diff options
43 files changed, 464 insertions, 301 deletions
diff --git a/source/blender/makesdna/DNA_object_types.h b/source/blender/makesdna/DNA_object_types.h index 82da883df4a..9121f38be16 100644 --- a/source/blender/makesdna/DNA_object_types.h +++ b/source/blender/makesdna/DNA_object_types.h @@ -440,6 +440,7 @@ extern Object workob; #define OB_COLLISION 65536 #define OB_SOFT_BODY 0x20000 #define OB_OCCLUDER 0x40000 +#define OB_SENSOR 0x80000 /* ob->gameflag2 */ #define OB_NEVER_DO_ACTIVITY_CULLING 1 @@ -459,6 +460,7 @@ extern Object workob; #define OB_BODY_TYPE_RIGID 3 #define OB_BODY_TYPE_SOFT 4 #define OB_BODY_TYPE_OCCLUDER 5 +#define OB_BODY_TYPE_SENSOR 6 /* ob->scavisflag */ #define OB_VIS_SENS 1 diff --git a/source/blender/python/api2_2x/Object.c b/source/blender/python/api2_2x/Object.c index 2de2906335f..c3f7a21a7bf 100644 --- a/source/blender/python/api2_2x/Object.c +++ b/source/blender/python/api2_2x/Object.c @@ -3562,7 +3562,7 @@ static int Object_setRBMass( BPy_Object * self, PyObject * args ) /* this is too low level, possible to add helper methods */ #define GAMEFLAG_MASK ( OB_OCCLUDER | OB_COLLISION | OB_DYNAMIC | OB_CHILD | OB_ACTOR | OB_DO_FH | \ - OB_ROT_FH | OB_ANISOTROPIC_FRICTION | OB_GHOST | OB_RIGID_BODY | OB_SOFT_BODY | \ + OB_ROT_FH | OB_ANISOTROPIC_FRICTION | OB_GHOST | OB_RIGID_BODY | OB_SOFT_BODY | OB_SENSOR | \ OB_BOUNDS | OB_COLLISION_RESPONSE | OB_SECTOR | OB_PROP | \ OB_MAINACTOR ) @@ -5544,6 +5544,7 @@ static PyObject *M_Object_RBFlagsDict( void ) BPy_constant *d = ( BPy_constant * ) M; PyConstant_Insert( d, "OCCLUDER", PyInt_FromLong( OB_OCCLUDER ) ); PyConstant_Insert( d, "COLLISION", PyInt_FromLong( OB_COLLISION ) ); + PyConstant_Insert( d, "SENSOR", PyInt_FromLong( OB_SENSOR ) ); PyConstant_Insert( d, "DYNAMIC", PyInt_FromLong( OB_DYNAMIC ) ); PyConstant_Insert( d, "CHILD", PyInt_FromLong( OB_CHILD ) ); PyConstant_Insert( d, "ACTOR", PyInt_FromLong( OB_ACTOR ) ); diff --git a/source/blender/src/buttons_logic.c b/source/blender/src/buttons_logic.c index dccbc73787d..a537d32feae 100644 --- a/source/blender/src/buttons_logic.c +++ b/source/blender/src/buttons_logic.c @@ -3064,29 +3064,33 @@ static void check_body_type(void *arg1_but, void *arg2_object) Object *ob = arg2_object; switch (ob->body_type) { + case OB_BODY_TYPE_SENSOR: + ob->gameflag |= OB_SENSOR|OB_COLLISION|OB_GHOST; + ob->gameflag &= ~(OB_OCCLUDER|OB_DYNAMIC|OB_RIGID_BODY|OB_ACTOR|OB_ANISOTROPIC_FRICTION|OB_DO_FH|OB_ROT_FH|OB_COLLISION_RESPONSE); + break; case OB_BODY_TYPE_OCCLUDER: ob->gameflag |= OB_OCCLUDER; - ob->gameflag &= ~(OB_COLLISION|OB_DYNAMIC); + ob->gameflag &= ~(OB_SENSOR|OB_COLLISION|OB_DYNAMIC); break; case OB_BODY_TYPE_NO_COLLISION: - ob->gameflag &= ~(OB_COLLISION|OB_OCCLUDER|OB_DYNAMIC); + ob->gameflag &= ~(OB_SENSOR|OB_COLLISION|OB_OCCLUDER|OB_DYNAMIC); break; case OB_BODY_TYPE_STATIC: ob->gameflag |= OB_COLLISION; - ob->gameflag &= ~(OB_DYNAMIC|OB_RIGID_BODY|OB_SOFT_BODY|OB_OCCLUDER); + ob->gameflag &= ~(OB_DYNAMIC|OB_RIGID_BODY|OB_SOFT_BODY|OB_OCCLUDER|OB_SENSOR); break; case OB_BODY_TYPE_DYNAMIC: ob->gameflag |= OB_COLLISION|OB_DYNAMIC|OB_ACTOR; - ob->gameflag &= ~(OB_RIGID_BODY|OB_SOFT_BODY|OB_OCCLUDER); + ob->gameflag &= ~(OB_RIGID_BODY|OB_SOFT_BODY|OB_OCCLUDER|OB_SENSOR); break; case OB_BODY_TYPE_RIGID: ob->gameflag |= OB_COLLISION|OB_DYNAMIC|OB_RIGID_BODY|OB_ACTOR; - ob->gameflag &= ~(OB_SOFT_BODY|OB_OCCLUDER); + ob->gameflag &= ~(OB_SOFT_BODY|OB_OCCLUDER|OB_SENSOR); break; default: case OB_BODY_TYPE_SOFT: ob->gameflag |= OB_COLLISION|OB_DYNAMIC|OB_SOFT_BODY|OB_ACTOR; - ob->gameflag &= ~(OB_RIGID_BODY|OB_OCCLUDER); + ob->gameflag &= ~(OB_RIGID_BODY|OB_OCCLUDER|OB_SENSOR); /* assume triangle mesh, if no bounds chosen for soft body */ if ((ob->gameflag & OB_BOUNDS) && (ob->boundtype<OB_BOUND_POLYH)) @@ -3271,17 +3275,31 @@ static uiBlock *advanced_bullet_menu(void *arg_ob) static void buttons_bullet(uiBlock *block, Object *ob) { uiBut *but; + char *tip; /* determine the body_type setting based on flags */ - if (!(ob->gameflag & OB_COLLISION)) - ob->body_type = (ob->gameflag & OB_OCCLUDER) ? OB_BODY_TYPE_OCCLUDER : OB_BODY_TYPE_NO_COLLISION; - else if (!(ob->gameflag & OB_DYNAMIC)) + if (!(ob->gameflag & OB_COLLISION)) { + if (ob->gameflag & OB_OCCLUDER) { + tip = "Occluder"; + ob->body_type = OB_BODY_TYPE_OCCLUDER; + } else { + tip = "Disable colision for this object"; + ob->body_type = OB_BODY_TYPE_NO_COLLISION; + } + } else if (ob->gameflag & OB_SENSOR) { + tip = "Collision Sensor, detects static and dynamic objects but not the other collision sensor objects"; + ob->body_type = OB_BODY_TYPE_SENSOR; + } else if (!(ob->gameflag & OB_DYNAMIC)) { + tip = "Static"; ob->body_type = OB_BODY_TYPE_STATIC; - else if (!(ob->gameflag & (OB_RIGID_BODY|OB_SOFT_BODY))) + } else if (!(ob->gameflag & (OB_RIGID_BODY|OB_SOFT_BODY))) { + tip = "Dynamic"; ob->body_type = OB_BODY_TYPE_DYNAMIC; - else if (ob->gameflag & OB_RIGID_BODY) + } else if (ob->gameflag & OB_RIGID_BODY) { + tip = "Rigid body"; ob->body_type = OB_BODY_TYPE_RIGID; - else { + } else { + tip = "Soft body"; ob->body_type = OB_BODY_TYPE_SOFT; /* create the structure here because we display soft body buttons in the main panel */ if (!ob->bsoft) @@ -3292,28 +3310,36 @@ static void buttons_bullet(uiBlock *block, Object *ob) //only enable game soft body if Blender Soft Body exists but = uiDefButS(block, MENU, REDRAWVIEW3D, - "Object type%t|Occluder%x5|No collision%x0|Static%x1|Dynamic%x2|Rigid body%x3|Soft body%x4", - 10, 205, 100, 19, &ob->body_type, 0, 0, 0, 0, "Selects the type of physical representation"); + "Object type%t|Occluder%x5|No collision%x0|Sensor%x6|Static%x1|Dynamic%x2|Rigid body%x3|Soft body%x4", + 10, 205, 100, 19, &ob->body_type, 0, 0, 0, 0, tip); uiButSetFunc(but, check_body_type, but, ob); if (ob->gameflag & OB_COLLISION) { - uiDefButBitI(block, TOG, OB_ACTOR, 0, "Actor", - 110, 205, 50, 19, &ob->gameflag, 0, 0, 0, 0, - "Objects that are detected by the Near and Radar sensor"); + if (ob->gameflag & OB_SENSOR) { + uiBlockEndAlign(block); + uiDefBlockBut(block, advanced_bullet_menu, ob, + "Advanced Settings", + 210, 205, 140, 19, "Display collision advanced settings"); + uiBlockBeginAlign(block); + } else { + uiDefButBitI(block, TOG, OB_ACTOR, 0, "Actor", + 110, 205, 50, 19, &ob->gameflag, 0, 0, 0, 0, + "Objects that are detected by the Near and Radar sensor and the collision sensor objects"); - + - uiDefButBitI(block, TOG, OB_GHOST, B_REDR, "Ghost", - 160,205,50,19, - &ob->gameflag, 0, 0, 0, 0, - "Objects that don't restitute collisions (like a ghost)"); + uiDefButBitI(block, TOG, OB_GHOST, B_REDR, "Ghost", + 160,205,50,19, + &ob->gameflag, 0, 0, 0, 0, + "Objects that don't restitute collisions (like a ghost)"); - //uiBlockSetCol(block, TH_BUT_SETTING1); - uiDefBlockBut(block, advanced_bullet_menu, ob, - "Advanced Settings", - 210, 205, 140, 19, "Display collision advanced settings"); - //uiBlockSetCol(block, TH_BUT_SETTING2); + //uiBlockSetCol(block, TH_BUT_SETTING1); + uiDefBlockBut(block, advanced_bullet_menu, ob, + "Advanced Settings", + 210, 205, 140, 19, "Display collision advanced settings"); + //uiBlockSetCol(block, TH_BUT_SETTING2); + } if(ob->gameflag & OB_DYNAMIC) { @@ -3394,7 +3420,7 @@ static void buttons_bullet(uiBlock *block, Object *ob) /* In Bullet, anisotripic friction can be applied to static objects as well, just not soft bodies */ - if (!(ob->gameflag & OB_SOFT_BODY)) + if (!