diff options
| -rw-r--r-- | source/blender/blenkernel/intern/bullet.c | 35 | ||||
| -rw-r--r-- | source/blender/makesdna/DNA_object_force.h | 50 | ||||
| -rw-r--r-- | source/blender/src/buttons_logic.c | 108 | ||||
| -rw-r--r-- | source/blender/src/space.c | 6 | ||||
| -rw-r--r-- | source/creator/creator.c | 9 | ||||
| -rw-r--r-- | source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp | 7 | ||||
| -rw-r--r-- | source/gameengine/Converter/BL_BlenderDataConversion.cpp | 90 | ||||
| -rw-r--r-- | source/gameengine/Ketsji/KX_ConvertPhysicsObject.h | 40 | ||||
| -rw-r--r-- | source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp | 41 | ||||
| -rw-r--r-- | source/gameengine/Ketsji/KX_Scene.cpp | 12 | ||||
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 106 | ||||
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.h | 59 | ||||
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp | 3 |
13 files changed, 456 insertions, 110 deletions
diff --git a/source/blender/blenkernel/intern/bullet.c b/source/blender/blenkernel/intern/bullet.c index 8e075669819..eeec4d0bd4e 100644 --- a/source/blender/blenkernel/intern/bullet.c +++ b/source/blender/blenkernel/intern/bullet.c @@ -45,10 +45,43 @@ BulletSoftBody *bsbNew(void) bsb= MEM_callocN(sizeof(BulletSoftBody), "bulletsoftbody"); - bsb->flag = OB_BSB_SHAPE_MATCHING; + bsb->flag = OB_BSB_BENDING_CONSTRAINTS | OB_BSB_SHAPE_MATCHING | OB_BSB_AERO_VPOINT; bsb->linStiff = 0.5f; bsb->angStiff = 1.0f; bsb->volume = 1.0f; + + + bsb->viterations = 0; + bsb->piterations = 2; + bsb->diterations = 0; + bsb->citerations = 4; + + bsb->kSRHR_CL = 0.1f; + bsb->kSKHR_CL = 1.f; + bsb->kSSHR_CL = 0.5f; + bsb->kSR_SPLT_CL = 0.5f; + + bsb->kSK_SPLT_CL = 0.5f; + bsb->kSS_SPLT_CL = 0.5f; + bsb->kVCF = 1; + bsb->kDP = 0; + + bsb->kDG = 0; + bsb->kLF = 0; + bsb->kPR = 0; + bsb->kVC = 0; + + bsb->kDF = 0.2f; + bsb->kMT = 0.05; + bsb->kCHR = 1.0f; + bsb->kKHR = 0.1f; + + bsb->kSHR = 1.0f; + bsb->kAHR = 0.7f; + bsb->collisionflags = 0; + //bsb->collisionflags = OB_BSB_COL_CL_RS + OB_BSB_COL_CL_SS; + bsb->numclusteriterations = 64; + return bsb; } diff --git a/source/blender/makesdna/DNA_object_force.h b/source/blender/makesdna/DNA_object_force.h index 081b83c3d02..21c5242a703 100644 --- a/source/blender/makesdna/DNA_object_force.h +++ b/source/blender/makesdna/DNA_object_force.h @@ -85,14 +85,56 @@ typedef struct SBVertex { } SBVertex; typedef struct BulletSoftBody { - int flag; /* various boolean options */ - float linStiff; /* linear stiffness 0..1 */ - float angStiff; /* angular stiffness 0..1 */ - float volume; /* volume preservation 0..1 */ + int flag; /* various boolean options */ + float linStiff; /* linear stiffness 0..1 */ + float angStiff; /* angular stiffness 0..1 */ + float volume; /* volume preservation 0..1 */ + + int viterations; /* Velocities solver iterations */ + int piterations; /* Positions solver iterations */ + int diterations; /* Drift solver iterations */ + int citerations; /* Cluster solver iterations */ + + float kSRHR_CL; /* Soft vs rigid hardness [0,1] (cluster only) */ + float kSKHR_CL; /* Soft vs kinetic hardness [0,1] (cluster only) */ + float kSSHR_CL; /* Soft vs soft hardness [0,1] (cluster only) */ + float kSR_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + + float kSK_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + float kSS_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + float kVCF; /* Velocities correction factor (Baumgarte) */ + float kDP; /* Damping coefficient [0,1] */ + + float kDG; /* Drag coefficient [0,+inf] */ + float kLF; /* Lift coefficient [0,+inf] */ + float kPR; /* Pressure coefficient [-inf,+inf] */ + float kVC; /* Volume conversation coefficient [0,+inf] */ + + float kDF; /* Dynamic friction coefficient [0,1] */ + float kMT; /* Pose matching coefficient [0,1] */ + float kCHR; /* Rigid contacts hardness [0,1] */ + float kKHR; /* Kinetic contacts hardness [0,1] */ + + float