPointer(ctrl); body->setGravity( m_gravity ); m_controllers.push_back(ctrl); - m_collisionWorld->AddCollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask()); + m_dynamicsWorld->addRigidBody(body); + //CollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask()); - assert(body->m_broadphaseHandle); + assert(body->getBroadphaseHandle()); - BroadphaseInterface* scene = GetBroadphase(); + btBroadphaseInterface* scene = getBroadphase(); - CollisionShape* shapeinterface = ctrl->GetCollisionShape(); + btCollisionShape* shapeinterface = ctrl->GetCollisionShape(); assert(shapeinterface); - const SimdTransform& t = ctrl->GetRigidBody()->getCenterOfMassTransform(); + const btTransform& t = ctrl->GetRigidBody()->getCenterOfMassTransform(); - body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse(); - SimdPoint3 minAabb,maxAabb; + btPoint3 minAabb,maxAabb; - shapeinterface->GetAabb(t,minAabb,maxAabb); + shapeinterface->getAabb(t,minAabb,maxAabb); float timeStep = 0.02f; //extent it with the motion - SimdVector3 linMotion = body->getLinearVelocity()*timeStep; + btVector3 linMotion = body->getLinearVelocity()*timeStep; float maxAabbx = maxAabb.getX(); float maxAabby = maxAabb.getY(); @@ -422,8 +386,8 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) minAabbz += linMotion.z(); - minAabb = SimdVector3(minAabbx,minAabby,minAabbz); - maxAabb = SimdVector3(maxAabbx,maxAabby,maxAabbz); + minAabb = btVector3(minAabbx,minAabby,minAabbz); + maxAabb = btVector3(maxAabbx,maxAabby,maxAabbz); @@ -435,42 +399,9 @@ void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr //also remove constraint - { - std::vector<TypedConstraint*>::iterator i; - - for (i=m_constraints.begin(); - !(i==m_constraints.end()); i++) - { - TypedConstraint* constraint = (*i); - if ((&constraint->GetRigidBodyA() == ctrl->GetRigidBody() || - (&constraint->GetRigidBodyB() == ctrl->GetRigidBody()))) - { - removeConstraint(constraint->GetUserConstraintId()); - //only 1 constraint per constroller - break; - } - } - } - - { - std::vector<TypedConstraint*>::iterator i; - - for (i=m_constraints.begin(); - !(i==m_constraints.end()); i++) - { - TypedConstraint* constraint = (*i); - if ((&constraint->GetRigidBodyA() == ctrl->GetRigidBody() || - (&constraint->GetRigidBodyB() == ctrl->GetRigidBody()))) - { - removeConstraint(constraint->GetUserConstraintId()); - //only 1 constraint per constroller - break; - } - } - } - + - m_collisionWorld->RemoveCollisionObject(ctrl->GetRigidBody()); + m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody()); { @@ -506,482 +437,24 @@ void CcdPhysicsEnvironment::beginFrame() bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) { - //don't simulate without timesubsteps - if (m_numTimeSubSteps<1) - return true; - - //printf("proceedDeltaTime\n"); - - -#ifdef USE_QUICKPROF - //toggle Profiler - if ( m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_ProfileTimings) - { - if (!m_profileTimings) - { - m_profileTimings = 1; - // To disable profiling, simply comment out the following line. - static int counter = 0; - - char filename[128]; - sprintf(filename,"quickprof_bullet_timings%i.csv",counter++); - Profiler::init(filename, Profiler::BLOCK_CYCLE_SECONDS);//BLOCK_TOTAL_MICROSECONDS - - } - } else - { - if (m_profileTimings) - { - m_profileTimings = 0; - Profiler::destroy(); - } - } -#endif //USE_QUICKPROF - - - - if (!SimdFuzzyZero(timeStep)) - { - - { - //do the kinematic calculation here, over the full timestep - std::vector<CcdPhysicsController*>::iterator i; - for (i=m_controllers.begin(); - !(i==m_controllers.end()); i++) - { - - CcdPhysicsController* ctrl = *i; - - SimdTransform predictedTrans; - RigidBody* body = ctrl->GetRigidBody(); - if (body->GetActivationState() != ISLAND_SLEEPING) - { - - if (body->IsStatic()) - { - //to calculate velocities next frame - body->saveKinematicState(timeStep); - } - } - } - } - - int i; - float subTimeStep = timeStep / float(m_numTimeSubSteps); - - for (i=0;i<this->m_numTimeSubSteps;i++) - { - proceedDeltaTimeOneStep(subTimeStep); - } - } else + int numCtrl = GetNumControllers(); + for (int i=0;i<numCtrl;i++) { - //todo: interpolate - } - - return true; -} - - - - - - - - - - - - - -/// Perform an integration step of duration 'timeStep'. -bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep) -{ - - - //printf("CcdPhysicsEnvironment::proceedDeltaTime\n"); - - if (SimdFuzzyZero(timeStep)) - return true; - - if (m_debugDrawer) - { - gDisableDeactivation = (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_NoDeactivation); - } - - -#ifdef USE_QUICKPROF - Profiler::beginBlock("SyncMotionStates"); -#endif //USE_QUICKPROF - - - //this is needed because scaling is not known in advance, and scaling has to propagate to the shape - if (!m_scalingPropagated) - { - SyncMotionStates(timeStep); - m_scalingPropagated = true; - } - - -#ifdef USE_QUICKPROF - Profiler::endBlock("SyncMotionStates"); - - Profiler::beginBlock("predictIntegratedTransform"); -#endif //USE_QUICKPROF - - { - // std::vector<CcdPhysicsController*>::iterator i; - - - - int k; - for (k=0;k<GetNumControllers();k++) - { - CcdPhysicsController* ctrl = m_controllers[k]; - // SimdTransform predictedTrans; - RigidBody* body = ctrl->GetRigidBody(); - - body->m_cachedInvertedWorldTransform = body->m_worldTransform.inverse(); - - if (body->IsActive()) - { - if (!body->IsStatic()) - { - body->applyForces( timeStep); - body->integrateVelocities( timeStep); - body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform); - } - } - - } + CcdPhysicsController* ctrl = GetPhysicsController(i); + ctrl->SynchronizeMotionStates(timeStep); } -#ifdef USE_QUICKPROF - Profiler::endBlock("predictIntegratedTransform"); -#endif //USE_QUICKPROF - - OverlappingPairCache* scene = m_collisionWorld->GetPairCache(); - - - // - // collision detection (?) - // - - -#ifdef USE_QUICKPROF - Profiler::beginBlock("DispatchAllCollisionPairs"); -#endif //USE_QUICKPROF - - - int numsubstep = m_numIterations; - - - DispatcherInfo dispatchInfo; - dispatchInfo.m_timeStep = timeStep; - dispatchInfo.m_stepCount = 0; - dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection; - dispatchInfo.m_debugDraw = this->m_debugDrawer; - - scene->RefreshOverlappingPairs(); - GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(&scene->GetOverlappingPair(0),scene->GetNumOverlappingPairs(),dispatchInfo); - - -#ifdef USE_QUICKPROF - Profiler::endBlock("DispatchAllCollisionPairs"); -#endif //USE_QUICKPROF - - - int numRigidBodies = m_controllers.size(); - + m_dynamicsWorld->stepSimulation(timeStep); - m_islandManager->UpdateActivationState(GetCollisionWorld(),GetCollisionWorld()->GetDispatcher()); - - { - int i; - int numConstraints = m_constraints.size(); - for (i=0;i< numConstraints ; i++ ) - { - TypedConstraint* constraint = m_constraints[i]; - - const RigidBody* colObj0 = &constraint->GetRigidBodyA(); - const RigidBody* colObj1 = &constraint->GetRigidBodyB(); - - if (((colObj0) && ((colObj0)->mergesSimulationIslands())) && - ((colObj1) && ((colObj1)->mergesSimulationIslands()))) - { - if (colObj0->IsActive() || colObj1->IsActive()) - { - - m_islandManager->GetUnionFind().unite((colObj0)->m_islandTag1, - (colObj1)->m_islandTag1); - } - } - } - } - - m_islandManager->StoreIslandActivationState(GetCollisionWorld()); - - - //contacts -#ifdef USE_QUICKPROF - Profiler::beginBlock("SolveConstraint"); -#endif //USE_QUICKPROF - - - //solve the regular constraints (point 2 point, hinge, etc) - - for (int g=0;g<numsubstep;g++) - { - // - // constraint solving - // - - - int i; - int numConstraints = m_constraints.size(); - - //point to point constraints - for (i=0;i< numConstraints ; i++ ) - { - TypedConstraint* constraint = m_constraints[i]; - - constraint->BuildJacobian(); - constraint->SolveConstraint( timeStep ); - - } - - - } - -#ifdef USE_QUICKPROF - Profiler::endBlock("SolveConstraint"); -#endif //USE_QUICKPROF - - //solve the vehicles - -#ifdef NEW_BULLET_VEHICLE_SUPPORT - //vehicles - int numVehicles = m_wrapperVehicles.size(); - for (int i=0;i<numVehicles;i++) - { - WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i]; - RaycastVehicle* vehicle = wrapperVehicle->GetVehicle(); - vehicle->UpdateVehicle( timeStep); - } -#endif //NEW_BULLET_VEHICLE_SUPPORT - - - struct InplaceSolverIslandCallback : public SimulationIslandManager::IslandCallback - { - - ContactSolverInfo& m_solverInfo; - ConstraintSolver* m_solver; - IDebugDraw* m_debugDrawer; - - InplaceSolverIslandCallback( - ContactSolverInfo& solverInfo, - ConstraintSolver* solver, - IDebugDraw* debugDrawer) - :m_solverInfo(solverInfo), - m_solver(solver), - m_debugDrawer(debugDrawer) - { - - } - - virtual void ProcessIsland(PersistentManifold** manifolds,int numManifolds) - { - m_solver->SolveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer); - } - - }; - - - m_solverInfo.m_friction = 0.9f; - m_solverInfo.m_numIterations = m_numIterations; - m_solverInfo.m_timeStep = timeStep; - m_solverInfo.m_restitution = 0.f;//m_restitution; - - InplaceSolverIslandCallback solverCallback( - m_solverInfo, - m_solver, - m_debugDrawer); - -#ifdef USE_QUICKPROF - Profiler::beginBlock("BuildAndProcessIslands"); -#endif //USE_QUICKPROF - - /// solve all the contact points and contact friction - m_islandManager->BuildAndProcessIslands(GetCollisionWorld()->GetDispatcher(),m_collisionWorld->GetCollisionObjectArray(),&solverCallback); - -#ifdef USE_QUICKPROF - Profiler::endBlock("BuildAndProcessIslands"); - - Profiler::beginBlock("CallbackTriggers"); -#endif //USE_QUICKPROF - - CallbackTriggers(); - -#ifdef USE_QUICKPROF - Profiler::endBlock("CallbackTriggers"); - - - Profiler::beginBlock("proceedToTransform"); - -#endif //USE_QUICKPROF - { - - - - { - - - - UpdateAabbs(timeStep); - - - float toi = 1.f; - - - - if (m_ccdMode == 3) - { - DispatcherInfo dispatchInfo; - dispatchInfo.m_timeStep = timeStep; - dispatchInfo.m_stepCount = 0; - dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS; - - //pairCache->RefreshOverlappingPairs();//?? - GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(&scene->GetOverlappingPair(0),scene->GetNumOverlappingPairs(),dispatchInfo); - - toi = dispatchInfo.m_timeOfImpact; - - } - - - - // - // integrating solution - // - - { - - std::vector<CcdPhysicsController*>::iterator i; - - for (i=m_controllers.begin(); - !