diff options
48 files changed, 973 insertions, 1724 deletions
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp index b753f667e70..1b27fde4fa4 100644 --- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp +++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp @@ -1419,12 +1419,12 @@ static void BL_CreateGraphicObjectNew(KX_GameObject* gameobj, PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode()); CcdGraphicController* ctrl = new CcdGraphicController(env, motionstate); gameobj->SetGraphicController(ctrl); - ctrl->setNewClientInfo(gameobj->getClientInfo()); - ctrl->setLocalAabb(localAabbMin, localAabbMax); + ctrl->SetNewClientInfo(gameobj->getClientInfo()); + ctrl->SetLocalAabb(localAabbMin, localAabbMax); if (isActive) { // add first, this will create the proxy handle, only if the object is visible if (gameobj->GetVisible()) - env->addCcdGraphicController(ctrl); + env->AddCcdGraphicController(ctrl); // update the mesh if there is a deformer, this will also update the bounding box for modifiers RAS_Deformer* deformer = gameobj->GetDeformer(); if (deformer) @@ -2027,22 +2027,8 @@ static void UNUSED_FUNCTION(RBJconstraints)(Object *ob)//not used } #include "PHY_IPhysicsEnvironment.h" -#include "KX_IPhysicsController.h" #include "PHY_DynamicTypes.h" -#if 0 /* UNUSED */ -static KX_IPhysicsController* getPhId(CListValue* sumolist,STR_String busc) {//not used - - for (int j=0;j<sumolist->GetCount();j++) - { - KX_GameObject* gameobje = (KX_GameObject*) sumolist->GetValue(j); - if (gameobje->GetName()==busc) - return gameobje->GetPhysicsController(); - } - - return 0; -} -#endif static KX_GameObject* getGameOb(STR_String busc,CListValue* sumolist) { @@ -2585,7 +2571,7 @@ void BL_ConvertBlenderObjects(struct Main* maggie, kxscene->SetDbvtOcclusionRes(blenderscene->gm.occlusionRes); } if (blenderscene->world) - kxscene->GetPhysicsEnvironment()->setNumTimeSubSteps(blenderscene->gm.physubstep); + kxscene->GetPhysicsEnvironment()->SetNumTimeSubSteps(blenderscene->gm.physubstep); // now that the scenegraph is complete, let's instantiate the deformers. // We need that to create reusable derived mesh and physic shapes @@ -2676,12 +2662,12 @@ void BL_ConvertBlenderObjects(struct Main* maggie, { KX_GameObject *gotar=getGameOb(dat->tar->id.name+2,sumolist); if (gotar && ((gotar->GetLayer()&activeLayerBitInfo)!=0) && gotar->GetPhysicsController()) - physctr2 = (PHY_IPhysicsController*) gotar->GetPhysicsController()->GetUserData(); + physctr2 = gotar->GetPhysicsController(); } if (gameobj->GetPhysicsController()) { - PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) gameobj->GetPhysicsController()->GetUserData(); + PHY_IPhysicsController* physctrl = gameobj->GetPhysicsController(); //we need to pass a full constraint frame, not just axis //localConstraintFrameBasis @@ -2690,7 +2676,7 @@ void BL_ConvertBlenderObjects(struct Main* maggie, MT_Vector3 axis1 = localCFrame.getColumn(1); MT_Vector3 axis2 = localCFrame.getColumn(2); - int constraintId = kxscene->GetPhysicsEnvironment()->createConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX, + int constraintId = kxscene->GetPhysicsEnvironment()->CreateConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX, (float)dat->pivY,(float)dat->pivZ, (float)axis0.x(),(float)axis0.y(),(float)axis0.z(), (float)axis1.x(),(float)axis1.y(),(float)axis1.z(), @@ -2706,11 +2692,11 @@ void BL_ConvertBlenderObjects(struct Main* maggie, { if (dat->flag & dofbit) { - kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]); + kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]); } else { //minLimit > maxLimit means free(disabled limit) for this degree of freedom - kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,1,-1); + kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,1,-1); } dofbit<<=1; } @@ -2724,12 +2710,12 @@ void BL_ConvertBlenderObjects(struct Main* maggie, { if (dat->flag & dofbit) { - kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]); + kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]); } else { //maxLimit < 0 means free(disabled limit) for this degree of freedom - kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,1,-1); + kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,1,-1); } dofbit<<=1; } @@ -2741,12 +2727,12 @@ void BL_ConvertBlenderObjects(struct Main* maggie, if (dat->flag & dofbit) { - kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof, + kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof, dat->minLimit[dof],dat->maxLimit[dof]); } else { //minLimit > maxLimit means free(disabled limit) for this degree of freedom - kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,1,-1); + kxscene->GetPhysicsEnvironment()->SetConstraintParam(constraintId,dof,1,-1); } } } diff --git a/source/gameengine/Converter/BL_ModifierDeformer.cpp b/source/gameengine/Converter/BL_ModifierDeformer.cpp index ec52eaac637..82f49ad5227 100644 --- a/source/gameengine/Converter/BL_ModifierDeformer.cpp +++ b/source/gameengine/Converter/BL_ModifierDeformer.cpp @@ -192,7 +192,7 @@ bool BL_ModifierDeformer::Update(void) float min_r[3], max_r[3]; INIT_MINMAX(min_r, max_r); m_dm->getMinMax(m_dm, min_r, max_r); - ctrl->setLocalAabb(min_r, max_r); + ctrl->SetLocalAabb(min_r, max_r); } } m_lastModifierUpdate=m_gameobj->GetLastFrame(); diff --git a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp index f642fd43aef..e682f335608 100644 --- a/source/gameengine/Converter/KX_BlenderSceneConverter.cpp +++ b/source/gameengine/Converter/KX_BlenderSceneConverter.cpp @@ -42,7 +42,6 @@ #include "PHY_IPhysicsEnvironment.h" #include "KX_KetsjiEngine.h" #include "KX_PythonInit.h" // So we can handle adding new text datablocks for Python to import -#include "KX_IPhysicsController.h" #include "BL_Material.h" #include "BL_ActionActuator.h" #include "KX_BlenderMaterial.h" @@ -355,15 +354,15 @@ void KX_BlenderSceneConverter::ConvertScene(class KX_Scene* destinationscene, case UseBullet: { CcdPhysicsEnvironment* ccdPhysEnv = new CcdPhysicsEnvironment(useDbvtCulling); - ccdPhysEnv->setDebugDrawer(new BlenderDebugDraw()); - ccdPhysEnv->setDeactivationLinearTreshold(blenderscene->gm.lineardeactthreshold); - ccdPhysEnv->setDeactivationAngularTreshold(blenderscene->gm.angulardeactthreshold); - ccdPhysEnv->setDeactivationTime(blenderscene->gm.deactivationtime); + ccdPhysEnv->SetDebugDrawer(new BlenderDebugDraw()); + ccdPhysEnv->SetDeactivationLinearTreshold(blenderscene->gm.lineardeactthreshold); + ccdPhysEnv->SetDeactivationAngularTreshold(blenderscene->gm.angulardeactthreshold); + ccdPhysEnv->SetDeactivationTime(blenderscene->gm.deactivationtime); SYS_SystemHandle syshandle = SYS_GetSystem(); /*unused*/ int visualizePhysics = SYS_GetCommandLineInt(syshandle,"show_physics",0); if (visualizePhysics) - ccdPhysEnv->setDebugMode(btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb|btIDebugDraw::DBG_DrawContactPoints|btIDebugDraw::DBG_DrawText|btIDebugDraw::DBG_DrawConstraintLimits|btIDebugDraw::DBG_DrawConstraints); + ccdPhysEnv->SetDebugMode(btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb|btIDebugDraw::DBG_DrawContactPoints|btIDebugDraw::DBG_DrawText|btIDebugDraw::DBG_DrawConstraintLimits|btIDebugDraw::DBG_DrawConstraints); //todo: get a button in blender ? //disable / enable debug drawing (contact points, aabb's etc) @@ -709,7 +708,6 @@ void KX_BlenderSceneConverter::ResetPhysicsObjectsAnimationIpo(bool clearIpo) KX_GameObject* gameObj = (KX_GameObject*)parentList->GetValue(g); if (gameObj->IsDynamic()) { - //KX_IPhysicsController* physCtrl = gameObj->GetPhysicsController(); Object* blenderObject = gameObj->GetBlenderObject(); if (blenderObject) @@ -825,7 +823,6 @@ void KX_BlenderSceneConverter::WritePhysicsObjectToAnimationIpo(int frameNumber) Object* blenderObject = gameObj->GetBlenderObject(); if (blenderObject && blenderObject->parent==NULL && gameObj->IsDynamic()) { - //KX_IPhysicsController* physCtrl = gameObj->GetPhysicsController(); if (blenderObject->adt==NULL) BKE_id_add_animdata(&blenderObject->id); @@ -944,7 +941,6 @@ void KX_BlenderSceneConverter::TestHandlesPhysicsObjectToAnimationIpo() KX_GameObject* gameObj = (KX_GameObject*)parentList->GetValue(g); if (gameObj->IsDynamic()) { - //KX_IPhysicsController* physCtrl = gameObj->GetPhysicsController(); #if 0 Object* blenderObject = gameObj->GetBlenderObject(); diff --git a/source/gameengine/Converter/KX_SoftBodyDeformer.cpp b/source/gameengine/Converter/KX_SoftBodyDeformer.cpp index d860b2ee694..fcdaaaa761a 100644 --- a/source/gameengine/Converter/KX_SoftBodyDeformer.cpp +++ b/source/gameengine/Converter/KX_SoftBodyDeformer.cpp @@ -48,7 +48,6 @@ #include "CcdPhysicsController.h" #include "BulletSoftBody/btSoftBody.h" -#include "KX_BulletPhysicsController.h" #include "btBulletDynamicsCommon.h" void KX_SoftBodyDeformer::Relink(CTR_Map<class CTR_HashedPtr, void*>*map) @@ -66,7 +65,7 @@ void KX_SoftBodyDeformer::Relink(CTR_Map<class CTR_HashedPtr, void*>*map) bool KX_SoftBodyDeformer::Apply(class RAS_IPolyMaterial *polymat) { - KX_BulletPhysicsController* ctrl = (KX_BulletPhysicsController*) m_gameobj->GetPhysicsController(); + CcdPhysicsController* ctrl = (CcdPhysicsController*) m_gameobj->GetPhysicsController(); if (!ctrl) return false; diff --git a/source/gameengine/Ketsji/BL_Action.cpp b/source/gameengine/Ketsji/BL_Action.cpp index 6d9b22eed91..a974ffbf672 100644 --- a/source/gameengine/Ketsji/BL_Action.cpp +++ b/source/gameengine/Ketsji/BL_Action.cpp @@ -34,6 +34,8 @@ #include "KX_IpoConvert.h" #include "KX_GameObject.h" +#include "SG_Controller.h" + // These three are for getting the action from the logic manager #include "KX_Scene.h" #include "SCA_LogicManager.h" diff --git a/source/gameengine/Ketsji/CMakeLists.txt b/source/gameengine/Ketsji/CMakeLists.txt index c3c733c66ba..141dd5e25f3 100644 --- a/source/gameengine/Ketsji/CMakeLists.txt +++ b/source/gameengine/Ketsji/CMakeLists.txt @@ -71,7 +71,6 @@ set(SRC BL_Texture.cpp KX_ArmatureSensor.cpp KX_BlenderMaterial.cpp - KX_BulletPhysicsController.cpp KX_Camera.cpp KX_CameraActuator.cpp KX_CameraIpoSGController.cpp @@ -86,7 +85,6 @@ set(SRC KX_GameObject.cpp KX_IpoConvert.cpp KX_IPO_SGController.cpp - KX_IPhysicsController.cpp KX_IpoActuator.cpp KX_KetsjiEngine.cpp KX_Light.cpp @@ -146,7 +144,6 @@ set(SRC BL_Texture.h KX_ArmatureSensor.h KX_BlenderMaterial.h - KX_BulletPhysicsController.h KX_Camera.h KX_CameraActuator.h KX_CameraIpoSGController.h @@ -164,7 +161,6 @@ set(SRC KX_IpoConvert.h KX_IPOTransform.h KX_IPO_SGController.h - KX_IPhysicsController.h KX_IScalarInterpolator.h KX_ISceneConverter.h KX_ISystem.h diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp deleted file mode 100644 index e990974a646..00000000000 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp +++ /dev/null @@ -1,577 +0,0 @@ -/* - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -/** \file gameengine/Ketsji/KX_BulletPhysicsController.cpp - * \ingroup ketsji - */ - -//under visual studio the #define in KX_ConvertPhysicsObject.h is quicker for recompilation -#include "KX_ConvertPhysicsObject.h" - -#ifdef WITH_BULLET - -#include "KX_BulletPhysicsController.h" - -#include "btBulletDynamicsCommon.h" -#include "SG_Spatial.h" - -#include "KX_GameObject.h" -#include "KX_MotionState.h" -#include "KX_ClientObjectInfo.h" - -#include "PHY_IPhysicsEnvironment.h" -#include "CcdPhysicsEnvironment.h" -#include "BulletSoftBody/btSoftBody.h" - - -KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool character, bool compound) -: KX_IPhysicsController(dyna,sensor,character,compound,(PHY_IPhysicsController*)this), -CcdPhysicsController(ci), -m_savedCollisionFlags(0), -m_savedCollisionFilterGroup(0), -m_savedCollisionFilterMask(0), -m_savedMass(0.0), -m_savedDyna(false), -m_suspended(false), -m_bulletChildShape(NULL) -{ -} - -KX_BulletPhysicsController::~KX_BulletPhysicsController () -{ - // The game object has a direct link to - if (m_pObject) - { - // If we cheat in SetObject, we must also cheat here otherwise the - // object will still things it has a physical controller - // Note that it requires that m_pObject is reset in case the object is deleted - // before the controller (usual case, see KX_Scene::RemoveNodeDestructObjec) - // The non usual case is when the object is not deleted because its reference is hanging - // in a AddObject actuator but the node is deleted. This case is covered here. - KX_GameObject* gameobj = (KX_GameObject*) m_pObject->GetSGClientObject(); - gameobj->SetPhysicsController(NULL,false); - } -} - -void KX_BulletPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) -{ - CcdPhysicsController::resolveCombinedVelocities(linvelX,linvelY,linvelZ,angVelX,angVelY,angVelZ); - -} - - - /////////////////////////////////// - // KX_IPhysicsController interface - //////////////////////////////////// - -void KX_BulletPhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse) -{ - CcdPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]); - -} - -float KX_BulletPhysicsController::GetLinVelocityMin() -{ - return (float)CcdPhysicsController::GetLinVelocityMin(); -} -void KX_BulletPhysicsController::SetLinVelocityMin(float val) -{ - CcdPhysicsController::SetLinVelocityMin(val); -} - -void KX_BulletPhysicsController::Jump() -{ - CcdPhysicsController::Jump(); -} - -float KX_BulletPhysicsController::GetLinVelocityMax() -{ - return (float)CcdPhysicsController::GetLinVelocityMax(); -} -void KX_BulletPhysicsController::SetLinVelocityMax(float val) -{ - CcdPhysicsController::SetLinVelocityMax(val); -} - -void KX_BulletPhysicsController::SetObject (SG_IObject* object) -{ - SG_Controller::SetObject(object); - - // cheating here... - //should not be necessary, is it for duplicates ? - - KX_GameObject* gameobj = (KX_GameObject*) object->GetSGClientObject(); - gameobj->SetPhysicsController(this,gameobj->IsDynamic()); - CcdPhysicsController::setNewClientInfo(gameobj->getClientInfo()); - - if (m_bSensor) - { - // use a different callback function for sensor object, - // bullet will not synchronize, we must do it explicitly - SG_Callbacks& callbacks = gameobj->GetSGNode()->GetCallBackFunctions(); - callbacks.m_updatefunc = KX_GameObject::SynchronizeTransformFunc; - } -} - -MT_Scalar KX_BulletPhysicsController::GetRadius() -{ - return MT_Scalar(CcdPhysicsController::GetRadius()); -} - -void KX_BulletPhysicsController::setMargin (float collisionMargin) -{ - CcdPhysicsController::SetMargin(collisionMargin); -} -void KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local) -{ - CcdPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local); - -} - -void KX_BulletPhysicsController::SetWalkDirection(const MT_Vector3& dloc,bool local) -{ - CcdPhysicsController::SetWalkDirection(dloc[0],dloc[1],dloc[2],local); -} - -void KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local) -{ - float rotval[9]; - drot.getValue3x3(rotval); - CcdPhysicsController::RelativeRotate(rotval,local); -} - -void KX_BulletPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local) -{ - CcdPhysicsController::ApplyTorque(torque.x(),torque.y(),torque.z(),local); -} -void KX_BulletPhysicsController::ApplyForce(const MT_Vector3& force,bool local) -{ - CcdPhysicsController::ApplyForce(force.x(),force.y(),force.z(),local); -} -MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity() -{ - float angVel[3]; - //CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]); - CcdPhysicsController::GetLinearVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz - return MT_Vector3(angVel[0],angVel[1],angVel[2]); -} -MT_Vector3 KX_BulletPhysicsController::GetAngularVelocity() -{ - float angVel[3]; - //CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]); - CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz - return MT_Vector3(angVel[0],angVel[1],angVel[2]); -} -MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos) -{ - float linVel[3]; - CcdPhysicsController::GetVelocity(pos[0], pos[1], pos[2], linVel[0],linVel[1],linVel[2]); - return MT_Vector3(linVel[0],linVel[1],linVel[2]); -} - -MT_Vector3 KX_BulletPhysicsController::GetWalkDirection() -{ - float dir[3]; - CcdPhysicsController::GetWalkDirection(dir[0], dir[1], dir[2]); - return MT_Vector3(dir[0], dir[1], dir[2]); -} - -void KX_BulletPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local) -{ - CcdPhysicsController::SetAngularVelocity(ang_vel.x(),ang_vel.y(),ang_vel.z(),local); - -} -void KX_BulletPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local) -{ - CcdPhysicsController::SetLinearVelocity(lin_vel.x(),lin_vel.y(),lin_vel.z(),local); -} -void KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn) -{ - float myorn[4]; - CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]); - orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]); -} -void KX_BulletPhysicsController::setOrientation(const MT_Matrix3x3& orn) -{ - btMatrix3x3 btmat(orn[0][0], orn[0][1], orn[0][2], orn[1][0], orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]); - CcdPhysicsController::setWorldOrientation(btmat); -} -void KX_BulletPhysicsController::setPosition(const MT_Point3& pos) -{ - CcdPhysicsController::setPosition(pos.x(),pos.y(),pos.z()); -} -void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling) -{ - CcdPhysicsController::setScaling(scaling.x(),scaling.y(),scaling.z()); -} -void KX_BulletPhysicsController::SetTransform() -{ - btVector3 pos; - btVector3 scale; - float ori[12]; - m_MotionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]); - m_MotionState->getWorldScaling(scale.m_floats[0],scale.m_floats[1],scale.m_floats[2]); - m_MotionState->getWorldOrientation(ori); - btMatrix3x3 rot(ori[0], ori[4], ori[8], - ori[1], ori[5], ori[9], - ori[2], ori[6], ori[10]); - CcdPhysicsController::forceWorldTransform(rot, pos); -} - -MT_Scalar KX_BulletPhysicsController::GetMass() -{ - if (GetSoftBody()) - return GetSoftBody()->getTotalMass(); - - MT_Scalar invmass = 0.f; - if (GetRigidBody()) - invmass = GetRigidBody()->getInvMass(); - if (invmass) - return 1.f/invmass; - return 0.f; - -} - -MT_Vector3 KX_BulletPhysicsController::GetLocalInertia() -{ - MT_Vector3 inertia(0.f, 0.f, 0.f); - btVector3 inv_inertia; - if (GetRigidBody()) { - inv_inertia = GetRigidBody()->getInvInertiaDiagLocal(); - if (!btFuzzyZero(inv_inertia.getX()) && - !btFuzzyZero(inv_inertia.getY()) && - !btFuzzyZero(inv_inertia.getZ())) - inertia = MT_Vector3(1.f/inv_inertia.getX(), 1.f/inv_inertia.getY(), 1.f/inv_inertia.getZ()); - } - return inertia; -} - -MT_Vector3 KX_BulletPhysicsController::getReactionForce() -{ - assert(0); - return MT_Vector3(0.f,0.f,0.f); -} -void KX_BulletPhysicsController::setRigidBody(bool rigid) -{ - CcdPhysicsController::setRigidBody(rigid); -} - -/* This function dynamically adds the collision shape of another controller to - * the current controller shape provided it is a compound shape. - * The idea is that dynamic parenting on a compound object will dynamically extend the shape - */ -void KX_BulletPhysicsController::AddCompoundChild(KX_IPhysicsController* child) -{ - if (child == NULL || !IsCompound()) - return; - // other controller must be a bullet controller too - // verify that body and shape exist and match - KX_BulletPhysicsController* childCtrl = dynamic_cast<KX_BulletPhysicsController*>(child); - btRigidBody* rootBody = GetRigidBody(); - btRigidBody* childBody = childCtrl->GetRigidBody(); - if (!rootBody || !childBody) - return; - const btCollisionShape* rootShape = rootBody->getCollisionShape(); - const btCollisionShape* childShape = childBody->getCollisionShape(); - if (!rootShape || - !childShape || - rootShape->getShapeType() != COMPOUND_SHAPE_PROXYTYPE || - childShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE) - return; - btCompoundShape* compoundShape = (btCompoundShape*)rootShape; - // compute relative transformation between parent and child - btTransform rootTrans; - btTransform childTrans; - rootBody->getMotionState()->getWorldTransform(rootTrans); - childBody->getMotionState()->getWorldTransform(childTrans); - btVector3 rootScale = rootShape->getLocalScaling(); - rootScale[0] = 1.0/rootScale[0]; - rootScale[1] = 1.0/rootScale[1]; - rootScale[2] = 1.0/rootScale[2]; - // relative scale = child_scale/parent_scale - btVector3 relativeScale = childShape->getLocalScaling()*rootScale; - btMatrix3x3 rootRotInverse = rootTrans.getBasis().transpose(); - // relative pos = parent_rot^-1 * ((parent_pos-child_pos)/parent_scale) - btVector3 relativePos = rootRotInverse*((childTrans.getOrigin()-rootTrans.getOrigin())*rootScale); - // relative rot = parent_rot^-1 * child_rot - btMatrix3x3 relativeRot = rootRotInverse*childTrans.getBasis(); - // create a proxy shape info to store the transformation - CcdShapeConstructionInfo* proxyShapeInfo = new CcdShapeConstructionInfo(); - // store the transformation to this object shapeinfo - proxyShapeInfo->m_childTrans.setOrigin(relativePos); - proxyShapeInfo->m_childTrans.setBasis(relativeRot); - proxyShapeInfo->m_childScale.setValue(relativeScale[0], relativeScale[1], relativeScale[2]); - // we will need this to make sure that we remove the right proxy later when unparenting - proxyShapeInfo->m_userData = childCtrl; - proxyShapeInfo->SetProxy(childCtrl->GetShapeInfo()->AddRef()); - // add to parent compound shapeinfo (increments ref count) - GetShapeInfo()->AddShape(proxyShapeInfo); - // create new bullet collision shape from the object shapeinfo and set scaling - btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(childCtrl->GetMargin(), childCtrl->getConstructionInfo().m_bGimpact, true); - newChildShape->setLocalScaling(relativeScale); - // add bullet collision shape to parent compound collision shape - compoundShape->addChildShape(proxyShapeInfo->m_childTrans,newChildShape); - // proxyShapeInfo is not needed anymore, release it - proxyShapeInfo->Release(); - // remember we created this shape - childCtrl->m_bulletChildShape = newChildShape; - // recompute inertia of parent - if (!rootBody->isStaticOrKinematicObject()) - { - btVector3 localInertia; - float mass = 1.f/rootBody->getInvMass(); - compoundShape->calculateLocalInertia(mass,localInertia); - rootBody->setMassProps(mass,localInertia); - } - // must update the broadphase cache, - GetPhysicsEnvironment()->refreshCcdPhysicsController(this); - // remove the children - GetPhysicsEnvironment()->disableCcdPhysicsController(childCtrl); -} - -/* Reverse function of the above, it will remove a shape from a compound shape - * provided that the former was added to the later using AddCompoundChild() - */ -void KX_BulletPhysicsController::RemoveCompoundChild(KX_IPhysicsController* child) -{ - if (child == NULL || !IsCompound()) - return; - // other controller must be a bullet controller too - // verify that body and shape exist and match - KX_BulletPhysicsController* childCtrl = dynamic_cast<KX_BulletPhysicsController*>(child); - btRigidBody* rootBody = GetRigidBody(); - btRigidBody* childBody = childCtrl->GetRigidBody(); - if (!rootBody || !childBody) - return; - const btCollisionShape* rootShape = rootBody->getCollisionShape(); - if (!rootShape || - rootShape->getShapeType() != COMPOUND_SHAPE_PROXYTYPE) - return; - btCompoundShape* compoundShape = (btCompoundShape*)rootShape; - // retrieve the shapeInfo - CcdShapeConstructionInfo* childShapeInfo = childCtrl->GetShapeInfo(); - CcdShapeConstructionInfo* rootShapeInfo = GetShapeInfo(); - // and verify that the child is part of the parent - int i = rootShapeInfo->FindChildShape(childShapeInfo, childCtrl); - if (i < 0) - return; - rootShapeInfo->RemoveChildShape(i); - if (childCtrl->m_bulletChildShape) - { - int numChildren = compoundShape->getNumChildShapes(); - for (i=0; i<numChildren; i++) - { - if (compoundShape->getChildShape(i) == childCtrl->m_bulletChildShape) - { - compoundShape->removeChildShapeByIndex(i); - compoundShape->recalculateLocalAabb(); - break; - } - } - delete childCtrl->m_bulletChildShape; - childCtrl->m_bulletChildShape = NULL; - } - // recompute inertia of parent - if (!rootBody->isStaticOrKinematicObject()) - { - btVector3 localInertia; - float mass = 1.f/rootBody->getInvMass(); - compoundShape->calculateLocalInertia(mass,localInertia); - rootBody->setMassProps(mass,localInertia); - } - // must update the broadphase cache, - GetPhysicsEnvironment()->refreshCcdPhysicsController(this); - // reactivate the children - GetPhysicsEnvironment()->enableCcdPhysicsController(childCtrl); -} - -void KX_BulletPhysicsController::SetMass(MT_Scalar newmass) -{ - btRigidBody *body = GetRigidBody(); - if (body && !m_suspended && newmass>MT_EPSILON && GetMass()>MT_EPSILON) - { - btVector3 grav = body->getGravity(); - btVector3 accel = grav / GetMass(); - - btBroadphaseProxy* handle = body->getBroadphaseHandle(); - GetPhysicsEnvironment()->updateCcdPhysicsController(this, - newmass, - body->getCollisionFlags(), - handle->m_collisionFilterGroup, - handle->m_collisionFilterMask); - body->setGravity(accel); - } -} - -void KX_BulletPhysicsController::SuspendDynamics(bool ghost) -{ - btRigidBody *body = GetRigidBody(); - if (body && !m_suspended && !IsSensor()) - { - btBroadphaseProxy* handle = body->getBroadphaseHandle(); - m_savedCollisionFlags = body->getCollisionFlags(); - m_savedMass = GetMass(); - m_savedDyna = m_bDyna; - m_savedCollisionFilterGroup = handle->m_collisionFilterGroup; - m_savedCollisionFilterMask = handle->m_collisionFilterMask; - m_suspended = true; - GetPhysicsEnvironment()->updateCcdPhysicsController(this, - 0.0, - btCollisionObject::CF_STATIC_OBJECT|((ghost)?btCollisionObject::CF_NO_CONTACT_RESPONSE:(m_savedCollisionFlags&btCollisionObject::CF_NO_CONTACT_RESPONSE)), - btBroadphaseProxy::StaticFilter, - btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); - m_bDyna = false; - } -} - -void KX_BulletPhysicsController::RestoreDynamics() -{ - btRigidBody *body = GetRigidBody(); - if (body && m_suspended) - { - // before make sure any position change that was done in this logic frame are accounted for - SetTransform(); - GetPhysicsEnvironment()->updateCcdPhysicsController(this, - m_savedMass, - m_savedCollisionFlags, - m_savedCollisionFilterGroup, - m_savedCollisionFilterMask); - body->activate(); - m_bDyna = m_savedDyna; - m_suspended = false; - } -} - -SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode) -{ - PHY_IMotionState* motionstate = new KX_MotionState(destnode); - - KX_BulletPhysicsController* physicsreplica = new KX_BulletPhysicsController(*this); - - //parentcontroller is here be able to avoid collisions between parent/child - - PHY_IPhysicsController* parentctrl = NULL; - KX_BulletPhysicsController* parentKxCtrl = NULL; - CcdPhysicsController* ccdParent = NULL; - - - if (destnode != destnode->GetRootSGParent()) - { - KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject(); - if (clientgameobj) - { - parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController(); - } else - { - // it could be a false node, try the children - NodeList::const_iterator childit; - for ( - childit = destnode->GetSGChildren().begin(); - childit!