kSHR; /* Soft contacts hardness [0,1] */ + float kAHR; /* Anchors hardness [0,1] */ + int collisionflags; /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */ + int numclusteriterations; /* number of iterations to refine collision clusters*/ + } BulletSoftBody; /* BulletSoftBody.flag */ #define OB_BSB_SHAPE_MATCHING 2 +#define OB_BSB_UNUSED 4 +#define OB_BSB_BENDING_CONSTRAINTS 8 +#define OB_BSB_AERO_VPOINT 16 /* aero model, Vertex normals are oriented toward velocity*/ +#define OB_BSB_AERO_VTWOSIDE 32 /* aero model, Vertex normals are flipped to match velocity */ + +/* BulletSoftBody.collisionflags */ +#define OB_BSB_COL_SDF_RS 2 /* SDF based rigid vs soft */ +#define OB_BSB_COL_CL_RS 4 /* Cluster based rigid vs soft */ +#define OB_BSB_COL_CL_SS 8 /* Cluster based soft vs soft */ +#define OB_BSB_COL_VF_SS 16 /* Vertex/Face based soft vs soft */ + typedef struct SoftBody { struct ParticleSystem *particles; /* particlesystem softbody */ diff --git a/source/blender/src/buttons_logic.c b/source/blender/src/buttons_logic.c index cec04910de5..dcb0f874210 100644 --- a/source/blender/src/buttons_logic.c +++ b/source/blender/src/buttons_logic.c @@ -2970,6 +2970,9 @@ static void check_body_type(void *arg1_but, void *arg2_object) ob->gameflag |= OB_BOUNDS; if (ob->boundtype<OB_BOUND_POLYH) ob->boundtype=OB_BOUND_POLYH; + /* create a BulletSoftBody structure if not already existing */ + if (!ob->bsoft) + ob->bsoft = bsbNew(); break; } } @@ -2984,55 +2987,88 @@ static uiBlock *advanced_bullet_menu(void *arg_ob) /* use this for a fake extra empy space around the buttons */ uiDefBut(block, LABEL, 0, "", -5, -10, 255, 140, NULL, 0, 0, 0, 0, ""); - uiDefButBitI(block, TOG, OB_ACTOR, 0, "Sensor actor", - xco, yco, 118, 19, &ob->gameflag, 0, 0, 0, 0, - "Objects that are detected by the Near and Radar sensor"); - - if (ob->gameflag & OB_DYNAMIC) { - uiDefButBitI(block, TOG, OB_COLLISION_RESPONSE, 0, "No sleeping", - xco+=120, yco, 118, 19, &ob->gameflag, 0, 0, 0, 0, - "Disable auto (de)activation"); - } + if (ob->gameflag & OB_SOFT_BODY) { - yco -= 25; - xco = 0; - if (ob->gameflag & OB_DYNAMIC) { - if (ob->margin < 0.001f) - ob->margin = 0.06f; - uiDefButF(block, NUM, 0, "Margin", - xco, yco, 118, 19, &ob->margin, 0.001, 1.0, 1, 0, - "Collision margin"); - } else { - uiDefButF(block, NUM, 0, "Margin", - xco, yco, 118, 19, &ob->margin, 0.0, 1.0, 1, 0, - "Collision margin"); - } - if (ob->gameflag & OB_SOFT_BODY) { - /* create a BulletSoftBody structure if not already existing */ - if (!ob->bsoft) - ob->bsoft = bsbNew(); if (ob->bsoft) { + xco = 0; + uiDefButF(block, NUMSLI, 0, "LinStiff ", xco, yco, 238, 19, + &ob->bsoft->linStiff, 0.0, 1.0, 1, 0, + "Linear stiffness of the soft body vertex spring"); + yco -= 25; + xco = 0; + uiDefButBitI(block, TOG, OB_BSB_SHAPE_MATCHING, 0, "Shape matching", - xco+=120, yco, 118, 19, &ob->bsoft->flag, 0, 0, 0, 0, - "Enable soft body shape matching goal"); + xco, yco, 118, 19, &ob->bsoft->flag, 0, 0, 0, 0, + "Enable soft body shape matching goal"); + + uiDefButBitI(block, TOG, OB_BSB_BENDING_CONSTRAINTS, 0, "Bending Constraints", + xco+=120, yco, 118, 19, &ob->bsoft->flag, 0, 0, 0, 0, + "Enable bending constraints"); + yco -= 25; xco = 0; - uiDefButF(block, NUMSLI, 0, "LinStiff ", xco, yco, 238, 19, - &ob->bsoft->linStiff, 0.0, 1.0, 1, 0, - "Linear stiffness of the soft body vertex spring"); + uiDefButBitI(block, TOG, OB_BSB_COL_CL_RS, 0, "Cluster Col. RS", + xco, yco, 118, 19, &ob->bsoft->collisionflags, 0, 0, 0, 0, + "Enable cluster collision between soft and rigid body"); + uiDefButBitI(block, TOG, OB_BSB_COL_CL_SS, 0, "Cluster Col. SS", + xco+=120, yco, 118, 19, &ob->bsoft->collisionflags, 0, 0, 0, 0, + "Enable cluster collision between soft and soft body"); yco -= 25; + + xco = 0; +/* + uiDefButBitI(block, TOG, OB_BSB_AERO_VTWOSIDE, 0, "Aero model", + xco, yco, 118, 19, &ob->bsoft->flag, 0, 0, 0, 0, + "Enable aero model, vertex normals are