diff options
8 files changed, 420 insertions, 330 deletions
diff --git a/projectfiles_vc7/gameengine/physics/PHY_Physics/PHY_Bullet/PHY_Bullet.vcproj b/projectfiles_vc7/gameengine/physics/PHY_Physics/PHY_Bullet/PHY_Bullet.vcproj index 9a807f2d39a..a2bd76897bc 100644 --- a/projectfiles_vc7/gameengine/physics/PHY_Physics/PHY_Bullet/PHY_Bullet.vcproj +++ b/projectfiles_vc7/gameengine/physics/PHY_Physics/PHY_Bullet/PHY_Bullet.vcproj @@ -151,7 +151,7 @@ <Tool Name="VCCLCompilerTool" Optimization="0" - AdditionalIncludeDirectories="..\..\..\..\..\..\build\msvc_7\intern\moto\include;..\..\..\..\..\..\build\msvc_7\extern\bullet\include;..\..\..\..\..\source\gameengine\Physics\common;..\..\..\..\..\source\gameengine\Physics\Bullet" + AdditionalIncludeDirectories="..\..\..\..\..\..\build\msvc_7\intern\moto\include;..\..\..\..\..\..\build\msvc_7\intern\string\include;..\..\..\..\..\..\build\msvc_7\extern\bullet\include;..\..\..\..\..\source\gameengine\Physics\common;..\..\..\..\..\source\gameengine\Physics\Bullet;..\..\..\..\..\source\gameengine\Rasterizer;..\..\..\..\..\source\kernel\gen_system" PreprocessorDefinitions="WIN32;_DEBUG;_LIB" MinimalRebuild="FALSE" BasicRuntimeChecks="3" diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index e0cd5a3bc9e..c95ab954022 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -680,188 +680,6 @@ void KX_ConvertODEEngineObject(KX_GameObject* gameobj, // forward declarations -static btCollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool polytope) -{ - if (!meshobj) - return 0; - - btCollisionShape* collisionMeshShape = 0; - btConvexHullShape* convexHullShape = 0; - btTriangleMeshShape* concaveShape = 0; - - btTriangleMesh* collisionMeshData = 0; - - //see if there is any polygons, if not, bail out. - - int numPoints = 0; - btVector3* points = 0; - - // Mesh has no polygons! - int numpolys = meshobj->NumPolygons(); - if (!numpolys) - { - return NULL; - } - - // Count the number of collision polygons and check they all come from the same - // vertex array - int numvalidpolys = 0; - int vtxarray = -1; - RAS_IPolyMaterial *poly_material = NULL; - bool reinstance = true; - - for (int p=0; p<numpolys; p++) - { - RAS_Polygon* poly = meshobj->GetPolygon(p); - - // only add polygons that have the collisionflag set - if (poly->IsCollider()) - { - // check polygon is from the same vertex array - if (poly->GetVertexIndexBase().m_vtxarray != vtxarray) - { - if (vtxarray < 0) - vtxarray = poly->GetVertexIndexBase().m_vtxarray; - else - { - reinstance = false; - vtxarray = -1; - } - } - - // check poly is from the same material - if (poly->GetMaterial()->GetPolyMaterial() != poly_material) - { - if (poly_material) - { - reinstance = false; - poly_material = NULL; - } - else - poly_material = poly->GetMaterial()->GetPolyMaterial(); - } - - // count the number of collision polys - numvalidpolys++; - - // We have one collision poly, and we can't reinstance, so we - // might as well break here. - if (!reinstance) - break; - } - } - - // No collision polygons - if (numvalidpolys < 1) - return NULL; - - - if (polytope) - { - convexHullShape = new btConvexHullShape(&points[0].getX(),numPoints); - collisionMeshShape = convexHullShape; - } else - { - collisionMeshData = new btTriangleMesh(); -// concaveShape = new btTriangleMeshShape(collisionMeshData); - //collisionMeshShape = concaveShape; - - } - - - numvalidpolys = 0; - - for (int p2=0; p2<numpolys; p2++) - { - RAS_Polygon* poly = meshobj->GetPolygon(p2); - - // only add polygons that have the collisionflag set - if (poly->IsCollider()) - { - //Bullet can raycast any shape, so - if (polytope) - { - for (int