= destnode->GetSGChildren().end(); - ++childit - ) { - KX_GameObject *clientgameobj_child = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject()); - if (clientgameobj_child) - { - parentKxCtrl = (KX_BulletPhysicsController*)clientgameobj_child->GetPhysicsController(); - parentctrl = parentKxCtrl; - ccdParent = parentKxCtrl; - } - } - } - } - - physicsreplica->setParentCtrl(ccdParent); - physicsreplica->PostProcessReplica(motionstate,parentctrl); - physicsreplica->m_userdata = (PHY_IPhysicsController*)physicsreplica; - physicsreplica->m_bulletChildShape = NULL; - return physicsreplica; - -} - - - -void KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly) -{ - - if (!m_bDyna && !m_bSensor && !m_bCharacter) - { - btCollisionObject* object = GetRigidBody(); - object->setActivationState(ACTIVE_TAG); - object->setCollisionFlags(object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); - } else - { - if (!nondynaonly) - { - /* - btTransform worldTrans; - if (GetRigidBody()) - { - GetRigidBody()->getMotionState()->getWorldTransform(worldTrans); - GetRigidBody()->setCenterOfMassTransform(worldTrans); - } - */ - /* - scaling? - if (m_bDyna) - { - m_sumoObj->setScaling(MT_Vector3(1,1,1)); - } else - { - MT_Vector3 scale; - GetWorldScaling(scale); - m_sumoObj->setScaling(scale); - } - */ - - } - } -} - -// todo: remove next line ! -void KX_BulletPhysicsController::SetSimulatedTime(double time) -{ -} - -// call from scene graph to update -bool KX_BulletPhysicsController::Update(double time) -{ - return false; - - // todo: check this code - //if (GetMass()) - //{ - // return false;//true; -// } -// return false; -} - - -const char* KX_BulletPhysicsController::getName() -{ - if (m_pObject) - { - KX_GameObject* gameobj = (KX_GameObject*) m_pObject->GetSGClientObject(); - return gameobj->GetName(); - } - return 0; -} - -#endif // WITH_BULLET diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h deleted file mode 100644 index 3d13744567b..00000000000 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h +++ /dev/null @@ -1,102 +0,0 @@ - -/** \file KX_BulletPhysicsController.h - * \ingroup ketsji - */ - -#ifndef __KX_BULLETPHYSICSCONTROLLER_H__ -#define __KX_BULLETPHYSICSCONTROLLER_H__ - - -#include "KX_IPhysicsController.h" -#ifdef WITH_BULLET -#include "CcdPhysicsController.h" -#endif - -class KX_BulletPhysicsController : public KX_IPhysicsController, public CcdPhysicsController -{ -private: - int m_savedCollisionFlags; - int m_savedActivationState; - short int m_savedCollisionFilterGroup; - short int m_savedCollisionFilterMask; - MT_Scalar m_savedMass; - bool m_savedDyna; - bool m_suspended; - btCollisionShape* m_bulletChildShape; - -public: -#ifdef WITH_BULLET - KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool character, bool compound); - virtual ~KX_BulletPhysicsController (); -#endif - /////////////////////////////////// - // KX_IPhysicsController interface - //////////////////////////////////// - - virtual void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse); - virtual void SetObject (SG_IObject* object); - 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); - virtual void ApplyForce(const MT_Vector3& force,bool local); - virtual void SetWalkDirection(const MT_Vector3& dir,bool local); - virtual MT_Vector3 GetLinearVelocity(); - virtual MT_Vector3 GetAngularVelocity(); - virtual MT_Vector3 GetVelocity(const MT_Point3& pos); - virtual MT_Vector3 GetWalkDirection(); - virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local); - virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local); - virtual void Jump(); - virtual void getOrientation(MT_Quaternion& orn); - virtual void setOrientation(const MT_Matrix3x3& orn); - virtual void setPosition(const MT_Point3& pos); - virtual void setScaling(const MT_Vector3& scaling); - virtual void SetTransform(); - virtual MT_Scalar GetMass(); - virtual void SetMass(MT_Scalar newmass); - virtual MT_Vector3 GetLocalInertia(); - virtual MT_Vector3 getReactionForce(); - virtual void setRigidBody(bool rigid); - virtual void AddCompoundChild(KX_IPhysicsController* child); - virtual void RemoveCompoundChild(KX_IPhysicsController* child); - - virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ); - - virtual void SuspendDynamics(bool ghost); - virtual void RestoreDynamics(); - - virtual SG_Controller* GetReplica(class SG_Node* destnode); - - virtual MT_Scalar GetRadius(); - - virtual float GetLinVelocityMin(); - virtual void SetLinVelocityMin(float val); - virtual float GetLinVelocityMax(); - virtual void SetLinVelocityMax(float val); - - virtual void SetSumoTransform(bool nondynaonly); - // todo: remove next line ! - virtual void SetSimulatedTime(double time); - - // call from scene graph to update - virtual bool Update(double time); - void* GetUserData() { return m_userdata;} - - virtual const char* getName(); - - void - SetOption( - int option, - int value - ) { - // intentionally empty - }; - - -#ifdef WITH_CXX_GUARDEDALLOC - MEM_CXX_CLASS_ALLOC_FUNCS("GE:KX_BulletPhysicsController") -#endif -}; - -#endif /* __KX_BULLETPHYSICSCONTROLLER_H__ */ diff --git a/source/gameengine/Ketsji/KX_CharacterWrapper.cpp b/source/gameengine/Ketsji/KX_CharacterWrapper.cpp index 899a153d80f..fdf4fa01b03 100644 --- a/source/gameengine/Ketsji/KX_CharacterWrapper.cpp +++ b/source/gameengine/Ketsji/KX_CharacterWrapper.cpp @@ -34,8 +34,6 @@ KX_CharacterWrapper::KX_CharacterWrapper(PHY_ICharacter* character) : KX_CharacterWrapper::~KX_CharacterWrapper() { - if (m_character) - delete m_character; // We're responsible for the character object! } #ifdef WITH_PYTHON diff --git a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp index a3059317d36..0c5e21322df 100644 --- a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp +++ b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp @@ -331,7 +331,7 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame) { MT_Point3 topoint = position + (m_maximumBound) * direction; PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment(); - KX_IPhysicsController *spc = obj->GetPhysicsController(); + PHY_IPhysicsController *spc = obj->GetPhysicsController(); if (!pe) { std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no physics environment!" << std::endl; @@ -345,7 +345,7 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame) parent->Release(); } } - KX_RayCast::Callback<KX_ConstraintActuator> callback(this,spc); + KX_RayCast::Callback<KX_ConstraintActuator> callback(this,dynamic_cast<PHY_IPhysicsController*>(spc)); result = KX_RayCast::RayTest(pe, position, topoint, callback); if (result) { MT_Vector3 newnormal = callback.m_hitNormal; @@ -379,7 +379,7 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame) // logically we should cancel the speed along the ray direction as we set the // position along that axis spc = obj->GetPhysicsController(); - if (spc && spc->IsDyna()) { + if (spc && spc->IsDynamic()) { MT_Vector3 linV = spc->GetLinearVelocity(); // cancel the projection along the ray direction MT_Scalar fallspeed = linV.dot(direction); @@ -444,20 +444,20 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame) normal.normalize(); { PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment(); - KX_IPhysicsController *spc = obj->GetPhysicsController(); + PHY_IPhysicsController *spc = obj->GetPhysicsController(); if (!pe) { std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no physics environment!" << std::endl; goto CHECK_TIME; } - if (!spc || !spc->IsDyna()) { + if (!spc || !spc->IsDynamic()) { // the object is not dynamic, it won't support setting speed goto CHECK_TIME; } m_hitObject = NULL; // distance of Fh area is stored in m_minimum MT_Point3 topoint = position + (m_minimumBound+spc->GetRadius()) * direction; - KX_RayCast::Callback<KX_ConstraintActuator> callback(this,spc); + KX_RayCast::Callback<KX_ConstraintActuator> callback(this, spc); result = KX_RayCast::RayTest(pe, position, topoint, callback); // we expect a hit object if (!m_hitObject) diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp index e09449c4f1d..793324fab75 100644 --- a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp +++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp @@ -64,7 +64,7 @@ PyObject *KX_ConstraintWrapper::PyGetParam(PyObject *args, PyObject *kwds) if (!PyArg_ParseTuple(args,"i:getParam",&dof)) return NULL; - value = m_physenv->getConstraintParam(m_constraintId,dof); + value = m_physenv->GetConstraintParam(m_constraintId,dof); return PyFloat_FromDouble(value); } @@ -77,7 +77,7 @@ PyObject *KX_ConstraintWrapper::PySetParam(PyObject *args, PyObject *kwds) if (!PyArg_ParseTuple(args,"iff:setParam",&dof,&minLimit,&maxLimit)) return NULL; - m_physenv->setConstraintParam(m_constraintId,dof,minLimit,maxLimit); + m_physenv->SetConstraintParam(m_constraintId,dof,minLimit,maxLimit); Py_RETURN_NONE; } diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index ece6abc9447..bde50588fd3 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -65,7 +65,6 @@ extern "C"{ #include "CcdPhysicsController.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" -#include "KX_BulletPhysicsController.h" #include "btBulletDynamicsCommon.h" #ifdef WIN32 @@ -255,7 +254,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, { //find parent, compound shape and add to it //take relative transform into account! - KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController(); + CcdPhysicsController* parentCtrl = (CcdPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController(); assert(parentCtrl); CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo(); btRigidBody* rigidbody = parentCtrl->GetRigidBody(); @@ -424,12 +423,13 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, ci.m_contactProcessingThreshold = objprop->m_contactProcessingThreshold;//todo: expose this in advanced settings, just like margin, default to 10000 or so ci.m_bSoft = objprop->m_softbody; + ci.m_bDyna = isbulletdyna; ci.m_bSensor = isbulletsensor; ci.m_bCharacter = isbulletchar; ci.m_bGimpact = useGimpact; MT_Vector3 scaling = gameobj->NodeGetWorldScaling(); ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]); - KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna,isbulletsensor,isbulletchar,objprop->m_hasCompoundChildren); + CcdPhysicsController* physicscontroller = new CcdPhysicsController(ci); // shapeInfo is reference counted, decrement now as we don't use it anymore if (shapeInfo) shapeInfo->Release(); @@ -438,9 +438,9 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, // don't add automatically sensor object, they are added when a collision sensor is registered if (!isbulletsensor && objprop->m_in_active_layer) { - env->addCcdPhysicsController( physicscontroller); + env->AddCcdPhysicsController( physicscontroller); } - physicscontroller->setNewClientInfo(gameobj->getClientInfo()); + physicscontroller->SetNewClientInfo(gameobj->getClientInfo()); { btRigidBody* rbody = physicscontroller->GetRigidBody(); @@ -459,8 +459,8 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, } } - CcdPhysicsController* parentCtrl = objprop->m_dynamic_parent ? (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController() : 0; - physicscontroller->setParentCtrl(parentCtrl); + CcdPhysicsController* parentCtrl = objprop->m_dynamic_parent ? (CcdPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController() : 0; + physicscontroller->SetParentCtrl(parentCtrl); //Now done directly in ci.m_collisionFlags so that it propagates to replica @@ -504,13 +504,11 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, } - gameobj->GetSGNode()->AddSGController(physicscontroller); STR_String materialname; if (meshobj) materialname = meshobj->GetMaterialName(0); - physicscontroller->SetObject(gameobj->GetSGNode()); #if 0 ///test for soft bodies @@ -546,7 +544,7 @@ void KX_ClearBulletSharedShapes() */ bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj) { - KX_BulletPhysicsController *spc= static_cast<KX_BulletPhysicsController*>((gameobj->GetPhysicsController())); + CcdPhysicsController *spc= static_cast<CcdPhysicsController*>(gameobj->GetPhysicsController()); CcdShapeConstructionInfo *shapeInfo; /* if this is the child of a compound shape this can happen @@ -568,7 +566,7 @@ bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *fro shapeInfo->UpdateMesh(from_gameobj, from_meshobj); /* create the new bullet mesh */ - CcdConstructionInfo& cci = spc->getConstructionInfo(); + CcdConstructionInfo& cci = spc->GetConstructionInfo(); btCollisionShape* bm= shapeInfo->CreateBulletShape(cci.m_margin, cci.m_bGimpact, !cci.m_bSoft); spc->ReplaceControllerShape(bm); diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp index e06f7ab6633..96f76ff21b1 100644 --- a/source/gameengine/Ketsji/KX_GameObject.cpp +++ b/source/gameengine/Ketsji/KX_GameObject.cpp @@ -55,7 +55,6 @@ typedef unsigned long uint_ptr; #include "KX_PolyProxy.h" #include <stdio.h> // printf #include "SG_Controller.h" -#include "KX_IPhysicsController.h" #include "PHY_IGraphicController.h" #include "SG_Node.h" #include "SG_Controller.h" @@ -105,7 +104,7 @@ KX_GameObject::KX_GameObject( m_bVisible(true), m_bCulled(true), m_bOccluder(false), - m_pPhysicsController1(NULL), + m_pPhysicsController(NULL), m_pGraphicController(NULL), m_xray(false), m_pHitObject(NULL), @@ -177,6 +176,11 @@ KX_GameObject::~KX_GameObject() delete m_pGraphicController; } + if (m_pPhysicsController) + { + delete m_pPhysicsController; + } + if (m_pObstacleSimulation) { m_pObstacleSimulation->DestroyObstacleForObj(this); @@ -245,9 +249,9 @@ void KX_GameObject::SetName(const char *name) m_name = name; } -KX_IPhysicsController* KX_GameObject::GetPhysicsController() +PHY_IPhysicsController* KX_GameObject::GetPhysicsController() { - return m_pPhysicsController1; + return m_pPhysicsController; } KX_GameObject* KX_GameObject::GetDupliGroupObject() @@ -333,9 +337,9 @@ void KX_GameObject::SetParent(KX_Scene *scene, KX_GameObject* obj, bool addToCom RemoveParent(scene); obj->GetSGNode()->AddChild(GetSGNode()); - if (m_pPhysicsController1) + if (m_pPhysicsController) { - m_pPhysicsController1->SuspendDynamics(ghost); + m_pPhysicsController->SuspendDynamics(ghost); } // Set us to our new scale, position, and orientation scale2[0] = 1.0/scale2[0]; @@ -356,16 +360,16 @@ void KX_GameObject::SetParent(KX_Scene *scene, KX_GameObject* obj, bool addToCom Release(); // if the new parent is a compound object, add this object shape to the compound shape. // step 0: verify this object has physical controller - if (m_pPhysicsController1 && addToCompound) + if (m_pPhysicsController && addToCompound) { // step 1: find the top parent (not necessarily obj) KX_GameObject* rootobj = (KX_GameObject*)obj->GetSGNode()->GetRootSGParent()->GetSGClientObject(); // step 2: verify it has a physical controller and compound shape if (rootobj != NULL && - rootobj->m_pPhysicsController1 != NULL && - rootobj->m_pPhysicsController1->IsCompound()) + rootobj->m_pPhysicsController != NULL && + rootobj->m_pPhysicsController->IsCompound()) { - rootobj->m_pPhysicsController1->AddCompoundChild(m_pPhysicsController1); + rootobj->m_pPhysicsController->AddCompoundChild(m_pPhysicsController); } } // graphically, the object hasn't change place, no need to update m_pGraphicController @@ -392,27 +396,27 @@ void KX_GameObject::RemoveParent(KX_Scene *scene) if (!rootlist->SearchValue(this)) // object was not in root list, add it now and increment ref count rootlist->Add(AddRef()); - if (m_pPhysicsController1) + if (m_pPhysicsController) { // in case this controller was added as a child shape to the parent if (rootobj != NULL && - rootobj->m_pPhysicsController1 != NULL && - rootobj->m_pPhysicsController1->IsCompound()) + rootobj->m_pPhysicsController != NULL && + rootobj->m_pPhysicsController->IsCompound()) { - rootobj->m_pPhysicsController1->RemoveCompoundChild(m_pPhysicsController1); + rootobj->m_pPhysicsController->RemoveCompoundChild(m_pPhysicsController); } - m_pPhysicsController1->RestoreDynamics(); - if (m_pPhysicsController1->IsDyna() && (rootobj != NULL && rootobj->m_pPhysicsController1)) + m_pPhysicsController->RestoreDynamics(); + if (m_pPhysicsController->IsDynamic() && (rootobj != NULL && rootobj->m_pPhysicsController)) { // dynamic object should remember the velocity they had while being parented MT_Point3 childPoint = GetSGNode()->GetWorldPosition(); MT_Point3 rootPoint = rootobj->GetSGNode()->GetWorldPosition(); MT_Point3 relPoint; relPoint = (childPoint-rootPoint); - MT_Vector3 linVel = rootobj->m_pPhysicsController1->GetVelocity(relPoint); - MT_Vector3 angVel = rootobj->m_pPhysicsController1->GetAngularVelocity(); - m_pPhysicsController1->SetLinearVelocity(linVel, false); - m_pPhysicsController1->SetAngularVelocity(angVel, false); + MT_Vector3 linVel = rootobj->m_pPhysicsController->GetVelocity(relPoint); + MT_Vector3 angVel = rootobj->m_pPhysicsController->GetAngularVelocity(); + m_pPhysicsController->SetLinearVelocity(linVel, false); + m_pPhysicsController->SetAngularVelocity(angVel, false); } } // graphically, the object hasn't change place, no need to update m_pGraphicController @@ -488,9 +492,9 @@ void KX_GameObject::SetTimes(short layer, float start, float end) void KX_GameObject::ProcessReplica() { SCA_IObject::ProcessReplica(); - - m_pPhysicsController1 = NULL; + m_pGraphicController = NULL; + m_pPhysicsController = NULL; m_pSGNode = NULL; m_pClient_info = new KX_ClientObjectInfo(*m_pClient_info); m_pClient_info->m_gameobject = this; @@ -570,16 +574,16 @@ CValue* KX_GameObject::GetReplica() void KX_GameObject::ApplyForce(const MT_Vector3& force,bool local) { - if (m_pPhysicsController1) - m_pPhysicsController1->ApplyForce(force,local); + if (m_pPhysicsController) + m_pPhysicsController->ApplyForce(force,local); } void KX_GameObject::ApplyTorque(const MT_Vector3& torque,bool local) { - if (m_pPhysicsController1) - m_pPhysicsController1->ApplyTorque(torque,local); + if (m_pPhysicsController) + m_pPhysicsController->ApplyTorque(torque,local); } @@ -588,9 +592,9 @@ void KX_GameObject::ApplyMovement(const MT_Vector3& dloc,bool local) { if (GetSGNode()) { - if (m_pPhysicsController1) // (IsDynamic()) + if (m_pPhysicsController) // (IsDynamic()) { - m_pPhysicsController1->RelativeTranslate(dloc,local); + m_pPhysicsController->RelativeTranslate(dloc,local); } GetSGNode()->RelativeTranslate(dloc,GetSGNode()->GetSGParent(),local); } @@ -605,8 +609,8 @@ void KX_GameObject::ApplyRotation(const MT_Vector3& drot,bool local) if (GetSGNode()) { GetSGNode()->RelativeRotate(rotmat,local); - if (m_pPhysicsController1) { // (IsDynamic()) - m_pPhysicsController1->RelativeRotate(rotmat,local); + if (m_pPhysicsController) { // (IsDynamic()) + m_pPhysicsController->RelativeRotate(rotmat,local); } } } @@ -730,11 +734,8 @@ void KX_GameObject::RemoveMeshes() void KX_GameObject::UpdateTransform() { // HACK: saves function call for dynamic object, they are handled differently - if (m_pPhysicsController1 && !m_pPhysicsController1->IsDyna()) - // Note that for Bullet, this does not even update the transform of static object - // but merely sets there collision flag to "kinematic" because the synchronization is - // done during physics simulation - m_pPhysicsController1->SetSumoTransform(true); + if (m_pPhysicsController && !m_pPhysicsController->IsDynamic()) + m_pPhysicsController->SetTransform(); if (m_pGraphicController) // update the culling tree m_pGraphicController->SetGraphicTransform(); @@ -749,8 +750,8 @@ void KX_GameObject::UpdateTransformFunc(SG_IObject* node, void* gameobj, void* s void KX_GameObject::SynchronizeTransform() { // only used for sensor object, do full synchronization as bullet doesn't do it - if (m_pPhysicsController1) - m_pPhysicsController1->SetTransform(); + if (m_pPhysicsController) + m_pPhysicsController->SetTransform(); if (m_pGraphicController) m_pGraphicController->SetGraphicTransform(); } @@ -935,10 +936,10 @@ KX_GameObject::GetLayer( void KX_GameObject::addLinearVelocity(const MT_Vector3& lin_vel,bool local) { - if (m_pPhysicsController1) + if (m_pPhysicsController) { MT_Vector3 lv = local ? NodeGetWorldOrientation() * lin_vel : lin_vel; - m_pPhysicsController1->SetLinearVelocity(lv + m_pPhysicsController1->GetLinearVelocity(), 0); + m_pPhysicsController->SetLinearVelocity(lv + m_pPhysicsController->GetLinearVelocity(), 0); } } @@ -946,16 +947,16 @@ void KX_GameObject::addLinearVelocity(const MT_Vector3& lin_vel,bool local) void KX_GameObject::setLinearVelocity(const MT_Vector3& lin_vel,bool local) { - if (m_pPhysicsController1) - m_pPhysicsController1->SetLinearVelocity(lin_vel,local); + if (m_pPhysicsController) + m_pPhysicsController->SetLinearVelocity(lin_vel,local); } void KX_GameObject::setAngularVelocity(const MT_Vector3& ang_vel,bool local) { - if (m_pPhysicsController1) - m_pPhysicsController1->SetAngularVelocity(ang_vel,local); + if (m_pPhysicsController) + m_pPhysicsController->SetAngularVelocity(ang_vel,local); } @@ -965,12 +966,12 @@ void KX_GameObject::ResolveCombinedVelocities( bool lin_vel_local, bool ang_vel_local ) { - if (m_pPhysicsController1) + if (m_pPhysicsController) { MT_Vector3 lv = lin_vel_local ? NodeGetWorldOrientation() * lin_vel : lin_vel; MT_Vector3 av = ang_vel_local ? NodeGetWorldOrientation() * ang_vel : ang_vel; - m_pPhysicsController1->resolveCombinedVelocities( + m_pPhysicsController->ResolveCombinedVelocities( lv.x(),lv.y(),lv.z(),av.x(),av.y(),av.z()); } } @@ -1082,9 +1083,9 @@ void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis, float fac) MT_Scalar KX_GameObject::GetMass() { - if (m_pPhysicsController1) + if (m_pPhysicsController) { - return m_pPhysicsController1->GetMass(); + return m_pPhysicsController->GetMass(); } return 0.0; } @@ -1092,9 +1093,9 @@ MT_Scalar KX_GameObject::GetMass() MT_Vector3 KX_GameObject::GetLocalInertia() { MT_Vector3 local_inertia(0.0,0.0,0.0); - if (m_pPhysicsController1) + if (m_pPhysicsController) { - local_inertia = m_pPhysicsController1->GetLocalInertia(); + local_inertia = m_pPhysicsController->GetLocalInertia(); } return local_inertia; } @@ -1103,9 +1104,9 @@ MT_Vector3 KX_GameObject::GetLinearVelocity(bool local) { MT_Vector3 velocity(0.0,0.0,0.0), locvel; MT_Matrix3x3 ori; - if (m_pPhysicsController1) + if (m_pPhysicsController) { - velocity = m_pPhysicsController1->GetLinearVelocity(); + velocity = m_pPhysicsController->GetLinearVelocity(); if (local) { @@ -1122,9 +1123,9 @@ MT_Vector3 KX_GameObject::GetAngularVelocity(bool local) { MT_Vector3 velocity(0.0,0.0,0.0), locvel; MT_Matrix3x3 ori; - if (m_pPhysicsController1) + if (m_pPhysicsController) { - velocity = m_pPhysicsController1->GetAngularVelocity(); + velocity = m_pPhysicsController->GetAngularVelocity(); if (local) { @@ -1139,9 +1140,9 @@ MT_Vector3 KX_GameObject::GetAngularVelocity(bool local) MT_Vector3 KX_GameObject::GetVelocity(const MT_Point3& point) { - if (m_pPhysicsController1) + if (m_pPhysicsController) { - return m_pPhysicsController1->GetVelocity(point); + return m_pPhysicsController->GetVelocity(point); } return MT_Vector3(0.0,0.0,0.0); } @@ -1154,13 +1155,13 @@ void KX_GameObject::NodeSetLocalPosition(const MT_Point3& trans) if (!GetSGNode()) return; - if (m_pPhysicsController1 && !GetSGNode()->GetSGParent()) + if (m_pPhysicsController && !GetSGNode()->GetSGParent()) { // don't update physic controller if the object is a child: // 1) the transformation will not be right // 2) in this case, the physic controller is necessarily a static object // that is updated from the normal kinematic synchronization - m_pPhysicsController1->setPosition(trans); + m_pPhysicsController->SetPosition(trans); } GetSGNode()->SetLocalPosition(trans); @@ -1175,10 +1176,10 @@ void KX_GameObject::NodeSetLocalOrientation(const MT_Matrix3x3& rot) if (!GetSGNode()) return; - if (m_pPhysicsController1 && !GetSGNode()->GetSGParent()) + if (m_pPhysicsController && !GetSGNode()->GetSGParent()) { // see note above - m_pPhysicsController1->setOrientation(rot); + m_pPhysicsController->SetOrientation(rot); } GetSGNode()->SetLocalOrientation(rot); } @@ -1201,10 +1202,10 @@ void KX_GameObject::NodeSetLocalScale(const MT_Vector3& scale) if (!GetSGNode()) return; - if (m_pPhysicsController1 && !GetSGNode()->GetSGParent()) + if (m_pPhysicsController && !GetSGNode()->GetSGParent()) { // see note above - m_pPhysicsController1->setScaling(scale); + m_pPhysicsController->SetScaling(scale); } GetSGNode()->SetLocalScale(scale); } @@ -1216,13 +1217,13 @@ void KX_GameObject::NodeSetRelativeScale(const MT_Vector3& scale) if (GetSGNode()) { GetSGNode()->RelativeScale(scale); - if (m_pPhysicsController1 && (!GetSGNode()->GetSGParent())) + if (m_pPhysicsController && (!GetSGNode()->GetSGParent())) { // see note above // we can use the local scale: it's the same thing for a root object // and the world scale is not yet updated MT_Vector3 newscale = GetSGNode()->GetLocalScale(); - m_pPhysicsController1->setScaling(newscale); + m_pPhysicsController->SetScaling(newscale); } } } @@ -1355,13 +1356,13 @@ void KX_GameObject::UnregisterCollisionCallbacks() // Unregister from callbacks KX_Scene* scene = GetScene(); PHY_IPhysicsEnvironment* pe = scene->GetPhysicsEnvironment(); - PHY_IPhysicsController* spc = static_cast<PHY_IPhysicsController*> (GetPhysicsController()->GetUserData()); + PHY_IPhysicsController* spc = GetPhysicsController(); // If we are the last to unregister on this physics controller - if (pe->removeCollisionCallback(spc)){ + if (pe->RemoveCollisionCallback(spc)){ // If we are a sensor object if (m_pClient_info->isSensor()) // Remove sensor body from physics world - pe->removeSensor(spc); + pe->RemoveSensor(spc); } } @@ -1375,13 +1376,13 @@ void KX_GameObject::RegisterCollisionCallbacks() // Register from callbacks KX_Scene* scene = GetScene(); PHY_IPhysicsEnvironment* pe = scene->GetPhysicsEnvironment(); - PHY_IPhysicsController* spc = static_cast<PHY_IPhysicsController*> (GetPhysicsController()->GetUserData()); + PHY_IPhysicsController* spc = GetPhysicsController(); // If we are the first to register on this physics controller - if (pe->requestCollisionCallback(spc)){ + if (pe->RequestCollisionCallback(spc)){ // If we are a sensor object if (m_pClient_info->isSensor()) // Add sensor body to physics world - pe->addSensor(spc); + pe->AddSensor(spc); } } void KX_GameObject::RunCollisionCallbacks(KX_GameObject *collider) @@ -2170,14 +2171,14 @@ PyObject *KX_GameObject::pyattr_get_life(void *self_v, const KX_PYATTRIBUTE_DEF PyObject *KX_GameObject::pyattr_get_mass(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef) { KX_GameObject* self = static_cast<KX_GameObject*>(self_v); - KX_IPhysicsController *spc = self->GetPhysicsController(); + PHY_IPhysicsController *spc = self->GetPhysicsController(); return PyFloat_FromDouble(spc ? spc->GetMass() : 0.0); } int KX_GameObject::pyattr_set_mass(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value) { KX_GameObject* self = static_cast<KX_GameObject*>(self_v); - KX_IPhysicsController *spc = self->GetPhysicsController(); + PHY_IPhysicsController *spc = self->GetPhysicsController(); MT_Scalar val = PyFloat_AsDouble(value); if (val < 0.0) { /* also accounts for non float */ PyErr_SetString(PyExc_AttributeError, "gameOb.mass = float: KX_GameObject, expected a float zero or above"); @@ -2193,14 +2194,14 @@ int KX_GameObject::pyattr_set_mass(void *self_v, const KX_PYATTRIBUTE_DEF *attrd PyObject *KX_GameObject::pyattr_get_lin_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef) { KX_GameObject* self = static_cast<KX_GameObject*>(self_v); - KX_IPhysicsController *spc = self->GetPhysicsController(); + PHY_IPhysicsController *spc = self->GetPhysicsController(); return PyFloat_FromDouble(spc ? spc->GetLinVelocityMin() : 0.0f); } int KX_GameObject::pyattr_set_lin_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value) { KX_GameObject* self = static_cast<KX_GameObject*>(self_v); - KX_IPhysicsController *spc = self->GetPhysicsController(); + PHY_IPhysicsController *spc = self->GetPhysicsController(); MT_Scalar val = PyFloat_AsDouble(value); if (val < 0.0) { /* also accounts for non float */ PyErr_SetString(PyExc_AttributeError, "gameOb.linVelocityMin = float: KX_GameObject, expected a float zero or above"); @@ -2216,14 +2217,14 @@ int KX_GameObject::pyattr_set_lin_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF PyObject *KX_GameObject::pyattr_get_lin_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef) { KX_GameObject* self = static_cast<KX_GameObject*>(self_v); - KX_IPhysicsController *spc = self->GetPhysicsController(); + PHY_IPhysicsController *spc = self->GetPhysicsController(); return PyFloat_FromDouble(spc ? spc->GetLinVelocityMax() : 0.0f); } int KX_GameObject::pyattr_set_lin_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value) { KX_GameObject* self = static_cast<KX_GameObject*>(self_v); - KX_IPhysicsController *spc = self->GetPhysicsController(); + PHY_IPhysicsController *spc = self->GetPhysicsController(); MT_Scalar val = PyFloat_AsDouble(value); if (val < 0.0) { /* also accounts for non float */ PyErr_SetString(PyExc_AttributeError, "gameOb.linVelocityMax = float: KX_GameObject, expected a float zero or above"); @@ -2307,8 +2308,8 @@ PyObject *KX_GameObject::pyattr_get_localInertia(void *self_v, const KX_PYATTRIB return Vector_CreatePyObject_cb(BGE_PROXY_FROM_REF(self_v), 3, mathutils_kxgameob_vector_cb_index, MATHUTILS_VEC_CB_INERTIA_LOCAL); #else KX_GameObject* self = static_cast<KX_GameObject*>(self_v); - if (self->GetPhysicsController()) - return PyObjectFrom(self->GetPhysicsController()->GetLocalInertia()); + if (self->GetPhysicsController1()) + return PyObjectFrom(self->GetPhysicsController1()->GetLocalInertia()); return Py_BuildValue("fff", 0.0f, 0.0f, 0.0f); #endif } @@ -2854,14 +2855,8 @@ PyObject *KX_GameObject::PyGetVelocity(PyObject *args) if (!PyArg_ParseTuple(args, "|O:getVelocity", &pypos) || (pypos && !PyVecTo(pypos, point))) return NULL; - - if (m_pPhysicsController1) - { - return PyObjectFrom(m_pPhysicsController1->GetVelocity(point)); - } - else { - return PyObjectFrom(MT_Vector3(0.0,0.0,0.0)); - } + + return PyObjectFrom(GetVelocity(point)); } PyObject *KX_GameObject::PyGetReactionForce() @@ -2870,8 +2865,8 @@ PyObject *KX_GameObject::PyGetReactionForce() // XXX - Currently not working with bullet intergration, see KX_BulletPhysicsController.cpp's getReactionForce #if 0 - if (GetPhysicsController()) - return PyObjectFrom(GetPhysicsController()->getReactionForce()); + if (GetPhysicsController1()) + return PyObjectFrom(GetPhysicsController1()->getReactionForce()); return PyObjectFrom(dummy_point); #endif @@ -2884,7 +2879,7 @@ PyObject *KX_GameObject::PyGetReactionForce() PyObject *KX_GameObject::PyEnableRigidBody() { if (GetPhysicsController()) - GetPhysicsController()->setRigidBody(true); + GetPhysicsController()->SetRigidBody(true); Py_RETURN_NONE; } @@ -2894,7 +2889,7 @@ PyObject *KX_GameObject::PyEnableRigidBody() PyObject *KX_GameObject::PyDisableRigidBody() { if (GetPhysicsController()) - GetPhysicsController()->setRigidBody(false); + GetPhysicsController()->SetRigidBody(false); Py_RETURN_NONE; } @@ -2935,9 +2930,9 @@ PyObject *KX_GameObject::PySetCollisionMargin(PyObject *value) return NULL; } - if (m_pPhysicsController1) + if (m_pPhysicsController) { - m_pPhysicsController1->setMargin(collisionMargin); + m_pPhysicsController->SetMargin(collisionMargin); Py_RETURN_NONE; } PyErr_SetString(PyExc_RuntimeError, "This object has no physics controller"); @@ -2951,7 +2946,7 @@ PyObject *KX_GameObject::PyApplyImpulse(PyObject *args) PyObject *pyattach; PyObject *pyimpulse; - if (!m_pPhysicsController1) { + if (!m_pPhysicsController) { PyErr_SetString(PyExc_RuntimeError, "This object has no physics controller"); return NULL; } @@ -2962,7 +2957,7 @@ PyObject *KX_GameObject::PyApplyImpulse(PyObject *args) MT_Vector3 impulse; if (PyVecTo(pyattach, attach) && PyVecTo(pyimpulse, impulse)) { - m_pPhysicsController1->applyImpulse(attach, impulse); + m_pPhysicsController->ApplyImpulse(attach, impulse); Py_RETURN_NONE; } @@ -2975,7 +2970,7 @@ PyObject *KX_GameObject::PyApplyImpulse(PyObject *args) PyObject *KX_GameObject::PySuspendDynamics() { - SuspendDynamics(); + GetPhysicsController()->SuspendDynamics(); Py_RETURN_NONE; } @@ -2983,7 +2978,7 @@ PyObject *KX_GameObject::PySuspendDynamics() PyObject *KX_GameObject::PyRestoreDynamics() { - RestoreDynamics(); + GetPhysicsController()->RestoreDynamics(); Py_RETURN_NONE; } @@ -3023,11 +3018,11 @@ PyObject *KX_GameObject::PyGetAxisVect(PyObject *value) PyObject *KX_GameObject::PyGetPhysicsId() { - KX_IPhysicsController* ctrl = GetPhysicsController(); + PHY_IPhysicsController* ctrl = GetPhysicsController(); uint_ptr physid=0; if (ctrl) { - physid= (uint_ptr)ctrl->GetUserData(); + physid= (uint_ptr)ctrl; } return PyLong_FromLong((long)physid); } @@ -3190,7 +3185,7 @@ KX_PYMETHODDEF_DOC(KX_GameObject, rayCastTo, toPoint = fromPoint + dist * (toPoint-fromPoint).safe_normalized(); PHY_IPhysicsEnvironment* pe = GetScene()->GetPhysicsEnvironment(); - KX_IPhysicsController *spc = GetPhysicsController(); + PHY_IPhysicsController *spc = GetPhysicsController(); KX_GameObject *parent = GetParent(); if (!spc && parent) spc = parent->GetPhysicsController(); @@ -3336,7 +3331,7 @@ KX_PYMETHODDEF_DOC(KX_GameObject, rayCast, } PHY_IPhysicsEnvironment* pe = GetScene()->GetPhysicsEnvironment(); - KX_IPhysicsController *spc = GetPhysicsController(); + PHY_IPhysicsController *spc = GetPhysicsController(); KX_GameObject *parent = GetParent(); if (!spc && parent) spc = parent->GetPhysicsController(); diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h index dde3ff53299..55e2b31c5bf 100644 --- a/source/gameengine/Ketsji/KX_GameObject.h +++ b/source/gameengine/Ketsji/KX_GameObject.h @@ -49,7 +49,6 @@ #include "CTR_HashedPtr.h" #include "KX_Scene.h" #include "KX_KetsjiEngine.h" /* for m_anim_framerate */ -#include "KX_IPhysicsController.h" /* for suspend/resume */ #include "DNA_object_types.h" #include "SCA_LogicManager.h" /* for ConvertPythonToGameObject to search object names */ @@ -57,9 +56,9 @@ struct KX_ClientObjectInfo; class KX_RayCast; class RAS_MeshObject; -class KX_IPhysicsController; class PHY_IGraphicController; class PHY_IPhysicsEnvironment; +class PHY_IPhysicsController; class BL_ActionManager; struct Object; class KX_ObstacleSimulation; @@ -107,7 +106,7 @@ protected: bool m_bCulled; bool m_bOccluder; - KX_IPhysicsController* m_pPhysicsController1; + PHY_IPhysicsController* m_pPhysicsController; PHY_IGraphicController* m_pGraphicController; STR_String m_testPropName; bool m_xray; @@ -465,12 +464,12 @@ public: * \return a pointer to the physics controller owned by this class. */ - KX_IPhysicsController* GetPhysicsController(); + PHY_IPhysicsController* GetPhysicsController(); - void SetPhysicsController(KX_IPhysicsController* physicscontroller,bool isDynamic) + void SetPhysicsController(PHY_IPhysicsController* physicscontroller,bool isDynamic) { m_bDyna = isDynamic; - m_pPhysicsController1 = physicscontroller; + m_pPhysicsController = physicscontroller; } virtual class RAS_Deformer* GetDeformer() @@ -885,32 +884,6 @@ public: * Resume making progress */ void Resume(void); - - void SuspendDynamics(void) { - if (m_bSuspendDynamics) - { - return; - } - - if (m_pPhysicsController1) - { - m_pPhysicsController1->SuspendDynamics(); - } - m_bSuspendDynamics = true; - } - - void RestoreDynamics(void) { - if (!m_bSuspendDynamics) - { - return; - } - - if (m_pPhysicsController1) - { - m_pPhysicsController1->RestoreDynamics(); - } - m_bSuspendDynamics = false; - } void RegisterObstacle(KX_ObstacleSimulation* obstacleSimulation) { diff --git a/source/gameengine/Ketsji/KX_IPO_SGController.cpp b/source/gameengine/Ketsji/KX_IPO_SGController.cpp index f221b7c6cd4..f75633659ff 100644 --- a/source/gameengine/Ketsji/KX_IPO_SGController.cpp +++ b/source/gameengine/Ketsji/KX_IPO_SGController.cpp @@ -48,7 +48,7 @@ typedef unsigned long uint_ptr; #include "KX_IPO_SGController.h" #include "KX_ScalarInterpolator.h" #include "KX_GameObject.h" -#include "KX_IPhysicsController.h" +#include "PHY_IPhysicsController.h" #include "DNA_ipo_types.h" #include "BLI_math.h" @@ -154,9 +154,10 @@ bool KX_IpoSGController::Update(double currentTime) { if (m_game_object && ob && m_game_object->GetPhysicsController()) { - m_game_object->GetPhysicsController()->ApplyForce(m_ipo_local ? - ob->GetWorldOrientation() * m_ipo_xform.GetPosition() : - m_ipo_xform.GetPosition(), false); + MT_Vector3 vec = m_ipo_local ? + ob->GetWorldOrientation() * m_ipo_xform.GetPosition() : + m_ipo_xform.GetPosition(); + m_game_object->GetPhysicsController()->ApplyForce(vec, false); } } else diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.cpp b/source/gameengine/Ketsji/KX_IPhysicsController.cpp deleted file mode 100644 index f0e57ceac02..00000000000 --- a/source/gameengine/Ketsji/KX_IPhysicsController.cpp +++ /dev/null @@ -1,49 +0,0 @@ -/* - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -/** \file gameengine/Ketsji/KX_IPhysicsController.cpp - * \ingroup ketsji - */ - -#include "KX_IPhysicsController.h" - -#include "PHY_DynamicTypes.h" - -KX_IPhysicsController::KX_IPhysicsController(bool dyna, bool sensor, bool character, bool compound, void* userdata) - -: m_bDyna(dyna), - m_bSensor(sensor), - m_bCharacter(character), - m_bCompound(compound), - m_suspendDynamics(false), - m_userdata(userdata) -{ -} - -KX_IPhysicsController::~KX_IPhysicsController() -{ -} diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h deleted file mode 100644 index 2019be57679..00000000000 --- a/source/gameengine/Ketsji/KX_IPhysicsController.h +++ /dev/null @@ -1,151 +0,0 @@ -/* - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -/** \file KX_IPhysicsController.h - * \ingroup ketsji - */ - -#ifndef __KX_IPHYSICSCONTROLLER_H__ -#define __KX_IPHYSICSCONTROLLER_H__ - -#include "SG_Controller.h" -#include "MT_Vector3.h" -#include "MT_Point3.h" -#include "MT_Transform.h" -#include "MT_Matrix3x3.h" - -struct KX_ClientObjectInfo; - -/** - * Physics Controller, a special kind of Scene Graph Transformation Controller. - * It get's callbacks from Physics in case a transformation change took place. - * Each time the scene graph get's updated, the controller get's a chance - * in the 'Update' method to reflect changed. - */ - -class KX_IPhysicsController : public SG_Controller - -{ -protected: - bool m_bDyna; - bool m_bSensor; - bool m_bCharacter; - bool m_bCompound; - bool m_suspendDynamics; - void* m_userdata; -public: - KX_IPhysicsController(bool dyna,bool sensor,bool character,bool compound, void* userdata); - virtual ~KX_IPhysicsController(); - - - 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 RelativeTranslate(const MT_Vector3& dloc,bool local)=0; - virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local)=0; - virtual void ApplyTorque(const MT_Vector3& torque,bool local)=0; - virtual void ApplyForce(const MT_Vector3& force,bool local)=0; - virtual void SetWalkDirection(const MT_Vector3& dir,bool local)=0; - virtual MT_Vector3 GetLinearVelocity()=0; - virtual MT_Vector3 GetAngularVelocity()=0; - virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0; - virtual MT_Vector3 GetWalkDirection()=0; - virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0; - virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0; - virtual void Jump()=0; - virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0; - - virtual void getOrientation(MT_Quaternion& orn)=0; - virtual void setOrientation(const MT_Matrix3x3& orn)=0; - virtual void SetTransform()=0; - //virtual void setOrientation(const MT_Quaternion& orn)=0; - virtual void setPosition(const MT_Point3& pos)=0; - virtual void setScaling(const MT_Vector3& scaling)=0; - virtual MT_Scalar GetMass()=0; - virtual void SetMass(MT_Scalar newmass)=0; - - virtual float GetLinVelocityMin()=0; - virtual void SetLinVelocityMin(float newmass)=0; - virtual float GetLinVelocityMax()=0; - virtual void SetLinVelocityMax(float newmass)=0; - - virtual MT_Vector3 GetLocalInertia()=0; - virtual MT_Vector3 getReactionForce()=0; - virtual void setRigidBody(bool rigid)=0; - virtual void AddCompoundChild(KX_IPhysicsController* child) = 0; - virtual void RemoveCompoundChild(KX_IPhysicsController* child) = 0; - - virtual void SuspendDynamics(bool ghost=false)=0; - virtual void RestoreDynamics()=0; - - virtual SG_Controller* GetReplica(class SG_Node* destnode)=0; - - void SetDyna(bool isDynamic) { - m_bDyna = isDynamic; - } - - void SetSensor(bool isSensor) { - m_bSensor = isSensor; - } - - void SetCharacter(bool isCharacter) { - m_bCharacter = isCharacter; - } - - bool IsDyna(void) { - return m_bDyna; - } - - bool IsSensor(void) { - return m_bSensor; - } - - bool IsCharacter(void) { - return m_bCharacter; - } - - bool IsCompound(void) { - return m_bCompound; - } - - virtual MT_Scalar GetRadius()=0; - virtual void SetSumoTransform(bool nondynaonly)=0; - // todo: remove next line ! - virtual void SetSimulatedTime(double time)=0; - - // call from scene graph to update - virtual bool Update(double time)=0; - void* GetUserData() { return m_userdata;} - - -#ifdef WITH_CXX_GUARDEDALLOC - MEM_CXX_CLASS_ALLOC_FUNCS("GE:KX_IPhysicsController") -#endif -}; - -#endif /* __KX_IPHYSICSCONTROLLER_H__ */ diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp index 48ef8cdd50d..0e9e2cd8328 100644 --- a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp +++ b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp @@ -646,7 +646,7 @@ bool KX_KetsjiEngine::NextFrame() #endif KX_SetActiveScene(scene); - scene->GetPhysicsEnvironment()->endFrame(); + scene->GetPhysicsEnvironment()->EndFrame(); // Update scenegraph after physics step. This maps physics calculations // into node positions. @@ -688,11 +688,11 @@ bool KX_KetsjiEngine::NextFrame() m_logger->StartLog(tc_physics, m_kxsystem->GetTimeInSeconds(), true); SG_SetActiveStage(SG_STAGE_PHYSICS2); - scene->GetPhysicsEnvironment()->beginFrame(); + scene->GetPhysicsEnvironment()->BeginFrame(); // Perform physics calculations on the scene. This can involve // many iterations of the physics solver. - scene->GetPhysicsEnvironment()->proceedDeltaTime(m_frameTime,timestep,framestep);//m_deltatimerealDeltaTime); + scene->GetPhysicsEnvironment()->ProceedDeltaTime(m_frameTime,timestep,framestep);//m_deltatimerealDeltaTime); m_logger->StartLog(tc_scenegraph, m_kxsystem->GetTimeInSeconds(), true); SG_SetActiveStage(SG_STAGE_PHYSICS2_UPDATE); @@ -762,7 +762,7 @@ bool KX_KetsjiEngine::NextFrame() // Perform physics calculations on the scene. This can involve // many iterations of the physics solver. m_logger->StartLog(tc_physics, m_kxsystem->GetTimeInSeconds(), true); - scene->GetPhysicsEnvironment()->proceedDeltaTime(m_clockTime,timestep,timestep); + scene->GetPhysicsEnvironment()->ProceedDeltaTime(m_clockTime,timestep,timestep); // Update scenegraph after physics step. This maps physics calculations // into node positions. m_logger->StartLog(tc_scenegraph, m_kxsystem->GetTimeInSeconds(), true); @@ -1329,7 +1329,7 @@ void KX_KetsjiEngine::RenderFrame(KX_Scene* scene, KX_Camera* cam) scene->RenderFonts(); if (scene->GetPhysicsEnvironment()) - scene->GetPhysicsEnvironment()->debugDrawWorld(); + scene->GetPhysicsEnvironment()->DebugDrawWorld(); } /* diff --git a/source/gameengine/Ketsji/KX_MotionState.cpp b/source/gameengine/Ketsji/KX_MotionState.cpp index 3ca01e7af74..4728f71a6ea 100644 --- a/source/gameengine/Ketsji/KX_MotionState.cpp +++ b/source/gameengine/Ketsji/KX_MotionState.cpp @@ -41,7 +41,7 @@ KX_MotionState::~KX_MotionState() { } -void KX_MotionState::getWorldPosition(float& posX,float& posY,float& posZ) +void KX_MotionState::GetWorldPosition(float& posX,float& posY,float& posZ) { const MT_Point3& pos = m_node->GetWorldPosition(); posX = pos[0]; @@ -49,7 +49,7 @@ void KX_MotionState::getWorldPosition(float& posX,float& posY,float& posZ) posZ = pos[2]; } -void KX_MotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ) +void KX_MotionState::GetWorldScaling(float& scaleX,float& scaleY,float& scaleZ) { const MT_Vector3& scale = m_node->GetWorldScaling(); scaleX = scale[0]; @@ -57,7 +57,7 @@ void KX_MotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ) scaleZ = scale[2]; } -void KX_MotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal) +void KX_MotionState::GetWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal) { MT_Quaternion orn = m_node->GetWorldOrientation().getRotation(); quatIma0 = orn[0]; @@ -66,24 +66,24 @@ void KX_MotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatReal = orn[3]; } -void KX_MotionState::getWorldOrientation(float* ori) +void KX_MotionState::GetWorldOrientation(float* ori) { const MT_Matrix3x3& mat = m_node->GetWorldOrientation(); mat.getValue(ori); } -void KX_MotionState::setWorldOrientation(const float* ori) +void KX_MotionState::SetWorldOrientation(const float* ori) { m_node->SetLocalOrientation(ori); } -void KX_MotionState::setWorldPosition(float posX,float posY,float posZ) +void KX_MotionState::SetWorldPosition(float posX,float posY,float posZ) { m_node->SetLocalPosition(MT_Point3(posX,posY,posZ)); //m_node->SetWorldPosition(MT_Point3(posX,posY,posZ)); } -void KX_MotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal) +void KX_MotionState::SetWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal) { MT_Quaternion orn; orn[0] = quatIma0; @@ -96,7 +96,7 @@ void KX_MotionState::setWorldOrientation(float quatIma0,float quatIma1,float qua } -void KX_MotionState::calculateWorldTransformations() +void KX_MotionState::CalculateWorldTransformations() { //Not needed, will be done in KX_Scene::UpdateParents() after the physics simulation //bool parentUpdated = false; diff --git a/source/gameengine/Ketsji/KX_MotionState.h b/source/gameengine/Ketsji/KX_MotionState.h index 116e62f408f..38046fe4ff9 100644 --- a/source/gameengine/Ketsji/KX_MotionState.h +++ b/source/gameengine/Ketsji/KX_MotionState.h @@ -46,15 +46,15 @@ public: KX_MotionState(class SG_Spatial* spatial); virtual ~KX_MotionState(); - virtual void getWorldPosition(float& posX,float& posY,float& posZ); - virtual void getWorldScaling(float& scaleX,float& scaleY,float& scaleZ); - virtual void getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal); - virtual void setWorldPosition(float posX,float posY,float posZ); - virtual void setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal); - virtual void getWorldOrientation(float* ori); - virtual void setWorldOrientation(const float* ori); + virtual void GetWorldPosition(float& posX,float& posY,float& posZ); + virtual void GetWorldScaling(float& scaleX,float& scaleY,float& scaleZ); + virtual void GetWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal); + virtual void SetWorldPosition(float posX,float posY,float posZ); + virtual void SetWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal); + virtual void GetWorldOrientation(float* ori); + virtual void SetWorldOrientation(const float* ori); - virtual void calculateWorldTransformations(); + virtual void CalculateWorldTransformations(); #ifdef WITH_CXX_GUARDEDALLOC diff --git a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp index 82ae8c13633..2dbafdad3d9 100644 --- a/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp +++ b/source/gameengine/Ketsji/KX_MouseFocusSensor.cpp @@ -47,7 +47,6 @@ #include "KX_PyMath.h" #include "KX_RayCast.h" -#include "KX_IPhysicsController.h" #include "PHY_IPhysicsController.h" #include "PHY_IPhysicsEnvironment.h" @@ -280,7 +279,7 @@ bool KX_MouseFocusSensor::ParentObjectHasFocusCamera(KX_Camera *cam) /* 2. Get the object from PhysicsEnvironment */ /* Shoot! Beware that the first argument here is an * ignore-object. We don't ignore anything... */ - KX_IPhysicsController* physics_controller = cam->GetPhysicsController(); + PHY_IPhysicsController* physics_controller = cam->GetPhysicsController(); PHY_IPhysicsEnvironment* physics_environment = m_kxscene->GetPhysicsEnvironment(); // get UV mapping diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp index cbb4e77d165..6459f35192d 100644 --- a/source/gameengine/Ketsji/KX_NearSensor.cpp +++ b/source/gameengine/Ketsji/KX_NearSensor.cpp @@ -68,7 +68,7 @@ KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr, if (m_physCtrl) { m_physCtrl->SetMargin(m_Margin); - m_physCtrl->setNewClientInfo(m_client_info); + m_physCtrl->SetNewClientInfo(m_client_info); } SynchronizeTransform(); } @@ -84,8 +84,8 @@ void KX_NearSensor::SynchronizeTransform() const MT_Point3& pos = parent->NodeGetWorldPosition(); float ori[12]; parent->NodeGetWorldOrientation().getValue(ori); - motionState->setWorldPosition(pos[0], pos[1], pos[2]); - motionState->setWorldOrientation(ori); + motionState->SetWorldPosition(pos[0], pos[1], pos[2]); + motionState->SetWorldOrientation(ori); m_physCtrl->WriteMotionStateToDynamics(true); } } @@ -105,12 +105,12 @@ void KX_NearSensor::ProcessReplica() if (m_physCtrl) { - m_physCtrl = m_physCtrl->GetReplica(); + m_physCtrl = m_physCtrl->GetReplicaForSensors(); if (m_physCtrl) { //static_cast<KX_TouchEventManager*>(m_eventmgr)->GetPhysicsEnvironment()->addSensor(replica->m_physCtrl); m_physCtrl->SetMargin(m_Margin); - m_physCtrl->setNewClientInfo(m_client_info); + m_physCtrl->SetNewClientInfo(m_client_info); } } @@ -186,7 +186,7 @@ bool KX_NearSensor::BroadPhaseFilterCollision(void*obj1,void*obj2) // need the mapping from PHY_IPhysicsController to gameobjects now assert(obj1==m_physCtrl && obj2); - KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>((static_cast<PHY_IPhysicsController*>(obj2))->getNewClientInfo()); + KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>((static_cast<PHY_IPhysicsController*>(obj2))->GetNewClientInfo()); KX_GameObject* gameobj = ( client_info ? client_info->m_gameobject : @@ -216,8 +216,8 @@ bool KX_NearSensor::NewHandleCollision(void *obj1, void *obj2, const PHY_CollDat // need the mapping from PHY_IPhysicsController to gameobjects now KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*> (obj1 == m_physCtrl? - ((PHY_IPhysicsController*)obj2)->getNewClientInfo() : - ((PHY_IPhysicsController*)obj1)->getNewClientInfo()); + ((PHY_IPhysicsController*)obj2)->GetNewClientInfo() : + ((PHY_IPhysicsController*)obj1)->GetNewClientInfo()); KX_GameObject* gameobj = ( client_info ? client_info->m_gameobject : diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.cpp b/source/gameengine/Ketsji/KX_ObjectActuator.cpp index 2965faba8f4..2f85453dd23 100644 --- a/source/gameengine/Ketsji/KX_ObjectActuator.cpp +++ b/source/gameengine/Ketsji/KX_ObjectActuator.cpp @@ -36,7 +36,9 @@ #include "KX_ObjectActuator.h" #include "KX_GameObject.h" #include "KX_PyMath.h" // For PyVecTo - should this include be put in PyObjectPlus? -#include "KX_IPhysicsController.h" +#include "PHY_IPhysicsController.h" +#include "PHY_ICharacter.h" +#include "PHY_IPhysicsEnvironment.h" /* ------------------------------------------------------------------------- */ /* Native functions */ @@ -84,8 +86,9 @@ KX_ObjectActuator( if (m_bitLocalFlag.CharacterMotion) { KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent()); + PHY_ICharacter *character = parent->GetScene()->GetPhysicsEnvironment()->GetCharacterController(parent); - if (!parent->GetPhysicsController() || !parent->GetPhysicsController()->IsCharacter()) + if (!character) { printf("Character motion enabled on non-character object (%s), falling back to simple motion.\n", parent->GetName().Ptr()); m_bitLocalFlag.CharacterMotion = false; @@ -109,6 +112,7 @@ bool KX_ObjectActuator::Update() RemoveAllEvents(); KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent()); + PHY_ICharacter *character = parent->GetScene()->GetPhysicsEnvironment()->GetCharacterController(parent); if (bNegativeEvent) { // If we previously set the linear velocity we now have to inform @@ -128,8 +132,7 @@ bool KX_ObjectActuator::Update() // Explicitly stop the movement if we're using character motion if (m_bitLocalFlag.CharacterMotion) { - MT_Vector3 vec(0.0, 0.0, 0.0); - parent->GetPhysicsController()->SetWalkDirection(vec, true); + character->SetWalkDirection(MT_Vector3 (0.0, 0.0, 0.0)); } m_linear_damping_active = false; @@ -220,7 +223,7 @@ bool KX_ObjectActuator::Update() MT_Vector3 dir = m_dloc; if (m_bitLocalFlag.AddOrSetCharLoc) { - MT_Vector3 old_dir = parent->GetPhysicsController()->GetWalkDirection(); + MT_Vector3 old_dir = character->GetWalkDirection(); if (!old_dir.fuzzyZero()) { MT_Scalar mag = old_dir.length(); @@ -232,7 +235,12 @@ bool KX_ObjectActuator::Update() } // We always want to set the walk direction since a walk direction of (0, 0, 0) should stop the character - parent->GetPhysicsController()->SetWalkDirection(dir, (m_bitLocalFlag.DLoc) != 0); + if (m_bitLocalFlag.DLoc) + { + MT_Matrix3x3 basis = parent->GetPhysicsController()->GetOrientation(); + dir = basis*dir; + } + character->SetWalkDirection(dir/parent->GetScene()->GetPhysicsEnvironment()->GetNumTimeSubSteps()); if (!m_bitLocalFlag.ZeroDRot) { @@ -240,7 +248,8 @@ bool KX_ObjectActuator::Update() } if (m_bitLocalFlag.CharacterJump) { - parent->GetPhysicsController()->Jump(); + + character->Jump(); } } else { diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp index 2e9b988dff1..e9843b0af5b 100644 --- a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp +++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp @@ -100,7 +100,7 @@ static PyObject *gPySetGravity(PyObject *self, if (PyArg_ParseTuple(args,"fff",&x,&y,&z)) { if (PHY_GetActiveEnvironment()) - PHY_GetActiveEnvironment()->setGravity(x,y,z); + PHY_GetActiveEnvironment()->SetGravity(x,y,z); } else { return NULL; @@ -118,7 +118,7 @@ static PyObject *gPySetDebugMode(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setDebugMode(mode); + PHY_GetActiveEnvironment()->SetDebugMode(mode); } @@ -141,7 +141,7 @@ static PyObject *gPySetNumTimeSubSteps(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setNumTimeSubSteps(substep); + PHY_GetActiveEnvironment()->SetNumTimeSubSteps(substep); } } else { @@ -160,7 +160,7 @@ static PyObject *gPySetNumIterations(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setNumIterations(iter); + PHY_GetActiveEnvironment()->SetNumIterations(iter); } } else { @@ -179,7 +179,7 @@ static PyObject *gPySetDeactivationTime(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setDeactivationTime(deactive_time); + PHY_GetActiveEnvironment()->SetDeactivationTime(deactive_time); } } else { @@ -198,7 +198,7 @@ static PyObject *gPySetDeactivationLinearTreshold(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setDeactivationLinearTreshold( linearDeactivationTreshold); + PHY_GetActiveEnvironment()->SetDeactivationLinearTreshold( linearDeactivationTreshold); } } else { @@ -217,7 +217,7 @@ static PyObject *gPySetDeactivationAngularTreshold(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setDeactivationAngularTreshold( angularDeactivationTreshold); + PHY_GetActiveEnvironment()->SetDeactivationAngularTreshold( angularDeactivationTreshold); } } else { @@ -235,7 +235,7 @@ static PyObject *gPySetContactBreakingTreshold(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setContactBreakingTreshold( contactBreakingTreshold); + PHY_GetActiveEnvironment()->SetContactBreakingTreshold( contactBreakingTreshold); } } else { @@ -254,7 +254,7 @@ static PyObject *gPySetCcdMode(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setCcdMode( ccdMode); + PHY_GetActiveEnvironment()->SetCcdMode( ccdMode); } } else { @@ -272,7 +272,7 @@ static PyObject *gPySetSorConstant(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setSolverSorConstant( sor); + PHY_GetActiveEnvironment()->SetSolverSorConstant( sor); } } else { @@ -290,7 +290,7 @@ static PyObject *gPySetSolverTau(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setSolverTau( tau); + PHY_GetActiveEnvironment()->SetSolverTau( tau); } } else { @@ -309,7 +309,7 @@ static PyObject *gPySetSolverDamping(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setSolverDamping( damping); + PHY_GetActiveEnvironment()->SetSolverDamping( damping); } } else { @@ -327,7 +327,7 @@ static PyObject *gPySetLinearAirDamping(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setLinearAirDamping( damping); + PHY_GetActiveEnvironment()->SetLinearAirDamping( damping); } } else { @@ -346,7 +346,7 @@ static PyObject *gPySetUseEpa(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setUseEpa(epa); + PHY_GetActiveEnvironment()->SetUseEpa(epa); } } else { @@ -363,7 +363,7 @@ static PyObject *gPySetSolverType(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->setSolverType(solverType); + PHY_GetActiveEnvironment()->SetSolverType(solverType); } } else { @@ -389,7 +389,7 @@ static PyObject *gPyGetVehicleConstraint(PyObject *self, if (PHY_GetActiveEnvironment()) { - PHY_IVehicle* vehicle = PHY_GetActiveEnvironment()->getVehicleConstraint(constraintid); + PHY_IVehicle* vehicle = PHY_GetActiveEnvironment()->GetVehicleConstraint(constraintid); if (vehicle) { KX_VehicleWrapper* pyWrapper = new KX_VehicleWrapper(vehicle,PHY_GetActiveEnvironment()); @@ -421,7 +421,7 @@ static PyObject* gPyGetCharacter(PyObject* self, if (PHY_GetActiveEnvironment()) { - PHY_ICharacter* character= PHY_GetActiveEnvironment()->getCharacterController(ob); + PHY_ICharacter* character= PHY_GetActiveEnvironment()->GetCharacterController(ob); if (character) { KX_CharacterWrapper* pyWrapper = new KX_CharacterWrapper(character); @@ -523,14 +523,14 @@ static PyObject *gPyCreateConstraint(PyObject *self, MT_Vector3 axis1 = localCFrame.getColumn(1); MT_Vector3 axis2 = localCFrame.getColumn(2); - constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype, + constraintid = PHY_GetActiveEnvironment()->CreateConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype, pivotX,pivotY,pivotZ, (float)axis0.x(),(float)axis0.y(),(float)axis0.z(), (float)axis1.x(),(float)axis1.y(),(float)axis1.z(), (float)axis2.x(),(float)axis2.y(),(float)axis2.z(),flag); } else { - constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0); + constraintid = PHY_GetActiveEnvironment()->CreateConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0); } KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment()); @@ -567,7 +567,7 @@ static PyObject *gPyGetAppliedImpulse(PyObject *self, { if (PHY_GetActiveEnvironment()) { - appliedImpulse = PHY_GetActiveEnvironment()->getAppliedImpulse(constraintid); + appliedImpulse = PHY_GetActiveEnvironment()->GetAppliedImpulse(constraintid); } } else { @@ -592,7 +592,7 @@ static PyObject *gPyRemoveConstraint(PyObject *self, { if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->removeConstraint(constraintid); + PHY_GetActiveEnvironment()->RemoveConstraint(constraintid); } } else { @@ -610,7 +610,7 @@ static PyObject *gPyExportBulletFile(PyObject *, PyObject *args) if (PHY_GetActiveEnvironment()) { - PHY_GetActiveEnvironment()->exportFile(filename); + PHY_GetActiveEnvironment()->ExportFile(filename); } Py_RETURN_NONE; } diff --git a/source/gameengine/Ketsji/KX_PythonInit.cpp b/source/gameengine/Ketsji/KX_PythonInit.cpp index 311653e72e7..08e240903d1 100644 --- a/source/gameengine/Ketsji/KX_PythonInit.cpp +++ b/source/gameengine/Ketsji/KX_PythonInit.cpp @@ -480,7 +480,7 @@ static PyObject *gPySetPhysicsTicRate(PyObject *, PyObject *args) if (!PyArg_ParseTuple(args, "f:setPhysicsTicRate", &ticrate)) return NULL; - PHY_GetActiveEnvironment()->setFixedTimeStep(true,ticrate); + PHY_GetActiveEnvironment()->SetFixedTimeStep(true,ticrate); Py_RETURN_NONE; } #if 0 // unused @@ -498,7 +498,7 @@ static PyObject *gPySetPhysicsDebug(PyObject *, PyObject *args) static PyObject *gPyGetPhysicsTicRate(PyObject *) { - return PyFloat_FromDouble(PHY_GetActiveEnvironment()->getFixedTimeStep()); + return PyFloat_FromDouble(PHY_GetActiveEnvironment()->GetFixedTimeStep()); } static PyObject *gPyGetAverageFrameRate(PyObject *) diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp index 04d67fc73e1..732bcdc3773 100644 --- a/source/gameengine/Ketsji/KX_RadarSensor.cpp +++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp @@ -166,8 +166,8 @@ void KX_RadarSensor::SynchronizeTransform() const MT_Point3& pos = trans.getOrigin(); float ori[12]; trans.getBasis().getValue(ori); - motionState->setWorldPosition(pos[0], pos[1], pos[2]); - motionState->setWorldOrientation(ori); + motionState->SetWorldPosition(pos[0], pos[1], pos[2]); + motionState->SetWorldOrientation(ori); m_physCtrl->WriteMotionStateToDynamics(true); } diff --git a/source/gameengine/Ketsji/KX_RayCast.cpp b/source/gameengine/Ketsji/KX_RayCast.cpp index f1bfb10220a..333e7b57d67 100644 --- a/source/gameengine/Ketsji/KX_RayCast.cpp +++ b/source/gameengine/Ketsji/KX_RayCast.cpp @@ -39,12 +39,11 @@ #include "MT_Point3.h" #include "MT_Vector3.h" -#include "KX_IPhysicsController.h" #include "PHY_IPhysicsEnvironment.h" #include "PHY_IPhysicsController.h" -KX_RayCast::KX_RayCast(KX_IPhysicsController* ignoreController, bool faceNormal, bool faceUV) - :PHY_IRayCastFilterCallback(dynamic_cast<PHY_IPhysicsController*>(ignoreController), faceNormal, faceUV) +KX_RayCast::KX_RayCast(PHY_IPhysicsController* ignoreController, bool faceNormal, bool faceUV) + :PHY_IRayCastFilterCallback(ignoreController, faceNormal, faceUV) { } @@ -76,11 +75,11 @@ bool KX_RayCast::RayTest(PHY_IPhysicsEnvironment* physics_environment, const MT_ PHY_IPhysicsController* hit_controller; - while ((hit_controller = physics_environment->rayTest(callback, + while ((hit_controller = physics_environment->RayTest(callback, frompoint.x(),frompoint.y(),frompoint.z(), topoint.x(),topoint.y(),topoint.z())) != NULL) { - KX_ClientObjectInfo *info = static_cast<KX_ClientObjectInfo*>(hit_controller->getNewClientInfo()); + KX_ClientObjectInfo *info = static_cast<KX_ClientObjectInfo*>(hit_controller->GetNewClientInfo()); if (!info) { diff --git a/source/gameengine/Ketsji/KX_RayCast.h b/source/gameengine/Ketsji/KX_RayCast.h index 544080f31d0..e47ac676eb1 100644 --- a/source/gameengine/Ketsji/KX_RayCast.h +++ b/source/gameengine/Ketsji/KX_RayCast.h @@ -40,7 +40,6 @@ class RAS_MeshObject; struct KX_ClientObjectInfo; -class KX_IPhysicsController; /** * Defines a function for doing a ray cast. @@ -65,7 +64,7 @@ public: int m_hitUVOK; // !=0 if UV coordinate in m_hitUV is valid MT_Vector2 m_hitUV; - KX_RayCast(KX_IPhysicsController* ignoreController, bool faceNormal, bool faceUV); + KX_RayCast(PHY_IPhysicsController* ignoreController, bool faceNormal, bool faceUV); virtual ~KX_RayCast() {} /** @@ -105,7 +104,7 @@ template<class T> class KX_RayCast::Callback : public KX_RayCast T *self; void *data; public: - Callback(T *_self, KX_IPhysicsController* controller=NULL, void *_data = NULL, bool faceNormal=false, bool faceUV=false) + Callback(T *_self, PHY_IPhysicsController* controller=NULL, void *_data = NULL, bool faceNormal=false, bool faceUV=false) : KX_RayCast(controller, faceNormal, faceUV), self(_self), data(_data) @@ -121,7 +120,7 @@ public: virtual bool needBroadphaseRayCast(PHY_IPhysicsController* controller) { - KX_ClientObjectInfo* info = static_cast<KX_ClientObjectInfo*>(controller->getNewClientInfo()); + KX_ClientObjectInfo* info = static_cast<KX_ClientObjectInfo*>(controller->GetNewClientInfo()); if (!info) { diff --git a/source/gameengine/Ketsji/KX_RaySensor.cpp b/source/gameengine/Ketsji/KX_RaySensor.cpp index 3fbce690a9f..afd39557130 100644 --- a/source/gameengine/Ketsji/KX_RaySensor.cpp +++ b/source/gameengine/Ketsji/KX_RaySensor.cpp @@ -44,7 +44,6 @@ #include "KX_RayCast.h" #include "KX_PyMath.h" #include "PHY_IPhysicsEnvironment.h" -#include "KX_IPhysicsController.h" #include "PHY_IPhysicsController.h" #include "DNA_sensor_types.h" @@ -261,7 +260,7 @@ bool KX_RaySensor::Evaluate() return false; } - KX_IPhysicsController *spc = obj->GetPhysicsController(); + PHY_IPhysicsController *spc = obj->GetPhysicsController(); KX_GameObject *parent = obj->GetParent(); if (!spc && parent) spc = parent->GetPhysicsController(); diff --git a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp index 56dccc1d045..f8f79269eaa 100644 --- a/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp +++ b/source/gameengine/Ketsji/KX_SCA_AddObjectActuator.cpp @@ -38,7 +38,6 @@ #include "KX_SCA_AddObjectActuator.h" #include "SCA_IScene.h" #include "KX_GameObject.h" -#include "KX_IPhysicsController.h" #include "PyObjectPlus.h" /* ------------------------------------------------------------------------- */ diff --git a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp index 5dc67a4cff3..e02eca3db63 100644 --- a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp +++ b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.cpp @@ -35,6 +35,7 @@ * Please look here for revision history. */ #include "KX_SCA_DynamicActuator.h" +#include "PHY_IPhysicsController.h" #ifdef WITH_PYTHON @@ -105,7 +106,7 @@ bool KX_SCA_DynamicActuator::Update() // bool result = false; /*unused*/ KX_GameObject *obj = (KX_GameObject*) GetParent(); bool bNegativeEvent = IsNegativeEvent(); - KX_IPhysicsController* controller; + PHY_IPhysicsController* controller; RemoveAllEvents(); if (bNegativeEvent) @@ -120,16 +121,16 @@ bool KX_SCA_DynamicActuator::Update() switch (m_dyn_operation) { case 0: - obj->RestoreDynamics(); + controller->RestoreDynamics(); break; case 1: - obj->SuspendDynamics(); + controller->SuspendDynamics(); break; case 2: - controller->setRigidBody(true); + controller->SetRigidBody(true); break; case 3: - controller->setRigidBody(false); + controller->SetRigidBody(false); break; case 4: controller->SetMass(m_setmass); diff --git a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h index 01a91624c41..4eb337c54f5 100644 --- a/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h +++ b/source/gameengine/Ketsji/KX_SCA_DynamicActuator.h @@ -38,7 +38,6 @@ #include "SCA_LogicManager.h" #include "KX_GameObject.h" -#include "KX_IPhysicsController.h" class KX_SCA_DynamicActuator : public SCA_IActuator { diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp index a34764d7d17..1d95beed6e9 100644 --- a/source/gameengine/Ketsji/KX_Scene.cpp +++ b/source/gameengine/Ketsji/KX_Scene.cpp @@ -82,7 +82,6 @@ #include "KX_NetworkEventManager.h" #include "NG_NetworkScene.h" #include "PHY_IPhysicsEnvironment.h" -#include "KX_IPhysicsController.h" #include "PHY_IGraphicController.h" #include "KX_BlenderSceneConverter.h" #include "KX_MotionState.h" @@ -545,7 +544,7 @@ KX_GameObject* KX_Scene::AddNodeReplicaObject(class SG_IObject* node, class CVal for (cit = scenegraphcontrollers.begin();!(cit==scenegraphcontrollers.end());++cit) { // controller replication is quite complicated - // only replicate ipo and physics controller for now + // only replicate ipo controller for now SG_Controller* replicacontroller = (*cit)->GetReplica((SG_Node*) replicanode); if (replicacontroller) @@ -559,9 +558,21 @@ KX_GameObject* KX_Scene::AddNodeReplicaObject(class SG_IObject* node, class CVal { PHY_IMotionState* motionstate = new KX_MotionState(newobj->GetSGNode()); PHY_IGraphicController* newctrl = orgobj->GetGraphicController()->GetReplica(motionstate); - newctrl->setNewClientInfo(newobj->getClientInfo()); + newctrl->SetNewClientInfo(newobj->getClientInfo()); newobj->SetGraphicController(newctrl); } + + // replicate physics controller + if (orgobj->GetPhysicsController()) + { + PHY_IMotionState* motionstate = new KX_MotionState(newobj->GetSGNode()); + PHY_IPhysicsController* newctrl = orgobj->GetPhysicsController()->GetReplica(); + PHY_IPhysicsController* parentctrl = (newobj->GetParent()) ? newobj->GetParent()->GetPhysicsController() : NULL; + + newctrl->SetNewClientInfo(newobj->getClientInfo()); + newobj->SetPhysicsController(newctrl, newobj->IsDynamic()); + newctrl->PostProcessReplica(motionstate, parentctrl); + } return newobj; } @@ -1525,7 +1536,7 @@ void KX_Scene::CalculateVisibleMeshes(RAS_IRasterizer* rasty,KX_Camera* cam, int double pmat[16] = {0}; cam->GetProjectionMatrix().getValue(pmat); - dbvt_culling = m_physicsEnvironment->cullingTest(PhysicsCullingCallback,&info,planes,5,m_dbvt_occlusion_res, + dbvt_culling = m_physicsEnvironment->CullingTest(PhysicsCullingCallback,&info,planes,5,m_dbvt_occlusion_res, KX_GetActiveEngine()->GetCanvas()->GetViewPort(), mvmat, pmat); } @@ -1755,14 +1766,14 @@ void KX_Scene::SetNetworkScene(NG_NetworkScene *newScene) void KX_Scene::SetGravity(const MT_Vector3& gravity) { - GetPhysicsEnvironment()->setGravity(gravity[0],gravity[1],gravity[2]); + GetPhysicsEnvironment()->SetGravity(gravity[0],gravity[1],gravity[2]); } MT_Vector3 KX_Scene::GetGravity() { MT_Vector3 gravity; - GetPhysicsEnvironment()->getGravity(gravity); + GetPhysicsEnvironment()->GetGravity(gravity); return gravity; } @@ -1803,10 +1814,6 @@ short KX_Scene::GetAnimationFPS() return m_blenderScene->r.frs_sec; } -#ifdef WITH_BULLET -#include "KX_BulletPhysicsController.h" -#endif - static void MergeScene_LogicBrick(SCA_ILogicBrick* brick, KX_Scene *to) { SCA_LogicManager *logicmgr= to->GetLogicManager(); @@ -1839,7 +1846,6 @@ static void MergeScene_LogicBrick(SCA_ILogicBrick* brick, KX_Scene *to) #ifdef WITH_BULLET #include "CcdGraphicController.h" // XXX ctrl->SetPhysicsEnvironment(to->GetPhysicsEnvironment()); #include "CcdPhysicsEnvironment.h" // XXX ctrl->SetPhysicsEnvironment(to->GetPhysicsEnvironment()); -#include "KX_BulletPhysicsController.h" #endif static void MergeScene_GameObject(KX_GameObject* gameobj, KX_Scene *to, KX_Scene *from) @@ -1888,12 +1894,17 @@ static void MergeScene_GameObject(KX_GameObject* gameobj, KX_Scene *to, KX_Scene } /* graphics controller */ - PHY_IGraphicController *ctrl = gameobj->GetGraphicController(); + PHY_IController *ctrl = gameobj->GetGraphicController(); if (ctrl) { /* SHOULD update the m_cullingTree */ ctrl->SetPhysicsEnvironment(to->GetPhysicsEnvironment()); } + ctrl = gameobj->GetPhysicsController(); + if (ctrl) { + ctrl->SetPhysicsEnvironment(to->GetPhysicsEnvironment()); + } + /* SG_Node can hold a scene reference */ SG_Node *sg= gameobj->GetSGNode(); if (sg) { @@ -1905,16 +1916,6 @@ static void MergeScene_GameObject(KX_GameObject* gameobj, KX_Scene *to, KX_Scene for (int i=0; i<children.size(); i++) children[i]->SetSGClientInfo(to); } -#ifdef WITH_BULLET - SGControllerList::iterator contit; - SGControllerList& controllers = sg->GetSGControllerList(); - for (contit = controllers.begin();contit!