diff options
5 files changed, 386 insertions, 176 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h index eb297ef4a3b..7ef3787b3ac 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -268,6 +268,15 @@ public: m_interpolationWorldTransform = trans; } + void setInterpolationLinearVelocity(const btVector3& linvel) + { + m_interpolationLinearVelocity = linvel; + } + + void setInterpolationAngularVelocity(const btVector3& angvel) + { + m_interpolationAngularVelocity = angvel; + } const btVector3& getInterpolationLinearVelocity() const { diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index 8ba138df437..b1b97b5370f 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -19,6 +19,7 @@ subject to the following restrictions: #include "PHY_IMotionState.h" #include "CcdPhysicsEnvironment.h" #include "RAS_MeshObject.h" +#include "BulletSoftBody/btSoftBody.h" class BP_Proxy; @@ -63,11 +64,11 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) CreateRigidbody(); - - #ifdef WIN32 - if (m_body->getInvMass()) - m_body->setLinearVelocity(startVel); - #endif +///??? +#ifdef WIN32 + if (GetRigidBody() && !GetRigidBody()->isStaticObject()) + GetRigidBody()->setLinearVelocity(startVel); +#endif } @@ -119,20 +120,59 @@ public: }; +btRigidBody* CcdPhysicsController::GetRigidBody() +{ + return btRigidBody::upcast(m_object); +} +btCollisionObject* CcdPhysicsController::GetCollisionObject() +{ + return m_object; +} +btSoftBody* CcdPhysicsController::GetSoftBody() +{ + return btSoftBody::upcast(m_object); +} + + void CcdPhysicsController::CreateRigidbody() { btTransform trans = GetTransformFromMotionState(m_MotionState); - m_bulletMotionState = new BlenderBulletMotionState(m_MotionState); - 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_body = new btRigidBody(rbci); + ///either create a btCollisionObject, btRigidBody or btSoftBody + + //create a collision object + if (0)//m_cci.m_mass==0.f) + { + 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(); + m_object->setCollisionShape(rbci.m_collisionShape); + btTransform startTrans; + + if (rbci.m_motionState) + { + rbci.m_motionState->getWorldTransform(startTrans); + } else + { + startTrans = rbci.m_startWorldTransform; + } + m_object->setWorldTransform(startTrans); + m_object->setInterpolationWorldTransform(startTrans); + + } else + { + 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 btRigidBody(rbci); + } // // init the rigidbody properly @@ -145,15 +185,20 @@ void CcdPhysicsController::CreateRigidbody() if ((m_cci.m_collisionFilterGroup & CcdConstructionInfo::SensorFilter) != 0) { // reset the flags that have been set so far - m_body->setCollisionFlags(0); + GetCollisionObject()->setCollisionFlags(0); } - m_body->setCollisionFlags(m_body->getCollisionFlags() | m_cci.m_collisionFlags); - m_body->setGravity( m_cci.m_gravity); - m_body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping); + GetCollisionObject()->setCollisionFlags(m_object->getCollisionFlags() | m_cci.m_collisionFlags); + btRigidBody* body = GetRigidBody(); - if (!m_cci.m_bRigid) + if (body) { - m_body->setAngularFactor(0.f); + body->setGravity( m_cci.m_gravity); + body->setDamping(m_cci.m_linearDamping, m_cci.m_angularDamping); + + if (!m_cci.m_bRigid) + { + body->setAngularFactor(0.f); + } } } @@ -180,7 +225,7 @@ CcdPhysicsController::~CcdPhysicsController() delete m_MotionState; if (m_bulletMotionState) delete m_bulletMotionState; - delete m_body; + delete m_object; if (m_collisionShape) { @@ -212,12 +257,14 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) { //sync non-static to motionstate, and static from motionstate (todo: add kinematic etc.) - if (!m_body->isStaticObject()) + btRigidBody* body = GetRigidBody(); + + if (body && !body->isStaticObject()) { - const btVector3& worldPos = m_body->getCenterOfMassPosition(); + const btVector3& worldPos = body->getCenterOfMassPosition(); m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); - const btQuaternion& worldquat = m_body->getOrientation(); + const btQuaternion& worldquat = body->getOrientation(); m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]); m_MotionState->calculateWorldTransformations(); @@ -236,7 +283,7 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) btTransform oldTrans = m_body->getCenterOfMassTransform(); btTransform newTrans(worldquat,worldPos); - m_body->setCenterOfMassTransform(newTrans); + SetCenterOfMassTransform(newTrans); //need