(ob->gameflag & (OB_SOFT_BODY|OB_SENSOR))) { uiDefButBitI(block, TOG, OB_ANISOTROPIC_FRICTION, B_REDR, "Anisotropic", 230, 145, 120, 19, diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp index 9ea623f17e4..d4cc047d5e3 100644 --- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp +++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp @@ -1413,6 +1413,7 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj, 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_sensor = (blenderobject->gameflag & OB_SENSOR) != 0; if (objprop.m_softbody) { diff --git a/source/gameengine/GameLogic/SCA_ISensor.h b/source/gameengine/GameLogic/SCA_ISensor.h index 9aeda728caf..ad8865299d6 100644 --- a/source/gameengine/GameLogic/SCA_ISensor.h +++ b/source/gameengine/GameLogic/SCA_ISensor.h @@ -91,6 +91,15 @@ protected: std::vector<class SCA_IController*> m_linkedcontrollers; public: + + enum sensortype { + NONE = 0, + TOUCH, + NEAR, + RADAR, + // to be updated as needed + }; + SCA_ISensor(SCA_IObject* gameobj, class SCA_EventManager* eventmgr, PyTypeObject* T );; @@ -138,6 +147,8 @@ public: virtual double GetNumber(); + virtual sensortype GetSensorType() { return NONE; } + /** Stop sensing for a while. */ void Suspend(); diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp index 300a7906e81..e22edfd1306 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp @@ -17,8 +17,8 @@ #include "BulletSoftBody/btSoftBody.h" -KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool compound) -: KX_IPhysicsController(dyna,compound,(PHY_IPhysicsController*)this), +KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool compound) +: KX_IPhysicsController(dyna,sensor,compound,(PHY_IPhysicsController*)this), CcdPhysicsController(ci), m_savedCollisionFlags(0), m_savedCollisionFilterGroup(0), @@ -174,6 +174,20 @@ 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()) @@ -262,7 +276,7 @@ void KX_BulletPhysicsController::AddCompoundChild(KX_IPhysicsController* chil // add to parent compound shapeinfo GetShapeInfo()->AddShape(proxyShapeInfo); // create new bullet collision shape from the object shapeinfo and set scaling - btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(); + btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(childCtrl->GetMargin()); newChildShape->setLocalScaling(relativeScale); // add bullet collision shape to parent compound collision shape compoundShape->addChildShape(proxyShapeInfo->m_childTrans,newChildShape); @@ -359,7 +373,7 @@ void KX_BulletPhysicsController::SetMass(MT_Scalar newmass) void KX_BulletPhysicsController::SuspendDynamics(bool ghost) { btRigidBody *body = GetRigidBody(); - if (body && !m_suspended) + if (body && !m_suspended && !IsSensor()) { btBroadphaseProxy* handle = body->getBroadphaseHandle(); m_savedCollisionFlags = body->getCollisionFlags(); @@ -445,7 +459,7 @@ SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode) void KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly) { - if (!m_bDyna) + if (!m_bDyna && !m_bSensor) { btCollisionObject* object = GetRigidBody(); object->setActivationState(ACTIVE_TAG); diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h index 9d2afad1a5c..755b1cbd780 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.h @@ -19,7 +19,7 @@ private: public: - KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool compound); + KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool compound); virtual ~KX_BulletPhysicsController (); /////////////////////////////////// @@ -42,6 +42,7 @@ public: 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(); diff --git a/source/gameengine/Ketsji/KX_ClientObjectInfo.h b/source/gameengine/Ketsji/KX_ClientObjectInfo.h index 7345edb054b..74d463fbf20 100644 --- a/source/gameengine/Ketsji/KX_ClientObjectInfo.h +++ b/source/gameengine/Ketsji/KX_ClientObjectInfo.h @@ -50,8 +50,8 @@ struct KX_ClientObjectInfo STATIC, ACTOR, RESERVED1, - RADAR, - NEAR + SENSOR, + OBSENSOR } m_type; KX_GameObject* m_gameobject; void* m_auxilary_info; @@ -84,6 +84,7 @@ public: } bool isActor() { return m_type <= ACTOR; } + bool isSensor() { return m_type >= SENSOR && m_type <= OBSENSOR; } }; #endif //__KX_CLIENTOBJECT_INFO_H diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h index 5b912a123fe..e48fddb30bd 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h @@ -83,6 +83,7 @@ struct KX_ObjectProperties bool m_ghost; class KX_GameObject* m_dynamic_parent; bool m_isactor; + bool m_sensor; bool m_concave; bool m_isdeformable; bool m_disableSleeping; diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index f18ffb56ccb..73693e68642 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -808,12 +808,12 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, bool isbulletdyna = false; + bool isbulletsensor = false; CcdConstructionInfo ci; class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode()); class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo(); - if (!objprop->m_dyna) { ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT; @@ -832,6 +832,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, ci.m_margin = objprop->m_margin; shapeInfo->m_radius = objprop->m_radius; isbulletdyna = objprop->m_dyna; + isbulletsensor = objprop->m_sensor; ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f); @@ -851,7 +852,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, //bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1); shapeInfo->m_shapeType = PHY_SHAPE_SPHERE; - bm = shapeInfo->CreateBulletShape(); + bm = shapeInfo->CreateBulletShape(ci.m_margin); break; }; case KX_BOUNDBOX: @@ -864,7 +865,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, shapeInfo->m_halfExtend /= 2.0; shapeInfo->m_halfExtend = shapeInfo->m_halfExtend.absolute(); shapeInfo->m_shapeType = PHY_SHAPE_BOX; - bm = shapeInfo->CreateBulletShape(); + bm = shapeInfo->CreateBulletShape(ci.m_margin); break; }; case KX_BOUNDCYLINDER: @@ -875,7 +876,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, objprop->m_boundobject.c.m_height * 0.5f ); shapeInfo->m_shapeType = PHY_SHAPE_CYLINDER; - bm = shapeInfo->CreateBulletShape(); + bm = shapeInfo->CreateBulletShape(ci.m_margin); break; } @@ -884,18 +885,18 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, shapeInfo->m_radius = objprop->m_boundobject.c.m_radius; shapeInfo->m_height = objprop->m_boundobject.c.m_height; shapeInfo->m_shapeType = PHY_SHAPE_CONE; - bm = shapeInfo->CreateBulletShape(); + bm = shapeInfo->CreateBulletShape(ci.m_margin); break; } case KX_BOUNDPOLYTOPE: { shapeInfo->SetMesh(meshobj, dm,true,false); - bm = shapeInfo->CreateBulletShape(); + bm = shapeInfo->CreateBulletShape(ci.m_margin); break; } case KX_BOUNDMESH: { - bool useGimpact = (ci.m_mass && !objprop->m_softbody); + bool useGimpact = ((ci.m_mass || isbulletsensor) && !objprop->m_softbody); // mesh shapes can be shared, check first if we already have a shape on that mesh class CcdShapeConstructionInfo *sharedShapeInfo = CcdShapeConstructionInfo::FindMesh(meshobj, dm, false,useGimpact); @@ -915,7 +916,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, shapeInfo->setVertexWeldingThreshold1(objprop->m_soft_welding); //todo: expose this to the UI } - bm = shapeInfo->CreateBulletShape(); + bm = shapeInfo->CreateBulletShape(ci.m_margin); //should we compute inertia for dynamic shape? //bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); @@ -933,7 +934,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, return; } - bm->setMargin(ci.m_margin); + //bm->setMargin(ci.m_margin); if (objprop->m_isCompoundChild) @@ -1103,26 +1104,39 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, ci.m_soft_numclusteriterations= objprop->m_soft_numclusteriterations; /* number of iterations to refine collision clusters*/ //////////////////// - - ci.m_collisionFilterGroup = (isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) : short(CcdConstructionInfo::StaticFilter); - ci.m_collisionFilterMask = (isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter); + ci.m_collisionFilterGroup = + (isbulletsensor) ? short(CcdConstructionInfo::SensorFilter) : + (isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) : + short(CcdConstructionInfo::StaticFilter); + ci.m_collisionFilterMask = + (isbulletsensor) ? short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter) : + (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; + ci.m_bSensor = isbulletsensor; MT_Vector3 scaling = gameobj->NodeGetWorldScaling(); ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]); - KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna,objprop->m_hasCompoundChildren); + KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna,isbulletsensor,objprop->m_hasCompoundChildren); // shapeInfo is reference counted, decrement now as we don't use it anymore if (shapeInfo) shapeInfo->Release(); - if (objprop->m_in_active_layer) + gameobj->SetPhysicsController(physicscontroller,isbulletdyna); + if (isbulletsensor) + { + // use a different callback function for sensor object, + // bullet will not synchronize, we must do it explicitely + SG_Callbacks& callbacks = gameobj->GetSGNode()->GetCallBackFunctions(); + callbacks.m_updatefunc = KX_GameObject::SynchronizeTransformFunc; + // make sensor object invisible by default + gameobj->SetVisible(false, false); + } + // don't add automatically sensor object, they are added when a collision sensor is registered + else if (objprop->m_in_active_layer) { env->addCcdPhysicsController( physicscontroller); } - - - - gameobj->SetPhysicsController(physicscontroller,isbulletdyna); physicscontroller->setNewClientInfo(gameobj->getClientInfo()); { btRigidBody* rbody = physicscontroller->GetRigidBody(); @@ -1181,7 +1195,9 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj, } bool isActor = objprop->m_isactor; - gameobj->getClientInfo()->m_type = (isActor ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC); + gameobj->getClientInfo()->m_type = + (isbulletsensor) ? KX_ClientObjectInfo::OBSENSOR : + (isActor) ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC; // store materialname in auxinfo, needed for touchsensors if (meshobj) { diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp index 79519bfb491..1d7bf56f6d3 100644 --- a/source/gameengine/Ketsji/KX_GameObject.cpp +++ b/source/gameengine/Ketsji/KX_GameObject.cpp @@ -332,7 +332,7 @@ void KX_GameObject::ProcessReplica() } -static void setGraphicController_recursive(SG_Node* node, bool v) +static void setGraphicController_recursive(SG_Node* node) { NodeList& children = node->GetSGChildren(); @@ -341,24 +341,24 @@ static void setGraphicController_recursive(SG_Node* node, bool v) SG_Node* childnode = (*childit); KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject()); if (clientgameobj != NULL) // This is a GameObject - clientgameobj->ActivateGraphicController(v, false); + clientgameobj->ActivateGraphicController(false); // if the childobj is NULL then this may be an inverse parent link // so a non recursive search should still look down this node. - setGraphicController_recursive(childnode, v); + setGraphicController_recursive(childnode); } } -void KX_GameObject::ActivateGraphicController(bool active, bool recurse) +void KX_GameObject::ActivateGraphicController(bool recurse) { if (m_pGraphicController) { - m_pGraphicController->Activate(active); + m_pGraphicController->Activate(m_bVisible); } if (recurse) { - setGraphicController_recursive(GetSGNode(), active); + setGraphicController_recursive(GetSGNode()); } } @@ -538,6 +538,20 @@ void KX_GameObject::UpdateTransformFunc(SG_IObject* node, void* gameobj, void* s ((KX_GameObject*)gameobj)->UpdateTransform(); } +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_pGraphicController) + m_pGraphicController->SetGraphicTransform(); +} + +void KX_GameObject::SynchronizeTransformFunc(SG_IObject* node, void* gameobj, void* scene) +{ + ((KX_GameObject*)gameobj)->SynchronizeTransform(); +} + void KX_GameObject::SetDebugColor(unsigned int bgra) { diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h index e5b26539d4d..e0e78918dde 100644 --- a/source/gameengine/Ketsji/KX_GameObject.h +++ b/source/gameengine/Ketsji/KX_GameObject.h @@ -384,7 +384,7 @@ public: /* * @add/remove the graphic controller to the physic system */ - void ActivateGraphicController(bool active, bool recurse); + void ActivateGraphicController(bool recurse); /** * @section Coordinate system manipulation functions @@ -560,6 +560,13 @@ public: static void UpdateTransformFunc(SG_IObject* node, void* gameobj, void* scene); /** + * only used for sensor objects + */ + void SynchronizeTransform(); + + static void SynchronizeTransformFunc(SG_IObject* node, void* gameobj, void* scene); + + /** * Function to set IPO option at start of IPO */ void diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.cpp b/source/gameengine/Ketsji/KX_IPhysicsController.cpp index a38222c5f7e..673acabd774 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, bool compound, void* userdata) +KX_IPhysicsController::KX_IPhysicsController(bool dyna, bool sensor, bool compound, void* userdata) : m_bDyna(dyna), + m_bSensor(sensor), 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 10b66da7b76..81c01045071 100644 --- a/source/gameengine/Ketsji/KX_IPhysicsController.h +++ b/source/gameengine/Ketsji/KX_IPhysicsController.h @@ -49,11 +49,12 @@ class KX_IPhysicsController : public SG_Controller { protected: bool m_bDyna; + bool m_bSensor; bool m_bCompound; bool m_suspendDynamics; void* m_userdata; public: - KX_IPhysicsController(bool dyna,bool compound, void* userdata); + KX_IPhysicsController(bool dyna,bool sensor,bool compound, void* userdata); virtual ~KX_IPhysicsController(); @@ -74,6 +75,7 @@ public: 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; @@ -100,10 +102,18 @@ public: m_bDyna = isDynamic; } + void SetSensor(bool isSensor) { + m_bSensor = isSensor; + } + bool IsDyna(void) { return m_bDyna; } + bool IsSensor(void) { + return m_bSensor; + } + bool IsCompound(void) { return m_bCompound; } diff --git a/source/gameengine/Ketsji/KX_MotionState.cpp b/source/gameengine/Ketsji/KX_MotionState.cpp index b4d58dccfdf..60455d33312 100644 --- a/source/gameengine/Ketsji/KX_MotionState.cpp +++ b/source/gameengine/Ketsji/KX_MotionState.cpp @@ -73,6 +73,11 @@ void KX_MotionState::getWorldOrientation(float* ori) mat.getValue(ori); } +void KX_MotionState::setWorldOrientation(const float* ori) +{ + m_node->SetLocalOrientation(ori); +} + void KX_MotionState::setWorldPosition(float posX,float posY,float posZ) { m_node->SetLocalPosition(MT_Point3(posX,posY,posZ)); diff --git a/source/gameengine/Ketsji/KX_MotionState.h b/source/gameengine/Ketsji/KX_MotionState.h index 7ba3ca2f85c..0e43e88fbeb 100644 --- a/source/gameengine/Ketsji/KX_MotionState.h +++ b/source/gameengine/Ketsji/KX_MotionState.h @@ -45,6 +45,7 @@ public: 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(); }; diff --git a/source/gameengine/Ketsji/KX_NearSensor.cpp b/source/gameengine/Ketsji/KX_NearSensor.cpp index a3c4e95ae24..44842b7f5b3 100644 --- a/source/gameengine/Ketsji/KX_NearSensor.cpp +++ b/source/gameengine/Ketsji/KX_NearSensor.cpp @@ -36,6 +36,7 @@ #include "KX_Scene.h" // needed to create a replica #include "PHY_IPhysicsEnvironment.h" #include "PHY_IPhysicsController.h" +#include "PHY_IMotionState.h" #ifdef HAVE_CONFIG_H #include <config.h> @@ -62,7 +63,7 @@ KX_NearSensor::KX_NearSensor(SCA_EventManager* eventmgr, { gameobj->getClientInfo()->m_sensors.remove(this); - m_client_info = new KX_ClientObjectInfo(gameobj, KX_ClientObjectInfo::NEAR); + m_client_info = new KX_ClientObjectInfo(gameobj, KX_ClientObjectInfo::SENSOR); m_client_info->m_sensors.push_back(this); //DT_ShapeHandle shape = (DT_ShapeHandle) vshape; @@ -81,28 +82,14 @@ void KX_NearSensor::SynchronizeTransform() // not linked to the parent object, must synchronize it. if (m_physCtrl) { + PHY_IMotionState* motionState = m_physCtrl->GetMotionState(); KX_GameObject* parent = ((KX_GameObject*)GetParent()); - MT_Vector3 