diff options
13 files changed, 109 insertions, 21 deletions
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp index e711078f4e2..e00fc6aa5e3 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp @@ -119,7 +119,7 @@ void Process(const btDbvtNode* n) // btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache) { -m_deferedcollide = true;//false; +m_deferedcollide = false; m_needcleanup = true; m_releasepaircache = (paircache!=0)?false:true; m_prediction = 1/(btScalar)2; @@ -164,7 +164,7 @@ btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin, void* userPtr, short int collisionFilterGroup, short int collisionFilterMask, - btDispatcher* dispatcher, + btDispatcher* /*dispatcher*/, void* /*multiSapProxy*/) { btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( userPtr, @@ -180,6 +180,7 @@ if(!m_deferedcollide) btDbvtTreeCollider collider(this); collider.proxy=proxy; btDbvt::collideTV(m_sets[0].m_root,proxy->aabb,collider); + btDbvt::collideTV(m_sets[1].m_root,proxy->aabb,collider); } return(proxy); } diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h index 4576e48f3f4..1f16043a7a8 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h @@ -86,7 +86,6 @@ int m_gid; // Gen id bool m_releasepaircache; // Release pair cache on delete bool m_deferedcollide; // Defere dynamic/static collision to collide call bool m_needcleanup; // Need to run cleanup? -bool m_initialize; // Initialization #if DBVT_BP_PROFILE btClock m_clock; struct { diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h index 7ef3787b3ac..0961f3e75c9 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -143,7 +143,7 @@ public: virtual ~btCollisionObject(); - void setCollisionShape(btCollisionShape* collisionShape) + virtual void setCollisionShape(btCollisionShape* collisionShape) { m_collisionShape = collisionShape; m_rootCollisionShape = collisionShape; diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp index 91b9d6f1bbd..e42a613343b 100644 --- a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp +++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp @@ -69,7 +69,7 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo,int node_count, const btV pm->m_flags = fMaterial::Default; /* Collision shape */ ///for now, create a collision shape internally - setCollisionShape(new btSoftBodyCollisionShape(this)); + m_collisionShape = new btSoftBodyCollisionShape(this); m_collisionShape->setMargin(0.25); /* Nodes */ const btScalar margin=getCollisionShape()->getMargin(); diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.h b/extern/bullet2/src/BulletSoftBody/btSoftBody.h index 91d732b4e9a..4306ed9c471 100644 --- a/extern/bullet2/src/BulletSoftBody/btSoftBody.h +++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.h @@ -606,6 +606,13 @@ public: /* dtor */ virtual ~btSoftBody(); /* Check for existing link */ + + + virtual void setCollisionShape(btCollisionShape* collisionShape) + { + //don't do anything, due to the internal shape hack: todo: fix this + } + bool checkLink( int node0, int node1) const; bool checkLink( const Node* node0, diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h index 1a7be2cb840..8fcf633fecc 100644 --- a/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h +++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h @@ -94,7 +94,6 @@ public: virtual void setLocalScaling(const btVector3& /*scaling*/) { ///na - btAssert(0); } virtual const btVector3& getLocalScaling() const { diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp index daa67b147c3..9b9d5c95de9 100644 --- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp +++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp @@ -1318,6 +1318,7 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj, // ACTOR is now a separate feature objprop.m_isactor = (blenderobject->gameflag & OB_ACTOR)!