diff options
14 files changed, 257 insertions, 15 deletions
diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp index 3a20bbfbb11..a67f4a54b3f 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp @@ -17,10 +17,11 @@ #include "BulletSoftBody/btSoftBody.h" -KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna) -: KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this), +KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool compound) +: KX_IPhysicsController(dyna,compound,(PHY_IPhysicsController*)this), CcdPhysicsController(ci), -m_savedCollisionFlags(0) +m_savedCollisionFlags(0), +m_bulletChildShape(NULL) { } @@ -175,6 +176,133 @@ void KX_BulletPhysicsController::setRigidBody(bool 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 + GetShapeInfo()->AddShape(proxyShapeInfo); + // create new bullet collision shape from the object shapeinfo and set scaling + btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(); + newChildShape->setLocalScaling(relativeScale); + // add bullet collision shape to parent compound collision shape + compoundShape->addChildShape(proxyShapeInfo->m_childTrans,newChildShape); + // 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::SuspendDynamics(bool ghost) { btRigidBody *body = GetRigidBody(); @@ -251,6 +379,7 @@ SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode) physicsreplica->setParentCtrl(ccdParent); physicsreplica->PostProcessReplica(motionstate,parentctrl); physicsreplica->m_userdata = (PHY_IPhysicsController*)physicsreplica; + physicsreplica->m_bulletChildShape = NULL; return physicsreplica; } diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h index d5fca4ec6d3..a50af2699bf 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.h @@ -13,10 +13,11 @@ private: short int m_savedCollisionFilterGroup; short int m_savedCollisionFilterMask; MT_Scalar m_savedMass; + btCollisionShape* m_bulletChildShape; public: - KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna); + KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool compound); virtual ~KX_BulletPhysicsController (); /////////////////////////////////// @@ -42,6 +43,8 @@ public: virtual MT_Scalar GetMass(); 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); diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index 0e7a6d92ec1..46e46b014b5 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -1084,7 +1084,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, ci.m_bSoft = objprop->m_softbody; MT_Vector3 scaling = gameobj->NodeGetWorldScaling(); ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]); - KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna); + KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna,objprop->m_hasCompoundChildren); // shapeInfo is reference counted, decrement now as we don't use it anymore if (shapeInfo) shapeInfo->Release(); diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp index f2a554c6b2a..706b80a1fab 100644 --- a/source/gameengine/Ketsji/KX_GameObject.cpp +++ b/source/gameengine/Ketsji/KX_GameObject.cpp @@ -252,6 +252,20 @@ void KX_GameObject::SetParent(KX_Scene *scene, KX_GameObject* obj) if (rootlist->RemoveValue(this)) // the object was in parent list, decrement ref count as it's now removed 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) + { + // 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_pPhysicsController1->AddCompoundChild(m_pPhysicsController1); + } + } } } @@ -260,6 +274,8 @@ void KX_GameObject::RemoveParent(KX_Scene *scene) // check on valid node in case a python controller holds a reference to a deleted object if (GetSGNode() && GetSGNode()->GetSGParent()) { + // get the root object to remove us from compound object if needed + KX_GameObject* rootobj = (KX_GameObject*)GetSGNode()->GetRootSGParent()->GetSGClientObject(); // Set us to the right spot GetSGNode()->SetLocalScale(GetSGNode()->GetWorldScaling()); GetSGNode()->SetLocalOrientation(GetSGNode()->GetWorldOrientation()); @@ -275,6 +291,13 @@ void KX_GameObject::RemoveParent(KX_Scene *scene) rootlist->Add(AddRef()); if (m_pPhysicsController1) { + // 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_pPhysicsController1->RemoveCompoundChild(m_pPhysicsController1); + } m_pPhysicsController1->RestoreDynamics(); } } diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.cpp b/source/gameengine/Ketsji/KX_IPhysicsController.cpp index 5cd66efd965..a38222c5f7e 100644 --- a/source/gameengine/Ketsji/KX_IPhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_IPhysicsController.cpp @@ -35,9 +35,10 @@ #include "PHY_DynamicTypes.h" -KX_IPhysicsController::KX_IPhysicsController(bool dyna,void* userdata) +KX_IPhysicsController::KX_IPhysicsController(bool dyna, bool compound, void* userdata) : m_bDyna(dyna), + m_bCompound(compound), m_suspendDynamics(false), m_userdata(userdata) { diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h index 4ea283e9f98..fed71735bec 100644 --- a/source/gameengine/Ketsji/KX_IPhysicsController.h +++ b/source/gameengine/Ketsji/KX_IPhysicsController.h @@ -32,6 +32,7 @@ #include "SG_Controller.h" #include "MT_Vector3.h" #include "MT_Point3.h" +#include "MT_Transform.h" #include "MT_Matrix3x3.h" struct KX_ClientObjectInfo; @@ -48,10 +49,11 @@ class KX_IPhysicsController : public SG_Controller { protected: bool m_bDyna; + bool m_bCompound; bool m_suspendDynamics; void* m_userdata; public: - KX_IPhysicsController(bool dyna,void* userdata); + KX_IPhysicsController(bool dyna,bool compound, void* userdata); virtual ~KX_IPhysicsController(); @@ -78,6 +80,8 @@ public: virtual MT_Scalar GetMass()=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; @@ -92,6 +96,10 @@ public: return m_bDyna; } + bool IsCompound(void) { + return m_bCompound; + } + virtual MT_Scalar GetRadius()=0; virtual void SetSumoTransform(bool nondynaonly)=0; // todo: remove next line ! diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.cpp b/source/gameengine/Ketsji/KX_OdePhysicsController.cpp index 6a701a5f25b..dc6990267d4 100644 --- a/source/gameengine/Ketsji/KX_OdePhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_OdePhysicsController.cpp @@ -50,7 +50,7 @@ KX_OdePhysicsController::KX_OdePhysicsController( float extends[3], float radius ) -: KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this), +: KX_IPhysicsController(dyna,false,(PHY_IPhysicsController*)this), ODEPhysicsController( dyna,fullRigidBody,phantom,motionstate, space,world,mass,friction,restitution, diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.h b/source/gameengine/Ketsji/KX_OdePhysicsController.h index 53050f6ce3e..e3b5336c0b5 100644 --- a/source/gameengine/Ketsji/KX_OdePhysicsController.h +++ b/source/gameengine/Ketsji/KX_OdePhysicsController.h @@ -73,6 +73,8 @@ public: virtual MT_Scalar GetMass(); virtual MT_Vector3 getReactionForce(); virtual void setRigidBody(bool rigid); + virtual void AddCompoundChild(KX_IPhysicsController* child) { } + virtual void RemoveCompoundChild(KX_IPhysicsController* child) { } virtual void SuspendDynamics(bool); virtual void RestoreDynamics(); diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h index abe48d99043..a684b637894 100644 --- a/source/gameengine/Ketsji/KX_SumoPhysicsController.h +++ b/source/gameengine/Ketsji/KX_SumoPhysicsController.h @@ -53,7 +53,7 @@ public: class SM_Object* sumoObj, class PHY_IMotionState* motionstate ,bool dyna) - : KX_IPhysicsController(dyna,NULL) , + : KX_IPhysicsController(dyna,false,NULL) , SumoPhysicsController(sumoScene,/*solidscene,*/sumoObj,motionstate,dyna) { }; @@ -78,6 +78,9 @@ public: void SuspendDynamics(bool); void RestoreDynamics(); + virtual void AddCompoundChild(KX_IPhysicsController* child) { } + virtual void RemoveCompoundChild(KX_IPhysicsController* child) { } + virtual void getOrientation(MT_Quaternion& orn); virtual void setOrientation(const MT_Matrix3x3& orn); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index c9c30c1b450..fafce5cf5cc 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -1276,7 +1276,7 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo // assume no shape information // no support for dynamic change of shape yet - assert(m_meshObject == NULL); + assert(IsUnused()); m_shapeType = PHY_SHAPE_NONE; m_vertexArray.clear(); m_polygonIndexArray.clear(); @@ -1398,6 +1398,17 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo return true; } +bool CcdShapeConstructionInfo::SetProxy(CcdShapeConstructionInfo* shapeInfo) +{ + if (shapeInfo == NULL) + return false; + // no support for dynamic change + assert(IsUnused()); + m_shapeType = PHY_SHAPE_PROXY; + m_shapeProxy = shapeInfo; + return true; +} + btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() { btCollisionShape* collisionShape = 0; @@ -1406,9 +1417,12 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() btCompoundShape* compoundShape = 0; CcdShapeConstructionInfo* nextShapeInfo; + if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL) + return