i=0;i<poly->VertexCount();i++) - { - const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[i], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - btPoint3 point(vtx[0],vtx[1],vtx[2]); - convexHullShape->addPoint(point); - } - if (poly->VertexCount()) - numvalidpolys++; - - } else - { - { - const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[2], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - btPoint3 vertex0(vtx[0],vtx[1],vtx[2]); - vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[1], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - btPoint3 vertex1(vtx[0],vtx[1],vtx[2]); - vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[0], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - btPoint3 vertex2(vtx[0],vtx[1],vtx[2]); - collisionMeshData->addTriangle(vertex0,vertex1,vertex2); - numvalidpolys++; - } - if (poly->VertexCount() == 4) - { - const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[3], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - btPoint3 vertex0(vtx[0],vtx[1],vtx[2]); - vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[2], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - btPoint3 vertex1(vtx[0],vtx[1],vtx[2]); - vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[0], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); - btPoint3 vertex2(vtx[0],vtx[1],vtx[2]); - collisionMeshData->addTriangle(vertex0,vertex1,vertex2); - numvalidpolys++; - } - - } - } - } - - - - if (numvalidpolys > 0) - { - - if (!polytope) - { - bool useQuantization = true; - concaveShape = new btBvhTriangleMeshShape( collisionMeshData, useQuantization ); - //concaveShape = new btTriangleMeshShape( collisionMeshData ); - - concaveShape->recalcLocalAabb(); - if (collisionMeshShape) - delete collisionMeshShape; - collisionMeshShape = concaveShape; - - } - - - - return collisionMeshShape; - } - if (collisionMeshShape) - delete collisionMeshShape; - if (collisionMeshData) - delete collisionMeshData; - return NULL; - -} - void KX_ConvertBulletObject( class KX_GameObject* gameobj, class RAS_MeshObject* meshobj, @@ -878,6 +696,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, bool isbulletdyna = false; CcdConstructionInfo ci; class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode()); + class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo(); @@ -894,120 +713,80 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, 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; + shapeInfo->m_radius = objprop->m_radius; isbulletdyna = objprop->m_dyna; ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f); - btTransform trans; - trans.setIdentity(); - btCollisionShape* bm = 0; switch (objprop->m_boundclass) { case KX_BOUNDSPHERE: { - float radius = objprop->m_radius; - btVector3 inertiaHalfExtents ( - radius, - radius, - radius); + //float radius = objprop->m_radius; + //btVector3 inertiaHalfExtents ( + // radius, + // radius, + // radius); //blender doesn't support multisphere, but for testing: //bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1); - bm = new btSphereShape(objprop->m_radius); - bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); + shapeInfo->m_shapeType = PHY_SHAPE_SPHERE; + bm = shapeInfo->CreateBulletShape(); break; }; case KX_BOUNDBOX: { - MT_Vector3 halfExtents ( + shapeInfo->m_halfExtend.setValue( objprop->m_boundobject.box.m_extends[0], - objprop->m_boundobject.box.m_extends[1], - objprop->m_boundobject.box.m_extends[2]); - - halfExtents /= 2.f; - - //btVector3 he (halfExtents[0]-CONVEX_DISTANCE_MARGIN ,halfExtents[1]-CONVEX_DISTANCE_MARGIN ,halfExtents[2]-CONVEX_DISTANCE_MARGIN ); - //he = he.absolute(); - - btVector3 he (halfExtents[0],halfExtents[1],halfExtents[2]); - he = he.absolute(); - + objprop->m_boundobject.box.m_extends[1], + objprop->m_boundobject.box.m_extends[2]); - bm = new btBoxShape(he); - bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); + shapeInfo->m_halfExtend /= 2.0; + shapeInfo->m_halfExtend = shapeInfo->m_halfExtend.absolute(); + shapeInfo->m_shapeType = PHY_SHAPE_BOX; + bm = shapeInfo->CreateBulletShape(); break; }; case KX_BOUNDCYLINDER: { - btVector3 halfExtents ( + shapeInfo->m_halfExtend.setValue( objprop->m_boundobject.c.m_radius, objprop->m_boundobject.c.m_radius, objprop->m_boundobject.c.m_height * 0.5f ); - bm = new btCylinderShapeZ(halfExtents); - bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); - + shapeInfo->m_shapeType = PHY_SHAPE_CYLINDER; + bm = shapeInfo->CreateBulletShape(); break; } - case KX_BOUNDCONE: + case KX_BOUNDCONE: { - 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 btConeShapeZ(objprop->m_boundobject.c.m_radius,objprop->m_boundobject.c.m_height); - bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); - + shapeInfo->m_radius = objprop->m_boundobject.c.m_radius; + shapeInfo->m_height = objprop->m_boundobject.c.m_height; + shapeInfo->m_shapeType = PHY_SHAPE_CONE; + bm = shapeInfo->CreateBulletShape(); break; } - case KX_BOUNDPOLYTOPE: - { - bm = CreateBulletShapeFromMesh(meshobj,true); - if (bm) - { - bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); - } - break; - } - case KX_BOUNDMESH: - { - if (!ci.m_mass) - { - 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); - } - - break; - } - - default: - //interpret the shape as a concave triangle-mesh + case KX_BOUNDPOLYTOPE: { - if (meshobj) - { - bm = CreateBulletShapeFromMesh(meshobj,false); - ci.m_localInertiaTensor.setValue(0.f,0.f,0.f); - - // assert(0); - - /* - meshobj->ScheduleCollisionPolygons(); - - KX_DeformableMesh* gfxmesh = new KX_DeformableMesh(meshobj); - gfxmesh->sendFixedMapping(); - //trianglemesh - bm = new TriangleMeshInterface(gfxmesh,trans); - */ + shapeInfo->SetMesh(meshobj, true); + bm = shapeInfo->CreateBulletShape(); + break; + } + case KX_BOUNDMESH: + { + if (!ci.m_mass) + { + shapeInfo->SetMesh(meshobj, false); + bm = shapeInfo->CreateBulletShape(); + //no moving concave meshes, so don't bother calculating inertia + //bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); } + + break; } } @@ -1017,10 +796,13 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, if (!bm) { delete motionstate; + delete shapeInfo; return; } bm->setMargin(0.06); + if (objprop->m_dyna) + bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); @@ -1030,31 +812,28 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, //take relative transform into account! KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController(); assert(parentCtrl); + CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo(); btRigidBody* rigidbody = parentCtrl->GetRigidBody(); btCollisionShape* colShape = rigidbody->getCollisionShape(); assert(colShape->isCompound()); btCompoundShape* compoundShape = (btCompoundShape*)colShape; - btTransform childTrans; - childTrans.setIdentity(); - NodeList& children = objprop->m_dynamic_parent->GetSGNode()->GetSGChildren(); MT_Point3 childPos = gameobj->GetSGNode()->GetLocalPosition(); MT_Matrix3x3 childRot = gameobj->GetSGNode()->GetLocalOrientation(); MT_Vector3 childScale = gameobj->GetSGNode()->GetLocalScale(); bm->setLocalScaling(btVector3(childScale.x(),childScale.y(),childScale.z())); - childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z())); + shapeInfo->m_childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z())); float rotval[12]; childRot.getValue(rotval); btMatrix3x3 newRot; newRot.setValue(rotval[0],rotval[1],rotval[2],rotval[4],rotval[5],rotval[6],rotval[8],rotval[9],rotval[10]); newRot = newRot.transpose(); - childTrans.setBasis(newRot); - - - compoundShape->addChildShape(childTrans,bm); - kxscene->AddShape(bm); + shapeInfo->m_childTrans.setBasis(newRot); + parentShapeInfo->AddShape(shapeInfo); + + compoundShape->addChildShape(shapeInfo->m_childTrans,bm); //do some recalc? //recalc inertia for rigidbody if (!rigidbody->isStaticOrKinematicObject()) @@ -1069,15 +848,16 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, if (objprop->m_hasCompoundChildren) { - //replace shape by compoundShape + // create a compound shape info + CcdShapeConstructionInfo *compoundShapeInfo = new CcdShapeConstructionInfo(); + compoundShapeInfo->m_shapeType = PHY_SHAPE_COMPOUND; + compoundShapeInfo->AddShape(shapeInfo); + // create the compound shape manually as we already have the child shape btCompoundShape* compoundShape = new btCompoundShape(); - btTransform identTrans; - identTrans.setIdentity(); - compoundShape->addChildShape(identTrans,bm); - //note abount compoundShape: Bullet does not delete the child shapes when - //the compound shape is deleted, so insert also the child shapes - kxscene->AddShape(bm); + compoundShape->addChildShape(shapeInfo->m_childTrans,bm); + // now replace the shape bm = compoundShape; + shapeInfo = compoundShapeInfo; } @@ -1113,6 +893,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, ci.m_collisionShape = bm; + ci.m_shapeInfo = shapeInfo; ci.m_friction = smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice ci.m_restitution = smmaterial->m_restitution; ci.m_physicsEnv = env; @@ -1125,8 +906,9 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, ci.m_collisionFilterMask = (isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter); ci.m_bRigid = objprop->m_dyna && objprop->m_angular_rigidbody; KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna); - //remember that we created a shape so that we can delete it when the scene is removed (bullet will not delete it) - kxscene->AddShape(bm); + // shapeInfo is reference counted, decrement now as we don't use it anymore + if (shapeInfo) + shapeInfo->Release(); if (objprop->m_in_active_layer) { diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp index 2828663c63d..ab3692d2411 100644 --- a/source/gameengine/Ketsji/KX_Scene.cpp +++ b/source/gameengine/Ketsji/KX_Scene.cpp @@ -234,40 +234,9 @@ KX_Scene::~KX_Scene() { delete m_bucketmanager; } -#ifdef USE_BULLET - // This is a fix for memory leaks in bullet: the collision shapes is not destroyed - // when the physical controllers are destroyed. The reason is that shapes are shared - // between replicas of an object. There is no reference count in Bullet so the - // only workaround that does not involve changes in Bullet is to save in this array - // the list of shapes that are created when the scene is created (see KX_ConvertPhysicsObjects.cpp) - class btCollisionShape* shape; - class btTriangleMeshShape* meshShape; - vector<class btCollisionShape*>::iterator it = m_shapes.begin(); - while (it != m_shapes.end()) { - shape = *it; - if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) - { - meshShape = static_cast<btTriangleMeshShape*>(shape); - // shapes based on meshes use an interface that contains the vertices. - // Again the idea is to be able to share the interface between shapes but - // this is not used in Blender: each base object will have its own interface - btStridingMeshInterface* meshInterface = meshShape->getMeshInterface(); - if (meshInterface) - delete meshInterface; - } - delete shape; - it++; - } -#endif //Py_DECREF(m_attrlist); } -void KX_Scene::AddShape(class btCollisionShape*shape) -{ - m_shapes.push_back(shape); -} - - void KX_Scene::SetProjectionMatrix(MT_CmMatrix4x4& pmat) { m_projectionmat = pmat; diff --git