to keep track of previous position for friction effects... m_MotionState->calculateWorldTransformations(); @@ -285,15 +332,17 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta } } - m_body = 0; + m_object = 0; CreateRigidbody(); - if (m_body) + btRigidBody* body = GetRigidBody(); + + if (body) { if (m_cci.m_mass) { - m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); - } + body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); + } } m_cci.m_physicsEnv->addCcdPhysicsController(this); @@ -330,40 +379,75 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta } + +void CcdPhysicsController::SetCenterOfMassTransform(btTransform& xform) +{ + btRigidBody* body = GetRigidBody(); + if (body) + { + body->setCenterOfMassTransform(xform); + } else + { + //either collision object or soft body? + if (GetSoftBody()) + { + //not yet + } else + { + + if (m_object->isStaticOrKinematicObject()) + { + m_object->setInterpolationWorldTransform(m_object->getWorldTransform()); + } else + { + m_object->setInterpolationWorldTransform(xform); + } + if (body) + { + body->setInterpolationLinearVelocity(body->getLinearVelocity()); + body->setInterpolationAngularVelocity(body->getAngularVelocity()); + body->updateInertiaTensor(); + } + m_object->setWorldTransform(xform); + } + } +} + // kinematic methods void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local) { - if (m_body) + if (m_object) { - m_body->activate(true); - if (m_body->isStaticObject()) + m_object->activate(true); + if (m_object->isStaticObject()) { - m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } + btRigidBody* body = GetRigidBody(); btVector3 dloc(dlocX,dlocY,dlocZ); - btTransform xform = m_body->getCenterOfMassTransform(); - + btTransform xform = m_object->getWorldTransform(); + if (local) { dloc = xform.getBasis()*dloc; } xform.setOrigin(xform.getOrigin() + dloc); - m_body->setCenterOfMassTransform(xform); + SetCenterOfMassTransform(xform); } } void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) { - if (m_body) + if (m_object) { - m_body->activate(true); - if (m_body->isStaticObject()) + m_object->activate(true); + if (m_object->isStaticObject()) { - m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } btMatrix3x3 drotmat( rotval[0],rotval[4],rotval[8], @@ -374,16 +458,16 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) btMatrix3x3 currentOrn; GetWorldOrientation(currentOrn); - btTransform xform = m_body->getCenterOfMassTransform(); - + btTransform xform = m_object->getWorldTransform(); + xform.setBasis(xform.getBasis()*(local ? drotmat : (currentOrn.inverse() * drotmat * currentOrn))); - m_body->setCenterOfMassTransform(xform); + SetCenterOfMassTransform(xform); } - } + void CcdPhysicsController::GetWorldOrientation(btMatrix3x3& mat) { float orn[4]; @@ -394,7 +478,7 @@ void CcdPhysicsController::GetWorldOrientation(btMatrix3x3& mat) void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal) { - btQuaternion q = m_body->getCenterOfMassTransform().getRotation(); + btQuaternion q = m_object->getWorldTransform().getRotation(); quatImag0 = q[0]; quatImag1 = q[1]; quatImag2 = q[2]; @@ -402,18 +486,18 @@ void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,flo } void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal) { - if (m_body) + if (m_object) { - m_body->activate(true); - if (m_body->isStaticObject()) + m_object->activate(true); + if (m_object->isStaticObject()) { - m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } // not required //m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); - btTransform xform = m_body->getCenterOfMassTransform(); + btTransform xform = m_object->getWorldTransform(); xform.setRotation(btQuaternion(quatImag0,quatImag1,quatImag2,quatReal)); - m_body->setCenterOfMassTransform(xform); + SetCenterOfMassTransform(xform); // not required //m_bulletMotionState->setWorldTransform(xform); } @@ -422,18 +506,18 @@ void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn) { - if (m_body) + if (m_object) { - m_body->activate(true); - if (m_body->isStaticObject()) + m_object->activate(true); + if (m_object->isStaticObject()) { - m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } // not required //m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); - btTransform xform = m_body->getCenterOfMassTransform(); + btTransform