=controllers.end();++contit) - { - KX_BulletPhysicsController *phys_ctrl= dynamic_cast<KX_BulletPhysicsController *>(*contit); - if (phys_ctrl) - phys_ctrl->SetPhysicsEnvironment(to->GetPhysicsEnvironment()); - } -#endif // WITH_BULLET } /* If the object is a light, update it's scene */ if (gameobj->GetGameObjectType() == SCA_IObject::OBJ_LIGHT) diff --git a/source/gameengine/Ketsji/KX_TouchEventManager.cpp b/source/gameengine/Ketsji/KX_TouchEventManager.cpp index 1a9e1442cc8..d010d3d50a0 100644 --- a/source/gameengine/Ketsji/KX_TouchEventManager.cpp +++ b/source/gameengine/Ketsji/KX_TouchEventManager.cpp @@ -48,9 +48,9 @@ KX_TouchEventManager::KX_TouchEventManager(class SCA_LogicManager* logicmgr, //m_scene->addTouchCallback(OBJECT_RESPONSE, KX_TouchEventManager::collisionResponse, this); //m_scene->addTouchCallback(SENSOR_RESPONSE, KX_TouchEventManager::collisionResponse, this); - m_physEnv->addTouchCallback(PHY_OBJECT_RESPONSE, KX_TouchEventManager::newCollisionResponse, this); - m_physEnv->addTouchCallback(PHY_SENSOR_RESPONSE, KX_TouchEventManager::newCollisionResponse, this); - m_physEnv->addTouchCallback(PHY_BROADPH_RESPONSE, KX_TouchEventManager::newBroadphaseResponse, this); + m_physEnv->AddTouchCallback(PHY_OBJECT_RESPONSE, KX_TouchEventManager::newCollisionResponse, this); + m_physEnv->AddTouchCallback(PHY_SENSOR_RESPONSE, KX_TouchEventManager::newCollisionResponse, this); + m_physEnv->AddTouchCallback(PHY_BROADPH_RESPONSE, KX_TouchEventManager::newBroadphaseResponse, this); } @@ -84,8 +84,8 @@ bool KX_TouchEventManager::newBroadphaseResponse(void *client_data, PHY_IPhysicsController* ctrl1 = static_cast<PHY_IPhysicsController*>(object1); PHY_IPhysicsController* ctrl2 = static_cast<PHY_IPhysicsController*>(object2); - KX_ClientObjectInfo *info1 = (ctrl1) ? static_cast<KX_ClientObjectInfo*>(ctrl1->getNewClientInfo()) : NULL; - KX_ClientObjectInfo *info2 = (ctrl1) ? static_cast<KX_ClientObjectInfo*>(ctrl2->getNewClientInfo()) : NULL; + KX_ClientObjectInfo *info1 = (ctrl1) ? static_cast<KX_ClientObjectInfo*>(ctrl1->GetNewClientInfo()) : NULL; + KX_ClientObjectInfo *info2 = (ctrl1) ? static_cast<KX_ClientObjectInfo*>(ctrl2->GetNewClientInfo()) : NULL; // This call back should only be called for controllers of Near and Radar sensor if (!info1) @@ -184,7 +184,7 @@ void KX_TouchEventManager::NextFrame() list<SCA_ISensor*>::iterator sit; // First client info - KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(ctrl1->getNewClientInfo()); + KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(ctrl1->GetNewClientInfo()); // First gameobject KX_GameObject *kxObj1 = KX_GameObject::GetClientObject(client_info); // Invoke sensor response for each object @@ -195,7 +195,7 @@ void KX_TouchEventManager::NextFrame() } // Second client info - client_info = static_cast<KX_ClientObjectInfo *>(ctrl2->getNewClientInfo()); + client_info = static_cast<KX_ClientObjectInfo *>(ctrl2->GetNewClientInfo()); // Second gameobject KX_GameObject *kxObj2 = KX_GameObject::GetClientObject(client_info); if (client_info) { diff --git a/source/gameengine/Ketsji/KX_TouchSensor.cpp b/source/gameengine/Ketsji/KX_TouchSensor.cpp index 9d87da48fae..b231a2191ed 100644 --- a/source/gameengine/Ketsji/KX_TouchSensor.cpp +++ b/source/gameengine/Ketsji/KX_TouchSensor.cpp @@ -117,7 +117,7 @@ m_bTouchPulse(bTouchPulse) //client_info->m_auxilary_info = NULL; client_info->m_sensors.push_back(this); - m_physCtrl = dynamic_cast<PHY_IPhysicsController*>(gameobj->GetPhysicsController()); + m_physCtrl = gameobj->GetPhysicsController(); MT_assert( !gameobj->GetPhysicsController() || m_physCtrl ); Init(); } @@ -156,7 +156,7 @@ void KX_TouchSensor::ProcessReplica() void KX_TouchSensor::ReParent(SCA_IObject* parent) { KX_GameObject *gameobj = static_cast<KX_GameObject *>(parent); - PHY_IPhysicsController *sphy = dynamic_cast<PHY_IPhysicsController*>(((KX_GameObject*)parent)->GetPhysicsController()); + PHY_IPhysicsController *sphy = ((KX_GameObject*)parent)->GetPhysicsController(); if (sphy) m_physCtrl = sphy; @@ -173,11 +173,11 @@ void KX_TouchSensor::RegisterSumo(KX_TouchEventManager *touchman) { if (m_physCtrl) { - if (touchman->GetPhysicsEnvironment()->requestCollisionCallback(m_physCtrl)) + if (touchman->GetPhysicsEnvironment()->RequestCollisionCallback(m_physCtrl)) { - KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->getNewClientInfo()); + KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->GetNewClientInfo()); if (client_info->isSensor()) - touchman->GetPhysicsEnvironment()->addSensor(m_physCtrl); + touchman->GetPhysicsEnvironment()->AddSensor(m_physCtrl); } } } @@ -185,12 +185,12 @@ void KX_TouchSensor::UnregisterSumo(KX_TouchEventManager* touchman) { if (m_physCtrl) { - if (touchman->GetPhysicsEnvironment()->removeCollisionCallback(m_physCtrl)) + if (touchman->GetPhysicsEnvironment()->RemoveCollisionCallback(m_physCtrl)) { // no more sensor on the controller, can remove it if it is a sensor object - KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->getNewClientInfo()); + KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->GetNewClientInfo()); if (client_info->isSensor()) - touchman->GetPhysicsEnvironment()->removeSensor(m_physCtrl); + touchman->GetPhysicsEnvironment()->RemoveSensor(m_physCtrl); } } } @@ -203,8 +203,8 @@ bool KX_TouchSensor::BroadPhaseSensorFilterCollision(void*obj1,void*obj2) KX_GameObject* myobj = (KX_GameObject*)GetParent(); KX_GameObject* myparent = myobj->GetParent(); - KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(((PHY_IPhysicsController*)obj2)->getNewClientInfo()); - KX_ClientObjectInfo *my_client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->getNewClientInfo()); + KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*>(((PHY_IPhysicsController*)obj2)->GetNewClientInfo()); + KX_ClientObjectInfo *my_client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->GetNewClientInfo()); KX_GameObject* otherobj = ( client_info ? client_info->m_gameobject : NULL); // first, decrement refcount as GetParent() increases it @@ -244,8 +244,8 @@ bool KX_TouchSensor::NewHandleCollision(void*object1,void*object2,const PHY_Coll // need the mapping from PHY_IPhysicsController to gameobjects now KX_ClientObjectInfo *client_info = static_cast<KX_ClientObjectInfo*> (object1 == m_physCtrl? - ((PHY_IPhysicsController*)object2)->getNewClientInfo(): - ((PHY_IPhysicsController*)object1)->getNewClientInfo()); + ((PHY_IPhysicsController*)object2)->GetNewClientInfo(): + ((PHY_IPhysicsController*)object1)->GetNewClientInfo()); KX_GameObject* gameobj = ( client_info ? client_info->m_gameobject : diff --git a/source/gameengine/Physics/Bullet/CcdGraphicController.cpp b/source/gameengine/Physics/Bullet/CcdGraphicController.cpp index 3cb80e53e12..fdafc4e507d 100644 --- a/source/gameengine/Physics/Bullet/CcdGraphicController.cpp +++ b/source/gameengine/Physics/Bullet/CcdGraphicController.cpp @@ -35,48 +35,48 @@ CcdGraphicController::CcdGraphicController (CcdPhysicsEnvironment* phyEnv, PHY_I CcdGraphicController::~CcdGraphicController() { if (m_phyEnv) - m_phyEnv->removeCcdGraphicController(this); + m_phyEnv->RemoveCcdGraphicController(this); if (m_motionState) delete m_motionState; } -void CcdGraphicController::setLocalAabb(const btVector3& aabbMin,const btVector3& aabbMax) +void CcdGraphicController::SetLocalAabb(const btVector3& aabbMin,const btVector3& aabbMax) { m_localAabbMin = aabbMin; m_localAabbMax = aabbMax; SetGraphicTransform(); } -void CcdGraphicController::setLocalAabb(const MT_Point3& aabbMin,const MT_Point3& aabbMax) +void CcdGraphicController::SetLocalAabb(const MT_Point3& aabbMin,const MT_Point3& aabbMax) { m_localAabbMin.setValue(aabbMin[0],aabbMin[1],aabbMin[2]); m_localAabbMax.setValue(aabbMax[0],aabbMax[1],aabbMax[2]); SetGraphicTransform(); } -void CcdGraphicController::setLocalAabb(const MT_Vector3& aabbMin,const MT_Vector3& aabbMax) +void CcdGraphicController::SetLocalAabb(const MT_Vector3& aabbMin,const MT_Vector3& aabbMax) { m_localAabbMin.setValue(aabbMin[0],aabbMin[1],aabbMin[2]); m_localAabbMax.setValue(aabbMax[0],aabbMax[1],aabbMax[2]); SetGraphicTransform(); } -void CcdGraphicController::setLocalAabb(const float* aabbMin,const float* aabbMax) +void CcdGraphicController::SetLocalAabb(const float* aabbMin,const float* aabbMax) { m_localAabbMin.setValue(aabbMin[0],aabbMin[1],aabbMin[2]); m_localAabbMax.setValue(aabbMax[0],aabbMax[1],aabbMax[2]); SetGraphicTransform(); } -void CcdGraphicController::getAabb(btVector3& aabbMin, btVector3& aabbMax) +void CcdGraphicController::GetAabb(btVector3& aabbMin, btVector3& aabbMax) { btVector3 pos; btVector3 scale; float ori[12]; - m_motionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]); - m_motionState->getWorldScaling(scale.m_floats[0],scale.m_floats[1],scale.m_floats[2]); - m_motionState->getWorldOrientation(ori); + m_motionState->GetWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]); + m_motionState->GetWorldScaling(scale.m_floats[0],scale.m_floats[1],scale.m_floats[2]); + m_motionState->GetWorldOrientation(ori); btMatrix3x3 rot(ori[0], ori[4], ori[8], ori[1], ori[5], ori[9], ori[2], ori[6], ori[10]); @@ -109,9 +109,9 @@ bool CcdGraphicController::SetGraphicTransform() return false; btVector3 aabbMin; btVector3 aabbMax; - getAabb(aabbMin, aabbMax); + GetAabb(aabbMin, aabbMax); // update Aabb in broadphase - m_phyEnv->getCullingTree()->setAabb(m_handle,aabbMin,aabbMax,NULL); + m_phyEnv->GetCullingTree()->setAabb(m_handle,aabbMin,aabbMax,NULL); return true; } @@ -131,7 +131,7 @@ void CcdGraphicController::SetPhysicsEnvironment(class PHY_IPhysicsEnvironment* { CcdPhysicsEnvironment* phyEnv = static_cast<CcdPhysicsEnvironment*>(env); /* Updates the m_phyEnv's m_cullingTree & m_cullingCache */ - if (getBroadphaseHandle()) { + if (GetBroadphaseHandle()) { /* insert into the new physics scene */ Activate(false); m_phyEnv= phyEnv; @@ -145,8 +145,8 @@ void CcdGraphicController::SetPhysicsEnvironment(class PHY_IPhysicsEnvironment* void CcdGraphicController::Activate(bool active) { if (active) - m_phyEnv->addCcdGraphicController(this); + m_phyEnv->AddCcdGraphicController(this); else - m_phyEnv->removeCcdGraphicController(this); + m_phyEnv->RemoveCcdGraphicController(this); } diff --git a/source/gameengine/Physics/Bullet/CcdGraphicController.h b/source/gameengine/Physics/Bullet/CcdGraphicController.h index 064f86040f6..e76ad86301e 100644 --- a/source/gameengine/Physics/Bullet/CcdGraphicController.h +++ b/source/gameengine/Physics/Bullet/CcdGraphicController.h @@ -40,16 +40,16 @@ public: virtual ~CcdGraphicController(); - void setLocalAabb(const btVector3& aabbMin,const btVector3& aabbMax); - void setLocalAabb(const MT_Point3& aabbMin,const MT_Point3& aabbMax); - virtual void setLocalAabb(const MT_Vector3& aabbMin,const MT_Vector3& aabbMax); - virtual void setLocalAabb(const float aabbMin[3],const float aabbMax[3]); + void SetLocalAabb(const btVector3& aabbMin,const btVector3& aabbMax); + void SetLocalAabb(const MT_Point3& aabbMin,const MT_Point3& aabbMax); + virtual void SetLocalAabb(const MT_Vector3& aabbMin,const MT_Vector3& aabbMax); + virtual void SetLocalAabb(const float aabbMin[3],const float aabbMax[3]); PHY_IMotionState* GetMotionState() { return m_motionState; } - void getAabb(btVector3& aabbMin, btVector3& aabbMax); + void GetAabb(btVector3& aabbMin, btVector3& aabbMax); - virtual void setBroadphaseHandle(btBroadphaseProxy* handle) { m_handle = handle; } - virtual btBroadphaseProxy* getBroadphaseHandle() { return m_handle; } + virtual void SetBroadphaseHandle(btBroadphaseProxy* handle) { m_handle = handle; } + virtual btBroadphaseProxy* GetBroadphaseHandle() { return m_handle; } virtual void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment* env); @@ -67,8 +67,8 @@ public: virtual void Activate(bool active); // client info for culling - virtual void* getNewClientInfo() { return m_newClientInfo; } - virtual void setNewClientInfo(void* clientinfo) { m_newClientInfo = clientinfo; } + virtual void* GetNewClientInfo() { return m_newClientInfo; } + virtual void SetNewClientInfo(void* clientinfo) { m_newClientInfo = clientinfo; } virtual PHY_IGraphicController* GetReplica(class PHY_IMotionState* motionstate); private: diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index 8a3ad82d179..a3838a148e1 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -139,9 +139,14 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) m_shapeInfo = ci.m_shapeInfo; if (m_shapeInfo) m_shapeInfo->AddRef(); + + m_bulletChildShape = NULL; m_bulletMotionState = 0; m_characterController = 0; + m_savedCollisionFlags = 0; + m_savedMass = 0.0; + m_suspended = false; CreateRigidbody(); } @@ -150,11 +155,11 @@ btTransform& CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* { static btTransform trans; btVector3 tmp; - motionState->getWorldPosition(tmp.m_floats[0], tmp.m_floats[1], tmp.m_floats[2]); + motionState->GetWorldPosition(tmp.m_floats[0], tmp.m_floats[1], tmp.m_floats[2]); trans.setOrigin(tmp); float ori[12]; - motionState->getWorldOrientation(ori); + motionState->GetWorldOrientation(ori); trans.getBasis().setFromOpenGLSubMatrix(ori); //btQuaternion orn; //motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]); @@ -180,18 +185,18 @@ public: btVector3 pos; float ori[12]; - m_blenderMotionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]); - m_blenderMotionState->getWorldOrientation(ori); + m_blenderMotionState->GetWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]); + m_blenderMotionState->GetWorldOrientation(ori); worldTrans.setOrigin(pos); worldTrans.getBasis().setFromOpenGLSubMatrix(ori); } void setWorldTransform(const btTransform& worldTrans) { - m_blenderMotionState->setWorldPosition(worldTrans.getOrigin().getX(),worldTrans.getOrigin().getY(),worldTrans.getOrigin().getZ()); + 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]); - m_blenderMotionState->calculateWorldTransformations(); + m_blenderMotionState->SetWorldOrientation(rotQuat[0],rotQuat[1],rotQuat[2],rotQuat[3]); + m_blenderMotionState->CalculateWorldTransformations(); } }; @@ -238,7 +243,7 @@ bool CcdPhysicsController::CreateSoftbody() btVector3 p(0,0,0);// = getOrigin(); //btSoftBody* psb=btSoftBodyHelpers::CreateRope(worldInfo, btVector3(-10,0,i*0.25),btVector3(10,0,i*0.25), 16,1+2); btSoftBody* psb = 0; - btSoftBodyWorldInfo& worldInfo = m_cci.m_physicsEnv->getDynamicsWorld()->getWorldInfo(); + btSoftBodyWorldInfo& worldInfo = m_cci.m_physicsEnv->GetDynamicsWorld()->getWorldInfo(); if (m_cci.m_collisionShape->getShapeType() == CONVEX_HULL_SHAPE_PROXYTYPE) { btConvexHullShape* convexHull = (btConvexHullShape* )m_cci.m_collisionShape; @@ -456,8 +461,8 @@ bool CcdPhysicsController::CreateSoftbody() btTransform startTrans; rbci.m_motionState->getWorldTransform(startTrans); - m_MotionState->setWorldPosition(startTrans.getOrigin().getX(),startTrans.getOrigin().getY(),startTrans.getOrigin().getZ()); - m_MotionState->setWorldOrientation(0,0,0,1); + m_MotionState->SetWorldPosition(startTrans.getOrigin().getX(),startTrans.getOrigin().getY(),startTrans.getOrigin().getZ()); + m_MotionState->SetWorldOrientation(0,0,0,1); if (!m_prototypeTransformInitialized) { @@ -609,7 +614,7 @@ bool CcdPhysicsController::ReplaceControllerShape(btCollisionShape *newShape) if (GetSoftBody()) { // soft body must be recreated - m_cci.m_physicsEnv->removeCcdPhysicsController(this); + m_cci.m_physicsEnv->RemoveCcdPhysicsController(this); delete m_object; m_object = NULL; // force complete reinitialization @@ -619,14 +624,14 @@ bool CcdPhysicsController::ReplaceControllerShape(btCollisionShape *newShape) CreateSoftbody(); assert(m_object); // reinsert the new body - m_cci.m_physicsEnv->addCcdPhysicsController(this); + m_cci.m_physicsEnv->AddCcdPhysicsController(this); } /* Copied from CcdPhysicsEnvironment::addCcdPhysicsController() */ /* without this, an object can rest on the old physics mesh * and not move to account for the physics mesh, even with 'nosleep' */ - btSoftRigidDynamicsWorld* dw= GetPhysicsEnvironment()->getDynamicsWorld(); + btSoftRigidDynamicsWorld* dw= GetPhysicsEnvironment()->GetDynamicsWorld(); btCollisionObjectArray &obarr= dw->getCollisionObjectArray(); btCollisionObject *ob; btBroadphaseProxy* proxy; @@ -648,7 +653,7 @@ CcdPhysicsController::~CcdPhysicsController() { //will be reference counted, due to sharing if (m_cci.m_physicsEnv) - m_cci.m_physicsEnv->removeCcdPhysicsController(this); + m_cci.m_physicsEnv->RemoveCcdPhysicsController(this); if (m_MotionState) delete m_MotionState; @@ -683,17 +688,17 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) btQuaternion worldquat; btMatrix3x3 trs = sb->m_pose.m_rot*sb->m_pose.m_scl; trs.getRotation(worldquat); - m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); - m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]); + m_MotionState->SetWorldPosition(worldPos[0],worldPos[1],worldPos[2]); + m_MotionState->SetWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]); } else { btVector3 aabbMin,aabbMax; sb->getAabb(aabbMin,aabbMax); btVector3 worldPos = (aabbMax+aabbMin)*0.5f; - m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); + m_MotionState->SetWorldPosition(worldPos[0],worldPos[1],worldPos[2]); } - m_MotionState->calculateWorldTransformations(); + m_MotionState->CalculateWorldTransformations(); return true; } @@ -719,12 +724,12 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) const btVector3& worldPos = xform.getOrigin(); float ori[12]; worldOri.getOpenGLSubMatrix(ori); - m_MotionState->setWorldOrientation(ori); - m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); - m_MotionState->calculateWorldTransformations(); + m_MotionState->SetWorldOrientation(ori); + m_MotionState->SetWorldPosition(worldPos[0],worldPos[1],worldPos[2]); + m_MotionState->CalculateWorldTransformations(); float scale[3]; - m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]); + m_MotionState->GetWorldScaling(scale[0],scale[1],scale[2]); btVector3 scaling(scale[0],scale[1],scale[2]); GetCollisionShape()->setLocalScaling(scaling); } else @@ -743,7 +748,7 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) m_MotionState->calculateWorldTransformations(); */ float scale[3]; - m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]); + m_MotionState->GetWorldScaling(scale[0],scale[1],scale[2]); btVector3 scaling(scale[0],scale[1],scale[2]); GetCollisionShape()->setLocalScaling(scaling); } @@ -767,7 +772,7 @@ void CcdPhysicsController::WriteDynamicsToMotionState() // controller replication void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl) { - + SetParentCtrl((CcdPhysicsController*)parentctrl); m_softBodyTransformInitialized=false; m_MotionState = motionstate; m_registerCount = 0; @@ -812,7 +817,7 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta } // sensor object are added when needed if (!m_cci.m_bSensor) - m_cci.m_physicsEnv->addCcdPhysicsController(this); + m_cci.m_physicsEnv->AddCcdPhysicsController(this); /* SM_Object* dynaparent=0; @@ -857,9 +862,9 @@ void CcdPhysicsController::SetPhysicsEnvironment(class PHY_IPhysicsEnvironment * // since the environment is changing, we must also move the controler to the // new environment. Note that we don't handle sensor explicitly: this // function can be called on sensor but only when they are not registered - if (m_cci.m_physicsEnv->removeCcdPhysicsController(this)) + if (m_cci.m_physicsEnv->RemoveCcdPhysicsController(this)) { - physicsEnv->addCcdPhysicsController(this); + physicsEnv->AddCcdPhysicsController(this); // Set the object to be active so it can at least by evaluated once. // This fixes issues with static objects not having their physics meshes @@ -904,7 +909,7 @@ void CcdPhysicsController::SetCenterOfMassTransform(btTransform& xform) } // kinematic methods -void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local) +void CcdPhysicsController::RelativeTranslate(const MT_Vector3& dlocin,bool local) { if (m_object) { @@ -917,7 +922,7 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc return; } - btVector3 dloc(dlocX,dlocY,dlocZ); + btVector3 dloc(dlocin.x(), dlocin.y(), dlocin.z()); btTransform xform = m_object->getWorldTransform(); if (local) @@ -929,22 +934,7 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc } -void CcdPhysicsController::SetWalkDirection(float dirX,float dirY,float dirZ,bool local) -{ - - if (m_object && m_characterController) - { - btVector3 dir(dirX,dirY,dirZ); - btTransform xform = m_object->getWorldTransform(); - - if (local) - dir = xform.getBasis()*dir; - - m_characterController->setWalkDirection(dir/GetPhysicsEnvironment()->getNumTimeSubSteps()); - } -} - -void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) +void CcdPhysicsController::RelativeRotate(const MT_Matrix3x3& rotval,bool local) { if (m_object) { @@ -957,9 +947,9 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) return; } - btMatrix3x3 drotmat(rotval[0], rotval[3], rotval[6], - rotval[1], rotval[4], rotval[7], - rotval[2], rotval[5], rotval[8]); + btMatrix3x3 drotmat(rotval[0].x(), rotval[1].x(), rotval[2].x(), + rotval[0].y(), rotval[1].y(), rotval[2].y(), + rotval[0].z(), rotval[1].z(), rotval[2].z()); btMatrix3x3 currentOrn; @@ -978,45 +968,23 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) void CcdPhysicsController::GetWorldOrientation(btMatrix3x3& mat) { float ori[12]; - m_MotionState->getWorldOrientation(ori); + m_MotionState->GetWorldOrientation(ori); mat.setFromOpenGLSubMatrix(ori); } -void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal) +MT_Matrix3x3 CcdPhysicsController::GetOrientation() { - btQuaternion q = m_object->getWorldTransform().getRotation(); - quatImag0 = q[0]; - quatImag1 = q[1]; - quatImag2 = q[2]; - quatReal = q[3]; + btMatrix3x3 orn = m_object->getWorldTransform().getBasis(); + return MT_Matrix3x3(orn[0][0], orn[0][1], orn[0][2], orn[1][0], orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]); } -void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal) -{ - if (m_object) - { - m_object->activate(true); - if (m_object->isStaticObject()) - { - if (!m_cci.m_bSensor) - m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); - // kinematic object should not set the transform, it disturbs the velocity interpolation - return; - } - // not required - //m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); - btTransform xform = m_object->getWorldTransform(); - xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal)); - SetCenterOfMassTransform(xform); - // not required - //m_bulletMotionState->setWorldTransform(xform); - - - - } +void CcdPhysicsController::SetOrientation(const MT_Matrix3x3& orn) +{ + btMatrix3x3 btmat(orn[0][0], orn[0][1], orn[0][2], orn[1][0], orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]); + SetWorldOrientation(btmat); } -void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn) +void CcdPhysicsController::SetWorldOrientation(const btMatrix3x3& orn) { if (m_object) { @@ -1045,7 +1013,7 @@ void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn) } -void CcdPhysicsController::setPosition(float posX,float posY,float posZ) +void CcdPhysicsController::SetPosition(const MT_Vector3& pos) { if (m_object) { @@ -1060,7 +1028,7 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ) // not required, this function is only used to update the physic controller //m_MotionState->setWorldPosition(posX,posY,posZ); btTransform xform = m_object->getWorldTransform(); - xform.setOrigin(btVector3(posX,posY,posZ)); + xform.setOrigin(btVector3(pos.x(), pos.y(), pos.z())); SetCenterOfMassTransform(xform); if (!m_softBodyTransformInitialized) m_softbodyStartTrans.setOrigin(xform.getOrigin()); @@ -1069,7 +1037,7 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ) } } -void CcdPhysicsController::forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos) +void CcdPhysicsController::ForceWorldTransform(const btMatrix3x3& mat, const btVector3& pos) { if (m_object) { @@ -1080,11 +1048,44 @@ void CcdPhysicsController::forceWorldTransform(const btMatrix3x3& mat, const btV } -void CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) +void CcdPhysicsController::ResolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) { } -void CcdPhysicsController::getPosition(MT_Vector3& pos) const +void CcdPhysicsController::SuspendDynamics(bool ghost) +{ + btRigidBody *body = GetRigidBody(); + if (body && !m_suspended && !GetConstructionInfo().m_bSensor) + { + m_savedCollisionFlags = body->getCollisionFlags(); + m_savedMass = GetMass(); + m_suspended = true; + GetPhysicsEnvironment()->UpdateCcdPhysicsController(this, + 0.0, + btCollisionObject::CF_STATIC_OBJECT|((ghost)?btCollisionObject::CF_NO_CONTACT_RESPONSE:(m_savedCollisionFlags&btCollisionObject::CF_NO_CONTACT_RESPONSE)), + btBroadphaseProxy::StaticFilter, + btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); + } +} + +void CcdPhysicsController::RestoreDynamics() +{ + btRigidBody *body = GetRigidBody(); + if (body && m_suspended) + { + // before make sure any position change that was done in this logic frame are accounted for + SetTransform(); + GetPhysicsEnvironment()->UpdateCcdPhysicsController(this, + m_savedMass, + m_savedCollisionFlags, + GetConstructionInfo().m_collisionFilterGroup, + GetConstructionInfo().m_collisionFilterMask); + body->activate(); + m_suspended = false; + } +} + +void CcdPhysicsController::GetPosition(MT_Vector3& pos) const { const btTransform& xform = m_object->getWorldTransform(); pos[0] = xform.getOrigin().x(); @@ -1092,13 +1093,13 @@ void CcdPhysicsController::getPosition(MT_Vector3& pos) const pos[2] = xform.getOrigin().z(); } -void CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ) +void CcdPhysicsController::SetScaling(const MT_Vector3& scale) { - if (!btFuzzyZero(m_cci.m_scaling.x()-scaleX) || - !btFuzzyZero(m_cci.m_scaling.y()-scaleY) || - !btFuzzyZero(m_cci.m_scaling.z()-scaleZ)) + if (!btFuzzyZero(m_cci.m_scaling.x()-scale.x()) || + !btFuzzyZero(m_cci.m_scaling.y()-scale.y()) || + !btFuzzyZero(m_cci.m_scaling.z()-scale.z())) { - m_cci.m_scaling = btVector3(scaleX,scaleY,scaleZ); + m_cci.m_scaling = btVector3(scale.x(),scale.y(),scale.z()); if (m_object && m_object->getCollisionShape()) { @@ -1116,11 +1117,64 @@ void CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ) } } } + +void CcdPhysicsController::SetTransform() +{ + btVector3 pos; + btVector3 scale; + float ori[12]; + m_MotionState->GetWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]); + m_MotionState->GetWorldScaling(scale.m_floats[0],scale.m_floats[1],scale.m_floats[2]); + m_MotionState->GetWorldOrientation(ori); + btMatrix3x3 rot(ori[0], ori[4], ori[8], + ori[1], ori[5], ori[9], + ori[2], ori[6], ori[10]); + ForceWorldTransform(rot, pos); + + if (!IsDynamic() && !GetConstructionInfo().m_bSensor && !GetCharacterController()) + { + btCollisionObject* object = GetRigidBody(); + object->setActivationState(ACTIVE_TAG); + object->setCollisionFlags(object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + } +} + +MT_Scalar CcdPhysicsController::GetMass() +{ + if (GetSoftBody()) + return GetSoftBody()->getTotalMass(); + + MT_Scalar invmass = 0.f; + if (GetRigidBody()) + invmass = GetRigidBody()->getInvMass(); + if (invmass) + return 1.f/invmass; + return 0.f; + +} + +void CcdPhysicsController::SetMass(MT_Scalar newmass) +{ + btRigidBody *body = GetRigidBody(); + if (body && !m_suspended && newmass>MT_EPSILON && GetMass()>MT_EPSILON) + { + btVector3 grav = body->getGravity(); + btVector3 accel = grav / GetMass(); + + btBroadphaseProxy* handle = body->getBroadphaseHandle(); + GetPhysicsEnvironment()->UpdateCcdPhysicsController(this, + newmass, + body->getCollisionFlags(), + handle->m_collisionFilterGroup, + handle->m_collisionFilterMask); + body->setGravity(accel); + } +} // physics methods -void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local) +void CcdPhysicsController::ApplyTorque(const MT_Vector3& torquein,bool local) { - btVector3 torque(torqueX,torqueY,torqueZ); + btVector3 torque(torquein.x(),torquein.y(),torquein.z()); btTransform xform = m_object->getWorldTransform(); @@ -1158,9 +1212,9 @@ void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque } } -void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local) +void CcdPhysicsController::ApplyForce(const MT_Vector3& forcein,bool local) { - btVector3 force(forceX,forceY,forceZ); + btVector3 force(forcein.x(),forcein.y(),forcein.z()); if (m_object && force.length2() > (SIMD_EPSILON*SIMD_EPSILON)) @@ -1191,9 +1245,9 @@ void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo } } } -void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local) +void CcdPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local) { - btVector3 angvel(ang_velX,ang_velY,ang_velZ); + btVector3 angvel(ang_vel.x(),ang_vel.y(),ang_vel.z()); if (m_object && angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { m_object->activate(true); @@ -1214,10 +1268,10 @@ void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo } } -void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local) +void CcdPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local) { - btVector3 linVel(lin_velX,lin_velY,lin_velZ); + btVector3 linVel(lin_vel.x(),lin_vel.y(),lin_vel.z()); if (m_object/* && linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON)*/) { m_object->activate(true); @@ -1249,9 +1303,9 @@ 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) +void CcdPhysicsController::ApplyImpulse(const MT_Point3& attach, const MT_Vector3& impulsein) { - btVector3 impulse(impulseX,impulseY,impulseZ); + btVector3 impulse(impulsein.x(), impulsein.y(), impulsein.z()); if (m_object && impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { @@ -1263,7 +1317,7 @@ void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac return; } - btVector3 pos(attachX,attachY,attachZ); + btVector3 pos(attach.x(), attach.y(), attach.z()); btRigidBody* body = GetRigidBody(); if (body) body->applyImpulse(impulse,pos); @@ -1282,82 +1336,59 @@ void CcdPhysicsController::SetActive(bool active) { } // reading out information from physics -void CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ) +MT_Vector3 CcdPhysicsController::GetLinearVelocity() { btRigidBody* body = GetRigidBody(); if (body) { const btVector3& linvel = body->getLinearVelocity(); - linvX = linvel.x(); - linvY = linvel.y(); - linvZ = linvel.z(); - } else - { - linvX = 0.f; - linvY = 0.f; - linvZ = 0.f; + return MT_Vector3(linvel.x(), linvel.y(), linvel.z()); } + return MT_Vector3(0.f, 0.f, 0.f); } -void CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ) +MT_Vector3 CcdPhysicsController::GetAngularVelocity() { btRigidBody* body = GetRigidBody(); if (body) { const btVector3& angvel= body->getAngularVelocity(); - angVelX = angvel.x(); - angVelY = angvel.y(); - angVelZ = angvel.z(); - } else - { - angVelX = 0.f; - angVelY = 0.f; - angVelZ = 0.f; + return MT_Vector3(angvel.x(), angvel.y(), angvel.z()); } + + return MT_Vector3(0.f, 0.f, 0.f); } -void CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ) +MT_Vector3 CcdPhysicsController::GetVelocity(const MT_Point3 &posin) { - btVector3 pos(posX,posY,posZ); + btVector3 pos(pos.x(), pos.y(), pos.z()); btRigidBody* body = GetRigidBody(); if (body) { btVector3 linvel = body->getVelocityInLocalPoint(pos); - linvX = linvel.x(); - linvY = linvel.y(); - linvZ = linvel.z(); - } else - { - linvX = 0.f; - linvY = 0.f; - linvZ = 0.f; + return MT_Vector3(linvel.x(), linvel.y(), linvel.z()); } -} -void CcdPhysicsController::GetWalkDirection(float& dirX,float& dirY,float& dirZ) -{ - if (m_object && m_characterController) - { - const btVector3 dir = m_characterController->getWalkDirection(); - dirX = dir.x(); - dirY = dir.y(); - dirZ = dir.z(); - } - else - { - dirX = 0.f; - dirY = 0.f; - dirZ = 0.f; - } + return MT_Vector3(0.f, 0.f, 0.f); } -void CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ) +MT_Vector3 CcdPhysicsController::GetLocalInertia() { + MT_Vector3 inertia(0.f, 0.f, 0.f); + btVector3 inv_inertia; + if (GetRigidBody()) { + inv_inertia = GetRigidBody()->getInvInertiaDiagLocal(); + if (!btFuzzyZero(inv_inertia.getX()) && + !btFuzzyZero(inv_inertia.getY()) && + !btFuzzyZero(inv_inertia.getZ())) + inertia = MT_Vector3(1.f/inv_inertia.getX(), 1.f/inv_inertia.getY(), 1.f/inv_inertia.getZ()); + } + return inertia; } // dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted -void CcdPhysicsController::setRigidBody(bool rigid) +void CcdPhysicsController::SetRigidBody(bool rigid) { btRigidBody* body = GetRigidBody(); if (body) @@ -1373,13 +1404,21 @@ void CcdPhysicsController::setRigidBody(bool rigid) } // clientinfo for raycasts for example -void* CcdPhysicsController::getNewClientInfo() +void* CcdPhysicsController::GetNewClientInfo() { return m_newClientInfo; } -void CcdPhysicsController::setNewClientInfo(void* clientinfo) +void CcdPhysicsController::SetNewClientInfo(void* clientinfo) { m_newClientInfo = clientinfo; + + if (m_cci.m_bSensor) + { + // use a different callback function for sensor object, + // bullet will not synchronize, we must do it explicitly + SG_Callbacks& callbacks = KX_GameObject::GetClientObject((KX_ClientObjectInfo*)clientinfo)->GetSGNode()->GetCallBackFunctions(); + callbacks.m_updatefunc = KX_GameObject::SynchronizeTransformFunc; + } } @@ -1392,7 +1431,7 @@ void CcdPhysicsController::UpdateDeactivation(float timeStep) } } -bool CcdPhysicsController::wantsSleeping() +bool CcdPhysicsController::WantsSleeping() { btRigidBody* body = GetRigidBody(); if (body) @@ -1402,8 +1441,143 @@ bool CcdPhysicsController::wantsSleeping() //check it out return true; } +/* This function dynamically adds the collision shape of another controller to + * the current controller shape provided it is a compound shape. + * The idea is that dynamic parenting on a compound object will dynamically extend the shape + */ +void CcdPhysicsController::AddCompoundChild(PHY_IPhysicsController* child) +{ + if (child == NULL || !IsCompound()) + return; + // other controller must be a bullet controller too + // verify that body and shape exist and match + CcdPhysicsController* childCtrl = dynamic_cast<CcdPhysicsController*>(child); + btRigidBody* rootBody = GetRigidBody(); + btRigidBody* childBody = childCtrl->GetRigidBody(); + if (!rootBody || !childBody) + return; + const btCollisionShape* rootShape = rootBody->getCollisionShape(); + const btCollisionShape* childShape = childBody->getCollisionShape(); + if (!rootShape || + !childShape || + rootShape->getShapeType() != COMPOUND_SHAPE_PROXYTYPE || + childShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE) + return; + btCompoundShape* compoundShape = (btCompoundShape*)rootShape; + // compute relative transformation between parent and child + btTransform rootTrans; + btTransform childTrans; + rootBody->getMotionState()->getWorldTransform(rootTrans); + childBody->getMotionState()->getWorldTransform(childTrans); + btVector3 rootScale = rootShape->getLocalScaling(); + rootScale[0] = 1.0/rootScale[0]; + rootScale[1] = 1.0/rootScale[1]; + rootScale[2] = 1.0/rootScale[2]; + // relative scale = child_scale/parent_scale + btVector3 relativeScale = childShape->getLocalScaling()*rootScale; + btMatrix3x3 rootRotInverse = rootTrans.getBasis().transpose(); + // relative pos = parent_rot^-1 * ((parent_pos-child_pos)/parent_scale) + btVector3 relativePos = rootRotInverse*((childTrans.getOrigin()-rootTrans.getOrigin())*rootScale); + // relative rot = parent_rot^-1 * child_rot + btMatrix3x3 relativeRot = rootRotInverse*childTrans.getBasis(); + // create a proxy shape info to store the transformation + CcdShapeConstructionInfo* proxyShapeInfo = new CcdShapeConstructionInfo(); + // store the transformation to this object shapeinfo + proxyShapeInfo->m_childTrans.setOrigin(relativePos); + proxyShapeInfo->m_childTrans.setBasis(relativeRot); + proxyShapeInfo->m_childScale.setValue(relativeScale[0], relativeScale[1], relativeScale[2]); + // we will need this to make sure that we remove the right proxy later when unparenting + proxyShapeInfo->m_userData = childCtrl; + proxyShapeInfo->SetProxy(childCtrl->GetShapeInfo()->AddRef()); + // add to parent compound shapeinfo (increments ref count) + GetShapeInfo()->AddShape(proxyShapeInfo); + // create new bullet collision shape from the object shapeinfo and set scaling + btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(childCtrl->GetMargin(), childCtrl->GetConstructionInfo().m_bGimpact, true); + newChildShape->setLocalScaling(relativeScale); + // add bullet collision shape to parent compound collision shape + compoundShape->addChildShape(proxyShapeInfo->m_childTrans,newChildShape); + // proxyShapeInfo is not needed anymore, release it + proxyShapeInfo->Release(); + // remember we created this shape + childCtrl->m_bulletChildShape = newChildShape; + // recompute inertia of parent + if (!rootBody->isStaticOrKinematicObject()) + { + btVector3 localInertia; + float mass = 1.f/rootBody->getInvMass(); + compoundShape->calculateLocalInertia(mass,localInertia); + rootBody->setMassProps(mass,localInertia); + } + // must update the broadphase cache, + GetPhysicsEnvironment()->RefreshCcdPhysicsController(this); + // remove the children + GetPhysicsEnvironment()->DisableCcdPhysicsController(childCtrl); +} + +/* Reverse function of the above, it will remove a shape from a compound shape + * provided that the former was added to the later using AddCompoundChild() + */ +void CcdPhysicsController::RemoveCompoundChild(PHY_IPhysicsController* child) +{ + if (child == NULL || !IsCompound()) + return; + // other controller must be a bullet controller too + // verify that body and shape exist and match + CcdPhysicsController* childCtrl = dynamic_cast<CcdPhysicsController*>(child); + btRigidBody* rootBody = GetRigidBody(); + btRigidBody* childBody = childCtrl->GetRigidBody(); + if (!rootBody || !childBody) + return; + const btCollisionShape* rootShape = rootBody->getCollisionShape(); + if (!rootShape || + rootShape->getShapeType() != COMPOUND_SHAPE_PROXYTYPE) + return; + btCompoundShape* compoundShape = (btCompoundShape*)rootShape; + // retrieve the shapeInfo + CcdShapeConstructionInfo* childShapeInfo = childCtrl->GetShapeInfo(); + CcdShapeConstructionInfo* rootShapeInfo = GetShapeInfo(); + // and verify that the child is part of the parent + int i = rootShapeInfo->FindChildShape(childShapeInfo, childCtrl); + if (i < 0) + return; + rootShapeInfo->RemoveChildShape(i); + if (childCtrl->m_bulletChildShape) + { + int numChildren = compoundShape->getNumChildShapes(); + for (i=0; i<numChildren; i++) + { + if (compoundShape->getChildShape(i) == childCtrl->m_bulletChildShape) + { + compoundShape->removeChildShapeByIndex(i); + compoundShape->recalculateLocalAabb(); + break; + } + } + delete childCtrl->m_bulletChildShape; + childCtrl->m_bulletChildShape = NULL; + } + // recompute inertia of parent + if (!rootBody->isStaticOrKinematicObject()) + { + btVector3 localInertia; + float mass = 1.f/rootBody->getInvMass(); + compoundShape->calculateLocalInertia(mass,localInertia); + rootBody->setMassProps(mass,localInertia); + } + // must update the broadphase cache, + GetPhysicsEnvironment()->RefreshCcdPhysicsController(this); + // reactivate the children + GetPhysicsEnvironment()->EnableCcdPhysicsController(childCtrl); +} + +PHY_IPhysicsController* CcdPhysicsController::GetReplica() +{ + CcdPhysicsController* replica = new CcdPhysicsController(*this); + return replica; +} -PHY_IPhysicsController* CcdPhysicsController::GetReplica() +// Keeping this separate for now, maybe we can combine it with GetReplica()... +PHY_IPhysicsController* CcdPhysicsController::GetReplicaForSensors() { // This is used only to replicate Near and Radar sensor controllers // The replication of object physics controller is done in KX_BulletPhysicsController::GetReplica() @@ -1462,21 +1636,21 @@ DefaultMotionState::~DefaultMotionState() } -void DefaultMotionState::getWorldPosition(float& posX,float& posY,float& posZ) +void DefaultMotionState::GetWorldPosition(float& posX,float& posY,float& posZ) { posX = m_worldTransform.getOrigin().x(); posY = m_worldTransform.getOrigin().y(); posZ = m_worldTransform.getOrigin().z(); } -void DefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ) +void DefaultMotionState::GetWorldScaling(float& scaleX,float& scaleY,float& scaleZ) { scaleX = m_localScaling.getX(); scaleY = m_localScaling.getY(); scaleZ = m_localScaling.getZ(); } -void DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal) +void DefaultMotionState::GetWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal) { btQuaternion quat = m_worldTransform.getRotation(); quatIma0 = quat.x(); @@ -1485,28 +1659,28 @@ void DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,flo quatReal = quat[3]; } -void DefaultMotionState::getWorldOrientation(float* ori) +void DefaultMotionState::GetWorldOrientation(float* ori) { m_worldTransform.getBasis().getOpenGLSubMatrix(ori); } -void DefaultMotionState::setWorldOrientation(const float* ori) +void DefaultMotionState::SetWorldOrientation(const float* ori) { m_worldTransform.getBasis().setFromOpenGLSubMatrix(ori); } -void DefaultMotionState::setWorldPosition(float posX,float posY,float posZ) +void DefaultMotionState::SetWorldPosition(float posX,float posY,float posZ) { btVector3 pos(posX,posY,posZ); m_worldTransform.setOrigin( pos ); } -void DefaultMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal) +void DefaultMotionState::SetWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal) { btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal); m_worldTransform.setRotation( orn ); } -void DefaultMotionState::calculateWorldTransformations() +void DefaultMotionState::CalculateWorldTransformations() { } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index f1f0ca31419..ecb894c1e8d 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -33,6 +33,7 @@ subject to the following restrictions: #include "LinearMath/btTransform.h" #include "PHY_IMotionState.h" +#include "PHY_ICharacter.h" extern float gDeactivationTime; extern float gLinearSleepingTreshold; @@ -266,6 +267,7 @@ struct CcdConstructionInfo m_soft_kSHR(1.0f), m_soft_kAHR(0.7f), m_collisionFlags(0), + m_bDyna(false), m_bRigid(false), m_bSoft(false), m_bSensor(false), @@ -349,6 +351,7 @@ struct CcdConstructionInfo int m_collisionFlags; + bool m_bDyna; bool m_bRigid; bool m_bSoft; bool m_bSensor; @@ -396,7 +399,7 @@ class btCollisionObject; class btSoftBody; class btPairCachingGhostObject; -class BlenderBulletCharacterController : public btKinematicCharacterController +class BlenderBulletCharacterController : public btKinematicCharacterController, public PHY_ICharacter { private: btMotionState* m_motionState; @@ -419,6 +422,25 @@ public: virtual void jump(); const btVector3& getWalkDirection(); + + // PHY_ICharacter interface + virtual void Jump() { jump(); } + virtual bool OnGround(){ return onGround(); } + virtual float GetGravity() { return getGravity(); } + virtual void SetGravity(float gravity) { setGravity(gravity); } + virtual int GetMaxJumps() { return getMaxJumps(); } + virtual void SetMaxJumps(int maxJumps) { setMaxJumps(maxJumps); } + virtual int GetJumpCount() { return getJumpCount(); } + virtual void SetWalkDirection(const MT_Vector3& dir) + { + btVector3 vec = btVector3(dir[0], dir[1], dir[2]); + setWalkDirection(vec); + } + virtual MT_Vector3 GetWalkDirection() + { + btVector3 vec = getWalkDirection(); + return MT_Vector3(vec[0], vec[1], vec[2]); + } }; ///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution. @@ -433,6 +455,7 @@ protected: btMotionState* m_bulletMotionState; class btCollisionShape* m_collisionShape; class CcdShapeConstructionInfo* m_shapeInfo; + btCollisionShape* m_bulletChildShape; friend class CcdPhysicsEnvironment; // needed when updating the controller @@ -449,6 +472,10 @@ protected: CcdPhysicsController* m_parentCtrl; + int m_savedCollisionFlags; + MT_Scalar m_savedMass; + bool m_suspended; + void GetWorldOrientation(btMatrix3x3& mat); void CreateRigidbody(); @@ -462,8 +489,8 @@ protected: return (--m_registerCount == 0) ? true : false; } - void setWorldOrientation(const btMatrix3x3& mat); - void forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos); + void SetWorldOrientation(const btMatrix3x3& mat); + void ForceWorldTransform(const btMatrix3x3& mat, const btVector3& pos); public: @@ -477,11 +504,11 @@ protected: virtual ~CcdPhysicsController(); - CcdConstructionInfo& getConstructionInfo() + CcdConstructionInfo& GetConstructionInfo() { return m_cci; } - const CcdConstructionInfo& getConstructionInfo() const + const CcdConstructionInfo& GetConstructionInfo() const { return m_cci; } @@ -518,42 +545,51 @@ protected: virtual void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env); // kinematic methods - virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local); - virtual void SetWalkDirection(float dirX,float dirY,float dirZ,bool local); - virtual void RelativeRotate(const float drot[9],bool local); - virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal); - virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal); - virtual void setPosition(float posX,float posY,float posZ); - virtual void getPosition(MT_Vector3& pos) const; - - virtual void setScaling(float scaleX,float scaleY,float scaleZ); + virtual void RelativeTranslate(const MT_Vector3& dloc,bool local); + virtual void RelativeRotate(const MT_Matrix3x3&rotval, bool local); + virtual MT_Matrix3x3 GetOrientation(); + virtual void SetOrientation(const MT_Matrix3x3& orn); + virtual void SetPosition(const MT_Vector3& pos); + virtual void GetPosition(MT_Vector3& pos) const; + virtual void SetScaling(const MT_Vector3& scale); + virtual void SetTransform(); + + virtual MT_Scalar GetMass(); + virtual void SetMass(MT_Scalar newmass); // physics methods - virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local); - virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local); - virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local); - virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local); - virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ); + virtual void ApplyImpulse(const MT_Point3& attach, const MT_Vector3& impulsein); + virtual void ApplyTorque(const MT_Vector3& torque,bool local); + virtual void ApplyForce(const MT_Vector3& force,bool local); + virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local); + virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local); virtual void Jump(); virtual void SetActive(bool active); // reading out information from physics - virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ); - virtual void GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ); - virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ); - virtual void getReactionForce(float& forceX,float& forceY,float& forceZ); - virtual void GetWalkDirection(float& dirX,float& dirY,float& dirZ); + virtual MT_Vector3 GetLinearVelocity(); + virtual MT_Vector3 GetAngularVelocity(); + virtual MT_Vector3 GetVelocity(const MT_Point3& posin); + virtual MT_Vector3 GetLocalInertia(); // dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted - virtual void setRigidBody(bool rigid); + virtual void SetRigidBody(bool rigid); - virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ); + virtual void ResolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ); + + virtual void SuspendDynamics(bool ghost); + virtual void RestoreDynamics(); + + // Shape control + virtual void AddCompoundChild(PHY_IPhysicsController* child); + virtual void RemoveCompoundChild(PHY_IPhysicsController* child); // clientinfo for raycasts for example - virtual void* getNewClientInfo(); - virtual void setNewClientInfo(void* clientinfo); + virtual void* GetNewClientInfo(); + virtual void SetNewClientInfo(void* clientinfo); virtual PHY_IPhysicsController* GetReplica(); + virtual PHY_IPhysicsController* GetReplicaForSensors(); ///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors short int GetCollisionFilterGroup() const @@ -566,7 +602,7 @@ protected: return m_cci.m_collisionFilterMask; } - virtual void calcXform() {} + virtual void CalcXform() {} virtual void SetMargin(float margin) { if (m_collisionShape) @@ -609,7 +645,7 @@ protected: return m_cci.m_clamp_vel_max; } - bool wantsSleeping(); + bool WantsSleeping(); void UpdateDeactivation(float timeStep); @@ -635,24 +671,29 @@ protected: return m_cci.m_physicsEnv; } - void setParentCtrl(CcdPhysicsController* parentCtrl) + void SetParentCtrl(CcdPhysicsController* parentCtrl) { m_parentCtrl = parentCtrl; } - CcdPhysicsController* getParentCtrl() + CcdPhysicsController* GetParentCtrl() { return m_parentCtrl; } - const CcdPhysicsController* getParentCtrl() const + const CcdPhysicsController* GetParentCtrl() const { return m_parentCtrl; } - virtual const char* getName() + virtual bool IsDynamic() + { + return GetConstructionInfo().m_bDyna; + } + + virtual bool IsCompound() { - return 0; + return GetConstructionInfo().m_shapeInfo->m_shapeType == PHY_SHAPE_COMPOUND; } #ifdef WITH_CXX_GUARDEDALLOC @@ -672,16 +713,16 @@ class DefaultMotionState : public PHY_IMotionState virtual ~DefaultMotionState(); - virtual void getWorldPosition(float& posX,float& posY,float& posZ); - virtual void getWorldScaling(float& scaleX,float& scaleY,float& scaleZ); - virtual void getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal); + virtual void GetWorldPosition(float& posX,float& posY,float& posZ); + virtual void GetWorldScaling(float& scaleX,float& scaleY,float& scaleZ); + virtual void GetWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal); - virtual void setWorldPosition(float posX,float posY,float posZ); - virtual void setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal); - virtual void getWorldOrientation(float* ori); - virtual void setWorldOrientation(const float* ori); + virtual void SetWorldPosition(float posX,float posY,float posZ); + virtual void SetWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal); + virtual void GetWorldOrientation(float* ori); + virtual void SetWorldOrientation(const float* ori); - virtual void calculateWorldTransformations(); + virtual void CalculateWorldTransformations(); btTransform m_worldTransform; btVector3 m_localScaling; diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index e01530f2b11..10be1876e41 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -127,8 +127,8 @@ public: btTransform trans = m_vehicle->getWheelInfo(i).m_worldTransform; 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()); + motionState->SetWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]); + motionState->SetWorldPosition(pos.x(),pos.y(),pos.z()); } } @@ -265,63 +265,6 @@ public: }; #endif //NEW_BULLET_VEHICLE_SUPPORT -class CharacterWrapper : public PHY_ICharacter -{ -private: - BlenderBulletCharacterController* m_controller; - -public: - CharacterWrapper(BlenderBulletCharacterController* cont) - : m_controller(cont) - {} - - virtual void Jump() - { - m_controller->jump(); - } - - virtual bool OnGround() - { - return m_controller->onGround(); - } - - virtual float GetGravity() - { - return m_controller->getGravity(); - } - virtual void SetGravity(float gravity) - { - m_controller->setGravity(gravity); - } - - virtual int GetMaxJumps() - { - return m_controller->getMaxJumps(); - } - - virtual void SetMaxJumps(int maxJumps) - { - m_controller->setMaxJumps(maxJumps); - } - - virtual int GetJumpCount() - { - return m_controller->getJumpCount(); - } - - virtual void SetWalkDirection(const MT_Vector3& dir) - { - btVector3 vec = btVector3(dir[0], dir[1], dir[2]); - m_controller->setWalkDirection(vec); - } - - virtual MT_Vector3 GetWalkDirection() - { - btVector3 vec = m_controller->getWalkDirection(); - return MT_Vector3(vec[0], vec[1], vec[2]); - } -}; - class