a/source/gameengine/Ketsji/KX_Scene.h b/source/gameengine/Ketsji/KX_Scene.h index 80a2abe287a..1c56dd1ee55 100644 --- a/source/gameengine/Ketsji/KX_Scene.h +++ b/source/gameengine/Ketsji/KX_Scene.h @@ -122,11 +122,6 @@ protected: */ list<class KX_Camera*> m_cameras; /** - * The set of bullet shapes that must be deleted at the end of the scene - * to avoid memory leak (not deleted by bullet because shape are shared between replicas) - */ - vector<class btCollisionShape*> m_shapes; - /** * Various SCA managers used by the scene */ SCA_LogicManager* m_logicmgr; @@ -322,7 +317,6 @@ public: int NewRemoveObject(CValue* gameobj); void ReplaceMesh(CValue* gameobj, void* meshobj); - void AddShape(class btCollisionShape* shape); /** * @section Logic stuff * Initiate an update of the logic system. diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index b872fae6138..a28af5f9635 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -18,6 +18,7 @@ subject to the following restrictions: #include "PHY_IMotionState.h" #include "CcdPhysicsEnvironment.h" +#include "RAS_MeshObject.h" class BP_Proxy; @@ -44,7 +45,14 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) m_newClientInfo = 0; m_registerCount = 0; + // copy pointers locally to allow smart release m_MotionState = ci.m_MotionState; + m_collisionShape = ci.m_collisionShape; + // shape info is shared, increment ref count + m_shapeInfo = ci.m_shapeInfo; + if (m_shapeInfo) + m_shapeInfo->AddRef(); + m_bulletMotionState = 0; @@ -116,7 +124,7 @@ void CcdPhysicsController::CreateRigidbody() m_body = new btRigidBody(m_cci.m_mass, m_bulletMotionState, - m_cci.m_collisionShape, + m_collisionShape, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor, m_cci.m_linearDamping,m_cci.m_angularDamping, m_cci.m_friction,m_cci.m_restitution); @@ -144,6 +152,19 @@ void CcdPhysicsController::CreateRigidbody() } } +static void DeleteBulletShape(btCollisionShape* shape) +{ + if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) + { + // shapes based on meshes use an interface that contains the vertices. + btTriangleMeshShape* meshShape = static_cast<btTriangleMeshShape*>(shape); + btStridingMeshInterface* meshInterface = meshShape->getMeshInterface(); + if (meshInterface) + delete meshInterface; + } + delete shape; +} + CcdPhysicsController::~CcdPhysicsController() { //will be reference counted, due to sharing @@ -155,6 +176,27 @@ CcdPhysicsController::~CcdPhysicsController() if (m_bulletMotionState) delete m_bulletMotionState; delete m_body; + + if (m_collisionShape) + { + // collision shape is always unique to the controller, can delete it here + if (m_collisionShape->isCompound()) + { + // bullet does not delete the child shape, must do it here + btCompoundShape* compoundShape = (btCompoundShape*)m_collisionShape; + int numChild = compoundShape->getNumChildShapes(); + for (int i=numChild-1 ; i >= 0; i--) + { + btCollisionShape* childShape = compoundShape->getChildShape(i); + DeleteBulletShape(childShape); + } + } + DeleteBulletShape(m_collisionShape); + } + if (m_shapeInfo) + { + m_shapeInfo->Release(); + } } @@ -219,11 +261,33 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta { m_MotionState = motionstate; m_registerCount = 0; - + m_collisionShape = NULL; + + // always create a new shape to avoid scaling bug + if (m_shapeInfo) + { + m_shapeInfo->AddRef(); + m_collisionShape = m_shapeInfo->CreateBulletShape(); + + if (m_collisionShape) + { + // new shape has no scaling, apply initial scaling + m_collisionShape->setLocalScaling(m_cci.m_scaling); + if (m_cci.m_mass) + m_collisionShape->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor); + } + } m_body = 0; CreateRigidbody(); - + + if (m_body) + { + if (m_cci.m_mass) + { + m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); + } + } m_cci.m_physicsEnv->addCcdPhysicsController(this); @@ -597,29 +661,32 @@ bool CcdPhysicsController::wantsSleeping() PHY_IPhysicsController* CcdPhysicsController::GetReplica() { - //very experimental, shape sharing is not implemented yet. - //just support btSphereShape/ConeShape for now - + // This is used only to replicate Near and Radar sensor controllers + // The replication of object physics controller is done in KX_BulletPhysicsController::GetReplica() CcdConstructionInfo cinfo = m_cci; - if (cinfo.m_collisionShape) + if (m_shapeInfo) + { + // This situation does not normally happen + cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(); + } + else if (m_collisionShape) { - switch (cinfo.m_collisionShape->getShapeType()) + switch (m_collisionShape->getShapeType()) { case SPHERE_SHAPE_PROXYTYPE: { - btSphereShape* orgShape = (btSphereShape*)cinfo.m_collisionShape; + btSphereShape* orgShape = (btSphereShape*)m_collisionShape; cinfo.m_collisionShape = new btSphereShape(*orgShape); break; } - case CONE_SHAPE_PROXYTYPE: + case CONE_SHAPE_PROXYTYPE: { - btConeShape* orgShape = (btConeShape*)cinfo.m_collisionShape; + btConeShape* orgShape = (btConeShape*)m_collisionShape; cinfo.m_collisionShape = new btConeShape(*orgShape); break; } - default: { return 0; @@ -628,6 +695,7 @@ PHY_IPhysicsController* CcdPhysicsController::GetReplica() } cinfo.m_MotionState = new DefaultMotionState(); + cinfo.m_shapeInfo = m_shapeInfo; CcdPhysicsController* replica = new CcdPhysicsController(cinfo); return replica; @@ -689,3 +757,198 @@ void DefaultMotionState::calculateWorldTransformations() } +// Shape constructor +bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) +{ + // assume no shape information + m_shapeType = PHY_SHAPE_NONE; + m_vertexArray.clear(); + + if (!meshobj) + return false; + + // Mesh has no polygons! + int numpolys = meshobj->NumPolygons(); + if (!numpolys) + { + return false; + } + + // check that we have at least one colliding polygon + int numvalidpolys = 0; + + for (int p=0; p<numpolys; p++) + { + RAS_Polygon* poly = meshobj->GetPolygon(p); + + // only add polygons that have the collisionflag set + if (poly->IsCollider()) + { + numvalidpolys++; + break; + } + } + + // No collision polygons + if (numvalidpolys < 1) + return false; + + m_shapeType = (polytope) ? PHY_SHAPE_POLYTOPE : PHY_SHAPE_MESH; + + numvalidpolys = 0; + + for (int p2=0; p2<numpolys; p2++) + { + RAS_Polygon* poly = meshobj->GetPolygon(p2); + + // only add polygons that have the collisionflag set + if (poly->IsCollider()) + { + //Bullet can raycast any shape, so + if (polytope) + { + for (int i=0;i<poly->VertexCount();i++) + { + const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[i], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 point(vtx[0],vtx[1],vtx[2]); + m_vertexArray.push_back(point); + numvalidpolys++; + } + } else + { + { + const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[2], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 vertex0(vtx[0],vtx[1],vtx[2]); + vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[1], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 vertex1(vtx[0],vtx[1],vtx[2]); + vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[0], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 vertex2(vtx[0],vtx[1],vtx[2]); + m_vertexArray.push_back(vertex0); + m_vertexArray.push_back(vertex1); + m_vertexArray.push_back(vertex2); + numvalidpolys++; + } + if (poly->VertexCount() == 4) + { + const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[3], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 