(i==m_controllers.end()); i++) - { - - CcdPhysicsController* ctrl = *i; - - SimdTransform predictedTrans; - RigidBody* body = ctrl->GetRigidBody(); - - if (body->IsActive()) - { - - if (!body->IsStatic()) - { - if (body->m_hitFraction < 1.f) - { - //set velocity to zero... until we have proper CCD integrated - body->setLinearVelocity(body->getLinearVelocity()*0.5f); - } - body->predictIntegratedTransform(timeStep* toi, predictedTrans); - body->proceedToTransform( predictedTrans); - } - - } - } - - } - - - - - - // - // disable sleeping physics objects - // - - std::vector<CcdPhysicsController*> m_sleepingControllers; - - std::vector<CcdPhysicsController*>::iterator i; - - for (i=m_controllers.begin(); - !(i==m_controllers.end()); i++) - { - CcdPhysicsController* ctrl = (*i); - RigidBody* body = ctrl->GetRigidBody(); - - ctrl->UpdateDeactivation(timeStep); - - - if (ctrl->wantsSleeping()) - { - if (body->GetActivationState() == ACTIVE_TAG) - body->SetActivationState( WANTS_DEACTIVATION ); - } else - { - if (body->GetActivationState() != DISABLE_DEACTIVATION) - body->SetActivationState( ACTIVE_TAG ); - } - - if (useIslands) - { - if (body->GetActivationState() == ISLAND_SLEEPING) - { - m_sleepingControllers.push_back(ctrl); - } - } else - { - if (ctrl->wantsSleeping()) - { - m_sleepingControllers.push_back(ctrl); - } - } - } - - - - - } - - -#ifdef USE_QUICKPROF - Profiler::endBlock("proceedToTransform"); - - Profiler::beginBlock("SyncMotionStates"); -#endif //USE_QUICKPROF - - SyncMotionStates(timeStep); - -#ifdef USE_QUICKPROF - Profiler::endBlock("SyncMotionStates"); - - Profiler::endProfilingCycle(); -#endif //USE_QUICKPROF - - -#ifdef NEW_BULLET_VEHICLE_SUPPORT - //sync wheels for vehicles - int numVehicles = m_wrapperVehicles.size(); - for (int i=0;i<numVehicles;i++) - { - WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i]; - - wrapperVehicle->SyncWheels(); - } -#endif //NEW_BULLET_VEHICLE_SUPPORT - } - return true; } + void CcdPhysicsEnvironment::setDebugMode(int debugMode) { if (m_debugDrawer){ - m_debugDrawer->SetDebugMode(debugMode); + m_debugDrawer->setDebugMode(debugMode); } } @@ -1001,9 +474,10 @@ void CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh) { gAngularSleepingTreshold = angTresh; } + void CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold) { - gContactBreakingTreshold = contactBreakingTreshold; + gContactBreakingThreshold = contactBreakingTreshold; } @@ -1049,7 +523,7 @@ void CcdPhysicsEnvironment::setSolverType(int solverType) if (m_solverType != solverType) { - m_solver = new SequentialImpulseConstraintSolver(); + m_solver = new btSequentialImpulseConstraintSolver(); break; } @@ -1073,296 +547,46 @@ void CcdPhysicsEnvironment::setSolverType(int solverType) -void CcdPhysicsEnvironment::SyncMotionStates(float timeStep) -{ - std::vector<CcdPhysicsController*>::iterator i; - - // - // synchronize the physics and graphics transformations - // - - for (i=m_controllers.begin(); - !(i==m_controllers.end()); i++) - { - CcdPhysicsController* ctrl = (*i); - ctrl->SynchronizeMotionStates(timeStep); - - } -} void CcdPhysicsEnvironment::setGravity(float x,float y,float z) { - m_gravity = SimdVector3(x,y,z); - - std::vector<CcdPhysicsController*>::iterator i; + m_gravity = btVector3(x,y,z); + m_dynamicsWorld->setGravity(m_gravity); - //todo: review this gravity stuff - for (i=m_controllers.begin(); - !(i==m_controllers.end()); i++) - { - - CcdPhysicsController* ctrl = (*i); - ctrl->GetRigidBody()->setGravity(m_gravity); - - } } -#ifdef NEW_BULLET_VEHICLE_SUPPORT -class DefaultVehicleRaycaster : public VehicleRaycaster -{ - CcdPhysicsEnvironment* m_physEnv; - PHY_IPhysicsController* m_chassis; - -public: - DefaultVehicleRaycaster(CcdPhysicsEnvironment* physEnv,PHY_IPhysicsController* chassis): - m_physEnv(physEnv), - m_chassis(chassis) - { - } - - /* struct VehicleRaycasterResult - { - VehicleRaycasterResult() :m_distFraction(-1.f){}; - SimdVector3 m_hitPointInWorld; - SimdVector3 m_hitNormalInWorld; - SimdScalar m_distFraction; - }; - */ - virtual void* CastRay(const SimdVector3& from,const SimdVector3& to, VehicleRaycasterResult& result) - { - - - float hit[3]; - float normal[3]; - - PHY_IPhysicsController* ignore = m_chassis; - void* hitObject = m_physEnv->rayTest(ignore,from.x(),from.y(),from.z(),to.x(),to.y(),to.z(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]); - if (hitObject) - { - result.m_hitPointInWorld[0] = hit[0]; - result.m_hitPointInWorld[1] = hit[1]; - result.m_hitPointInWorld[2] = hit[2]; - result.m_hitNormalInWorld[0] = normal[0]; - result.m_hitNormalInWorld[1] = normal[1]; - result.m_hitNormalInWorld[2] = normal[2]; - result.m_hitNormalInWorld.normalize(); - //calc fraction? or put it in the interface? - //calc for now - - result.m_distFraction = (result.m_hitPointInWorld-from).length() / (to-from).length(); - //some safety for 'explosion' due to sudden penetration of the full 'ray' - /* if (result.m_distFraction<0.1) - { - printf("Vehicle Raycast: avoided instability due to penetration. Consider moving the connection points deeper inside vehicle chassis"); - result.m_distFraction = 1.f; - hitObject = 0; - } - */ - - /* if (result.m_distFraction>1.) - { - printf("Vehicle Raycast: avoided instability 1Consider moving the connection points deeper inside vehicle chassis"); - result.m_distFraction = 1.f; - hitObject = 0; - } - */ - - - - } - //? - return hitObject; - } -}; -#endif //NEW_BULLET_VEHICLE_SUPPORT static int gConstraintUid = 1; -int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type, - float pivotX,float pivotY,float pivotZ, - float