flipped to match velocity"); + + yco -= 25; +*/ + + + + /* uiDefButF(block, NUMSLI, 0, "AngStiff ", xco, yco, 238, 19, - &ob->bsoft->angStiff, 0.0, 1.0, 1, 0, - "Angular stiffness of the soft body vertex spring"); + &ob->bsoft->angStiff, 0.0, 1.0, 1, 0, + "Angular stiffness of the soft body vertex spring"); yco -= 25; uiDefButF(block, NUMSLI, 0, "Volume ", xco, yco, 238, 19, - &ob->bsoft->volume, 0.0, 1.0, 1, 0, - "Factor of soft body volume preservation"); + &ob->bsoft->volume, 0.0, 1.0, 1, 0, + "Factor of soft body volume preservation"); + */ + } - } + } else + { + + xco = 0; + + uiDefButBitI(block, TOG, OB_ACTOR, 0, "Sensor actor", + xco, yco, 118, 19, &ob->gameflag, 0, 0, 0, 0, + "Objects that are detected by the Near and Radar sensor"); + + if (ob->gameflag & OB_DYNAMIC) { + uiDefButBitI(block, TOG, OB_COLLISION_RESPONSE, 0, "No sleeping", + xco+=120, yco, 118, 19, &ob->gameflag, 0, 0, 0, 0, + "Disable auto (de)activation"); + } + + yco -= 25; + xco = 0; + if (ob->gameflag & OB_DYNAMIC) { + if (ob->margin < 0.001f) + ob->margin = 0.06f; + uiDefButF(block, NUM, 0, "Margin", + xco, yco, 118, 19, &ob->margin, 0.001, 1.0, 1, 0, + "Collision margin"); + } else { + uiDefButF(block, NUM, 0, "Margin", + xco, yco, 118, 19, &ob->margin, 0.0, 1.0, 1, 0, + "Collision margin"); + } + } uiBlockSetDirection(block, UI_TOP); diff --git a/source/blender/src/space.c b/source/blender/src/space.c index 13e6281de2a..bc5541f1bcf 100644 --- a/source/blender/src/space.c +++ b/source/blender/src/space.c @@ -388,7 +388,11 @@ void space_set_commmandline_options(void) { if ( (syshandle = SYS_GetSystem()) ) { /* User defined settings */ a= (U.gameflags & USER_DISABLE_SOUND); - SYS_WriteCommandLineInt(syshandle, "noaudio", a); + /* if user already disabled audio at the command-line, don't re-enable it */ + if (a) + { + SYS_WriteCommandLineInt(syshandle, "noaudio", a); + } a= (U.gameflags & USER_DISABLE_MIPMAP); GPU_set_mipmap(!a); diff --git a/source/creator/creator.c b/source/creator/creator.c index dffa755b264..8d46d1b130b 100644 --- a/source/creator/creator.c +++ b/source/creator/creator.c @@ -219,6 +219,7 @@ static void print_help(void) printf ("\nMisc options:\n"); printf (" -d\t\tTurn debugging on\n"); printf (" -noaudio\tDisable audio on systems that support audio\n"); + printf (" -nojoystick\tDisable joystick support\n"); printf (" -h\t\tPrint this help text\n"); printf (" -y\t\tDisable automatic python script execution (scriptlinks, pydrivers, pyconstraints, pynodes)\n"); printf (" -P <filename>\tRun the given Python script (filename or Blender Text)\n"); @@ -493,6 +494,14 @@ int main(int argc, char **argv) audio = 0; if (G.f & G_DEBUG) printf("setting audio to: %d\n", audio); } + if (BLI_strcasecmp(argv[a], "-nojoystick") == 0) { + /** + don't initialize joysticks if user doesn't want to use joysticks + failed joystick initialization delays over 5 seconds, before game engine start + */ + SYS_WriteCommandLineInt(syshandle,"nojoystick",1); + if (G.f & G_DEBUG) printf("disabling nojoystick\n"); + } break; } } diff --git a/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp b/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp index cc141249561..0d58810e156 100644 --- a/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp +++ b/source/gameengine/BlenderRoutines/BL_KetsjiEmbedStart.cpp @@ -170,6 +170,13 @@ extern "C" void StartKetsjiShell(struct ScrArea *area, NG_NetworkDeviceInterface* networkdevice = new NG_LoopBackNetworkDeviceInterface(); + // + SYS_SystemHandle hSystem = SYS_GetSystem(); + bool noaudio = SYS_GetCommandLineInt(hSystem,"noaudio",0); + + if (noaudio)/*(noaudio) intrr: disable game engine audio (openal) */ + SND_DeviceManager::SetDeviceType(snd_e_dummydevice); + // get an audiodevice SND_DeviceManager::Subscribe(); SND_IAudioDevice* audiodevice = SND_DeviceManager::Instance(); diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp index 784a103f3e3..66eed4201ee 