vertex0(vtx[0],vtx[1],vtx[2]); + vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[2], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 vertex1(vtx[0],vtx[1],vtx[2]); + vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[0], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 vertex2(vtx[0],vtx[1],vtx[2]); + m_vertexArray.push_back(vertex0); + m_vertexArray.push_back(vertex1); + m_vertexArray.push_back(vertex2); + numvalidpolys++; + } + } + } + } + + if (!numvalidpolys) + { + // should not happen + m_shapeType = PHY_SHAPE_NONE; + return false; + } + return true; +} + +btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() +{ + btCollisionShape* collisionShape = 0; + btTriangleMeshShape* concaveShape = 0; + btTriangleMesh* collisionMeshData = 0; + btCompoundShape* compoundShape = 0; + CcdShapeConstructionInfo* nextShapeInfo; + + switch (m_shapeType) + { + case PHY_SHAPE_BOX: + collisionShape = new btBoxShape(m_halfExtend); + break; + + case PHY_SHAPE_SPHERE: + collisionShape = new btSphereShape(m_radius); + break; + + case PHY_SHAPE_CYLINDER: + collisionShape = new btCylinderShapeZ(m_halfExtend); + break; + + case PHY_SHAPE_CONE: + collisionShape = new btConeShapeZ(m_radius, m_height); + break; + + case PHY_SHAPE_POLYTOPE: + collisionShape = new btConvexHullShape(&m_vertexArray.begin()->getX(), m_vertexArray.size()); + break; + + case PHY_SHAPE_MESH: + collisionMeshData = new btTriangleMesh(); + // m_vertexArray is necessarily a multiple of 3 + for (std::vector<btPoint3>::iterator it=m_vertexArray.begin(); it != m_vertexArray.end(); ) + { + collisionMeshData->addTriangle(*it++,*it++,*it++); + } + concaveShape = new btBvhTriangleMeshShape( collisionMeshData, true ); + concaveShape->recalcLocalAabb(); + collisionShape = concaveShape; + break; + + case PHY_SHAPE_COMPOUND: + if (m_nextShape) + { + compoundShape = new btCompoundShape(); + for (nextShapeInfo=m_nextShape; nextShapeInfo; nextShapeInfo = nextShapeInfo->m_nextShape) + { + collisionShape = nextShapeInfo->CreateBulletShape(); + if (collisionShape) + { + compoundShape->addChildShape(nextShapeInfo->m_childTrans, collisionShape); + } + } + collisionShape = compoundShape; + } + } + return collisionShape; +} + +void CcdShapeConstructionInfo::AddShape(CcdShapeConstructionInfo* shapeInfo) +{ + CcdShapeConstructionInfo* nextShape = this; + while (nextShape->m_nextShape != NULL) + nextShape = nextShape->m_nextShape; + nextShape->m_nextShape = shapeInfo; +} + +CcdShapeConstructionInfo::~CcdShapeConstructionInfo() +{ + CcdShapeConstructionInfo* childShape = m_nextShape; + + while (childShape) + { + CcdShapeConstructionInfo* nextShape = childShape->m_nextShape; + childShape->m_nextShape = NULL; + childShape->Release(); + childShape = nextShape; + } + + m_vertexArray.clear(); +} + + diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 448e5622eff..1e1a38aa2a6 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -17,11 +17,14 @@ subject to the following restrictions: #ifndef BULLET2_PHYSICSCONTROLLER_H #define BULLET2_PHYSICSCONTROLLER_H +#include <vector> + #include "PHY_IPhysicsController.h" /// PHY_IPhysicsController is the abstract simplified Interface to a physical object. /// It contains the IMotionState and IDeformableMesh Interfaces. #include "btBulletDynamicsCommon.h" +#include "LinearMath/btTransform.h" #include "PHY_IMotionState.h" @@ -31,8 +34,66 @@ extern float gAngularSleepingTreshold; extern bool gDisableDeactivation; class CcdPhysicsEnvironment; class btMotionState; +class RAS_MeshObject; +class btCollisionShape; + +// Shape contructor +// It contains all the information needed to create a simple bullet shape at runtime +class CcdShapeConstructionInfo +{ +public: + CcdShapeConstructionInfo() : + m_shapeType(PHY_SHAPE_NONE), + m_radius(1.0), + m_height(1.0), + m_halfExtend(0.f,0.f,0.f), + m_nextShape(NULL), + m_refCount(1) + { + m_childTrans.setIdentity(); + } + ~CcdShapeConstructionInfo(); + CcdShapeConstructionInfo* AddRef() + { + m_refCount++; + return this; + } + + int Release() + { + if (--m_refCount > 0) + return m_refCount; + delete this; + return 0; + } + + void AddShape(CcdShapeConstructionInfo* shapeInfo); + + CcdShapeConstructionInfo* GetNextShape() + { + return m_nextShape; + } + + bool SetMesh(RAS_MeshObject* mesh, bool polytope); + + btCollisionShape* CreateBulletShape(); + + // member variables + PHY_ShapeType m_shapeType; + btScalar m_radius; + btScalar m_height; + btVector3 m_halfExtend; + btTransform m_childTrans; + std::vector<btPoint3> m_vertexArray; // Contains both vertex array for polytope shape and + // triangle array for concave mesh shape. + // In this case a triangle is made of 3 consecutive points +protected: + CcdShapeConstructionInfo* m_nextShape; // for compound shape + int m_refCount; // this class is shared between replicas + // keep track of users so that we can release it +}; struct CcdConstructionInfo { @@ -65,6 +126,7 @@ struct CcdConstructionInfo m_collisionFilterMask(AllFilter), m_collisionShape(0), m_MotionState(0), + m_shapeInfo(0), m_physicsEnv(0), m_inertiaFactor(1.f) { @@ -89,8 +151,11 @@ struct CcdConstructionInfo short int m_collisionFilterGroup; short int m_collisionFilterMask; + ///these pointers are used as argument passing for the CcdPhysicsController constructor + ///and not anymore after that class btCollisionShape* m_collisionShape; class PHY_IMotionState* m_MotionState; + class CcdShapeConstructionInfo* m_shapeInfo; CcdPhysicsEnvironment* m_physicsEnv; //needed for self-replication float m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor' @@ -106,6 +171,9 @@ class CcdPhysicsController : public PHY_IPhysicsController btRigidBody* m_body; class PHY_IMotionState* m_MotionState; btMotionState* m_bulletMotionState; + class btCollisionShape* m_collisionShape; + class CcdShapeConstructionInfo* m_shapeInfo; + friend class CcdPhysicsEnvironment; // needed when updating the controller @@ -137,6 +205,7 @@ class CcdPhysicsController : public PHY_IPhysicsController btRigidBody* GetRigidBody() { return m_body;} + CcdShapeConstructionInfo* GetShapeInfo() { return m_shapeInfo; } btCollisionShape* GetCollisionShape() { return m_body->getCollisionShape(); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index dfbcf115fd7..d8e05fab839 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -1370,8 +1370,9 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight) { CcdConstructionInfo cinfo; - //This is a memory leak: Bullet does not delete the shape and it cannot be added to - //the KX_Scene.m_shapes list -- too bad but that's not a lot of data + + // we don't need a CcdShapeConstructionInfo for this shape: + // it is simple enough for the standard copy constructor (see CcdPhysicsController::GetReplica) cinfo.m_collisionShape = new btConeShape(coneradius,coneheight); cinfo.m_MotionState = 0; cinfo.m_physicsEnv = this; diff --git a/source/gameengine/Physics/common/PHY_DynamicTypes.h b/source/gameengine/Physics/common/PHY_DynamicTypes.h index c289b9d8bcb..3b3e42c38d2 100644 --- a/source/gameengine/Physics/common/PHY_DynamicTypes.h +++ b/source/gameengine/Physics/common/PHY_DynamicTypes.h @@ -87,6 +87,18 @@ typedef enum PHY_ConstraintType { } PHY_ConstraintType; +typedef enum PHY_ShapeType { + PHY_SHAPE_NONE, + PHY_SHAPE_BOX, + PHY_SHAPE_SPHERE, + PHY_SHAPE_CYLINDER, + PHY_SHAPE_CONE, + PHY_SHAPE_MESH, + PHY_SHAPE_POLYTOPE, + PHY_SHAPE_COMPOUND +} PHY_ShapeType; + + typedef float PHY_Vector3[3]; #endif //__PHY_DYNAMIC_TYPES |