xform = m_object->getWorldTransform(); xform.setBasis(orn); - m_body->setCenterOfMassTransform(xform); + SetCenterOfMassTransform(xform); // not required //m_bulletMotionState->setWorldTransform(xform); } @@ -442,18 +526,18 @@ void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn) void CcdPhysicsController::setPosition(float posX,float posY,float posZ) { - if (m_body) + if (m_object) { - m_body->activate(true); - if (m_body->isStaticObject()) + m_object->activate(true); + if (m_object->isStaticObject()) { - m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } // not required, this function is only used to update the physic controller //m_MotionState->setWorldPosition(posX,posY,posZ); - btTransform xform = m_body->getCenterOfMassTransform(); + btTransform xform = m_object->getWorldTransform(); xform.setOrigin(btVector3(posX,posY,posZ)); - m_body->setCenterOfMassTransform(xform); + SetCenterOfMassTransform(xform); // not required //m_bulletMotionState->setWorldTransform(xform); } @@ -466,7 +550,7 @@ void CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvel void CcdPhysicsController::getPosition(PHY__Vector3& pos) const { - const btTransform& xform = m_body->getCenterOfMassTransform(); + const btTransform& xform = m_object->getWorldTransform(); pos[0] = xform.getOrigin().x(); pos[1] = xform.getOrigin().y(); pos[2] = xform.getOrigin().z(); @@ -480,15 +564,16 @@ void CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ) { m_cci.m_scaling = btVector3(scaleX,scaleY,scaleZ); - if (m_body && m_body->getCollisionShape()) + if (m_object && m_object->getCollisionShape()) { - m_body->getCollisionShape()->setLocalScaling(m_cci.m_scaling); + m_object->getCollisionShape()->setLocalScaling(m_cci.m_scaling); //printf("no inertia recalc for fixed objects with mass=0\n"); - if (m_cci.m_mass) + btRigidBody* body = GetRigidBody(); + if (body && m_cci.m_mass) { - m_body->getCollisionShape()->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor); - m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); + body->getCollisionShape()->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor); + body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); } } @@ -499,19 +584,23 @@ void CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ) void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local) { btVector3 torque(torqueX,torqueY,torqueZ); - btTransform xform = m_body->getCenterOfMassTransform(); - if (m_body && torque.length2() > (SIMD_EPSILON*SIMD_EPSILON)) + btTransform xform = m_object->getWorldTransform(); + + + if (m_object && torque.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { - m_body->activate(); - if (m_body->isStaticObject()) + btRigidBody* body = GetRigidBody(); + m_object->activate(); + if (m_object->isStaticObject()) { - m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } if (local) { torque = xform.getBasis()*torque; } - m_body->applyTorque(torque); + if (body) + body->applyTorque(torque); } } @@ -519,41 +608,47 @@ void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo { btVector3 force(forceX,forceY,forceZ); - if (m_body && force.length2() > (SIMD_EPSILON*SIMD_EPSILON)) + + if (m_object && force.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { - m_body->activate(); - if (m_body->isStaticObject()) + m_object->activate(); + if (m_object->isStaticObject()) { - m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } + + btRigidBody* body = GetRigidBody(); + if (body) { - btTransform xform = m_body->getCenterOfMassTransform(); + btTransform xform = body->getCenterOfMassTransform(); if (local) { force = xform.getBasis()*force; } + body->applyCentralForce(force); } - m_body->applyCentralForce(force); } } void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local) { btVector3 angvel(ang_velX,ang_velY,ang_velZ); - if (m_body && angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) + if (m_object && angvel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { - m_body->activate(true); - if (m_body->isStaticObject()) + m_object->activate(true); + if (m_object->isStaticObject()) { - m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } + btRigidBody* body = GetRigidBody(); + if (body) { - btTransform xform = m_body->getCenterOfMassTransform(); + btTransform xform = body->getCenterOfMassTransform(); if (local) { angvel = xform.getBasis()*angvel; } + body->setAngularVelocity(angvel); } - m_body->setAngularVelocity(angvel); } } @@ -561,39 +656,41 @@ void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa { btVector3 linVel(lin_velX,lin_velY,lin_velZ); - if (m_body && linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) + if (m_object && linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { - m_body->activate(true); - if (m_body->isStaticObject()) + m_object->activate(true); + if (m_object->isStaticObject()) { - m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } - + btRigidBody* body = GetRigidBody(); + if (body) { - btTransform xform = m_body->getCenterOfMassTransform(); + btTransform xform = m_object->getWorldTransform(); if (local) { linVel = xform.getBasis()*linVel; } + body->setLinearVelocity(linVel); } - m_body->setLinearVelocity(linVel); } } void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ) { btVector3 impulse(impulseX,impulseY,impulseZ); - if (m_body && impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON)) + if (m_object && impulse.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { - m_body->activate(); - if (m_body->isStaticObject()) + m_object->activate(); + if (m_object->isStaticObject()) { - m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } btVector3 pos(attachX,attachY,attachZ); - - m_body->applyImpulse(impulse,pos); + btRigidBody* body = GetRigidBody(); + if (body) + body->applyImpulse(impulse,pos); } } @@ -603,29 +700,56 @@ void CcdPhysicsController::SetActive(bool active) // reading out information from physics void CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ) { - const btVector3& linvel = this->m_body->getLinearVelocity(); - linvX = linvel.x(); - linvY = linvel.y(); - linvZ = linvel.z(); + 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; + } } void CcdPhysicsController::GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ) { - const btVector3& angvel= m_body->getAngularVelocity(); - angVelX = angvel.x(); - angVelY = angvel.y(); - angVelZ = angvel.z(); + 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; + } } void CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ) { btVector3 pos(posX,posY,posZ); - btVector3 rel_pos = pos-m_body->getCenterOfMassPosition(); - btVector3 linvel = m_body->getVelocityInLocalPoint(rel_pos); - linvX = linvel.x(); - linvY = linvel.y(); - linvZ = linvel.z(); + btRigidBody* body = GetRigidBody(); + if (body) + { + btVector3 rel_pos = pos-body->getCenterOfMassPosition(); + btVector3 linvel = body->getVelocityInLocalPoint(rel_pos); + linvX = linvel.x(); + linvY = linvel.y(); + linvZ = linvel.z(); + } else + { + linvX = 0.f; + linvY = 0.f; + linvZ = 0.f; + } } void CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ) { @@ -636,11 +760,15 @@ void CcdPhysicsController::setRigidBody(bool rigid) { if (!rigid) { - //fake it for now - btVector3 inertia = m_body->getInvInertiaDiagLocal(); - inertia[1] = 0.f; - m_body->setInvInertiaDiagLocal(inertia); - m_body->updateInertiaTensor(); + btRigidBody* body = GetRigidBody(); + if (body) + { + //fake it for now + btVector3 inertia = body->getInvInertiaDiagLocal(); + inertia[1] = 0.f; + body->setInvInertiaDiagLocal(inertia); + body->updateInertiaTensor(); + } } } @@ -657,13 +785,22 @@ void CcdPhysicsController::setNewClientInfo(void* clientinfo) void CcdPhysicsController::UpdateDeactivation(float timeStep) { - m_body->updateDeactivation( timeStep); + btRigidBody* body = GetRigidBody(); + if (body) + { + body->updateDeactivation( timeStep); + } } bool CcdPhysicsController::wantsSleeping() { - - return m_body->wantsSleeping(); + btRigidBody* body = GetRigidBody(); + if (body) + { + return body->wantsSleeping(); + } + //check it out + return true; } PHY_IPhysicsController* CcdPhysicsController::GetReplica() diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 7d55851ebf6..355c1d608b1 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -190,12 +190,15 @@ struct CcdConstructionInfo class btRigidBody; - +class btCollisionObject; +class btSoftBody; ///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution. class CcdPhysicsController : public PHY_IPhysicsController { - btRigidBody* m_body; + + btCollisionObject* m_object; + class PHY_IMotionState* m_MotionState; btMotionState* m_bulletMotionState; class btCollisionShape* m_collisionShape; @@ -231,11 +234,14 @@ class CcdPhysicsController : public