axisX,float axisY,float axisZ) -{ - - - CcdPhysicsController* c0 = (CcdPhysicsController*)ctrl0; - CcdPhysicsController* c1 = (CcdPhysicsController*)ctrl1; - - RigidBody* rb0 = c0 ? c0->GetRigidBody() : 0; - RigidBody* rb1 = c1 ? c1->GetRigidBody() : 0; - - ASSERT(rb0); - - SimdVector3 pivotInA(pivotX,pivotY,pivotZ); - SimdVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA; - SimdVector3 axisInA(axisX,axisY,axisZ); - SimdVector3 axisInB = rb1 ? - (rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) : - rb0->getCenterOfMassTransform().getBasis() * axisInA; - - bool angularOnly = false; - - switch (type) - { - case PHY_POINT2POINT_CONSTRAINT: - { - - Point2PointConstraint* p2p = 0; - - if (rb1) - { - p2p = new Point2PointConstraint(*rb0, - *rb1,pivotInA,pivotInB); - } else - { - p2p = new Point2PointConstraint(*rb0, - pivotInA); - } - - m_constraints.push_back(p2p); - p2p->SetUserConstraintId(gConstraintUid++); - p2p->SetUserConstraintType(type); - //64 bit systems can't cast pointer to int. could use size_t instead. - return p2p->GetUserConstraintId(); - - break; - } - - case PHY_GENERIC_6DOF_CONSTRAINT: - { - Generic6DofConstraint* genericConstraint = 0; - - if (rb1) - { - SimdTransform frameInA; - SimdTransform frameInB; - - SimdVector3 axis1, axis2; - SimdPlaneSpace1( axisInA, axis1, axis2 ); - - frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(), - axisInA.y(), axis1.y(), axis2.y(), - axisInA.z(), axis1.z(), axis2.z() ); - - - SimdPlaneSpace1( axisInB, axis1, axis2 ); - frameInB.getBasis().setValue( axisInB.x(), axis1.x(), axis2.x(), - axisInB.y(), axis1.y(), axis2.y(), - axisInB.z(), axis1.z(), axis2.z() ); - - frameInA.setOrigin( pivotInA ); - frameInB.setOrigin( pivotInB ); - - genericConstraint = new Generic6DofConstraint( - *rb0,*rb1, - frameInA,frameInB); - - - } else - { - // TODO: Implement single body case... - - } - - - m_constraints.push_back(genericConstraint); - genericConstraint->SetUserConstraintId(gConstraintUid++); - genericConstraint->SetUserConstraintType(type); - //64 bit systems can't cast pointer to int. could use size_t instead. - return genericConstraint->GetUserConstraintId(); - - break; - } - case PHY_ANGULAR_CONSTRAINT: - angularOnly = true; - - - case PHY_LINEHINGE_CONSTRAINT: - { - HingeConstraint* hinge = 0; - - if (rb1) - { - hinge = new HingeConstraint( - *rb0, - *rb1,pivotInA,pivotInB,axisInA,axisInB); - - - } else - { - hinge = new HingeConstraint(*rb0, - pivotInA,axisInA); - - } - hinge->setAngularOnly(angularOnly); - - m_constraints.push_back(hinge); - hinge->SetUserConstraintId(gConstraintUid++); - hinge->SetUserConstraintType(type); - //64 bit systems can't cast pointer to int. could use size_t instead. - return hinge->GetUserConstraintId(); - break; - } -#ifdef NEW_BULLET_VEHICLE_SUPPORT - - case PHY_VEHICLE_CONSTRAINT: - { - RaycastVehicle::VehicleTuning* tuning = new RaycastVehicle::VehicleTuning(); - RigidBody* chassis = rb0; - DefaultVehicleRaycaster* raycaster = new DefaultVehicleRaycaster(this,ctrl0); - RaycastVehicle* vehicle = new RaycastVehicle(*tuning,chassis,raycaster); - WrapperVehicle* wrapperVehicle = new WrapperVehicle(vehicle,ctrl0); - m_wrapperVehicles.push_back(wrapperVehicle); - vehicle->SetUserConstraintId(gConstraintUid++); - vehicle->SetUserConstraintType(type); - return vehicle->GetUserConstraintId(); - - break; - }; -#endif //NEW_BULLET_VEHICLE_SUPPORT - - default: - { - } - }; - - //RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB - - return 0; - -} - - - - //Following the COLLADA physics specification for constraints int CcdPhysicsEnvironment::createUniversalD6Constraint( class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther, - SimdTransform& frameInA, - SimdTransform& frameInB, - const SimdVector3& linearMinLimits, - const SimdVector3& linearMaxLimits, - const SimdVector3& angularMinLimits, - const SimdVector3& angularMaxLimits + btTransform& frameInA, + btTransform& frameInB, + const btVector3& linearMinLimits, + const btVector3& linearMaxLimits, + const btVector3& angularMinLimits, + const btVector3& angularMaxLimits ) { //we could either add some logic to recognize ball-socket and hinge, or let that up to the user //perhaps some warning or hint that hinge/ball-socket is more efficient? - Generic6DofConstraint* genericConstraint = 0; + btGeneric6DofConstraint* genericConstraint = 0; CcdPhysicsController* ctrl0 = (CcdPhysicsController*) ctrlRef; CcdPhysicsController* ctrl1 = (CcdPhysicsController*) ctrlOther; - RigidBody* rb0 = ctrl0->GetRigidBody(); - RigidBody* rb1 = ctrl1->GetRigidBody(); + btRigidBody* rb0 = ctrl0->GetRigidBody(); + btRigidBody* rb1 = ctrl1->GetRigidBody(); if (rb1) { - genericConstraint = new Generic6DofConstraint( + genericConstraint = new btGeneric6DofConstraint( *rb0,*rb1, frameInA,frameInB); genericConstraint->setLinearLowerLimit(linearMinLimits); @@ -1378,11 +602,13 @@ int CcdPhysicsEnvironment::createUniversalD6Constraint( if (genericConstraint) { - m_constraints.push_back(genericConstraint); - genericConstraint->SetUserConstraintId(gConstraintUid++); - genericConstraint->SetUserConstraintType(PHY_GENERIC_6DOF_CONSTRAINT); + // m_constraints.push_back(genericConstraint); + m_dynamicsWorld->addConstraint(genericConstraint); + + genericConstraint->setUserConstraintId(gConstraintUid++); + genericConstraint->setUserConstraintType(PHY_GENERIC_6DOF_CONSTRAINT); //64 bit systems can't cast pointer to int. could use size_t instead. - return genericConstraint->GetUserConstraintId(); + return genericConstraint->getUserConstraintId(); } return 0; } @@ -1391,51 +617,49 @@ int CcdPhysicsEnvironment::createUniversalD6Constraint( void CcdPhysicsEnvironment::removeConstraint(int constraintId) { - std::vector<TypedConstraint*>::iterator i; - - for (i=m_constraints.begin(); - !