100644 --- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp +++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp @@ -1323,20 +1323,86 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj, objprop.m_softbody = (blenderobject->gameflag & OB_SOFT_BODY) != 0; objprop.m_angular_rigidbody = (blenderobject->gameflag & OB_RIGID_BODY) != 0; - ///for game soft bodies - if (blenderobject->bsoft) + if (objprop.m_softbody) { - objprop.m_linearStiffness = blenderobject->bsoft->linStiff; - objprop.m_angularStiffness = blenderobject->bsoft->angStiff; - objprop.m_volumePreservation = blenderobject->bsoft->volume; - objprop.m_gamesoftFlag = blenderobject->bsoft->flag; + ///for game soft bodies + if (blenderobject->bsoft) + { + objprop.m_gamesoftFlag = blenderobject->bsoft->flag; + /////////////////// + objprop.m_soft_linStiff = blenderobject->bsoft->linStiff; + objprop.m_soft_angStiff = blenderobject->bsoft->angStiff; /* angular stiffness 0..1 */ + objprop.m_soft_volume= blenderobject->bsoft->volume; /* volume preservation 0..1 */ + + objprop.m_soft_viterations= blenderobject->bsoft->viterations; /* Velocities solver iterations */ + objprop.m_soft_piterations= blenderobject->bsoft->piterations; /* Positions solver iterations */ + objprop.m_soft_diterations= blenderobject->bsoft->diterations; /* Drift solver iterations */ + objprop.m_soft_citerations= blenderobject->bsoft->citerations; /* Cluster solver iterations */ + + objprop.m_soft_kSRHR_CL= blenderobject->bsoft->kSRHR_CL; /* Soft vs rigid hardness [0,1] (cluster only) */ + objprop.m_soft_kSKHR_CL= blenderobject->bsoft->kSKHR_CL; /* Soft vs kinetic hardness [0,1] (cluster only) */ + objprop.m_soft_kSSHR_CL= blenderobject->bsoft->kSSHR_CL; /* Soft vs soft hardness [0,1] (cluster only) */ + objprop.m_soft_kSR_SPLT_CL= blenderobject->bsoft->kSR_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + + objprop.m_soft_kSK_SPLT_CL= blenderobject->bsoft->kSK_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + objprop.m_soft_kSS_SPLT_CL= blenderobject->bsoft->kSS_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + objprop.m_soft_kVCF= blenderobject->bsoft->kVCF; /* Velocities correction factor (Baumgarte) */ + objprop.m_soft_kDP= blenderobject->bsoft->kDP; /* Damping coefficient [0,1] */ + + objprop.m_soft_kDG= blenderobject->bsoft->kDG; /* Drag coefficient [0,+inf] */ + objprop.m_soft_kLF= blenderobject->bsoft->kLF; /* Lift coefficient [0,+inf] */ + objprop.m_soft_kPR= blenderobject->bsoft->kPR; /* Pressure coefficient [-inf,+inf] */ + objprop.m_soft_kVC= blenderobject->bsoft->kVC; /* Volume conversation coefficient [0,+inf] */ + + objprop.m_soft_kDF= blenderobject->bsoft->kDF; /* Dynamic friction coefficient [0,1] */ + objprop.m_soft_kMT= blenderobject->bsoft->kMT; /* Pose matching coefficient [0,1] */ + objprop.m_soft_kCHR= blenderobject->bsoft->kCHR; /* Rigid contacts hardness [0,1] */ + objprop.m_soft_kKHR= blenderobject->bsoft->kKHR; /* Kinetic contacts hardness [0,1] */ + + objprop.m_soft_kSHR= blenderobject->bsoft->kSHR; /* Soft contacts hardness [0,1] */ + objprop.m_soft_kAHR= blenderobject->bsoft->kAHR; /* Anchors hardness [0,1] */ + objprop.m_soft_collisionflags= blenderobject->bsoft->collisionflags; /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */ + objprop.m_soft_numclusteriterations= blenderobject->bsoft->numclusteriterations; /* number of iterations to refine collision clusters*/ - } else - { - objprop.m_linearStiffness = 0.5;//blenderobject->bsoft->linStiff; - objprop.m_angularStiffness = 1.f;//blenderobject->bsoft->angStiff; - objprop.m_volumePreservation = 1.f;//blenderobject->bsoft->volume; - objprop.m_gamesoftFlag = 1;//blenderobject->bsoft->flag; + } else + { + objprop.m_gamesoftFlag = OB_BSB_BENDING_CONSTRAINTS | OB_BSB_SHAPE_MATCHING | OB_BSB_AERO_VPOINT; + + objprop.m_soft_linStiff = 0.5;; + objprop.m_soft_angStiff = 1.f; /* angular stiffness 0..1 */ + objprop.m_soft_volume= 1.f; /* volume