CcdOverlapFilterCallBack : public btOverlapFilterCallback { private: @@ -339,7 +282,7 @@ public: }; -void CcdPhysicsEnvironment::setDebugDrawer(btIDebugDraw* debugDrawer) +void CcdPhysicsEnvironment::SetDebugDrawer(btIDebugDraw* debugDrawer) { if (debugDrawer && m_dynamicsWorld) m_dynamicsWorld->setDebugDrawer(debugDrawer); @@ -429,17 +372,17 @@ m_scalingPropagated(false) m_broadphase->getOverlappingPairCache()->setOverlapFilterCallback(m_filterCallback); m_broadphase->getOverlappingPairCache()->setInternalGhostPairCallback(m_ghostPairCallback); - setSolverType(1);//issues with quickstep and memory allocations + SetSolverType(1);//issues with quickstep and memory allocations // m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration); m_dynamicsWorld = new btSoftRigidDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration); //m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.01f; //m_dynamicsWorld->getSolverInfo().m_solverMode= SOLVER_USE_WARMSTARTING + SOLVER_USE_2_FRICTION_DIRECTIONS + SOLVER_RANDMIZE_ORDER + SOLVER_USE_FRICTION_WARMSTARTING; m_debugDrawer = 0; - setGravity(0.f,0.f,-9.81f); + SetGravity(0.f,0.f,-9.81f); } -void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) +void CcdPhysicsEnvironment::AddCcdPhysicsController(CcdPhysicsController* ctrl) { btRigidBody* body = ctrl->GetRigidBody(); btCollisionObject* obj = ctrl->GetCollisionObject(); @@ -483,7 +426,7 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) -bool CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl) +bool CcdPhysicsEnvironment::RemoveCcdPhysicsController(CcdPhysicsController* ctrl) { //also remove constraint btRigidBody* body = ctrl->GetRigidBody(); @@ -522,7 +465,7 @@ bool CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr return (m_controllers.erase(ctrl) != 0); } -void CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask) +void CcdPhysicsEnvironment::UpdateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask) { // this function is used when the collisionning group of a controller is changed // remove and add the collistioning object @@ -551,7 +494,7 @@ void CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctr ctrl->m_cci.m_collisionFlags = newCollisionFlags; } -void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctrl) +void CcdPhysicsEnvironment::EnableCcdPhysicsController(CcdPhysicsController* ctrl) { if (m_controllers.insert(ctrl).second) { @@ -568,7 +511,7 @@ void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctr } } -void CcdPhysicsEnvironment::disableCcdPhysicsController(CcdPhysicsController* ctrl) +void CcdPhysicsEnvironment::DisableCcdPhysicsController(CcdPhysicsController* ctrl) { if (m_controllers.erase(ctrl)) { @@ -588,7 +531,7 @@ void CcdPhysicsEnvironment::disableCcdPhysicsController(CcdPhysicsController* ct } } -void CcdPhysicsEnvironment::refreshCcdPhysicsController(CcdPhysicsController* ctrl) +void CcdPhysicsEnvironment::RefreshCcdPhysicsController(CcdPhysicsController* ctrl) { btCollisionObject* obj = ctrl->GetCollisionObject(); if (obj) @@ -601,15 +544,15 @@ void CcdPhysicsEnvironment::refreshCcdPhysicsController(CcdPhysicsController* ct } } -void CcdPhysicsEnvironment::addCcdGraphicController(CcdGraphicController* ctrl) +void CcdPhysicsEnvironment::AddCcdGraphicController(CcdGraphicController* ctrl) { - if (m_cullingTree && !ctrl->getBroadphaseHandle()) + if (m_cullingTree && !ctrl->GetBroadphaseHandle()) { btVector3 minAabb; btVector3 maxAabb; - ctrl->getAabb(minAabb, maxAabb); + ctrl->GetAabb(minAabb, maxAabb); - ctrl->setBroadphaseHandle(m_cullingTree->createProxy( + ctrl->SetBroadphaseHandle(m_cullingTree->createProxy( minAabb, maxAabb, INVALID_SHAPE_PROXYTYPE, // this parameter is not used @@ -619,35 +562,35 @@ void CcdPhysicsEnvironment::addCcdGraphicController(CcdGraphicController* ctrl) NULL, // dispatcher => this parameter is not used 0)); - assert(ctrl->getBroadphaseHandle()); + assert(ctrl->GetBroadphaseHandle()); } } -void CcdPhysicsEnvironment::removeCcdGraphicController(CcdGraphicController* ctrl) +void CcdPhysicsEnvironment::RemoveCcdGraphicController(CcdGraphicController* ctrl) { if (m_cullingTree) { - btBroadphaseProxy* bp = ctrl->getBroadphaseHandle(); + btBroadphaseProxy* bp = ctrl->GetBroadphaseHandle(); if (bp) { m_cullingTree->destroyProxy(bp,NULL); - ctrl->setBroadphaseHandle(0); + ctrl->SetBroadphaseHandle(0); } } } -void CcdPhysicsEnvironment::beginFrame() +void CcdPhysicsEnvironment::BeginFrame() { } -void CcdPhysicsEnvironment::debugDrawWorld() +void CcdPhysicsEnvironment::DebugDrawWorld() { if (m_dynamicsWorld->getDebugDrawer() && m_dynamicsWorld->getDebugDrawer()->getDebugMode() >0) m_dynamicsWorld->debugDrawWorld(); } -bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,float interval) +bool CcdPhysicsEnvironment::ProceedDeltaTime(double curTime,float timeStep,float interval) { std::set<CcdPhysicsController*>::iterator it; int i; @@ -662,7 +605,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,float //uncomment next line to see where Bullet spend its time (printf in console) //CProfileManager::dumpAll(); - processFhSprings(curTime,i*subStep); + ProcessFhSprings(curTime,i*subStep); for (it=m_controllers.begin(); it!=m_controllers.end(); it++) { @@ -714,7 +657,7 @@ public: }; -void CcdPhysicsEnvironment::processFhSprings(double curTime,float interval) +void CcdPhysicsEnvironment::ProcessFhSprings(double curTime,float interval) { std::set<CcdPhysicsController*>::iterator it; // dynamic of Fh spring is based on a timestep of 1/60 @@ -725,12 +668,12 @@ void CcdPhysicsEnvironment::processFhSprings(double curTime,float interval) CcdPhysicsController* ctrl = (*it); btRigidBody* body = ctrl->GetRigidBody(); - if (body && (ctrl->getConstructionInfo().m_do_fh || ctrl->getConstructionInfo().m_do_rot_fh)) + if (body && (ctrl->GetConstructionInfo().m_do_fh || ctrl->GetConstructionInfo().m_do_rot_fh)) { //printf("has Fh or RotFh\n"); //re-implement SM_FhObject.cpp using btCollisionWorld::rayTest and info from ctrl->getConstructionInfo() //send a ray from {0.0, 0.0, 0.0} towards {0.0, 0.0, -10.0}, in local coordinates - CcdPhysicsController* parentCtrl = ctrl->getParentCtrl(); + CcdPhysicsController* parentCtrl = ctrl->GetParentCtrl(); btRigidBody* parentBody = parentCtrl?parentCtrl->GetRigidBody() : 0; btRigidBody* cl_object = parentBody ? parentBody : body; @@ -756,16 +699,16 @@ void CcdPhysicsEnvironment::processFhSprings(double curTime,float interval) if (controller) { - if (controller->getConstructionInfo().m_fh_distance < SIMD_EPSILON) + if (controller->GetConstructionInfo().m_fh_distance < SIMD_EPSILON) continue; btRigidBody* hit_object = controller->GetRigidBody(); if (!hit_object) continue; - CcdConstructionInfo& hitObjShapeProps = controller->getConstructionInfo(); + CcdConstructionInfo& hitObjShapeProps = controller->GetConstructionInfo(); - float distance = resultCallback.m_closestHitFraction*rayDirLocal.length()-ctrl->getConstructionInfo().m_radius; + float distance = resultCallback.m_closestHitFraction*rayDirLocal.length()-ctrl->GetConstructionInfo().m_radius; if (distance >= hitObjShapeProps.m_fh_distance) continue; @@ -778,7 +721,7 @@ void CcdPhysicsEnvironment::processFhSprings(double curTime,float interval) for (int i=0; i<numIter; i++) { - if (ctrl->getConstructionInfo().m_do_fh) + if (ctrl->GetConstructionInfo().m_do_fh) { btVector3 lspot = cl_object->getCenterOfMassPosition() + rayDirLocal * resultCallback.m_closestHitFraction; @@ -790,7 +733,7 @@ void CcdPhysicsEnvironment::processFhSprings(double curTime,float interval) btVector3 rel_vel = cl_object->getLinearVelocity() - hit_object->getVelocityInLocalPoint(lspot); btScalar rel_vel_ray = ray_dir.dot(rel_vel); btScalar spring_extent = 1.0 - distance / hitObjShapeProps.m_fh_distance; - + btScalar i_spring = spring_extent * hitObjShapeProps.m_fh_spring; btScalar i_damp = rel_vel_ray * hitObjShapeProps.m_fh_damping; @@ -803,7 +746,7 @@ void CcdPhysicsEnvironment::processFhSprings(double curTime,float interval) btVector3 lateral = rel_vel - rel_vel_ray * ray_dir; - if (ctrl->getConstructionInfo().m_do_anisotropic) { + if (ctrl->GetConstructionInfo().m_do_anisotropic) { //Bullet basis contains no scaling/shear etc. const btMatrix3x3& lcs = cl_object->getCenterOfMassTransform().getBasis(); btVector3 loc_lateral = lateral * lcs; @@ -830,7 +773,7 @@ void CcdPhysicsEnvironment::processFhSprings(double curTime,float interval) } - if (ctrl->getConstructionInfo().m_do_rot_fh) { + if (ctrl->GetConstructionInfo().m_do_rot_fh) { btVector3 up2 = cl_object->getWorldTransform().getBasis().getColumn(2); btVector3 t_spring = up2.cross(normal) * hitObjShapeProps.m_fh_spring; @@ -850,69 +793,69 @@ void CcdPhysicsEnvironment::processFhSprings(double curTime,float interval) } } -void CcdPhysicsEnvironment::setDebugMode(int debugMode) +void CcdPhysicsEnvironment::SetDebugMode(int debugMode) { if (m_debugDrawer) { m_debugDrawer->setDebugMode(debugMode); } } -void CcdPhysicsEnvironment::setNumIterations(int numIter) +void CcdPhysicsEnvironment::SetNumIterations(int numIter) { m_numIterations = numIter; } -void CcdPhysicsEnvironment::setDeactivationTime(float dTime) +void CcdPhysicsEnvironment::SetDeactivationTime(float dTime) { gDeactivationTime = dTime; } -void CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh) +void CcdPhysicsEnvironment::SetDeactivationLinearTreshold(float linTresh) { gLinearSleepingTreshold = linTresh; } -void CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh) +void CcdPhysicsEnvironment::SetDeactivationAngularTreshold(float angTresh) { gAngularSleepingTreshold = angTresh; } -void CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold) +void CcdPhysicsEnvironment::SetContactBreakingTreshold(float contactBreakingTreshold) { gContactBreakingThreshold = contactBreakingTreshold; } -void CcdPhysicsEnvironment::setCcdMode(int ccdMode) +void CcdPhysicsEnvironment::SetCcdMode(int ccdMode) { m_ccdMode = ccdMode; } -void CcdPhysicsEnvironment::setSolverSorConstant(float sor) +void CcdPhysicsEnvironment::SetSolverSorConstant(float sor) { m_dynamicsWorld->getSolverInfo().m_sor = sor; } -void CcdPhysicsEnvironment::setSolverTau(float tau) +void CcdPhysicsEnvironment::SetSolverTau(float tau) { m_dynamicsWorld->getSolverInfo().m_tau = tau; } -void CcdPhysicsEnvironment::setSolverDamping(float damping) +void CcdPhysicsEnvironment::SetSolverDamping(float damping) { m_dynamicsWorld->getSolverInfo().m_damping = damping; } -void CcdPhysicsEnvironment::setLinearAirDamping(float damping) +void CcdPhysicsEnvironment::SetLinearAirDamping(float damping) { //gLinearAirDamping = damping; } -void CcdPhysicsEnvironment::setUseEpa(bool epa) +void CcdPhysicsEnvironment::SetUseEpa(bool epa) { //gUseEpa = epa; } -void CcdPhysicsEnvironment::setSolverType(int solverType) +void CcdPhysicsEnvironment::SetSolverType(int solverType) { switch (solverType) @@ -945,7 +888,7 @@ void CcdPhysicsEnvironment::setSolverType(int solverType) -void CcdPhysicsEnvironment::getGravity(MT_Vector3& grav) +void CcdPhysicsEnvironment::GetGravity(MT_Vector3& grav) { const btVector3& gravity = m_dynamicsWorld->getGravity(); grav[0] = gravity.getX(); @@ -954,7 +897,7 @@ void CcdPhysicsEnvironment::getGravity(MT_Vector3& grav) } -void CcdPhysicsEnvironment::setGravity(float x,float y,float z) +void CcdPhysicsEnvironment::SetGravity(float x,float y,float z) { m_gravity = btVector3(x,y,z); m_dynamicsWorld->setGravity(m_gravity); @@ -967,7 +910,7 @@ void CcdPhysicsEnvironment::setGravity(float x,float y,float z) static int gConstraintUid = 1; //Following the COLLADA physics specification for constraints -int CcdPhysicsEnvironment::createUniversalD6Constraint( +int CcdPhysicsEnvironment::CreateUniversalD6Constraint( class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther, btTransform& frameInA, btTransform& frameInB, @@ -1025,7 +968,7 @@ int CcdPhysicsEnvironment::createUniversalD6Constraint( -void CcdPhysicsEnvironment::removeConstraint(int constraintId) +void CcdPhysicsEnvironment::RemoveConstraint(int constraintId) { int i; @@ -1144,7 +1087,7 @@ static bool GetHitTriangle(btCollisionShape* shape, CcdShapeConstructionInfo* sh return true; } -PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ) +PHY_IPhysicsController* CcdPhysicsEnvironment::RayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ) { btVector3 rayFrom(fromX,fromY,fromZ); btVector3 rayTo(toX,toY,toZ); @@ -1798,7 +1741,7 @@ struct DbvtCullingCallback : btDbvt::ICollide btBroadphaseProxy* proxy=(btBroadphaseProxy*)leaf->data; // the client object is a graphic controller CcdGraphicController* ctrl = static_cast<CcdGraphicController*>(proxy->m_clientObject); - KX_ClientObjectInfo *info = (KX_ClientObjectInfo*)ctrl->getNewClientInfo(); + KX_ClientObjectInfo *info = (KX_ClientObjectInfo*)ctrl->GetNewClientInfo(); if (m_ocb) { // means we are doing occlusion culling. Check if this object is an occluders @@ -1846,7 +1789,7 @@ struct DbvtCullingCallback : btDbvt::ICollide }; static OcclusionBuffer gOcb; -bool CcdPhysicsEnvironment::cullingTest(PHY_CullingCallback callback, void* userData, MT_Vector4 *planes, int nplanes, int occlusionRes, const int *viewport, double modelview[16], double projection[16]) +bool CcdPhysicsEnvironment::CullingTest(PHY_CullingCallback callback, void* userData, MT_Vector4 *planes, int nplanes, int occlusionRes, const int *viewport, double modelview[16], double projection[16]) { if (!m_cullingTree) return false; @@ -1876,12 +1819,12 @@ bool CcdPhysicsEnvironment::cullingTest(PHY_CullingCallback callback, void* user return true; } -int CcdPhysicsEnvironment::getNumContactPoints() +int CcdPhysicsEnvironment::GetNumContactPoints() { return 0; } -void CcdPhysicsEnvironment::getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ) +void CcdPhysicsEnvironment::GetContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ) { } @@ -1889,12 +1832,12 @@ void CcdPhysicsEnvironment::getContactPoint(int i,float& hitX,float& hitY,float& -btBroadphaseInterface* CcdPhysicsEnvironment::getBroadphase() +btBroadphaseInterface* CcdPhysicsEnvironment::GetBroadphase() { return m_dynamicsWorld->getBroadphase(); } -btDispatcher* CcdPhysicsEnvironment::getDispatcher() +btDispatcher* CcdPhysicsEnvironment::GetDispatcher() { return m_dynamicsWorld->getDispatcher(); } @@ -1908,8 +1851,8 @@ void CcdPhysicsEnvironment::MergeEnvironment(CcdPhysicsEnvironment *other) it= other->m_controllers.begin(); CcdPhysicsController* ctrl= (*it); - other->removeCcdPhysicsController(ctrl); - this->addCcdPhysicsController(ctrl); + other->RemoveCcdPhysicsController(ctrl); + this->AddCcdPhysicsController(ctrl); } } @@ -1961,9 +1904,9 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment() } -float CcdPhysicsEnvironment::getConstraintParam(int constraintId,int param) +float CcdPhysicsEnvironment::GetConstraintParam(int constraintId,int param) { - btTypedConstraint* typedConstraint = getConstraintById(constraintId); + btTypedConstraint* typedConstraint = GetConstraintById(constraintId); switch (typedConstraint->getUserConstraintType()) { case PHY_GENERIC_6DOF_CONSTRAINT: @@ -2000,9 +1943,9 @@ float CcdPhysicsEnvironment::getConstraintParam(int constraintId,int param) return 0.f; } -void CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float value0,float value1) +void CcdPhysicsEnvironment::SetConstraintParam(int constraintId,int param,float value0,float value1) { - btTypedConstraint* typedConstraint = getConstraintById(constraintId); + btTypedConstraint* typedConstraint = GetConstraintById(constraintId); switch (typedConstraint->getUserConstraintType()) { case PHY_GENERIC_6DOF_CONSTRAINT: @@ -2110,7 +2053,7 @@ void CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float }; } -btTypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId) +btTypedConstraint* CcdPhysicsEnvironment::GetConstraintById(int constraintId) { int numConstraints = m_dynamicsWorld->getNumConstraints(); @@ -2127,7 +2070,7 @@ btTypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId) } -void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl) +void CcdPhysicsEnvironment::AddSensor(PHY_IPhysicsController* ctrl) { CcdPhysicsController* ctrl1 = (CcdPhysicsController* )ctrl; @@ -2137,10 +2080,10 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl) //{ // addCcdPhysicsController(ctrl1); //} - enableCcdPhysicsController(ctrl1); + EnableCcdPhysicsController(ctrl1); } -bool CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl) +bool CcdPhysicsEnvironment::RemoveCollisionCallback(PHY_IPhysicsController* ctrl) { CcdPhysicsController* ccdCtrl = (CcdPhysicsController*)ctrl; if (!ccdCtrl->Unregister()) @@ -2150,12 +2093,12 @@ bool CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl } -void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl) +void CcdPhysicsEnvironment::RemoveSensor(PHY_IPhysicsController* ctrl) { - disableCcdPhysicsController((CcdPhysicsController*)ctrl); + DisableCcdPhysicsController((CcdPhysicsController*)ctrl); } -void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user) +void CcdPhysicsEnvironment::AddTouchCallback(int response_class, PHY_ResponseCallback callback, void *user) { /* printf("addTouchCallback\n(response class = %i)\n",response_class); @@ -2187,7 +2130,7 @@ void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCal m_triggerCallbacksUserPtrs[response_class] = user; } -bool CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl) +bool CcdPhysicsEnvironment::RequestCollisionCallback(PHY_IPhysicsController* ctrl) { CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl); @@ -2270,12 +2213,12 @@ bool CcdOverlapFilterCallBack::needBroadphaseCollision(btBroadphaseProxy* proxy0 (KX_ClientObjectInfo*) ((CcdPhysicsController*) (((btCollisionObject*)proxy0->m_clientObject)->getUserPointer())) - ->getNewClientInfo()); + ->GetNewClientInfo()); KX_GameObject *kxObj1 = KX_GameObject::GetClientObject( (KX_ClientObjectInfo*) ((CcdPhysicsController*) (((btCollisionObject*)proxy1->m_clientObject)->getUserPointer())) - ->getNewClientInfo()); + ->GetNewClientInfo()); // First check the filters. Note that this is called during scene // conversion, so we can't assume the KX_GameObject instances exist. This @@ -2324,7 +2267,7 @@ bool CcdOverlapFilterCallBack::needBroadphaseCollision(btBroadphaseProxy* proxy0 #ifdef NEW_BULLET_VEHICLE_SUPPORT //complex constraint for vehicles -PHY_IVehicle* CcdPhysicsEnvironment::getVehicleConstraint(int constraintId) +PHY_IVehicle* CcdPhysicsEnvironment::GetVehicleConstraint(int constraintId) { int i; @@ -2342,13 +2285,10 @@ PHY_IVehicle* CcdPhysicsEnvironment::getVehicleConstraint(int constraintId) #endif //NEW_BULLET_VEHICLE_SUPPORT -PHY_ICharacter* CcdPhysicsEnvironment::getCharacterController(KX_GameObject *ob) +PHY_ICharacter* CcdPhysicsEnvironment::GetCharacterController(KX_GameObject *ob) { - CcdPhysicsController* controller = (CcdPhysicsController*)ob->GetPhysicsController()->GetUserData(); - if (controller->GetCharacterController()) - return new CharacterWrapper((BlenderBulletCharacterController*)controller->GetCharacterController()); - - return NULL; + CcdPhysicsController* controller = (CcdPhysicsController*)ob->GetPhysicsController(); + return dynamic_cast<BlenderBulletCharacterController*>(controller->GetCharacterController()); } @@ -2398,7 +2338,7 @@ int findClosestNode(btSoftBody* sb,const btVector3& worldPoint) return node; } -int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type, +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, float axis1X,float axis1Y,float axis1Z, @@ -2891,7 +2831,7 @@ float CcdPhysicsEnvironment::getAppliedImpulse(int constraintid) return 0.f; } -void CcdPhysicsEnvironment::exportFile(const char* filename) +void CcdPhysicsEnvironment::ExportFile(const char* filename) { btDefaultSerializer* serializer = new btDefaultSerializer(); @@ -2904,7 +2844,7 @@ void CcdPhysicsEnvironment::exportFile(const char* filename) CcdPhysicsController* controller = static_cast<CcdPhysicsController*>(colObj->getUserPointer()); if (controller) { - const char* name = controller->getName(); + const char* name = KX_GameObject::GetClientObject((KX_ClientObjectInfo*)controller->GetNewClientInfo())->GetName(); if (name) { serializer->registerNameForPointer(colObj,name); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index 8cf88526969..0e8ac9417f0 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -24,6 +24,7 @@ subject to the following restrictions: #include "PHY_IPhysicsEnvironment.h" #include <vector> #include <set> +#include <map> class CcdPhysicsController; class CcdGraphicController; #include "LinearMath/btVector3.h" @@ -83,7 +84,7 @@ protected: int m_profileTimings; bool m_enableSatCollisionDetection; - void processFhSprings(double curTime,float timeStep); + void ProcessFhSprings(double curTime,float timeStep); public: CcdPhysicsEnvironment(bool useDbvtCulling, btDispatcher* dispatcher=0, btOverlappingPairCache* pairCache=0); @@ -96,54 +97,54 @@ protected: /// Perform an integration step of duration 'timeStep'. - virtual void setDebugDrawer(btIDebugDraw* debugDrawer); + virtual void SetDebugDrawer(btIDebugDraw* debugDrawer); - virtual void setNumIterations(int numIter); - virtual void setNumTimeSubSteps(int numTimeSubSteps) + virtual void SetNumIterations(int numIter); + virtual void SetNumTimeSubSteps(int numTimeSubSteps) { m_numTimeSubSteps = numTimeSubSteps; } - virtual void setDeactivationTime(float dTime); - virtual void setDeactivationLinearTreshold(float linTresh); - virtual void setDeactivationAngularTreshold(float angTresh); - virtual void setContactBreakingTreshold(float contactBreakingTreshold); - virtual void setCcdMode(int ccdMode); - virtual void setSolverType(int solverType); - virtual void setSolverSorConstant(float sor); - virtual void setSolverTau(float tau); - virtual void setSolverDamping(float damping); - virtual void setLinearAirDamping(float damping); - virtual void setUseEpa(bool epa); - - int getNumTimeSubSteps() + virtual void SetDeactivationTime(float dTime); + virtual void SetDeactivationLinearTreshold(float linTresh); + virtual void SetDeactivationAngularTreshold(float angTresh); + virtual void SetContactBreakingTreshold(float contactBreakingTreshold); + virtual void SetCcdMode(int ccdMode); + virtual void SetSolverType(int solverType); + virtual void SetSolverSorConstant(float sor); + virtual void SetSolverTau(float tau); + virtual void SetSolverDamping(float damping); + virtual void SetLinearAirDamping(float damping); + virtual void SetUseEpa(bool epa); + + virtual int GetNumTimeSubSteps() { return m_numTimeSubSteps; } - virtual void beginFrame(); - virtual void endFrame() {} + virtual void BeginFrame(); + virtual void EndFrame() {} /// Perform an integration step of duration 'timeStep'. - virtual bool proceedDeltaTime(double curTime,float timeStep,float interval); - - virtual void debugDrawWorld(); + virtual bool ProceedDeltaTime(double curTime,float timeStep,float interval); + + virtual void DebugDrawWorld(); // virtual bool proceedDeltaTimeOneStep(float timeStep); - virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep) + virtual void SetFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep) { //based on DEFAULT_PHYSICS_TIC_RATE of 60 hertz - setNumTimeSubSteps((int)(fixedTimeStep / 60.f)); + SetNumTimeSubSteps((int)(fixedTimeStep / 60.f)); } //returns 0.f if no fixed timestep is used - virtual float getFixedTimeStep() { return 0.f; } + virtual float GetFixedTimeStep() { return 0.f; } - virtual void setDebugMode(int debugMode); + virtual void SetDebugMode(int debugMode); - virtual void setGravity(float x,float y,float z); - virtual void getGravity(MT_Vector3& grav); + virtual void SetGravity(float x,float y,float z); + virtual void GetGravity(MT_Vector3& grav); - virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, + virtual int CreateConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, float pivotX,float pivotY,float pivotZ, float axisX,float axisY,float axisZ, float axis1X=0,float axis1Y=0,float axis1Z=0, @@ -152,7 +153,7 @@ protected: //Following the COLLADA physics specification for constraints - virtual int createUniversalD6Constraint( + virtual int CreateUniversalD6Constraint( class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther, btTransform& localAttachmentFrameRef, btTransform& localAttachmentOther, @@ -163,11 +164,11 @@ protected: ); - virtual void setConstraintParam(int constraintId,int param,float value,float value1); + virtual void SetConstraintParam(int constraintId,int param,float value,float value1); - virtual float getConstraintParam(int constraintId,int param); + virtual float GetConstraintParam(int constraintId,int param); - virtual void removeConstraint(int constraintid); + virtual void RemoveConstraint(int constraintid); virtual float getAppliedImpulse(int constraintid); @@ -177,61 +178,61 @@ protected: #ifdef NEW_BULLET_VEHICLE_SUPPORT //complex constraint for vehicles - virtual PHY_IVehicle* getVehicleConstraint(int constraintId); + virtual PHY_IVehicle* GetVehicleConstraint(int constraintId); #else - virtual class PHY_IVehicle* getVehicleConstraint(int constraintId) + virtual class PHY_IVehicle* GetVehicleConstraint(int constraintId) { return 0; } #endif /* NEW_BULLET_VEHICLE_SUPPORT */ // Character physics wrapper - virtual PHY_ICharacter* getCharacterController(class KX_GameObject* ob); + virtual PHY_ICharacter* GetCharacterController(class KX_GameObject* ob); - btTypedConstraint* getConstraintById(int constraintId); + btTypedConstraint* GetConstraintById(int constraintId); - virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ); - virtual bool cullingTest(PHY_CullingCallback callback, void* userData, MT_Vector4* planes, int nplanes, int occlusionRes, const int *viewport, double modelview[16], double projection[16]); + virtual PHY_IPhysicsController* RayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ); + virtual bool CullingTest(PHY_CullingCallback callback, void* userData, MT_Vector4* planes, int nplanes, int occlusionRes, const int *viewport, double modelview[16], double projection[16]); //Methods for gamelogic collision/physics callbacks - virtual void addSensor(PHY_IPhysicsController* ctrl); - virtual void removeSensor(PHY_IPhysicsController* ctrl); - virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user); - virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl); - virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl); + virtual void AddSensor(PHY_IPhysicsController* ctrl); + virtual void RemoveSensor(PHY_IPhysicsController* ctrl); + virtual void AddTouchCallback(int response_class, PHY_ResponseCallback callback, void *user); + virtual bool RequestCollisionCallback(PHY_IPhysicsController* ctrl); + virtual bool RemoveCollisionCallback(PHY_IPhysicsController* ctrl); //These two methods are used *solely* to create controllers for Near/Radar sensor! Don't use for anything else virtual PHY_IPhysicsController* CreateSphereController(float radius,const MT_Vector3& position); virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight); - virtual int getNumContactPoints(); + virtual int GetNumContactPoints(); - virtual void getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ); + virtual void GetContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ); ////////////////////// //CcdPhysicsEnvironment interface //////////////////////// - void addCcdPhysicsController(CcdPhysicsController* ctrl); + void AddCcdPhysicsController(CcdPhysicsController* ctrl); - bool removeCcdPhysicsController(CcdPhysicsController* ctrl); + bool RemoveCcdPhysicsController(CcdPhysicsController* ctrl); - void updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask); + void UpdateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask); - void disableCcdPhysicsController(CcdPhysicsController* ctrl); + void DisableCcdPhysicsController(CcdPhysicsController* ctrl); - void enableCcdPhysicsController(CcdPhysicsController* ctrl); + void EnableCcdPhysicsController(CcdPhysicsController* ctrl); - void refreshCcdPhysicsController(CcdPhysicsController* ctrl); + void RefreshCcdPhysicsController(CcdPhysicsController* ctrl); - void addCcdGraphicController(CcdGraphicController* ctrl); + void AddCcdGraphicController(CcdGraphicController* ctrl); - void removeCcdGraphicController(CcdGraphicController* ctrl); + void RemoveCcdGraphicController(CcdGraphicController* ctrl); - btBroadphaseInterface* getBroadphase(); - btDbvtBroadphase* getCullingTree() { return m_cullingTree; } + btBroadphaseInterface* GetBroadphase(); + btDbvtBroadphase* GetCullingTree() { return m_cullingTree; } - btDispatcher* getDispatcher(); + btDispatcher* GetDispatcher(); bool IsSatCollisionDetectionEnabled() const @@ -250,7 +251,7 @@ protected: void SyncMotionStates(float timeStep); - class btSoftRigidDynamicsWorld* getDynamicsWorld() + class btSoftRigidDynamicsWorld* GetDynamicsWorld() { return m_dynamicsWorld; } @@ -291,7 +292,7 @@ protected: bool m_scalingPropagated; - virtual void exportFile(const char* filename); + virtual void ExportFile(const char* filename); #ifdef WITH_CXX_GUARDEDALLOC diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp index 72450e4307c..1bb5431c749 100644 --- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp @@ -47,19 +47,19 @@ DummyPhysicsEnvironment::~DummyPhysicsEnvironment() //destroy physicsengine data } -void DummyPhysicsEnvironment::beginFrame() +void DummyPhysicsEnvironment::BeginFrame() { // beginning of logic frame: apply forces } -void DummyPhysicsEnvironment::endFrame() +void DummyPhysicsEnvironment::EndFrame() { // end of logic frame: clear forces } -bool DummyPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,float interval) +bool DummyPhysicsEnvironment::ProceedDeltaTime(double curTime,float timeStep,float interval) { //step physics simulation, typically perform @@ -69,11 +69,11 @@ bool DummyPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,f // return true if an update was done. return true; } -void DummyPhysicsEnvironment::setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep) +void DummyPhysicsEnvironment::SetFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep) { } -float DummyPhysicsEnvironment::getFixedTimeStep() +float DummyPhysicsEnvironment::GetFixedTimeStep() { return 0.f; } @@ -81,18 +81,18 @@ float DummyPhysicsEnvironment::getFixedTimeStep() -void DummyPhysicsEnvironment::setGravity(float x,float y,float z) +void DummyPhysicsEnvironment::SetGravity(float x,float y,float z) { } -void DummyPhysicsEnvironment::getGravity(class MT_Vector3& grav) +void DummyPhysicsEnvironment::GetGravity(class MT_Vector3& grav) { } -int DummyPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, +int DummyPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, float pivotX,float pivotY,float pivotZ,float axisX,float axisY,float axisZ, float axis1X,float axis1Y,float axis1Z, float axis2X,float axis2Y,float axis2Z,int flag @@ -104,14 +104,14 @@ int DummyPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ct } -void DummyPhysicsEnvironment::removeConstraint(int constraintid) +void DummyPhysicsEnvironment::RemoveConstraint(int constraintid) { if (constraintid) { } } -PHY_IPhysicsController* DummyPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback,float fromX,float fromY,float fromZ, float toX,float toY,float toZ) +PHY_IPhysicsController* DummyPhysicsEnvironment::RayTest(PHY_IRayCastFilterCallback &filterCallback,float fromX,float fromY,float fromZ, float toX,float toY,float toZ) { //collision detection / raytesting return NULL; diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h index 9f6bc85fced..41462f91840 100644 --- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h +++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h @@ -48,57 +48,57 @@ class DummyPhysicsEnvironment : public PHY_IPhysicsEnvironment public: DummyPhysicsEnvironment (); virtual ~DummyPhysicsEnvironment (); - virtual void beginFrame(); - virtual void endFrame(); + virtual void BeginFrame(); + virtual void EndFrame(); // Perform an integration step of duration 'timeStep'. - virtual bool proceedDeltaTime(double curTime,float timeStep,float interval); - virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep); - virtual float getFixedTimeStep(); + virtual bool ProceedDeltaTime(double curTime,float timeStep,float interval); + virtual void SetFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep); + virtual float GetFixedTimeStep(); - virtual void setGravity(float x,float y,float z); - virtual void getGravity(class MT_Vector3& grav); + virtual void SetGravity(float x,float y,float z); + virtual void GetGravity(class MT_Vector3& grav); - virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, + virtual int CreateConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, float pivotX,float pivotY,float pivotZ, float axisX,float axisY,float axisZ, float axis1X=0,float axis1Y=0,float axis1Z=0, float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0 ); - virtual void removeConstraint(int constraintid); + virtual void RemoveConstraint(int constraintid); //complex constraint for vehicles - virtual PHY_IVehicle* getVehicleConstraint(int constraintId) + virtual PHY_IVehicle* GetVehicleConstraint(int constraintId) { return 0; } // Character physics wrapper - virtual PHY_ICharacter* getCharacterController(class KX_GameObject* ob) + virtual PHY_ICharacter* GetCharacterController(class KX_GameObject* ob) { return 0; } - virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ); - virtual bool cullingTest(PHY_CullingCallback callback, void* userData, class MT_Vector4* planes, int nplanes, int occlusionRes, const int *viewport, double modelview[16], double projection[16]) { return false; } + virtual PHY_IPhysicsController* RayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ); + virtual bool CullingTest(PHY_CullingCallback callback, void* userData, class MT_Vector4* planes, int nplanes, int occlusionRes, const int *viewport, double modelview[16], double projection[16]) { return false; } //gamelogic callbacks - virtual void addSensor(PHY_IPhysicsController* ctrl) {} - virtual void removeSensor(PHY_IPhysicsController* ctrl) {} - virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user) + virtual void AddSensor(PHY_IPhysicsController* ctrl) {} + virtual void RemoveSensor(PHY_IPhysicsController* ctrl) {} + virtual void AddTouchCallback(int response_class, PHY_ResponseCallback callback, void *user) { } - virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl) { return false; } - virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl) { return false;} + virtual bool RequestCollisionCallback(PHY_IPhysicsController* ctrl) { return false; } + virtual bool RemoveCollisionCallback(PHY_IPhysicsController* ctrl) { return false;} virtual PHY_IPhysicsController* CreateSphereController(float radius,const class MT_Vector3& position) {return 0;} virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;} - virtual void setConstraintParam(int constraintId,int param,float value,float value1) + virtual void SetConstraintParam(int constraintId,int param,float value,float value1) { } - virtual float getConstraintParam(int constraintId,int param) + virtual float GetConstraintParam(int constraintId,int param) { return 0.f; } diff --git a/source/gameengine/Physics/common/PHY_IController.h b/source/gameengine/Physics/common/PHY_IController.h index ae1b2d9ad53..284d77ca221 100644 --- a/source/gameengine/Physics/common/PHY_IController.h +++ b/source/gameengine/Physics/common/PHY_IController.h @@ -50,8 +50,8 @@ class PHY_IController public: virtual ~PHY_IController(){}; // clientinfo for raycasts for example - virtual void* getNewClientInfo()=0; - virtual void setNewClientInfo(void* clientinfo)=0; + virtual void* GetNewClientInfo()=0; + virtual void SetNewClientInfo(void* clientinfo)=0; virtual void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env)=0; diff --git a/source/gameengine/Physics/common/PHY_IGraphicController.h b/source/gameengine/Physics/common/PHY_IGraphicController.h index 5f64e7ccc80..b047edd93eb 100644 --- a/source/gameengine/Physics/common/PHY_IGraphicController.h +++ b/source/gameengine/Physics/common/PHY_IGraphicController.h @@ -47,8 +47,8 @@ class PHY_IGraphicController : public PHY_IController */ virtual bool SetGraphicTransform()=0; virtual void Activate(bool active=true)=0; - virtual void setLocalAabb(const class MT_Vector3& aabbMin,const class MT_Vector3& aabbMax)=0; - virtual void setLocalAabb(const float* aabbMin,const float* aabbMax)=0; + virtual void SetLocalAabb(const class MT_Vector3& aabbMin,const class MT_Vector3& aabbMax)=0; + virtual void SetLocalAabb(const float* aabbMin,const float* aabbMax)=0; virtual PHY_IGraphicController* GetReplica(class PHY_IMotionState* motionstate) {return 0;} diff --git a/source/gameengine/Physics/common/PHY_IMotionState.h b/source/gameengine/Physics/common/PHY_IMotionState.h index be5b2b54907..d40b8da9451 100644 --- a/source/gameengine/Physics/common/PHY_IMotionState.h +++ b/source/gameengine/Physics/common/PHY_IMotionState.h @@ -46,18 +46,18 @@ class PHY_IMotionState public: virtual ~PHY_IMotionState(){}; - virtual void getWorldPosition(float& posX,float& posY,float& posZ)=0; - virtual void getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)=0; - virtual void getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)=0; + virtual void GetWorldPosition(float& posX,float& posY,float& posZ)=0; + virtual void GetWorldScaling(float& scaleX,float& scaleY,float& scaleZ)=0; + virtual void GetWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)=0; // ori = array 12 floats, [0..3] = first column + 0, [4..7] = second column, [8..11] = third column - virtual void getWorldOrientation(float* ori)=0; - virtual void setWorldOrientation(const float* ori)=0; + virtual void GetWorldOrientation(float* ori)=0; + virtual void SetWorldOrientation(const float* ori)=0; - virtual void setWorldPosition(float posX,float posY,float posZ)=0; - virtual void setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)=0; + virtual void SetWorldPosition(float posX,float posY,float posZ)=0; + virtual void SetWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)=0; - virtual void calculateWorldTransformations()=0; + virtual void CalculateWorldTransformations()=0; #ifdef WITH_CXX_GUARDEDALLOC diff --git a/source/gameengine/Physics/common/PHY_IPhysicsController.h b/source/gameengine/Physics/common/PHY_IPhysicsController.h index 18af42adc15..a1d0972a950 100644 --- a/source/gameengine/Physics/common/PHY_IPhysicsController.h +++ b/source/gameengine/Physics/common/PHY_IPhysicsController.h @@ -37,6 +37,10 @@ class PHY_IMotionState; class PHY_IPhysicsEnvironment; +class MT_Vector3; +class MT_Point3; +class MT_Matrix3x3; + /** * PHY_IPhysicsController is the abstract simplified Interface to a physical object. * It contains the IMotionState and IDeformableMesh Interfaces. @@ -59,37 +63,47 @@ class PHY_IPhysicsController : public PHY_IController virtual class PHY_IMotionState* GetMotionState() = 0; // controller replication virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0; + virtual void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env)=0; // kinematic methods - virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)=0; - virtual void RelativeRotate(const float drot[12],bool local)=0; - virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)=0; - virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)=0; - virtual void setPosition(float posX,float posY,float posZ)=0; - virtual void getPosition(class MT_Vector3& pos) const=0; - virtual void setScaling(float scaleX,float scaleY,float scaleZ)=0; - + virtual void RelativeTranslate(const MT_Vector3& dloc,bool local)=0; + virtual void RelativeRotate(const MT_Matrix3x3&,bool local)=0; + virtual MT_Matrix3x3 GetOrientation()=0; + virtual void SetOrientation(const MT_Matrix3x3& orn)=0; + virtual void SetPosition(const MT_Vector3& pos)=0; + virtual void GetPosition(MT_Vector3& pos) const=0; + virtual void SetScaling(const MT_Vector3& scale)=0; + virtual void SetTransform()=0; + + virtual MT_Scalar GetMass()=0; + virtual void SetMass(MT_Scalar newmass)=0; + // physics methods - virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)=0; - virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local)=0; - virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0; - virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0; - virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0; + virtual void ApplyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)=0; + virtual void ApplyTorque(const MT_Vector3& torque,bool local)=0; + virtual void ApplyForce(const MT_Vector3& force,bool local)=0; + virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0; + virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0; + virtual void ResolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0; + + virtual void SuspendDynamics(bool ghost=false)=0; + virtual void RestoreDynamics()=0; - virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0; virtual void SetActive(bool active)=0; // reading out information from physics - virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ)=0; - virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)=0; - virtual void getReactionForce(float& forceX,float& forceY,float& forceZ)=0; + virtual MT_Vector3 GetLinearVelocity()=0; + virtual MT_Vector3 GetAngularVelocity()=0; + virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0; + virtual MT_Vector3 GetLocalInertia()=0; // dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted - virtual void setRigidBody(bool rigid)=0; + virtual void SetRigidBody(bool rigid)=0; virtual PHY_IPhysicsController* GetReplica() {return 0;} + virtual PHY_IPhysicsController* GetReplicaForSensors() {return 0;} - virtual void calcXform() =0; + virtual void CalcXform() =0; virtual void SetMargin(float margin) =0; virtual float GetMargin() const=0; virtual float GetRadius() const=0; @@ -100,7 +114,15 @@ class PHY_IPhysicsController : public PHY_IController virtual float GetLinVelocityMax() const=0; virtual void SetLinVelocityMax(float val) = 0; - class MT_Vector3 GetWorldPosition(class MT_Vector3& localpos); + MT_Vector3 GetWorldPosition(MT_Vector3& localpos); + + // Shape control + virtual void AddCompoundChild(PHY_IPhysicsController* child) = 0; + virtual void RemoveCompoundChild(PHY_IPhysicsController* child) = 0; + + + virtual bool IsDynamic() = 0; + virtual bool IsCompound() = 0; #ifdef WITH_CXX_GUARDEDALLOC diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h index 14904a70553..b1a0480ab14 100644 --- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h +++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h @@ -105,87 +105,88 @@ public: class PHY_IPhysicsEnvironment { public: - virtual ~PHY_IPhysicsEnvironment(){}; - virtual void beginFrame() = 0; - virtual void endFrame() = 0; + virtual ~PHY_IPhysicsEnvironment(){} + virtual void BeginFrame() = 0; + virtual void EndFrame() = 0; /// Perform an integration step of duration 'timeStep'. - virtual bool proceedDeltaTime(double curTime,float timeStep,float interval)=0; + virtual bool ProceedDeltaTime(double curTime,float timeStep,float interval)=0; ///draw debug lines (make sure to call this during the render phase, otherwise lines are not drawn properly) - virtual void debugDrawWorld() {} - virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)=0; + virtual void DebugDrawWorld() {} + virtual void SetFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)=0; //returns 0.f if no fixed timestep is used - virtual float getFixedTimeStep()=0; + virtual float GetFixedTimeStep()=0; ///setDebugMode is used to support several ways of debug lines, contact point visualization - virtual void setDebugMode(int debugMode) {} + virtual void SetDebugMode(int debugMode) {} ///setNumIterations set the number of iterations for iterative solvers - virtual void setNumIterations(int numIter) {} + virtual void SetNumIterations(int numIter) {} ///setNumTimeSubSteps set the number of divisions of the timestep. Tradeoff quality versus performance. - virtual void setNumTimeSubSteps(int numTimeSubSteps) {} + virtual void SetNumTimeSubSteps(int numTimeSubSteps) {} + virtual int GetNumTimeSubSteps() {return 0; } ///setDeactivationTime sets the minimum time that an objects has to stay within the velocity tresholds until it gets fully deactivated - virtual void setDeactivationTime(float dTime) {} + virtual void SetDeactivationTime(float dTime) {} ///setDeactivationLinearTreshold sets the linear velocity treshold, see setDeactivationTime - virtual void setDeactivationLinearTreshold(float linTresh) {} + virtual void SetDeactivationLinearTreshold(float linTresh) {} ///setDeactivationAngularTreshold sets the angular velocity treshold, see setDeactivationTime - virtual void setDeactivationAngularTreshold(float angTresh) {} + virtual void SetDeactivationAngularTreshold(float angTresh) {} ///setContactBreakingTreshold sets tresholds to do with contact point management - virtual void setContactBreakingTreshold(float contactBreakingTreshold) {} + virtual void SetContactBreakingTreshold(float contactBreakingTreshold) {} ///continuous collision detection mode, very experimental for Bullet - virtual void setCcdMode(int ccdMode) {} + virtual void SetCcdMode(int ccdMode) {} ///successive overrelaxation constant, in case PSOR is used, values in between 1 and 2 guarantee converging behavior - virtual void setSolverSorConstant(float sor) {} + virtual void SetSolverSorConstant(float sor) {} ///setSolverType, internal setting, chooses solvertype, PSOR, Dantzig, impulse based, penalty based - virtual void setSolverType(int solverType) {} + virtual void SetSolverType(int solverType) {} ///setTau sets the spring constant of a penalty based solver - virtual void setSolverTau(float tau) {} + virtual void SetSolverTau(float tau) {} ///setDamping sets the damper constant of a penalty based solver - virtual void setSolverDamping(float damping) {} + virtual void SetSolverDamping(float damping) {} ///linear air damping for rigidbodies - virtual void setLinearAirDamping(float damping) {} + virtual void SetLinearAirDamping(float damping) {} /// penetrationdepth setting - virtual void setUseEpa(bool epa) {} + virtual void SetUseEpa(bool epa) {} - virtual void setGravity(float x,float y,float z)=0; - virtual void getGravity(MT_Vector3& grav) = 0; + virtual void SetGravity(float x,float y,float z)=0; + virtual void GetGravity(MT_Vector3& grav) = 0; - virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, + virtual int CreateConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, float pivotX,float pivotY,float pivotZ, float axis0X,float axis0Y,float axis0Z, float axis1X=0,float axis1Y=0,float axis1Z=0, float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0 )=0; - virtual void removeConstraint(int constraintid)=0; - virtual float getAppliedImpulse(int constraintid) { return 0.0f; } + virtual void RemoveConstraint(int constraintid)=0; + virtual float GetAppliedImpulse(int constraintid) { return 0.0f; } //complex constraint for vehicles - virtual PHY_IVehicle* getVehicleConstraint(int constraintId) =0; + virtual PHY_IVehicle* GetVehicleConstraint(int constraintId) =0; // Character physics wrapper - virtual PHY_ICharacter* getCharacterController(class KX_GameObject* ob) =0; + virtual PHY_ICharacter* GetCharacterController(class KX_GameObject* ob) =0; - virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ)=0; + virtual PHY_IPhysicsController* RayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ)=0; //culling based on physical broad phase // the plane number must be set as follow: near, far, left, right, top, botton // the near plane must be the first one and must always be present, it is used to get the direction of the view - virtual bool cullingTest(PHY_CullingCallback callback, void *userData, MT_Vector4* planeNormals, int planeNumber, int occlusionRes, const int *viewport, double modelview[16], double projection[16]) = 0; + virtual bool CullingTest(PHY_CullingCallback callback, void *userData, MT_Vector4* planeNormals, int planeNumber, int occlusionRes, const int *viewport, double modelview[16], double projection[16]) = 0; //Methods for gamelogic collision/physics callbacks //todo: - virtual void addSensor(PHY_IPhysicsController* ctrl)=0; - virtual void removeSensor(PHY_IPhysicsController* ctrl)=0; - virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)=0; - virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl)=0; - virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl)=0; + virtual void AddSensor(PHY_IPhysicsController* ctrl)=0; + virtual void RemoveSensor(PHY_IPhysicsController* ctrl)=0; + virtual void AddTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)=0; + virtual bool RequestCollisionCallback(PHY_IPhysicsController* ctrl)=0; + virtual bool RemoveCollisionCallback(PHY_IPhysicsController* ctrl)=0; //These two methods are *solely* used to create controllers for sensor! Don't use for anything else virtual PHY_IPhysicsController* CreateSphereController(float radius,const MT_Vector3& position) =0; virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0; - virtual void setConstraintParam(int constraintId,int param,float value,float value1) = 0; - virtual float getConstraintParam(int constraintId,int param) = 0; + virtual void SetConstraintParam(int constraintId,int param,float value,float value1) = 0; + virtual float GetConstraintParam(int constraintId,int param) = 0; - virtual void exportFile(const char* filename) {}; + virtual void ExportFile(const char* filename) {}; #ifdef WITH_CXX_GUARDEDALLOC |