PHY_IPhysicsController virtual ~CcdPhysicsController(); - btRigidBody* GetRigidBody() { return m_body;} + btRigidBody* GetRigidBody(); + btCollisionObject* GetCollisionObject(); + btSoftBody* GetSoftBody(); + CcdShapeConstructionInfo* GetShapeInfo() { return m_shapeInfo; } btCollisionShape* GetCollisionShape() { - return m_body->getCollisionShape(); + return m_object->getCollisionShape(); } //////////////////////////////////// // PHY_IPhysicsController interface @@ -310,6 +316,8 @@ class CcdPhysicsController : public PHY_IPhysicsController void UpdateDeactivation(float timeStep); + void SetCenterOfMassTransform(btTransform& xform); + static btTransform GetTransformFromMotionState(PHY_IMotionState* motionState); void setAabb(const btVector3& aabbMin,const btVector3& aabbMax); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 5042df2162a..96caf885e7c 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -23,6 +23,7 @@ subject to the following restrictions: #include "btBulletDynamicsCommon.h" #include "LinearMath/btIDebugDraw.h" #include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" +#include "BulletSoftBody/btSoftRigidDynamicsWorld.h" //profiling/timings #include "LinearMath/btQuickprof.h" @@ -344,7 +345,9 @@ m_filterCallback(NULL) m_broadphase->getOverlappingPairCache()->setOverlapFilterCallback(m_filterCallback); setSolverType(1);//issues with quickstep and memory allocations - m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration); +// m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration); + m_dynamicsWorld = new btSoftRigidDynamicsWorld(dispatcher,m_broadphase,m_solver,m_collisionConfiguration); + m_debugDrawer = 0; m_gravity = btVector3(0.f,-10.f,0.f); m_dynamicsWorld->setGravity(m_gravity); @@ -355,24 +358,43 @@ m_filterCallback(NULL) void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) { btRigidBody* body = ctrl->GetRigidBody(); + btCollisionObject* obj = ctrl->GetCollisionObject(); //this m_userPointer is just used for triggers, see CallbackTriggers - body->setUserPointer(ctrl); + obj->setUserPointer(ctrl); + if (body) + body->setGravity( m_gravity ); - body->setGravity( m_gravity ); m_controllers.insert(ctrl); - //use explicit group/filter for finer control over collision in bullet => near/radar sensor - m_dynamicsWorld->addRigidBody(body, ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask()); - if (body->isStaticOrKinematicObject()) + if (body) + { + //use explicit group/filter for finer control over collision in bullet => near/radar sensor + m_dynamicsWorld->addRigidBody(body, ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask()); + } else + { + if (ctrl->GetSoftBody()) + { + //not yet + btAssert(0); + //m_dynamicsWorld->addSo + } else + { + if (obj->getCollisionShape()) + { + m_dynamicsWorld->addCollisionObject(obj,ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask()); + } + } + } + if (obj->isStaticOrKinematicObject()) { - body->setActivationState(ISLAND_SLEEPING); + obj->setActivationState(ISLAND_SLEEPING); } //CollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask()); - assert(body->getBroadphaseHandle()); + assert(obj->getBroadphaseHandle()); btBroadphaseInterface* scene = getBroadphase(); @@ -381,7 +403,7 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) assert(shapeinterface); - const btTransform& t = ctrl->GetRigidBody()->getCenterOfMassTransform(); + const btTransform& t = ctrl->GetCollisionObject()->getWorldTransform(); btPoint3 minAabb,maxAabb; @@ -393,32 +415,34 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) //extent it with the motion - btVector3 linMotion = body->getLinearVelocity()*timeStep; - - float maxAabbx = maxAabb.getX(); - float maxAabby = maxAabb.getY(); - float maxAabbz = maxAabb.getZ(); - float minAabbx = minAabb.getX(); - float minAabby = minAabb.getY(); - float minAabbz = minAabb.getZ(); - - if (linMotion.x() > 0.f) - maxAabbx += linMotion.x(); - else - minAabbx += linMotion.x(); - if (linMotion.y() > 0.f) - maxAabby += linMotion.y(); - else - minAabby += linMotion.y(); - if (linMotion.z() > 0.f) - maxAabbz += linMotion.z(); - else - minAabbz += linMotion.z(); - - - minAabb = btVector3(minAabbx,minAabby,minAabbz); - maxAabb = btVector3(maxAabbx,maxAabby,maxAabbz); - + if (body) + { + btVector3 linMotion = body->getLinearVelocity()*timeStep; + + float maxAabbx = maxAabb.getX(); + float maxAabby = maxAabb.getY(); + float maxAabbz = maxAabb.getZ(); + float minAabbx = minAabb.getX(); + float minAabby = minAabb.getY(); + float minAabbz = minAabb.getZ(); + + if (linMotion.x() > 0.f) + maxAabbx += linMotion.x(); + else + minAabbx += linMotion.x(); + if (linMotion.y() > 0.f) + maxAabby += linMotion.y(); + else + minAabby += linMotion.y(); + if (linMotion.z() > 0.f) + maxAabbz += linMotion.z(); + else + minAabbz += linMotion.z(); + + + minAabb = btVector3(minAabbx,minAabby,minAabbz); + maxAabb = btVector3(maxAabbx,maxAabby,maxAabbz); + } @@ -427,8 +451,22 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl) { //also remove constraint - - m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody()); + btRigidBody* body = ctrl->GetRigidBody(); + if (body) + { + m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody()); + } else + { + //if a softbody + if (ctrl->GetSoftBody()) + { + //not yet + btAssert(0); + } else + { + m_dynamicsWorld->removeCollisionObject(ctrl->GetCollisionObject()); + } + } m_controllers.erase(ctrl); if (ctrl->m_registerCount != 0) @@ -443,14 +481,20 @@ void CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctr // this function is used when the collisionning group of a controller is changed // remove and add the collistioning object btRigidBody* body = ctrl->GetRigidBody(); - btVector3 inertia(0.0,0.0,0.0); - - m_dynamicsWorld->removeCollisionObject(body); - body->setCollisionFlags(newCollisionFlags); - if (newMass) - body->getCollisionShape()->calculateLocalInertia(newMass, inertia); - body->setMassProps(newMass, inertia); - m_dynamicsWorld->addCollisionObject(body, newCollisionGroup, newCollisionMask); + btCollisionObject* obj = ctrl->GetCollisionObject(); + if (obj) + { + btVector3 inertia(0.0,0.0,0.0); + m_dynamicsWorld->removeCollisionObject(obj); + obj->setCollisionFlags(newCollisionFlags); + if (body) + { + if (newMass) + body->getCollisionShape()->calculateLocalInertia(newMass, inertia); + body->setMassProps(newMass, inertia); + } + m_dynamicsWorld->addCollisionObject(obj, newCollisionGroup, newCollisionMask); + } // to avoid nasty interaction, we must update the property of the controller as well ctrl->m_cci.m_mass = newMass; ctrl->m_cci.m_collisionFilterGroup = newCollisionGroup; @@ -462,9 +506,9 @@ void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctr { if (m_controllers.insert(ctrl).second) { - btRigidBody* body = ctrl->GetRigidBody(); - body->setUserPointer(ctrl); - m_dynamicsWorld->addCollisionObject(body, + btCollisionObject* obj = ctrl->GetCollisionObject(); + obj->setUserPointer(ctrl); + m_dynamicsWorld->addCollisionObject(obj, ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask()); } } @@ -473,7 +517,19 @@ void CcdPhysicsEnvironment::disableCcdPhysicsController(CcdPhysicsController* ct { if (m_controllers.erase(ctrl)) { - m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody()); + btRigidBody* body = ctrl->GetRigidBody(); + if (body) + { + m_dynamicsWorld->removeRigidBody(body); + } else + { + if (ctrl->GetSoftBody()) + { + } else + { + m_dynamicsWorld->removeCollisionObject(body); + } + } } } @@ -792,7 +848,7 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallbac CcdShapeConstructionInfo* shapeInfo = controller->m_shapeInfo; if (shapeInfo) { - btCollisionShape* shape = controller->GetRigidBody()->getCollisionShape(); + btCollisionShape* shape = controller->GetCollisionObject()->getCollisionShape(); if (shape->isCompound()) { btCompoundShape* compoundShape = (btCompoundShape*)shape; diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index 3cf5a943e3f..3569cf25b68 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -233,13 +233,13 @@ protected: std::vector<WrapperVehicle*> m_wrapperVehicles; - //use explicit btDiscreteDynamicsWorld* so that we have access to + //use explicit btSoftRigidDynamicsWorld/btDiscreteDynamicsWorld* so that we have access to //btDiscreteDynamicsWorld::addRigidBody(body,filter,group) //so that we can set the body collision filter/group at the time of creation //and not afterwards (breaks the collision system for radar/near sensor) //Ideally we would like to have access to this function from the btDynamicsWorld interface //class btDynamicsWorld* m_dynamicsWorld; - class btDiscreteDynamicsWorld* m_dynamicsWorld; + class btSoftRigidDynamicsWorld* m_dynamicsWorld; class btConstraintSolver* m_solver; |