=0; objprop.m_dyna = (blenderobject->gameflag & OB_DYNAMIC) != 0; + objprop.m_softbody = (blenderobject->gameflag & OB_SOFT_BODY) != 0; objprop.m_angular_rigidbody = (blenderobject->gameflag & OB_RIGID_BODY) != 0; objprop.m_ghost = (blenderobject->gameflag & OB_GHOST) != 0; objprop.m_disableSleeping = (blenderobject->gameflag & OB_COLLISION_RESPONSE) != 0;//abuse the OB_COLLISION_RESPONSE flag diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h index 248d2f49b0b..2b6c2535878 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h @@ -75,6 +75,7 @@ struct KX_CBounds struct KX_ObjectProperties { bool m_dyna; + bool m_softbody; double m_radius; bool m_angular_rigidbody; bool m_in_active_layer; diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index 6f5f9e22506..46b53d07efc 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -917,6 +917,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, ci.m_collisionFilterGroup = (isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) : short(CcdConstructionInfo::StaticFilter); ci.m_collisionFilterMask = (isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter); ci.m_bRigid = objprop->m_dyna && objprop->m_angular_rigidbody; + 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); @@ -933,10 +934,12 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, gameobj->SetPhysicsController(physicscontroller,isbulletdyna); physicscontroller->setNewClientInfo(gameobj->getClientInfo()); - btRigidBody* rbody = physicscontroller->GetRigidBody(); + { + btRigidBody* rbody = physicscontroller->GetRigidBody(); - if (objprop->m_disableSleeping) - rbody->setActivationState(DISABLE_DEACTIVATION); + if (rbody && objprop->m_disableSleeping) + rbody->setActivationState(DISABLE_DEACTIVATION); + } //Now done directly in ci.m_collisionFlags so that it propagates to replica //if (objprop->m_ghost) diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index 1ec555f653d..41ae5e38309 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -133,6 +133,13 @@ btSoftBody* CcdPhysicsController::GetSoftBody() return btSoftBody::upcast(m_object); } +#include "BulletSoftBody/btSoftBodyHelpers.h" + +btVector3 pts[3] = {btVector3(0,0,0), +btVector3(0,1,0), +btVector3(1,1,0)}; +int triangles[3] = {0,1,2}; +btSoftBodyWorldInfo sbi; void CcdPhysicsController::CreateRigidbody() { @@ -143,14 +150,64 @@ void CcdPhysicsController::CreateRigidbody() ///either create a btCollisionObject, btRigidBody or btSoftBody //create a collision object - if (0)//m_cci.m_mass==0.f) + + //disable soft body until first sneak preview is ready + if (0)//m_cci.m_bSoft) { btRigidBody::btRigidBodyConstructionInfo rbci(m_cci.m_mass,m_bulletMotionState,m_collisionShape,m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); rbci.m_linearDamping = m_cci.m_linearDamping; rbci.m_angularDamping = m_cci.m_angularDamping; rbci.m_friction = m_cci.m_friction; rbci.m_restitution = m_cci.m_restitution; - m_object = new btCollisionObject(); + + + sbi.m_broadphase = this->m_cci.m_physicsEnv->getBroadphase(); + sbi.m_dispatcher = (btCollisionDispatcher*) m_cci.m_physicsEnv->getDispatcher(); + + int nodecount = 0; + + + int numtriangles = 1; + + btVector3 p = trans.getOrigin(); + btScalar h = 1.f; + + PHY__Vector3 grav; + m_cci.m_physicsEnv->getGravity(grav); + sbi.m_gravity.setValue(grav[0],grav[1],grav[2]); + + const btVector3 c[]={ p+h*btVector3(-1,-1,-1), + p+h*btVector3(+1,-1,-1), + p+h*btVector3(-1,+1,-1), + p+h*btVector3(+1,+1,-1), + p+h*btVector3(-1,-1,+1), + p+h*btVector3(+1,-1,+1), + p+h*btVector3(-1,+1,+1), + p+h*btVector3(+1,+1,+1)}; + + int i=0; + const int n=15; + //btSoftBody* psb=btSoftBodyHelpers::CreateRope(sbi, btVector3(-10,0,i*0.25),btVector3(10,0,i*0.25), 16,1+2); + btSoftBody* psb = btSoftBodyHelpers::CreateFromConvexHull(sbi,c,8); + + m_object = psb;//btSoftBodyHelpers::CreateFromTriMesh(sbi,&pts[0].getX(),triangles,numtriangles); + + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS;//btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS; + + sbi.m_sparsesdf.Reset(); + sbi.m_sparsesdf.Initialize(); + + psb->generateBendingConstraints(2); + + psb->m_cfg.kDF=1; + psb->activate(); + psb->setActivationState(1); + psb->setDeactivationTime(1.f); + psb->m_cfg.piterations = 4; + //psb->m_materials[0]->m_kLST = 0.1+(i/(btScalar)(n-1))*0.9; + psb->setTotalMass(20); + psb->setCollisionFlags(0); + m_object->setCollisionShape(rbci.m_collisionShape); btTransform startTrans; diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index af146413c91..c45f4590749 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -149,6 +149,7 @@ struct CcdConstructionInfo m_margin(0.06f), m_collisionFlags(0), m_bRigid(false), + m_bSoft(false), m_collisionFilterGroup(DefaultFilter), m_collisionFilterMask(AllFilter), m_collisionShape(0), @@ -170,6 +171,7 @@ struct CcdConstructionInfo btScalar m_margin; int m_collisionFlags; bool m_bRigid; + bool m_bSoft; ///optional use of collision group/mask: ///only collision with object goups that match the collision mask. diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 68b3df1695c..96aa9ad164e 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -24,6 +24,7 @@ subject to the following restrictions: #include "LinearMath/btIDebugDraw.h" #include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" #include "BulletSoftBody/btSoftRigidDynamicsWorld.h" +#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" //profiling/timings #include "LinearMath/btQuickprof.h" @@ -331,7 +332,9 @@ m_filterCallback(NULL) { m_triggerCallbacks[i] = 0; } - m_collisionConfiguration = new btDefaultCollisionConfiguration(); + +// m_collisionConfiguration = new btDefaultCollisionConfiguration(); + m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); if (!dispatcher) { @@ -339,6 +342,8 @@ m_filterCallback(NULL) m_ownDispatcher = dispatcher; } + //m_broadphase = new btAxisSweep3(btVector3(-1000,-1000,-1000),btVector3(1000,1000,1000)); + //m_broadphase = new btSimpleBroadphase(); m_broadphase = new btDbvtBroadphase(); m_filterCallback = new CcdOverlapFilterCallBack(this); @@ -375,9 +380,8 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) { if (ctrl->GetSoftBody()) { - //not yet - btAssert(0); - //m_dynamicsWorld->addSo + btSoftBody* softBody = ctrl->GetSoftBody(); + m_dynamicsWorld->addSoftBody(softBody); } else { if (obj->getCollisionShape()) @@ -460,8 +464,7 @@ void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr //if a softbody if (ctrl->GetSoftBody()) { - //not yet - btAssert(0); + m_dynamicsWorld->removeSoftBody(ctrl->GetSoftBody()); } else { m_dynamicsWorld->removeCollisionObject(ctrl->GetCollisionObject()); @@ -553,7 +556,8 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep) float subStep = timeStep / float(m_numTimeSubSteps); for (i=0;i<m_numTimeSubSteps;i++) { - m_dynamicsWorld->stepSimulation(subStep,0);//perform always a full simulation step +// m_dynamicsWorld->stepSimulation(subStep,20,1./240.);//perform always a full simulation step + m_dynamicsWorld->stepSimulation(subStep,0);//perform always a full simulation step } for (it=m_controllers.begin(); it!=m_controllers.end(); it++) @@ -670,7 +674,13 @@ void CcdPhysicsEnvironment::setSolverType(int solverType) - +void CcdPhysicsEnvironment::getGravity(PHY__Vector3& grav) +{ + const btVector3& gravity = m_dynamicsWorld->getGravity(); + grav[0] = gravity.getX(); + grav[1] = gravity.getY(); + grav[2] = gravity.getZ(); +} void CcdPhysicsEnvironment::setGravity(float x,float y,float z) @@ -955,6 +965,13 @@ btBroadphaseInterface* CcdPhysicsEnvironment::getBroadphase() return m_dynamicsWorld->getBroadphase(); } +btDispatcher* CcdPhysicsEnvironment::getDispatcher() +{ + return m_dynamicsWorld->getDispatcher(); +} + + + diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index 3569cf25b68..9b6a76d49ee 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -119,6 +119,8 @@ protected: virtual void setDebugMode(int debugMode); virtual void setGravity(float x,float y,float z); + virtual void getGravity(PHY__Vector3& grav); + virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, float pivotX,float pivotY,float pivotZ, @@ -195,8 +197,7 @@ protected: btBroadphaseInterface* getBroadphase(); - - + btDispatcher* getDispatcher(); bool IsSatCollisionDetectionEnabled() const |