preservation 0..1 */ + + + objprop.m_soft_viterations= 0; + objprop.m_soft_piterations= 1; + objprop.m_soft_diterations= 0; + objprop.m_soft_citerations= 4; + + objprop.m_soft_kSRHR_CL= 0.1f; + objprop.m_soft_kSKHR_CL= 1.f; + objprop.m_soft_kSSHR_CL= 0.5; + objprop.m_soft_kSR_SPLT_CL= 0.5f; + + objprop.m_soft_kSK_SPLT_CL= 0.5f; + objprop.m_soft_kSS_SPLT_CL= 0.5f; + objprop.m_soft_kVCF= 1; + objprop.m_soft_kDP= 0; + + objprop.m_soft_kDG= 0; + objprop.m_soft_kLF= 0; + objprop.m_soft_kPR= 0; + objprop.m_soft_kVC= 0; + + objprop.m_soft_kDF= 0.2f; + objprop.m_soft_kMT= 0.f; + objprop.m_soft_kCHR= 1.0f; + objprop.m_soft_kKHR= 0.1f; + + objprop.m_soft_kSHR= 1.f; + objprop.m_soft_kAHR= 0.7f; + objprop.m_soft_collisionflags= OB_BSB_COL_SDF_RS + OB_BSB_COL_VF_SS; + objprop.m_soft_numclusteriterations= 16; + } } objprop.m_ghost = (blenderobject->gameflag & OB_GHOST) != 0; diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h index 6325c9365fd..53486cecf73 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h @@ -88,10 +88,44 @@ struct KX_ObjectProperties bool m_hasCompoundChildren; bool m_isCompoundChild; - float m_linearStiffness; - float m_angularStiffness; - float m_volumePreservation; + ///////////////////////// + int m_gamesoftFlag; + float m_soft_linStiff; /* linear stiffness 0..1 */ + float m_soft_angStiff; /* angular stiffness 0..1 */ + float m_soft_volume; /* volume preservation 0..1 */ + + int m_soft_viterations; /* Velocities solver iterations */ + int m_soft_piterations; /* Positions solver iterations */ + int m_soft_diterations; /* Drift solver iterations */ + int m_soft_citerations; /* Cluster solver iterations */ + + float m_soft_kSRHR_CL; /* Soft vs rigid hardness [0,1] (cluster only) */ + float m_soft_kSKHR_CL; /* Soft vs kinetic hardness [0,1] (cluster only) */ + float m_soft_kSSHR_CL; /* Soft vs soft hardness [0,1] (cluster only) */ + float m_soft_kSR_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + + float m_soft_kSK_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + float m_soft_kSS_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + float m_soft_kVCF; /* Velocities correction factor (Baumgarte) */ + float m_soft_kDP; /* Damping coefficient [0,1] */ + + float m_soft_kDG; /* Drag coefficient [0,+inf] */ + float m_soft_kLF; /* Lift coefficient [0,+inf] */ + float m_soft_kPR; /* Pressure coefficient [-inf,+inf] */ + float m_soft_kVC; /* Volume conversation coefficient [0,+inf] */ + + float m_soft_kDF; /* Dynamic friction coefficient [0,1] */ + float m_soft_kMT; /* Pose matching coefficient [0,1] */ + float m_soft_kCHR; /* Rigid contacts hardness [0,1] */ + float m_soft_kKHR; /* Kinetic contacts hardness [0,1] */ + + float m_soft_kSHR; /* Soft contacts hardness [0,1] */ + float m_soft_kAHR; /* Anchors hardness [0,1] */ + int m_soft_collisionflags; /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */ + int m_soft_numclusteriterations; /* number of iterations to refine collision clusters*/ + + ///////////////////////// double m_margin; KX_BoundBoxClass m_boundclass; diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index c5dbabe24fc..e4c7e7f9317 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -1024,10 +1024,45 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, ci.m_angularDamping = 1.f - shapeprops->m_ang_drag; //need a bit of damping, else system doesn't behave well ci.m_inertiaFactor = shapeprops->m_inertia/0.4f;//defaults to 0.4, don't want to change behaviour - ci.m_linearStiffness = objprop->m_linearStiffness; - ci.m_angularStiffness= objprop->m_angularStiffness; - ci.m_volumePreservation= objprop->m_volumePreservation; + + + /////////////////// ci.m_gamesoftFlag = objprop->m_gamesoftFlag; + ci.m_soft_linStiff = objprop->m_soft_linStiff; + ci.m_soft_angStiff = objprop->m_soft_angStiff; /* angular stiffness 0..1 */ + ci.m_soft_volume= objprop->m_soft_volume; /* volume preservation 0..1 */ + + ci.m_soft_viterations= objprop->m_soft_viterations; /* Velocities