(i==m_constraints.end()); i++) + + int i; + int numConstraints = m_dynamicsWorld->getNumConstraints(); + for (i=0;i<numConstraints;i++) { - TypedConstraint* constraint = (*i); - if (constraint->GetUserConstraintId() == constraintId) + btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i); + if (constraint->getUserConstraintId() == constraintId) { - std::swap(*i, m_constraints.back()); - m_constraints.pop_back(); + m_dynamicsWorld->removeConstraint(constraint); break; } } - } - struct FilterClosestRayResultCallback : public CollisionWorld::ClosestRayResultCallback - { - PHY_IPhysicsController* m_ignoreClient; +struct FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback +{ + PHY_IPhysicsController* m_ignoreClient; - FilterClosestRayResultCallback (PHY_IPhysicsController* ignoreClient,const SimdVector3& rayFrom,const SimdVector3& rayTo) - : CollisionWorld::ClosestRayResultCallback(rayFrom,rayTo), - m_ignoreClient(ignoreClient) - { + FilterClosestRayResultCallback (PHY_IPhysicsController* ignoreClient,const btVector3& rayFrom,const btVector3& rayTo) + : btCollisionWorld::ClosestRayResultCallback(rayFrom,rayTo), + m_ignoreClient(ignoreClient) + { - } + } - virtual ~FilterClosestRayResultCallback() - { - } + virtual ~FilterClosestRayResultCallback() + { + } - virtual float AddSingleResult(const CollisionWorld::LocalRayResult& rayResult) - { - CcdPhysicsController* curHit = static_cast<CcdPhysicsController*>(rayResult.m_collisionObject->m_userPointer); - //ignore client... - if (curHit != m_ignoreClient) - { - //if valid - return ClosestRayResultCallback::AddSingleResult(rayResult); - } - return m_closestHitFraction; + 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); } + return m_closestHitFraction; + } - }; +}; 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) @@ -1444,23 +668,23 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i float minFraction = 1.f; - SimdVector3 rayFrom(fromX,fromY,fromZ); - SimdVector3 rayTo(toX,toY,toZ); + btVector3 rayFrom(fromX,fromY,fromZ); + btVector3 rayTo(toX,toY,toZ); - SimdVector3 hitPointWorld,normalWorld; + btVector3 hitPointWorld,normalWorld; //Either Ray Cast with or without filtering - //CollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo); + //btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo); FilterClosestRayResultCallback rayCallback(ignoreClient,rayFrom,rayTo); PHY_IPhysicsController* nearestHit = 0; - m_collisionWorld->RayTest(rayFrom,rayTo,rayCallback); + m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback); if (rayCallback.HasHit()) { - nearestHit = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->m_userPointer); + nearestHit = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->getUserPointer()); hitX = rayCallback.m_hitPointWorld.getX(); hitY = rayCallback.m_hitPointWorld.getY(); hitZ = rayCallback.m_hitPointWorld.getZ(); @@ -1490,9 +714,9 @@ void CcdPhysicsEnvironment::getContactPoint(int i,float& hitX,float& hitY,float& -BroadphaseInterface* CcdPhysicsEnvironment::GetBroadphase() +btBroadphaseInterface* CcdPhysicsEnvironment::getBroadphase() { - return m_collisionWorld->GetBroadphase(); + return m_dynamicsWorld->getBroadphase(); } @@ -1510,9 +734,9 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment() //first delete scene, then dispatcher, because pairs have to release manifolds on the dispatcher //delete m_dispatcher; - delete m_collisionWorld; + delete m_dynamicsWorld; - delete m_islandManager; + } @@ -1533,18 +757,22 @@ CcdPhysicsController* CcdPhysicsEnvironment::GetPhysicsController( int index) -TypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId) +btTypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId) { + return 0; + /* int numConstraint = m_constraints.size(); int i; for (i=0;i<numConstraint;i++) { - TypedConstraint* constraint = m_constraints[i]; - if (constraint->GetUserConstraintId()==constraintId) + btTypedConstraint* constraint = m_constraints[i]; + if (constraint->getUserConstraintId()==constraintId) { return constraint; } } + */ + return 0; } @@ -1627,32 +855,32 @@ void CcdPhysicsEnvironment::CallbackTriggers() CcdPhysicsController* ctrl0=0,*ctrl1=0; - if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawContactPoints))) + if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints))) { //walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback - int numManifolds = m_collisionWorld->GetDispatcher()->GetNumManifolds(); + int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds(); for (int i=0;i<numManifolds;i++) { - PersistentManifold* manifold = m_collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i); - int numContacts = manifold->GetNumContacts(); + btPersistentManifold* manifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i); + int numContacts = manifold->getNumContacts(); if (numContacts) { - if (m_debugDrawer && (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawContactPoints)) + if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)) { for (int j=0;j<numContacts;j++) { - SimdVector3 color(1,0,0); - const ManifoldPoint& cp = manifold->GetContactPoint(j); + btVector3 color(1,0,0); + const btManifoldPoint& cp = manifold->getContactPoint(j); if (m_debugDrawer) - m_debugDrawer->DrawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.GetDistance(),cp.GetLifeTime(),color); + m_debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color); } } - RigidBody* obj0 = static_cast<RigidBody* >(manifold->GetBody0()); - RigidBody* obj1 = static_cast<RigidBody* >(manifold->GetBody1()); + btRigidBody* obj0 = static_cast<btRigidBody* >(manifold->getBody0()); + btRigidBody* obj1 = static_cast<btRigidBody* >(manifold->getBody1()); - //m_userPointer is set in 'addPhysicsController - CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->m_userPointer); - CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->m_userPointer); + //m_internalOwner is set in 'addPhysicsController' + CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->getUserPointer()); + CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->getUserPointer()); std::vector<CcdPhysicsController*>::iterator i = std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl0); @@ -1692,7 +920,7 @@ PHY_IVehicle* CcdPhysicsEnvironment::getVehicleConstraint(int constraintId) for (i=0;i<numVehicles;i++) { WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i]; - if (wrapperVehicle->GetVehicle()->GetUserConstraintId() == constraintId) + if (wrapperVehicle->GetVehicle()->getUserConstraintId() == constraintId) return wrapperVehicle; } @@ -1702,132 +930,209 @@ PHY_IVehicle* CcdPhysicsEnvironment::getVehicleConstraint(int constraintId) #endif //NEW_BULLET_VEHICLE_SUPPORT +int currentController = 0; +int numController = 0; + -void CcdPhysicsEnvironment::UpdateAabbs(float timeStep) + + +PHY_IPhysicsController* CcdPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position) { - std::vector<CcdPhysicsController*>::iterator i; - BroadphaseInterface* scene = GetBroadphase(); - - // - // update aabbs, only for moving objects (!) - // - for (i=m_controllers.begin(); - !(i==m_controllers.end()); i++) + + CcdConstructionInfo cinfo; + cinfo.m_collisionShape = new btSphereShape(radius); + cinfo.m_MotionState = 0; + cinfo.m_physicsEnv = this; + cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE; + DefaultMotionState* motionState = new DefaultMotionState(); + cinfo.m_MotionState = motionState; + motionState->m_worldTransform.setIdentity(); + motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2])); + + CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo); + + + return sphereController; +} + +int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type, + float pivotX,float pivotY,float pivotZ, + float axisX,float axisY,float axisZ) +{ + + + CcdPhysicsController* c0 = (CcdPhysicsController*)ctrl0; + CcdPhysicsController* c1 = (CcdPhysicsController*)ctrl1; + + btRigidBody* rb0 = c0 ? c0->GetRigidBody() : 0; + btRigidBody* rb1 = c1 ? c1->GetRigidBody() : 0; + + bool rb0static = rb0 ? rb0->isStaticOrKinematicObject() : true; + bool rb1static = rb1 ? rb1->isStaticOrKinematicObject() : true; + + + if (rb0static && rb1static) + return 0; + + + ASSERT(rb0); + + btVector3 pivotInA(pivotX,pivotY,pivotZ); + btVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA; + btVector3 axisInA(axisX,axisY,axisZ); + btVector3 axisInB = rb1 ? + (rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) : + rb0->getCenterOfMassTransform().getBasis() * axisInA; + + bool angularOnly = false; + + switch (type) + { + case PHY_POINT2POINT_CONSTRAINT: + { + + btPoint2PointConstraint* p2p = 0; + + if (rb1) { - CcdPhysicsController* ctrl = (*i); - RigidBody* body = ctrl->GetRigidBody(); + p2p = new btPoint2PointConstraint(*rb0, + *rb1,pivotInA,pivotInB); + } else + { + p2p = new btPoint2PointConstraint(*rb0, + pivotInA); + } + m_dynamicsWorld->addConstraint(p2p); +// m_constraints.push_back(p2p); - SimdPoint3 minAabb,maxAabb; - CollisionShape* shapeinterface = ctrl->GetCollisionShape(); + p2p->setUserConstraintId(gConstraintUid++); + p2p->setUserConstraintType(type); + //64 bit systems can't cast pointer to int. could use size_t instead. + return p2p->getUserConstraintId(); + break; + } + case PHY_GENERIC_6DOF_CONSTRAINT: + { + btGeneric6DofConstraint* genericConstraint = 0; - shapeinterface->CalculateTemporalAabb(body->getCenterOfMassTransform(), - body->getLinearVelocity(), - //body->getAngularVelocity(), - SimdVector3(0.f,0.f,0.f),//no angular effect for now //body->getAngularVelocity(), - timeStep,minAabb,maxAabb); + if (rb1) + { + btTransform frameInA; + btTransform frameInB; + + btVector3 axis1, axis2; + btPlaneSpace1( axisInA, axis1, axis2 ); + frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(), + axisInA.y(), axis1.y(), axis2.y(), + axisInA.z(), axis1.z(), axis2.z() ); - SimdVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold); - minAabb -= manifoldExtraExtents; - maxAabb += manifoldExtraExtents; + + btPlaneSpace1( axisInB, axis1, axis2 ); + frameInB.getBasis().setValue( axisInB.x(), axis1.x(), axis2.x(), + axisInB.y(), axis1.y(), axis2.y(), + axisInB.z(), axis1.z(), axis2.z() ); - BroadphaseProxy* bp = body->m_broadphaseHandle; - if (bp) - { + frameInA.setOrigin( pivotInA ); + frameInB.setOrigin( pivotInB ); - SimdVector3 color (1,1,0); - - if (m_debugDrawer) - { - //draw aabb - switch (body->GetActivationState()) - { - case ISLAND_SLEEPING: - { - color.setValue(1,1,1); - break; - } - case WANTS_DEACTIVATION: - { - color.setValue(0,0,1); - break; - } - case ACTIVE_TAG: - { - break; - } - case DISABLE_DEACTIVATION: - { - color.setValue(1,0,1); - }; - - }; - - if (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawAabb) - { - DrawAabb(m_debugDrawer,minAabb,maxAabb,color); - } - } + genericConstraint = new btGeneric6DofConstraint( + *rb0,*rb1, + frameInA,frameInB); + + } else + { + // TODO: Implement single body case... + + } - if ( (maxAabb-minAabb).length2() < 1e12f) - { - scene->SetAabb(bp,minAabb,maxAabb); - } else - { - //something went wrong, investigate - //removeCcdPhysicsController(ctrl); - body->SetActivationState(DISABLE_SIMULATION); - - static bool reportMe = true; - if (reportMe) - { - reportMe = false; - printf("Overflow in AABB, object removed from simulation \n"); - printf("If you can reproduce this, please email bugs@continuousphysics.com\n"); - printf("Please include above information, your Platform, version of OS.\n"); - printf("Thanks.\n"); - } - - } - } + //m_constraints.push_back(genericConstraint); + m_dynamicsWorld->addConstraint(genericConstraint); + genericConstraint->setUserConstraintId(gConstraintUid++); + genericConstraint->setUserConstraintType(type); + //64 bit systems can't cast pointer to int. could use size_t instead. + return genericConstraint->getUserConstraintId(); + + break; + } + case PHY_ANGULAR_CONSTRAINT: + angularOnly = true; + + + case PHY_LINEHINGE_CONSTRAINT: + { + btHingeConstraint* hinge = 0; + + if (rb1) + { + hinge = new btHingeConstraint( + *rb0, + *rb1,pivotInA,pivotInB,axisInA,axisInB); + + + } else + { + hinge = new btHingeConstraint(*rb0, + pivotInA,axisInA); + } -} + hinge->setAngularOnly(angularOnly); -PHY_IPhysicsController* CcdPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position) -{ - - CcdConstructionInfo cinfo; - cinfo.m_collisionShape = new SphereShape(radius); - cinfo.m_MotionState = 0; - cinfo.m_physicsEnv = this; - cinfo.m_collisionFlags |= CollisionObject::noContactResponse; - DefaultMotionState* motionState = new DefaultMotionState(); - cinfo.m_MotionState = motionState; - motionState->m_worldTransform.setIdentity(); - motionState->m_worldTransform.setOrigin(SimdVector3(position[0],position[1],position[2])); + //m_constraints.push_back(hinge); + m_dynamicsWorld->addConstraint(hinge); + hinge->setUserConstraintId(gConstraintUid++); + hinge->setUserConstraintType(type); + //64 bit systems can't cast pointer to int. could use size_t instead. + return hinge->getUserConstraintId(); + break; + } +#ifdef NEW_BULLET_VEHICLE_SUPPORT - CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo); - + case PHY_VEHICLE_CONSTRAINT: + { + btRaycastVehicle::btVehicleTuning* tuning = new btRaycastVehicle::btVehicleTuning(); + btRigidBody* chassis = rb0; + btDefaultVehicleRaycaster* raycaster = new btDefaultVehicleRaycaster(m_dynamicsWorld); + btRaycastVehicle* vehicle = new btRaycastVehicle(*tuning,chassis,raycaster); + WrapperVehicle* wrapperVehicle = new WrapperVehicle(vehicle,ctrl0); + m_wrapperVehicles.push_back(wrapperVehicle); + m_dynamicsWorld->addVehicle(vehicle); + vehicle->setUserConstraintId(gConstraintUid++); + vehicle->setUserConstraintType(type); + return vehicle->getUserConstraintId(); + + break; + }; +#endif //NEW_BULLET_VEHICLE_SUPPORT + + default: + { + } + }; + + //btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB + + return 0; - return sphereController; } + PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight) { CcdConstructionInfo cinfo; - cinfo.m_collisionShape = new ConeShape(coneradius,coneheight); + cinfo.m_collisionShape = new btConeShape(coneradius,coneheight); cinfo.m_MotionState = 0; cinfo.m_physicsEnv = this; DefaultMotionState* motionState = new DefaultMotionState(); cinfo.m_MotionState = motionState; motionState->m_worldTransform.setIdentity(); -// motionState->m_worldTransform.setOrigin(SimdVector3(position[0],position[1],position[2])); +// motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2])); CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo); @@ -1837,16 +1142,16 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float conera float CcdPhysicsEnvironment::getAppliedImpulse(int constraintid) { - std::vector<TypedConstraint*>::iterator i; - - for (i=m_constraints.begin(); - !(i==m_constraints.end()); i++) + int i; + int numConstraints = m_dynamicsWorld->getNumConstraints(); + for (i=0;i<numConstraints;i++) { - TypedConstraint* constraint = (*i); - if (constraint->GetUserConstraintId() == constraintid) + btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i); + if (constraint->getUserConstraintId() == constraintid) { - return constraint->GetAppliedImpulse(); + return constraint->getAppliedImpulse(); } } + return 0.f; } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index a1f075e3882..7911c3d1ed9 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -19,41 +19,42 @@ subject to the following restrictions: #include "PHY_IPhysicsEnvironment.h" #include <vector> class CcdPhysicsController; -#include "SimdVector3.h" -#include "SimdTransform.