pos = parent->NodeGetWorldPosition(); - MT_Quaternion orn = parent->NodeGetWorldOrientation().getRotation(); - m_physCtrl->setPosition(pos.x(),pos.y(),pos.z()); - m_physCtrl->setOrientation(orn.x(),orn.y(),orn.z(),orn.w()); - m_physCtrl->calcXform(); - } -} - -void KX_NearSensor::RegisterSumo(KX_TouchEventManager *touchman) -{ - if (m_physCtrl) - { - touchman->GetPhysicsEnvironment()->addSensor(m_physCtrl); - } -} - -void KX_NearSensor::UnregisterSumo(KX_TouchEventManager* touchman) -{ - if (m_physCtrl) - { - touchman->GetPhysicsEnvironment()->removeSensor(m_physCtrl); + const MT_Point3& pos = parent->NodeGetWorldPosition(); + float ori[12]; + parent->NodeGetWorldOrientation().getValue(ori); + motionState->setWorldPosition(pos[0], pos[1], pos[2]); + motionState->setWorldOrientation(ori); + m_physCtrl->WriteMotionStateToDynamics(true); } } @@ -117,7 +104,7 @@ void KX_NearSensor::ProcessReplica() { KX_TouchSensor::ProcessReplica(); - m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::NEAR); + m_client_info = new KX_ClientObjectInfo(m_client_info->m_gameobject, KX_ClientObjectInfo::SENSOR); if (m_physCtrl) { @@ -134,11 +121,11 @@ void KX_NearSensor::ProcessReplica() void KX_NearSensor::ReParent(SCA_IObject* parent) { + SCA_ISensor::ReParent(parent); m_client_info->m_gameobject = static_cast<KX_GameObject*>(parent); m_client_info->m_sensors.push_back(this); //Synchronize here with the actual parent. SynchronizeTransform(); - SCA_ISensor::ReParent(parent); } diff --git a/source/gameengine/Ketsji/KX_NearSensor.h b/source/gameengine/Ketsji/KX_NearSensor.h index 35136b79d13..d98b464a443 100644 --- a/source/gameengine/Ketsji/KX_NearSensor.h +++ b/source/gameengine/Ketsji/KX_NearSensor.h @@ -77,8 +77,8 @@ public: virtual bool NewHandleCollision(void* obj1,void* obj2, const PHY_CollData * coll_data); virtual bool BroadPhaseFilterCollision(void*obj1,void*obj2); - virtual void RegisterSumo(KX_TouchEventManager *touchman); - virtual void UnregisterSumo(KX_TouchEventManager* touchman); + virtual bool BroadPhaseSensorFilterCollision(void*obj1,void*obj2) { return false; }; + virtual sensortype GetSensorType() { return NEAR; } /* --------------------------------------------------------------------- */ /* Python interface ---------------------------------------------------- */ diff --git a/source/gameengine/Ketsji/KX_OdePhysicsController.h b/source/gameengine/Ketsji/KX_OdePhysicsController.h index 21b7e632d83..8c3974c38a3 100644 --- a/source/gameengine/Ketsji/KX_OdePhysicsController.h +++ b/source/gameengine/Ketsji/KX_OdePhysicsController.h @@ -70,6 +70,7 @@ public: 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 MT_Vector3 getReactionForce(); virtual void setRigidBody(bool rigid); diff --git a/source/gameengine/Ketsji/KX_RadarSensor.cpp b/source/gameengine/Ketsji/KX_RadarSensor.cpp index 4532224a81e..064dc9126ac 100644 --- a/source/gameengine/Ketsji/KX_RadarSensor.cpp +++ b/source/gameengine/Ketsji/KX_RadarSensor.cpp @@ -30,6 +30,7 @@ #include "KX_GameObject.h" #include "KX_PyMath.h" #include "PHY_IPhysicsController.h" +#include "PHY_IMotionState.h" #ifdef HAVE_CONFIG_H #include <config.h> @@ -66,7 +67,7 @@ KX_RadarSensor::KX_RadarSensor(SCA_EventManager* eventmgr, m_coneheight(coneheight), m_axis(axis) { - m_client_info->m_type = KX_ClientObjectInfo::RADAR; + m_client_info->m_type = KX_ClientObjectInfo::SENSOR; //m_client_info->m_clientobject = gameobj; //m_client_info->m_auxilary_info = NULL; //sumoObj->setClientObject(&m_client_info); @@ -84,12 +85,6 @@ CValue* KX_RadarSensor::GetReplica() return replica; } -void KX_RadarSensor::ProcessReplica() -{ - KX_NearSensor::ProcessReplica(); - m_client_info->m_type = KX_ClientObjectInfo::RADAR; -} - /** * Transforms the collision object. A cone is not correctly centered * for usage. */ @@ -169,11 +164,13 @@ void KX_RadarSensor::SynchronizeTransform() if (m_physCtrl) { - MT_Quaternion orn = trans.getRotation(); - MT_Point3 pos = trans.getOrigin(); - m_physCtrl->setPosition(pos[0],pos[1],pos[2]); - m_physCtrl->setOrientation(orn[0],orn[1],orn[2],orn[3]); - m_physCtrl->calcXform(); + PHY_IMotionState* motionState = m_physCtrl->GetMotionState(); + const MT_Point3& pos = trans.getOrigin(); + float ori[12]; + trans.getBasis().getValue(ori); + motionState->setWorldPosition(pos[0], pos[1], pos[2]); + motionState->setWorldOrientation(ori); + m_physCtrl->WriteMotionStateToDynamics(true); } } diff --git a/source/gameengine/Ketsji/KX_RadarSensor.h b/source/gameengine/Ketsji/KX_RadarSensor.h index b4268797f85..6779a9edffe 100644 --- a/source/gameengine/Ketsji/KX_RadarSensor.h +++ b/source/gameengine/Ketsji/KX_RadarSensor.h @@ -76,7 +76,6 @@ public: virtual ~KX_RadarSensor(); virtual void SynchronizeTransform(); virtual CValue* GetReplica(); - virtual void ProcessReplica(); /* --------------------------------------------------------------------- */ /* Python interface ---------------------------------------------------- */ @@ -93,6 +92,7 @@ public: virtual PyObject* py_getattro(PyObject *attr); virtual PyObject* py_getattro_dict(); virtual int py_setattro(PyObject *attr, PyObject* value); + virtual sensortype GetSensorType() { return RADAR; } //Deprecated -----> KX_PYMETHOD_DOC_NOARGS(KX_RadarSensor,GetConeOrigin); diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp index 9502599603c..bb5e0875402 100644 --- a/source/gameengine/Ketsji/KX_Scene.cpp +++ b/source/gameengine/Ketsji/KX_Scene.cpp @@ -737,7 +737,7 @@ void KX_Scene::DupliGroupRecurse(CValue* obj, int level) replica->GetSGNode()->SetBBox(gameobj->GetSGNode()->BBox()); replica->GetSGNode()->SetRadius(gameobj->GetSGNode()->Radius()); // we can now add the graphic controller to the physic engine - replica->ActivateGraphicController(true,true); + replica->ActivateGraphicController(true); // done with replica replica->Release(); @@ -850,7 +850,7 @@ SCA_IObject* KX_Scene::AddReplicaObject(class CValue* originalobject, replica->GetSGNode()->SetBBox(originalobj->GetSGNode()->BBox()); replica->GetSGNode()->SetRadius(originalobj->GetSGNode()->Radius()); // the size is correct, we can add the graphic controller to the physic engine - replica->ActivateGraphicController(true,true); + replica->ActivateGraphicController(true); // now replicate logic vector<KX_GameObject*>::iterator git; diff --git a/source/gameengine/Ketsji/KX_SumoPhysicsController.h b/source/gameengine/Ketsji/KX_SumoPhysicsController.h index 083d89896f6..278994c6ae7 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,false,NULL) , + : KX_IPhysicsController(dyna,false,false,NULL) , SumoPhysicsController(sumoScene,/*solidscene,*/sumoObj,motionstate,dyna) { }; @@ -83,6 +83,7 @@ public: virtual void getOrientation(MT_Quaternion& orn); virtual void setOrientation(const MT_Matrix3x3& orn); + virtual void SetTransform() {} virtual void setPosition(const MT_Point3& pos); virtual void setScaling(const MT_Vector3& scaling); diff --git a/source/gameengine/Ketsji/KX_TouchEventManager.cpp b/source/gameengine/Ketsji/KX_TouchEventManager.cpp index 8ae5fae8fa3..46927541099 100644 --- a/source/gameengine/Ketsji/KX_TouchEventManager.cpp +++ b/source/gameengine/Ketsji/KX_TouchEventManager.cpp @@ -85,14 +85,34 @@ bool KX_TouchEventManager::newBroadphaseResponse(void *client_data, PHY_IPhysicsController* ctrl = static_cast<PHY_IPhysicsController*>(object1); KX_ClientObjectInfo* info = (ctrl) ? static_cast<KX_ClientObjectInfo*>(ctrl->getNewClientInfo()) : NULL; // This call back should only be called for controllers of Near and Radar sensor - if (info && - info->m_sensors.size() == 1 && - (info->m_type == KX_ClientObjectInfo::NEAR || - info->m_type == KX_ClientObjectInfo::RADAR)) + if (!info) + return true; + + switch (info->m_type) { - // only one sensor for this type of object - KX_TouchSensor* touchsensor = static_cast<KX_TouchSensor*>(*info->m_sensors.begin()); - return touchsensor->BroadPhaseFilterCollision(object1,object2); + case KX_ClientObjectInfo::SENSOR: + if (info->m_sensors.size() == 1) + { + // only one sensor for this type of object + KX_TouchSensor* touchsensor = static_cast<KX_TouchSensor*>(*info->m_sensors.begin()); + return touchsensor->BroadPhaseFilterCollision(object1,object2); + } + break; + case KX_ClientObjectInfo::OBSENSOR: + // this object may have multiple collision sensors, + // check is any of them is interested in this object + for(std::list<SCA_ISensor*>::iterator it = info->m_sensors.begin(); + it != info->m_sensors.end(); + ++it) + { + if ((*it)->GetSensorType() == SCA_ISensor::TOUCH) + { + KX_TouchSensor* touchsensor = static_cast<KX_TouchSensor*>(*it); + if (touchsensor->BroadPhaseSensorFilterCollision(object1, object2)) + return true; + } + } + return false; } return true; } diff --git a/source/gameengine/Ketsji/KX_TouchSensor.cpp b/source/gameengine/Ketsji/KX_TouchSensor.cpp index 8c0d5596939..509fc60e9f5 100644 --- a/source/gameengine/Ketsji/KX_TouchSensor.cpp +++ b/source/gameengine/Ketsji/KX_TouchSensor.cpp @@ -173,19 +173,65 @@ void KX_TouchSensor::RegisterSumo(KX_TouchEventManager *touchman) { if (m_physCtrl) { - touchman->GetPhysicsEnvironment()->requestCollisionCallback(m_physCtrl); - // collision - // Deprecated - + if (touchman->GetPhysicsEnvironment()->requestCollisionCallback(m_physCtrl)) + { + KX_ClientObjectInfo* client_info = static_cast<KX_ClientObjectInfo*>(m_physCtrl->getNewClientInfo()); + if (client_info->isSensor()) + touchman->GetPhysicsEnvironment()->addSensor(m_physCtrl); + } } } - void KX_TouchSensor::UnregisterSumo(KX_TouchEventManager* touchman) { if (m_physCtrl) { - 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()); + if (client_info->isSensor()) + touchman->GetPhysicsEnvironment()->removeSensor(m_physCtrl); + } + } +} + +// this function is called only for sensor objects +// return true if the controller can collide with the object +bool KX_TouchSensor::BroadPhaseSensorFilterCollision(void*obj1,void*obj2) +{ + assert(obj1==m_physCtrl && 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_GameObject* otherobj = ( client_info ? client_info->m_gameobject : NULL); + + // first, decrement refcount as GetParent() increases it + if (myparent) + myparent->Release(); + + // we can only check on persistent characteristic: m_link and m_suspended are not + // good candidate because they are transient. That must be handled at another level + if (!otherobj || + otherobj == myparent || // don't interact with our parent + client_info->m_type != KX_ClientObjectInfo::ACTOR) // only with actor objects + return false; + + bool found = m_touchedpropname.IsEmpty(); + if (!found) + { + if (m_bFindMaterial) + { + if (client_info->m_auxilary_info) + { + found = (!strcmp(m_touchedpropname.Ptr(), (char*)client_info->m_auxilary_info)); + } + } else + { + found = (otherobj->GetProperty(m_touchedpropname) != NULL); + } } + return found; } bool KX_TouchSensor::NewHandleCollision(void*object1,void*object2,const PHY_CollData* colldata) diff --git a/source/gameengine/Ketsji/KX_TouchSensor.h b/source/gameengine/Ketsji/KX_TouchSensor.h index 9c9c6bf5816..b62ec6eaf4d 100644 --- a/source/gameengine/Ketsji/KX_TouchSensor.h +++ b/source/gameengine/Ketsji/KX_TouchSensor.h @@ -103,7 +103,8 @@ public: // obj1 = sensor physical controller, obj2 = physical controller of second object // return value = true if collision should be checked on pair of object virtual bool BroadPhaseFilterCollision(void*obj1,void*obj2) { return true; } - + virtual bool BroadPhaseSensorFilterCollision(void*obj1,void*obj2); + virtual sensortype GetSensorType() { return TOUCH; } virtual bool IsPositiveTrigger() { diff --git a/source/gameengine/Physics/BlOde/OdePhysicsController.cpp b/source/gameengine/Physics/BlOde/OdePhysicsController.cpp index efe4554d970..5efd0994311 100644 --- a/source/gameengine/Physics/BlOde/OdePhysicsController.cpp +++ b/source/gameengine/Physics/BlOde/OdePhysicsController.cpp @@ -379,7 +379,10 @@ bool ODEPhysicsController::SynchronizeMotionStates(float time) return false; //it update the worldpos } - +PHY_IMotionState* ODEPhysicsController::GetMotionState() +{ + return m_MotionState; +} // kinematic methods diff --git a/source/gameengine/Physics/BlOde/OdePhysicsController.h b/source/gameengine/Physics/BlOde/OdePhysicsController.h index e97afdb68c3..544d11da2ca 100644 --- a/source/gameengine/Physics/BlOde/OdePhysicsController.h +++ b/source/gameengine/Physics/BlOde/OdePhysicsController.h @@ -102,6 +102,7 @@ public: virtual void WriteDynamicsToMotionState() {}; virtual void WriteMotionStateToDynamics(bool nondynaonly); + virtual class PHY_IMotionState* GetMotionState(); /** call from Scene Graph Node to 'update'. diff --git a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h index 82e26e01460..54e4f7f90e1 100644 --- a/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h +++ b/source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h @@ -64,8 +64,8 @@ public: virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user) { } - virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl) {} - virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl) {} + virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl) {return false;} + virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl) {return false;} virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) {return 0;} virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;} diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index 01e8aa2560f..7302c47f4bf 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -92,16 +92,19 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) } -btTransform CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState) +btTransform& CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState) { - btTransform trans; - float tmp[3]; - motionState->getWorldPosition(tmp[0],tmp[1],tmp[2]); - trans.setOrigin(btVector3(tmp[0],tmp[1],tmp[2])); - - btQuaternion orn; - motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]); - trans.setRotation(orn); + static btTransform trans; + btVector3 tmp; + motionState->getWorldPosition(tmp.m_floats[0], tmp.m_floats[1], tmp.m_floats[2]); + trans.setOrigin(tmp); + + float ori[12]; + motionState->getWorldOrientation(ori); + trans.getBasis().setFromOpenGLSubMatrix(ori); + //btQuaternion orn; + //motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]); + //trans.setRotation(orn); return trans; } @@ -118,18 +121,18 @@ public: } - virtual void getWorldTransform(btTransform& worldTrans ) const + void getWorldTransform(btTransform& worldTrans ) const { - float pos[3]; - float quatOrn[4]; + btVector3 pos; + float ori[12]; - m_blenderMotionState->getWorldPosition(pos[0],pos[1],pos[2]); - m_blenderMotionState->getWorldOrientation(quatOrn[0],quatOrn[1],quatOrn[2],quatOrn[3]); - worldTrans.setOrigin(btVector3(pos[0],pos[1],pos[2])); - worldTrans.setBasis(btMatrix3x3(btQuaternion(quatOrn[0],quatOrn[1],quatOrn[2],quatOrn[3]))); + 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); } - virtual void setWorldTransform(const btTransform& worldTrans) + void setWorldTransform(const btTransform& worldTrans) { m_blenderMotionState->setWorldPosition(worldTrans.getOrigin().getX(),worldTrans.getOrigin().getY(),worldTrans.getOrigin().getZ()); btQuaternion rotQuat = worldTrans.getRotation(); @@ -493,10 +496,12 @@ void CcdPhysicsController::CreateRigidbody() //convert collision flags! //special case: a near/radar sensor controller should not be defined static or it will //generate loads of static-static collision messages on the console - if ((m_cci.m_collisionFilterGroup & CcdConstructionInfo::SensorFilter) != 0) + if (m_cci.m_bSensor) { // reset the flags that have been set so far GetCollisionObject()->setCollisionFlags(0); + // sensor must never go to sleep: they need to detect continously + GetCollisionObject()->setActivationState(DISABLE_DEACTIVATION); } GetCollisionObject()->setCollisionFlags(m_object->getCollisionFlags() | m_cci.m_collisionFlags); btRigidBody* body = GetRigidBody(); @@ -613,12 +618,13 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_min / len)); } - const btVector3& worldPos = body->getCenterOfMassPosition(); + const btTransform& xform = body->getCenterOfMassTransform(); + const btMatrix3x3& worldOri = xform.getBasis(); + const btVector3& worldPos = xform.getOrigin(); + float ori[12]; + worldOri.getOpenGLSubMatrix(ori); + m_MotionState->setWorldOrientation(ori); m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); - - const btQuaternion& worldquat = body->getOrientation(); - m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]); - m_MotionState->calculateWorldTransformations(); float scale[3]; @@ -655,8 +661,10 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) void CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly) { - + btTransform& xform = CcdPhysicsController::GetTransformFromMotionState(m_MotionState); + SetCenterOfMassTransform(xform); } + void CcdPhysicsController::WriteDynamicsToMotionState() { } @@ -673,12 +681,12 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta if (m_shapeInfo) { m_shapeInfo->AddRef(); - m_collisionShape = m_shapeInfo->CreateBulletShape(); + m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin); if (m_collisionShape) { // new shape has no scaling, apply initial scaling - m_collisionShape->setMargin(m_cci.m_margin); + //m_collisionShape->setMargin(m_cci.m_margin); m_collisionShape->setLocalScaling(m_cci.m_scaling); if (m_cci.m_mass) @@ -697,8 +705,10 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta { body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); } - } - m_cci.m_physicsEnv->addCcdPhysicsController(this); + } + // sensor object are added when needed + if (!m_cci.m_bSensor) + m_cci.m_physicsEnv->addCcdPhysicsController(this); /* SM_Object* dynaparent=0; @@ -773,7 +783,7 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc if (m_object) { m_object->activate(true); - if (m_object->isStaticObject()) + if (m_object->isStaticObject() && !m_cci.m_bSensor) { m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } @@ -799,7 +809,7 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) if (m_object) { m_object->activate(true); - if (m_object->isStaticObject()) + if (m_object->isStaticObject() && !m_cci.m_bSensor) { m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } @@ -843,7 +853,7 @@ void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float if (m_object) { m_object->activate(true); - if (m_object->isStaticObject()) + if (m_object->isStaticObject() && !m_cci.m_bSensor) { m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } @@ -866,7 +876,7 @@ void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn) if (m_object) { m_object->activate(true); - if (m_object->isStaticObject()) + if (m_object->isStaticObject() && !m_cci.m_bSensor) { m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } @@ -895,7 +905,7 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ) if (m_object) { m_object->activate(true); - if (m_object->isStaticObject()) + if (m_object->isStaticObject() && !m_cci.m_bSensor) { m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } @@ -909,9 +919,19 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ) // not required //m_bulletMotionState->setWorldTransform(xform); } +} - +void CcdPhysicsController::forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos) +{ + if (m_object) + { + btTransform& xform = m_object->getWorldTransform(); + xform.setBasis(mat); + xform.setOrigin(pos); + } } + + void CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) { } @@ -961,7 +981,9 @@ void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque m_object->activate(); if (m_object->isStaticObject()) { - m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + if (!m_cci.m_bSensor) + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + return; } if (local) { @@ -989,27 +1011,26 @@ void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo m_object->activate(); if (m_object->isStaticObject()) { - m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + if (!m_cci.m_bSensor) + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + return; } - + btTransform xform = m_object->getWorldTransform(); + + if (local) + { + force = xform.getBasis()*force; + } + btRigidBody* body = GetRigidBody(); + if (body) + body->applyCentralForce(force); + btSoftBody* soft = GetSoftBody(); + if (soft) { - btTransform xform = m_object->getWorldTransform(); - - if (local) - { - force = xform.getBasis()*force; - } - btRigidBody* body = GetRigidBody(); - if (body) - body->applyCentralForce(force); - btSoftBody* soft = GetSoftBody(); - if (soft) - { - // the force is applied on each node, must reduce it in the same extend - if (soft->m_nodes.size() > 0) - force /= soft->m_nodes.size(); - soft->addForce(force); - } + // the force is applied on each node, must reduce it in the same extend + if (soft->m_nodes.size() > 0) + force /= soft->m_nodes.size(); + soft->addForce(force); } } } @@ -1021,19 +1042,18 @@ void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo m_object->activate(true); if (m_object->isStaticObject()) { - m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); - } else + if (!m_cci.m_bSensor) + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + return; + } + btTransform xform = m_object->getWorldTransform(); + if (local) { - btTransform xform = m_object->getWorldTransform(); - if (local) - { - angvel = xform.getBasis()*angvel; - } - btRigidBody* body = GetRigidBody(); - if (body) - body->setAngularVelocity(angvel); - + angvel = xform.getBasis()*angvel; } + btRigidBody* body = GetRigidBody(); + if (body) + body->setAngularVelocity(angvel); } } @@ -1046,7 +1066,8 @@ void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa m_object->activate(true); if (m_object->isStaticObject()) { - m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + if (!m_cci.m_bSensor) + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); return; } @@ -1080,7 +1101,9 @@ void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac m_object->activate(); if (m_object->isStaticObject()) { - m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + if (!m_cci.m_bSensor) + m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); + return; } btVector3 pos(attachX,attachY,attachZ); @@ -1207,7 +1230,7 @@ PHY_IPhysicsController* CcdPhysicsController::GetReplica() if (m_shapeInfo) { // This situation does not normally happen - cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(); + cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(0.01); } else if (m_collisionShape) { @@ -1274,28 +1297,22 @@ void DefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scal void DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal) { - quatIma0 = m_worldTransform.getRotation().x(); - quatIma1 = m_worldTransform.getRotation().y(); - quatIma2 = m_worldTransform.getRotation().z(); - quatReal = m_worldTransform.getRotation()[3]; + btQuaternion quat = m_worldTransform.getRotation(); + quatIma0 = quat.x(); + quatIma1 = quat.y(); + quatIma2 = quat.z(); + quatReal = quat[3]; } void DefaultMotionState::getWorldOrientation(float* ori) { - *ori++ = m_worldTransform.getBasis()[0].x(); - *ori++ = m_worldTransform.getBasis()[1].x(); - *ori++ = m_worldTransform.getBasis()[1].x(); - *ori++ = 0.f; - *ori++ = m_worldTransform.getBasis()[0].y(); - *ori++ = m_worldTransform.getBasis()[1].y(); - *ori++ = m_worldTransform.getBasis()[1].y(); - *ori++ = 0.f; - *ori++ = m_worldTransform.getBasis()[0].z(); - *ori++ = m_worldTransform.getBasis()[1].z(); - *ori++ = m_worldTransform.getBasis()[1].z(); - *ori++ = 0.f; + m_worldTransform.getBasis().getOpenGLSubMatrix(ori); } +void DefaultMotionState::setWorldOrientation(const float* ori) +{ + m_worldTransform.getBasis().setFromOpenGLSubMatrix(ori); +} void DefaultMotionState::setWorldPosition(float posX,float posY,float posZ) { btVector3 pos(posX,posY,posZ); @@ -1583,7 +1600,7 @@ bool CcdShapeConstructionInfo::SetProxy(CcdShapeConstructionInfo* shapeInfo) return true; } -btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() +btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin) { btCollisionShape* collisionShape = 0; btTriangleMeshShape* concaveShape = 0; @@ -1591,7 +1608,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() CcdShapeConstructionInfo* nextShapeInfo; if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL) - return m_shapeProxy->CreateBulletShape(); + return m_shapeProxy->CreateBulletShape(margin); switch (m_shapeType) { @@ -1600,22 +1617,27 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() case PHY_SHAPE_BOX: collisionShape = new btBoxShape(m_halfExtend); + collisionShape->setMargin(margin); break; case PHY_SHAPE_SPHERE: collisionShape = new btSphereShape(m_radius); + collisionShape->setMargin(margin); break; case PHY_SHAPE_CYLINDER: collisionShape = new btCylinderShapeZ(m_halfExtend); + collisionShape->setMargin(margin); break; case PHY_SHAPE_CONE: collisionShape = new btConeShapeZ(m_radius, m_height); + collisionShape->setMargin(margin); break; case PHY_SHAPE_POLYTOPE: collisionShape = new btConvexHullShape(&m_vertexArray[0], m_vertexArray.size()/3, 3*sizeof(btScalar)); + collisionShape->setMargin(margin); break; case PHY_SHAPE_MESH: @@ -1638,7 +1660,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() ); btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(indexVertexArrays); - + gimpactShape->setMargin(margin); collisionShape = gimpactShape; gimpactShape->updateBound(); @@ -1683,6 +1705,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() m_unscaledShape->recalcLocalAabb(); } collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f)); + collisionShape->setMargin(margin); } break; @@ -1694,7 +1717,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() sit != m_shapeArray.end(); sit++) { - collisionShape = (*sit)->CreateBulletShape(); + collisionShape = (*sit)->CreateBulletShape(margin); if (collisionShape) { collisionShape->setLocalScaling((*sit)->m_childScale); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 315e2bdf429..fc8de0e2ded 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -152,7 +152,7 @@ public: return m_shapeProxy; } - btCollisionShape* CreateBulletShape(); + btCollisionShape* CreateBulletShape(btScalar margin); // member variables PHY_ShapeType m_shapeType; @@ -222,6 +222,7 @@ struct CcdConstructionInfo m_collisionFlags(0), m_bRigid(false), m_bSoft(false), + m_bSensor(false), m_collisionFilterGroup(DefaultFilter), m_collisionFilterMask(AllFilter), m_collisionShape(0), @@ -288,6 +289,7 @@ struct CcdConstructionInfo int m_collisionFlags; bool m_bRigid; bool m_bSoft; + bool m_bSensor; ///optional use of collision group/mask: ///only collision with object goups that match the collision mask. @@ -326,7 +328,7 @@ class btSoftBody; ///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution. class CcdPhysicsController : public PHY_IPhysicsController { - +protected: btCollisionObject* m_object; @@ -361,8 +363,8 @@ class CcdPhysicsController : public PHY_IPhysicsController return (--m_registerCount == 0) ? true : false; } - protected: - void setWorldOrientation(const btMatrix3x3& mat); + void setWorldOrientation(const btMatrix3x3& mat); + void forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos); public: @@ -407,6 +409,7 @@ class CcdPhysicsController : public PHY_IPhysicsController virtual void WriteMotionStateToDynamics(bool nondynaonly); virtual void WriteDynamicsToMotionState(); + // controller replication virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl); @@ -505,7 +508,7 @@ class CcdPhysicsController : public PHY_IPhysicsController void SetCenterOfMassTransform(btTransform& xform); - static btTransform GetTransformFromMotionState(PHY_IMotionState* motionState); + static btTransform& GetTransformFromMotionState(PHY_IMotionState* motionState); void setAabb(const btVector3& aabbMin,const btVector3& aabbMax); @@ -563,6 +566,7 @@ class DefaultMotionState : public PHY_IMotionState 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(); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 03c9d13a7dd..ed517e637dc 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -415,61 +415,7 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl) obj->setActivationState(ISLAND_SLEEPING); } - - //CollisionObject(body,ctrl->GetCollisionFilterGroup(),ctrl->GetCollisionFilterMask()); - assert(obj->getBroadphaseHandle()); - - btBroadphaseInterface* scene = getBroadphase(); - - - btCollisionShape* shapeinterface = ctrl->GetCollisionShape(); - - assert(shapeinterface); - - const btTransform& t = ctrl->GetCollisionObject()->getWorldTransform(); - - - btVector3 minAabb,maxAabb; - - shapeinterface->getAabb(t,minAabb,maxAabb); - - float timeStep = 0.02f; - - - //extent it with the motion - - 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); - } - - - } @@ -1884,29 +1830,20 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl) // addCcdPhysicsController(ctrl1); //} enableCcdPhysicsController(ctrl1); - - //Collision filter/mask is now set at the time of the creation of the controller - //force collision detection with everything, including static objects (might hurt performance!) - //ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::SensorTrigger; - //ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterGroup = btBroadphaseProxy::SensorTrigger; - //todo: make this 'sensor'! - - requestCollisionCallback(ctrl); - //printf("addSensor\n"); } -void CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl) +bool CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl) { CcdPhysicsController* ccdCtrl = (CcdPhysicsController*)ctrl; - if (ccdCtrl->Unregister()) - m_triggerControllers.erase(ccdCtrl); + if (!ccdCtrl->Unregister()) + return false; + m_triggerControllers.erase(ccdCtrl); + return true; } void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl) { - removeCollisionCallback(ctrl); - disableCcdPhysicsController((CcdPhysicsController*)ctrl); } @@ -1942,12 +1879,14 @@ void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCal m_triggerCallbacksUserPtrs[response_class] = user; } -void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl) +bool CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl) { CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl); - if (ccdCtrl->Register()) - m_triggerControllers.insert(ccdCtrl); + if (!ccdCtrl->Register()) + return false; + m_triggerControllers.insert(ccdCtrl); + return true; } void CcdPhysicsEnvironment::CallbackTriggers() @@ -2096,12 +2035,13 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::CreateSphereController(float radi // declare this object as Dyamic rather then static!! // The reason as it is designed to detect all type of object, including static object // It would cause static-static message to be printed on the console otherwise - cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE/* | btCollisionObject::CF_KINEMATIC_OBJECT*/; + cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE | btCollisionObject::CF_STATIC_OBJECT; DefaultMotionState* motionState = new DefaultMotionState(); cinfo.m_MotionState = motionState; // we will add later the possibility to select the filter from option cinfo.