solver iterations */ + ci.m_soft_piterations= objprop->m_soft_piterations; /* Positions solver iterations */ + ci.m_soft_diterations= objprop->m_soft_diterations; /* Drift solver iterations */ + ci.m_soft_citerations= objprop->m_soft_citerations; /* Cluster solver iterations */ + + ci.m_soft_kSRHR_CL= objprop->m_soft_kSRHR_CL; /* Soft vs rigid hardness [0,1] (cluster only) */ + ci.m_soft_kSKHR_CL= objprop->m_soft_kSKHR_CL; /* Soft vs kinetic hardness [0,1] (cluster only) */ + ci.m_soft_kSSHR_CL= objprop->m_soft_kSSHR_CL; /* Soft vs soft hardness [0,1] (cluster only) */ + ci.m_soft_kSR_SPLT_CL= objprop->m_soft_kSR_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + + ci.m_soft_kSK_SPLT_CL= objprop->m_soft_kSK_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + ci.m_soft_kSS_SPLT_CL= objprop->m_soft_kSS_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + ci.m_soft_kVCF= objprop->m_soft_kVCF; /* Velocities correction factor (Baumgarte) */ + ci.m_soft_kDP= objprop->m_soft_kDP; /* Damping coefficient [0,1] */ + + ci.m_soft_kDG= objprop->m_soft_kDG; /* Drag coefficient [0,+inf] */ + ci.m_soft_kLF= objprop->m_soft_kLF; /* Lift coefficient [0,+inf] */ + ci.m_soft_kPR= objprop->m_soft_kPR; /* Pressure coefficient [-inf,+inf] */ + ci.m_soft_kVC= objprop->m_soft_kVC; /* Volume conversation coefficient [0,+inf] */ + + ci.m_soft_kDF= objprop->m_soft_kDF; /* Dynamic friction coefficient [0,1] */ + ci.m_soft_kMT= objprop->m_soft_kMT; /* Pose matching coefficient [0,1] */ + ci.m_soft_kCHR= objprop->m_soft_kCHR; /* Rigid contacts hardness [0,1] */ + ci.m_soft_kKHR= objprop->m_soft_kKHR; /* Kinetic contacts hardness [0,1] */ + + ci.m_soft_kSHR= objprop->m_soft_kSHR; /* Soft contacts hardness [0,1] */ + ci.m_soft_kAHR= objprop->m_soft_kAHR; /* Anchors hardness [0,1] */ + ci.m_soft_collisionflags= objprop->m_soft_collisionflags; /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */ + ci.m_soft_numclusteriterations= objprop->m_soft_numclusteriterations; /* number of iterations to refine collision clusters*/ + + //////////////////// ci.m_collisionFilterGroup = (isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) : short(CcdConstructionInfo::StaticFilter); ci.m_collisionFilterMask = (isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter); diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp index 6eeb732c1e3..f5d6d7e8e0a 100644 --- a/source/gameengine/Ketsji/KX_Scene.cpp +++ b/source/gameengine/Ketsji/KX_Scene.cpp @@ -159,7 +159,7 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice, KX_NetworkEventManager* netmgr = new KX_NetworkEventManager(m_logicmgr, ndi); - SCA_JoystickManager *joymgr = new SCA_JoystickManager(m_logicmgr); + m_logicmgr->RegisterEventManager(alwaysmgr); m_logicmgr->RegisterEventManager(propmgr); @@ -170,7 +170,15 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice, m_logicmgr->RegisterEventManager(rndmgr); m_logicmgr->RegisterEventManager(raymgr); m_logicmgr->RegisterEventManager(netmgr); - m_logicmgr->RegisterEventManager(joymgr); + + + SYS_SystemHandle hSystem = SYS_GetSystem(); + bool nojoystick= SYS_GetCommandLineInt(hSystem,"nojoystick",0); + if (!nojoystick) + { + SCA_JoystickManager *joymgr = new SCA_JoystickManager(m_logicmgr); + m_logicmgr->RegisterEventManager(joymgr); + } m_soundScene = new SND_Scene(adi); MT_assert (m_networkDeviceInterface != NULL); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index f17cfb79e92..166731459e7 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -288,26 +288,69 @@ void CcdPhysicsController::CreateRigidbody() m_object = psb; //psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS;//btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS; - psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS + btSoftBody::fCollision::VF_SS;//CL_SS; - //psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS; - //btSoftBody::Material* pm=psb->appendMaterial(); - btSoftBody::Material* pm=psb->m_materials[0]; + //psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS + btSoftBody::fCollision::VF_SS;//CL_SS; - pm->m_kLST = m_cci.m_linearStiffness; - pm->m_kAST = m_cci.m_angularStiffness; - pm->m_kVST = m_cci.m_volumePreservation; + //btSoftBody::Material* pm=psb->appendMaterial(); + btSoftBody::Material* pm=psb->m_materials[0]; + pm->m_kLST = m_cci.m_soft_linStiff; + pm->m_kAST = m_cci.m_soft_angStiff; + pm->m_kVST = m_cci.m_soft_volume; + psb->m_cfg.collisions = 0; - - //pm->m_kAST = 0.01f; - //pm->m_kVST = 0.001f; - psb->generateBendingConstraints(2,pm); - psb->m_cfg.piterations = 4; - psb->m_cfg.viterations = 4; - psb->m_cfg.diterations = 4; - psb->m_cfg.citerations = 4; - if (m_cci.m_gamesoftFlag & 2)//OB_SB_GOAL) + if (m_cci.m_soft_collisionflags & CCD_BSB_COL_CL_RS) + { + psb->m_cfg.collisions += btSoftBody::fCollision::CL_RS; + } else + { + psb->m_cfg.collisions += btSoftBody::fCollision::SDF_RS; + } + if (m_cci.m_soft_collisionflags & CCD_BSB_COL_CL_SS) + { + psb->m_cfg.collisions += btSoftBody::fCollision::CL_SS; + } else + { + psb->m_cfg.collisions += btSoftBody::fCollision::VF_SS; + } + + + psb->m_cfg.kSRHR_CL = m_cci.m_soft_kSRHR_CL; /* Soft vs rigid hardness [0,1] (cluster only) */ + psb->m_cfg.kSKHR_CL = m_cci.m_soft_kSKHR_CL; /* Soft vs kinetic hardness [0,1] (cluster only) */ + psb->m_cfg.kSSHR_CL = m_cci.m_soft_kSSHR_CL; /* Soft vs soft hardness [0,1] (cluster only) */ + psb->m_cfg.kSR_SPLT_CL = m_cci.m_soft_kSR_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + + psb->m_cfg.kSK_SPLT_CL = m_cci.m_soft_kSK_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + psb->m_cfg.kSS_SPLT_CL = m_cci.m_soft_kSS_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + psb->m_cfg.kVCF = m_cci.m_soft_kVCF; /* Velocities correction factor (Baumgarte) */ + psb->m_cfg.kDP = m_cci.m_soft_kDP; /* Damping coefficient [0,1] */ + + psb->m_cfg.kDG = m_cci.m_soft_kDG; /* Drag coefficient [0,+inf] */ + psb->m_cfg.kLF = m_cci.m_soft_kLF; /* Lift coefficient [0,+inf] */ + psb->m_cfg.kPR = m_cci.m_soft_kPR; /* Pressure coefficient [-inf,+inf] */ + psb->m_cfg.kVC = m_cci.m_soft_kVC; /* Volume conversation coefficient [0,+inf] */ + + psb->m_cfg.kDF = m_cci.m_soft_kDF; /* Dynamic friction coefficient [0,1] */ + psb->m_cfg.kMT = m_cci.m_soft_kMT; /* Pose matching coefficient [0,1] */ + psb->m_cfg.kCHR = m_cci.m_soft_kCHR; /* Rigid contacts hardness [0,1] */ + psb->m_cfg.kKHR = m_cci.m_soft_kKHR; /* Kinetic contacts hardness [0,1] */ + + psb->m_cfg.kSHR = m_cci.m_soft_kSHR; /* Soft contacts hardness [0,1] */ + psb->m_cfg.kAHR = m_cci.m_soft_kAHR; /* Anchors hardness [0,1] */ + + + + if (m_cci.m_gamesoftFlag & CCD_BSB_BENDING_CONSTRAINTS)//OB_SB_GOAL) + { + psb->generateBendingConstraints(2,pm); + } + + psb->m_cfg.piterations = m_cci.m_soft_piterations; + psb->m_cfg.viterations = m_cci.m_soft_viterations; + psb->m_cfg.diterations = m_cci.m_soft_diterations; + psb->m_cfg.citerations = m_cci.m_soft_citerations; + + if (m_cci.m_gamesoftFlag & CCD_BSB_SHAPE_MATCHING)//OB_SB_GOAL) { psb->setPose(false,true);// } else @@ -315,27 +358,14 @@ void CcdPhysicsController::CreateRigidbody() psb->setPose(true,false); } - psb->m_cfg.kDF = 0.5; - //psb->m_cfg.kMT = 0.05; - psb->m_cfg.piterations = 5; - - psb->m_cfg.piterations = 5; - //psb->m_cfg.kVC = 20; + psb->randomizeConstraints(); -/* - psb->m_cfg.kDF = 0.1f;//1.f; - psb->m_cfg.kDP = 0.0001; - //psb->m_cfg.kDP = 0.005; - psb->m_cfg.kCHR = 0.1; - //psb->m_cfg.kVCF = 0.1f; - psb->m_cfg.kVCF = 0.0001f; - //psb->m_cfg.kAHR = 0.1f; - psb->m_cfg.kAHR = 0.0001f; - psb->m_cfg.kMT = 0.1f; - //psb->m_cfg.kDF=1; - */ + if (m_cci.m_soft_collisionflags & (CCD_BSB_COL_CL_RS+CCD_BSB_COL_CL_SS)) + { + psb->generateClusters(m_cci.m_soft_numclusteriterations); + } // psb->activate(); // psb->setActivationState(1); @@ -343,14 +373,10 @@ void CcdPhysicsController::CreateRigidbody() //psb->m_materials[0]->m_kLST = 