m_shapeProxy->CreateBulletShape(); + switch (m_shapeType) { - case PHY_SHAPE_NONE: + default: break; case PHY_SHAPE_BOX: @@ -1522,6 +1536,10 @@ CcdShapeConstructionInfo::~CcdShapeConstructionInfo() m_meshShapeMap.erase(mit); } } + if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL) + { + m_shapeProxy->Release(); + } } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 054ec91122a..c771aa2624b 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -67,11 +67,13 @@ public: m_height(1.0), m_halfExtend(0.f,0.f,0.f), m_childScale(1.0f,1.0f,1.0f), + m_userData(NULL), m_refCount(1), m_meshObject(NULL), m_unscaledShape(NULL), m_useGimpact(false), - m_weldingThreshold(0.f) + m_weldingThreshold(0.f), + m_shapeProxy(NULL) { m_childTrans.setIdentity(); } @@ -92,6 +94,11 @@ public: return 0; } + bool IsUnused(void) + { + return (m_meshObject==NULL && m_shapeArray.size() == 0 && m_shapeProxy == NULL); + } + void AddShape(CcdShapeConstructionInfo* shapeInfo); btTriangleMeshShape* GetMeshShape(void) @@ -105,6 +112,32 @@ public: return m_shapeArray.at(i); } + int FindChildShape(CcdShapeConstructionInfo* shapeInfo, void* userData) + { + if (shapeInfo == NULL) + return -1; + for (int i=0; i<m_shapeArray.size(); i++) + { + CcdShapeConstructionInfo* childInfo = m_shapeArray.at(i); + if ((userData == NULL || userData == childInfo->m_userData) && + (childInfo == shapeInfo || + (childInfo->m_shapeType == PHY_SHAPE_PROXY && + childInfo->m_shapeProxy == shapeInfo))) + return i; + } + return -1; + } + + bool RemoveChildShape(int i) + { + if (i < 0 || i >= m_shapeArray.size()) + return false; + m_shapeArray.at(i)->Release(); + if (i < m_shapeArray.size()-1) + m_shapeArray[i] = m_shapeArray.back(); + m_shapeArray.pop_back(); + return true; + } bool SetMesh(RAS_MeshObject* mesh, bool polytope,bool useGimpact); RAS_MeshObject* GetMesh(void) @@ -112,6 +145,12 @@ public: return m_meshObject; } + bool SetProxy(CcdShapeConstructionInfo* shapeInfo); + CcdShapeConstructionInfo* GetProxy(void) + { + return m_shapeProxy; + } + btCollisionShape* CreateBulletShape(); // member variables @@ -121,6 +160,7 @@ public: btVector3 m_halfExtend; btTransform m_childTrans; btVector3 m_childScale; + void* m_userData; std::vector<btPoint3> m_vertexArray; // Contains both vertex array for polytope shape and // triangle array for concave mesh shape. // In this case a triangle is made of 3 consecutive points @@ -146,7 +186,7 @@ protected: std::vector<CcdShapeConstructionInfo*> m_shapeArray; // for compound shapes bool m_useGimpact; //use gimpact for concave dynamic/moving collision detection float m_weldingThreshold; //welding closeby vertices together can improve softbody stability etc. - + CcdShapeConstructionInfo* m_shapeProxy; // only used for PHY_SHAPE_PROXY, pointer to actual shape info }; struct CcdConstructionInfo diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 4fe35630784..d2274c1e8d6 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -536,12 +536,24 @@ void CcdPhysicsEnvironment::disableCcdPhysicsController(CcdPhysicsController* ct { } else { - m_dynamicsWorld->removeCollisionObject(body); + m_dynamicsWorld->removeCollisionObject(ctrl->GetCollisionObject()); } } } } +void CcdPhysicsEnvironment::refreshCcdPhysicsController(CcdPhysicsController* ctrl) +{ + btCollisionObject* obj = ctrl->GetCollisionObject(); + if (obj) + { + btBroadphaseProxy* proxy = obj->getBroadphaseHandle(); + if (proxy) + { + m_dynamicsWorld->getPairCache()->cleanProxyFromPairs(proxy,m_dynamicsWorld->getDispatcher()); + } + } +} void CcdPhysicsEnvironment::beginFrame() { diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index 74384dd8cf2..4b28d3fddfc 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -196,6 +196,8 @@ protected: void enableCcdPhysicsController(CcdPhysicsController* ctrl); + void refreshCcdPhysicsController(CcdPhysicsController* ctrl); + btBroadphaseInterface* getBroadphase(); btDispatcher* getDispatcher(); diff --git a/source/gameengine/Physics/common/PHY_DynamicTypes.h b/source/gameengine/Physics/common/PHY_DynamicTypes.h index 3b3e42c38d2..09126264dcc 100644 --- a/source/gameengine/Physics/common/PHY_DynamicTypes.h +++ b/source/gameengine/Physics/common/PHY_DynamicTypes.h @@ -95,7 +95,8 @@ typedef enum PHY_ShapeType { PHY_SHAPE_CONE, PHY_SHAPE_MESH, PHY_SHAPE_POLYTOPE, - PHY_SHAPE_COMPOUND + PHY_SHAPE_COMPOUND, + PHY_SHAPE_PROXY } PHY_ShapeType; 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