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" -class TypedConstraint; -class SimulationIslandManager; -class CollisionDispatcher; -class Dispatcher; -//#include "BroadphaseInterface.h" +class btTypedConstraint; +class btSimulationIslandManager; +class btCollisionDispatcher; +class btDispatcher; +//#include "btBroadphaseInterface.h" //switch on/off new vehicle support #define NEW_BULLET_VEHICLE_SUPPORT 1 -#include "ConstraintSolver/ContactSolverInfo.h" +#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" class WrapperVehicle; -class PersistentManifold; -class BroadphaseInterface; -class OverlappingPairCache; -class IDebugDraw; +class btPersistentManifold; +class btBroadphaseInterface; +class btOverlappingPairCache; +class btIDebugDraw; +class PHY_IVehicle; -/// CcdPhysicsEnvironment is experimental mainloop for physics simulation using optional continuous collision detection. +/// CcdPhysicsEnvironment is an experimental mainloop for physics simulation using optional continuous collision detection. /// Physics Environment takes care of stepping the simulation and is a container for physics entities. /// It stores rigidbodies,constraints, materials etc. /// A derived class may be able to 'construct' entities by loading and/or converting class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment { - SimdVector3 m_gravity; + btVector3 m_gravity; protected: - IDebugDraw* m_debugDrawer; + btIDebugDraw* m_debugDrawer; //solver iterations int m_numIterations; @@ -66,12 +67,11 @@ protected: int m_profileTimings; bool m_enableSatCollisionDetection; - ContactSolverInfo m_solverInfo; + btContactSolverInfo m_solverInfo; - SimulationIslandManager* m_islandManager; public: - CcdPhysicsEnvironment(Dispatcher* dispatcher=0, OverlappingPairCache* pairCache=0); + CcdPhysicsEnvironment(btDispatcher* dispatcher=0, btOverlappingPairCache* pairCache=0); virtual ~CcdPhysicsEnvironment(); @@ -81,7 +81,7 @@ protected: /// Perform an integration step of duration 'timeStep'. - virtual void setDebugDrawer(IDebugDraw* debugDrawer) + virtual void setDebugDrawer(btIDebugDraw* debugDrawer) { m_debugDrawer = debugDrawer; } @@ -107,7 +107,7 @@ protected: virtual void endFrame() {}; /// Perform an integration step of duration 'timeStep'. virtual bool proceedDeltaTime(double curTime,float timeStep); - virtual bool proceedDeltaTimeOneStep(float timeStep); +// virtual bool proceedDeltaTimeOneStep(float timeStep); virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){}; //returns 0.f if no fixed timestep is used @@ -126,20 +126,20 @@ protected: //Following the COLLADA physics specification for constraints virtual int createUniversalD6Constraint( class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther, - SimdTransform& localAttachmentFrameRef, - SimdTransform& localAttachmentOther, - const SimdVector3& linearMinLimits, - const SimdVector3& linearMaxLimits, - const SimdVector3& angularMinLimits, - const SimdVector3& angularMaxLimits + btTransform& localAttachmentFrameRef, + btTransform& localAttachmentOther, + const btVector3& linearMinLimits, + const btVector3& linearMaxLimits, + const btVector3& angularMinLimits, + const btVector3& angularMaxLimits ); virtual void removeConstraint(int constraintid); - virtual float getAppliedImpulse(int constraintid); + virtual void CallbackTriggers(); @@ -153,7 +153,7 @@ protected: } #endif //NEW_BULLET_VEHICLE_SUPPORT - TypedConstraint* getConstraintById(int constraintId); + 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); @@ -182,7 +182,7 @@ protected: void removeCcdPhysicsController(CcdPhysicsController* ctrl); - BroadphaseInterface* GetBroadphase(); + btBroadphaseInterface* getBroadphase(); @@ -198,40 +198,21 @@ protected: m_enableSatCollisionDetection = enableSat; } - void UpdateAabbs(float timeStep); - + int GetNumControllers(); CcdPhysicsController* GetPhysicsController( int index); - const PersistentManifold* GetManifold(int index) const; - - std::vector<TypedConstraint*> m_constraints; + const btPersistentManifold* GetManifold(int index) const; + void SyncMotionStates(float timeStep); - class CollisionWorld* GetCollisionWorld() - { - return m_collisionWorld; - } - - const class CollisionWorld* GetCollisionWorld() const - { - return m_collisionWorld; - } - - SimulationIslandManager* GetSimulationIslandManager() - { - return m_islandManager; - } - - const SimulationIslandManager* GetSimulationIslandManager() const - { - return m_islandManager; - } + + class btConstraintSolver* GetConstraintSolver(); protected: @@ -247,9 +228,9 @@ protected: std::vector<WrapperVehicle*> m_wrapperVehicles; - class CollisionWorld* m_collisionWorld; + class btDynamicsWorld* m_dynamicsWorld; - class ConstraintSolver* m_solver; + class btConstraintSolver* m_solver; bool m_scalingPropagated; diff --git a/source/gameengine/Physics/common/PHY_IVehicle.h b/source/gameengine/Physics/common/PHY_IVehicle.h index d5566ff5bb3..498df0dd840 100644 --- a/source/gameengine/Physics/common/PHY_IVehicle.h +++ b/source/gameengine/Physics/common/PHY_IVehicle.h @@ -50,6 +50,7 @@ public: virtual void SetRollInfluence(float rollInfluence,int wheelIndex) = 0; + virtual void SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex) =0; }; |