0.1+(i/(btScalar)(n-1))*0.9; psb->setTotalMass(m_cci.m_mass); - psb->generateClusters(64); + psb->setCollisionFlags(0); - - - - - ///create a mapping between graphics mesh vertices and soft body vertices + ///create a mapping between graphics mesh vertices and soft body vertices { RAS_MeshObject* rasMesh= GetShapeInfo()->GetMesh(); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 60c734838f3..1366764eb63 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -38,6 +38,20 @@ class btMotionState; class RAS_MeshObject; class btCollisionShape; + +#define CCD_BSB_SHAPE_MATCHING 2 +#define CCD_BSB_BENDING_CONSTRAINTS 8 +#define CCD_BSB_AERO_VPOINT 16 /* aero model, Vertex normals are oriented toward velocity*/ +#define CCD_BSB_AERO_VTWOSIDE 32 /* aero model, Vertex normals are flipped to match velocity */ + +/* BulletSoftBody.collisionflags */ +#define CCD_BSB_COL_SDF_RS 2 /* SDF based rigid vs soft */ +#define CCD_BSB_COL_CL_RS 4 /* Cluster based rigid vs soft */ +#define CCD_BSB_COL_CL_SS 8 /* Cluster based soft vs soft */ +#define CCD_BSB_COL_VF_SS 16 /* Vertex/Face based soft vs soft */ + + + // Shape contructor // It contains all the information needed to create a simple bullet shape at runtime class CcdShapeConstructionInfo @@ -162,9 +176,6 @@ struct CcdConstructionInfo m_linearDamping(0.1f), m_angularDamping(0.1f), m_margin(0.06f), - m_linearStiffness(1.f), - m_angularStiffness(1.f), - m_volumePreservation(1.f), m_gamesoftFlag(0), m_collisionFlags(0), m_bRigid(false), @@ -189,10 +200,44 @@ struct CcdConstructionInfo btScalar m_angularDamping; btScalar m_margin; - btScalar m_linearStiffness; - btScalar m_angularStiffness; - btScalar m_volumePreservation; - int m_gamesoftFlag; + //////////////////// + int m_gamesoftFlag; + float m_soft_linStiff; /* linear stiffness 0..1 */ + float m_soft_angStiff; /* angular stiffness 0..1 */ + float m_soft_volume; /* volume preservation 0..1 */ + + int m_soft_viterations; /* Velocities solver iterations */ + int m_soft_piterations; /* Positions solver iterations */ + int m_soft_diterations; /* Drift solver iterations */ + int m_soft_citerations; /* Cluster solver iterations */ + + float m_soft_kSRHR_CL; /* Soft vs rigid hardness [0,1] (cluster only) */ + float m_soft_kSKHR_CL; /* Soft vs kinetic hardness [0,1] (cluster only) */ + float m_soft_kSSHR_CL; /* Soft vs soft hardness [0,1] (cluster only) */ + float m_soft_kSR_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + + float m_soft_kSK_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + float m_soft_kSS_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ + float m_soft_kVCF; /* Velocities correction factor (Baumgarte) */ + float m_soft_kDP; /* Damping coefficient [0,1] */ + + float m_soft_kDG; /* Drag coefficient [0,+inf] */ + float m_soft_kLF; /* Lift coefficient [0,+inf] */ + float m_soft_kPR; /* Pressure coefficient [-inf,+inf] */ + float m_soft_kVC; /* Volume conversation coefficient [0,+inf] */ + + float m_soft_kDF; /* Dynamic friction coefficient [0,1] */ + float m_soft_kMT; /* Pose matching coefficient [0,1] */ + float m_soft_kCHR; /* Rigid contacts hardness [0,1] */ + float m_soft_kKHR; /* Kinetic contacts hardness [0,1] */ + + float m_soft_kSHR; /* Soft contacts hardness [0,1] */ + float m_soft_kAHR; /* Anchors hardness [0,1] */ + int m_soft_collisionflags; /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */ + int m_soft_numclusteriterations; /* number of iterations to refine collision clusters*/ +/////////////////// + + int m_collisionFlags; bool m_bRigid; diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 3593aecf3d5..763fc148a04 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -576,7 +576,8 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) veh->SyncWheels(); } - m_dynamicsWorld->debugDrawWorld(); + if (m_dynamicsWorld->getDebugDrawer() && m_dynamicsWorld->getDebugDrawer()->getDebugMode() >0) + m_dynamicsWorld->debugDrawWorld(); CallbackTriggers(); |