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter; cinfo.m_collisionFilterGroup = CcdConstructionInfo::SensorFilter; + cinfo.m_bSensor = true; motionState->m_worldTransform.setIdentity(); motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2])); @@ -2555,13 +2495,14 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float conera cinfo.m_collisionShape = new btConeShape(coneradius,coneheight); cinfo.m_MotionState = 0; cinfo.m_physicsEnv = this; - cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE; + cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE | btCollisionObject::CF_STATIC_OBJECT; DefaultMotionState* motionState = new DefaultMotionState(); cinfo.m_MotionState = motionState; // we will add later the possibility to select the filter from option cinfo.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter; cinfo.m_collisionFilterGroup = CcdConstructionInfo::SensorFilter; + cinfo.m_bSensor = true; motionState->m_worldTransform.setIdentity(); // motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2])); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index 5f9fb9511d6..4e39d531cd6 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -179,8 +179,8 @@ protected: 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 requestCollisionCallback(PHY_IPhysicsController* ctrl); - virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl); + 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 PHY__Vector3& position); virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight); diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h index 397a1ba4218..73e7e947355 100644 --- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h +++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h @@ -79,8 +79,8 @@ public: virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user) { } - virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl) {} - virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl) {} + virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl) { return false; } + virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl) { return false;} virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) {return 0;} virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;} diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp index 3451e6c3ec8..56caa9236bf 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp +++ b/source/gameengine/Physics/Sumo/SumoPhysicsController.cpp @@ -390,6 +390,11 @@ void SumoPhysicsController::PostProcessReplica(class PHY_IMotionState* motionst m_sumoScene->add(* (m_sumoObj)); } +PHY_IMotionState* SumoPhysicsController::GetMotionState() +{ + return m_MotionState; +} + void SumoPhysicsController::SetSimulatedTime(float) { } diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsController.h b/source/gameengine/Physics/Sumo/SumoPhysicsController.h index 415bc1e3982..adf29649f18 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsController.h +++ b/source/gameengine/Physics/Sumo/SumoPhysicsController.h @@ -110,6 +110,7 @@ public: virtual void WriteDynamicsToMotionState() {}; virtual void WriteMotionStateToDynamics(bool nondynaonly); + virtual class PHY_IMotionState* GetMotionState(); /** * call from Scene Graph Node to 'update'. diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp index cc6d5654ec9..b4daf0a3f80 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp @@ -213,7 +213,7 @@ void SumoPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCa m_sumoScene->addTouchCallback(sumoRespClass,SumoPHYCallbackBridge::StaticSolidToPHYCallback,bridge); } -void SumoPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl) +bool SumoPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctrl) { SumoPhysicsController* smctrl = dynamic_cast<SumoPhysicsController*>(ctrl); MT_assert(smctrl); @@ -225,12 +225,15 @@ void SumoPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ct smObject->setPhysicsClientObject(ctrl); m_sumoScene->requestCollisionCallback(*smObject); + return true; } + return false; } -void SumoPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl) +bool SumoPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl) { // intentionally empty + return false; } PHY_IPhysicsController* SumoPhysicsEnvironment::CreateSphereController(float radius,const PHY__Vector3& position) diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h index c2b443a2b38..4c9d59e3673 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h +++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h @@ -83,8 +83,8 @@ public: 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 requestCollisionCallback(PHY_IPhysicsController* ctrl); - virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl); + virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl); + virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl); virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position); virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight); diff --git a/source/gameengine/Physics/common/PHY_IMotionState.h b/source/gameengine/Physics/common/PHY_IMotionState.h index 64bb810ee7c..f7bcbd4f2d0 100644 --- a/source/gameengine/Physics/common/PHY_IMotionState.h +++ b/source/gameengine/Physics/common/PHY_IMotionState.h @@ -45,10 +45,12 @@ class PHY_IMotionState virtual void getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)=0; // ori = array 12 floats, [0..3] = first column + 0, [4..7] = second colum, [8..11] = third column 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 calculateWorldTransformations()=0; }; diff --git a/source/gameengine/Physics/common/PHY_IPhysicsController.h b/source/gameengine/Physics/common/PHY_IPhysicsController.h index 770426b48db..d7b8cb0b54f 100644 --- a/source/gameengine/Physics/common/PHY_IPhysicsController.h +++ b/source/gameengine/Physics/common/PHY_IPhysicsController.h @@ -31,7 +31,7 @@ #include "PHY_IController.h" - +class PHY_IMotionState; /** PHY_IPhysicsController is the abstract simplified Interface to a physical object. @@ -53,6 +53,7 @@ class PHY_IPhysicsController : public PHY_IController virtual void WriteMotionStateToDynamics(bool nondynaonly)=0; virtual void WriteDynamicsToMotionState()=0; + virtual class PHY_IMotionState* GetMotionState() = 0; // controller replication virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0; diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h index a3605669f70..1939083ef5f 100644 --- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h +++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h @@ -152,8 +152,8 @@ class PHY_IPhysicsEnvironment 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 void requestCollisionCallback(PHY_IPhysicsController* ctrl)=0; - virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl)=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 PHY__Vector3& position) =0; virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0; diff --git a/source/gameengine/SceneGraph/SG_IObject.h b/source/gameengine/SceneGraph/SG_IObject.h index b4dd9a9ddf2..8f448a0e890 100644 --- a/source/gameengine/SceneGraph/SG_IObject.h +++ b/source/gameengine/SceneGraph/SG_IObject.h @@ -203,6 +203,13 @@ public: return m_SGcontrollers; } + /** + * + */ + SG_Callbacks& GetCallBackFunctions() + { + return m_callbacks; + } /** * Get the client object associated with this diff --git a/source/gameengine/SceneGraph/SG_Spatial.h b/source/gameengine/SceneGraph/SG_Spatial.h index d1fc95cceac..6e274487c9d 100644 --- a/source/gameengine/SceneGraph/SG_Spatial.h +++ b/source/gameengine/SceneGraph/SG_Spatial.h @@ -148,6 +148,13 @@ public: SetModified(); } + // rot is arrange like openGL matrix + void SetLocalOrientation(const float* rot) + { + m_localRotation.setValue(rot); + SetModified(); + } + void SetWorldOrientation(const MT_Matrix3x3& rot) { m_worldRotation = rot; |