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path: root/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
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Diffstat (limited to 'source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp')
-rw-r--r--source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp165
1 files changed, 85 insertions, 80 deletions
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index d6997ee29a8..b3f24d97281 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -76,16 +76,16 @@
struct KX_PhysicsInstance
{
DT_VertexBaseHandle m_vertexbase;
- int m_vtxarray;
+ RAS_DisplayArray* m_darray;
RAS_IPolyMaterial* m_material;
-
- KX_PhysicsInstance(DT_VertexBaseHandle vertex_base, int vtxarray, RAS_IPolyMaterial* mat)
+
+ KX_PhysicsInstance(DT_VertexBaseHandle vertex_base, RAS_DisplayArray *darray, RAS_IPolyMaterial* mat)
: m_vertexbase(vertex_base),
- m_vtxarray(vtxarray),
- m_material(mat)
+ m_darray(darray),
+ m_material(mat)
{
}
-
+
~KX_PhysicsInstance()
{
DT_DeleteVertexBase(m_vertexbase);
@@ -100,11 +100,11 @@ static void BL_RegisterSumoObject(KX_GameObject* gameobj,class SM_Scene* sumoSce
static DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj, bool polytope);
void KX_ConvertSumoObject( KX_GameObject* gameobj,
- RAS_MeshObject* meshobj,
- KX_Scene* kxscene,
- PHY_ShapeProps* kxshapeprops,
- PHY_MaterialProps* kxmaterial,
- struct KX_ObjectProperties* objprop)
+ RAS_MeshObject* meshobj,
+ KX_Scene* kxscene,
+ PHY_ShapeProps* kxshapeprops,
+ PHY_MaterialProps* kxmaterial,
+ struct KX_ObjectProperties* objprop)
{
@@ -150,23 +150,23 @@ void KX_ConvertSumoObject( KX_GameObject* gameobj,
objprop->m_boundobject.box.m_extends[1],
objprop->m_boundobject.box.m_extends[2]);
smprop->m_inertia.scale(objprop->m_boundobject.box.m_extends[0]*objprop->m_boundobject.box.m_extends[0],
- objprop->m_boundobject.box.m_extends[1]*objprop->m_boundobject.box.m_extends[1],
- objprop->m_boundobject.box.m_extends[2]*objprop->m_boundobject.box.m_extends[2]);
+ objprop->m_boundobject.box.m_extends[1]*objprop->m_boundobject.box.m_extends[1],
+ objprop->m_boundobject.box.m_extends[2]*objprop->m_boundobject.box.m_extends[2]);
smprop->m_inertia *= smprop->m_mass/MT_Vector3(objprop->m_boundobject.box.m_extends).length();
break;
case KX_BOUNDCYLINDER:
shape = DT_NewCylinder(smprop->m_radius, objprop->m_boundobject.c.m_height);
smprop->m_inertia.scale(smprop->m_mass*smprop->m_radius*smprop->m_radius,
- smprop->m_mass*smprop->m_radius*smprop->m_radius,
- smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
+ smprop->m_mass*smprop->m_radius*smprop->m_radius,
+ smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
break;
case KX_BOUNDCONE:
shape = DT_NewCone(objprop->m_radius, objprop->m_boundobject.c.m_height);
smprop->m_inertia.scale(smprop->m_mass*smprop->m_radius*smprop->m_radius,
- smprop->m_mass*smprop->m_radius*smprop->m_radius,
- smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
+ smprop->m_mass*smprop->m_radius*smprop->m_radius,
+ smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
break;
- /* Dynamic mesh objects. WARNING! slow. */
+ /* Dynamic mesh objects. WARNING! slow. */
case KX_BOUNDPOLYTOPE:
polytope = true;
// fall through
@@ -186,15 +186,15 @@ void KX_ConvertSumoObject( KX_GameObject* gameobj,
shape = DT_NewSphere(objprop->m_radius);
smprop->m_inertia *= smprop->m_mass*smprop->m_radius*smprop->m_radius;
break;
-
+
}
-
+
sumoObj = new SM_Object(shape, !objprop->m_ghost?smmaterial:NULL,smprop,NULL);
-
+
sumoObj->setRigidBody(objprop->m_angular_rigidbody?true:false);
-
+
BL_RegisterSumoObject(gameobj,sceneptr,sumoObj,"",true, true);
-
+
}
else {
// non physics object
@@ -320,12 +320,11 @@ static void BL_RegisterSumoObject(
physicscontroller->SetObject(gameobj->GetSGNode());
}
-static DT_ShapeHandle InstancePhysicsComplex(RAS_MeshObject* meshobj, int vtxarray, RAS_IPolyMaterial *mat)
+static DT_ShapeHandle InstancePhysicsComplex(RAS_MeshObject* meshobj, RAS_DisplayArray *darray, RAS_IPolyMaterial *mat)
{
// instance a mesh from a single vertex array & material
- const RAS_TexVert *vertex_array = &((*meshobj->GetVertexCache(mat)[vtxarray])[0]);
- //const KX_IndexArray &index_array = *meshobj->GetIndexCache(mat)[vtxarray];
- DT_VertexBaseHandle vertex_base = DT_NewVertexBase(vertex_array[0].getLocalXYZ(), sizeof(RAS_TexVert));
+ const RAS_TexVert *vertex_array = &darray->m_vertex[0];
+ DT_VertexBaseHandle vertex_base = DT_NewVertexBase(vertex_array[0].getXYZ(), sizeof(RAS_TexVert));
DT_ShapeHandle shape = DT_NewComplexShape(vertex_base);
@@ -337,15 +336,19 @@ static DT_ShapeHandle InstancePhysicsComplex(RAS_MeshObject* meshobj, int vtxarr
// only add polygons that have the collisionflag set
if (poly->IsCollider())
{
- DT_VertexIndices(3, poly->GetVertexIndexBase().m_indexarray);
+ DT_Begin();
+ DT_VertexIndex(poly->GetVertexOffset(0));
+ DT_VertexIndex(poly->GetVertexOffset(1));
+ DT_VertexIndex(poly->GetVertexOffset(2));
+ DT_End();
// tesselate
if (poly->VertexCount() == 4)
{
DT_Begin();
- DT_VertexIndex(poly->GetVertexIndexBase().m_indexarray[0]);
- DT_VertexIndex(poly->GetVertexIndexBase().m_indexarray[2]);
- DT_VertexIndex(poly->GetVertexIndexBase().m_indexarray[3]);
+ DT_VertexIndex(poly->GetVertexOffset(0));
+ DT_VertexIndex(poly->GetVertexOffset(2));
+ DT_VertexIndex(poly->GetVertexOffset(3));
DT_End();
}
}
@@ -354,16 +357,15 @@ static DT_ShapeHandle InstancePhysicsComplex(RAS_MeshObject* meshobj, int vtxarr
//DT_VertexIndices(indices.size(), &indices[0]);
DT_EndComplexShape();
- map_gamemesh_to_instance.insert(GEN_HashedPtr(meshobj), new KX_PhysicsInstance(vertex_base, vtxarray, mat));
+ map_gamemesh_to_instance.insert(GEN_HashedPtr(meshobj), new KX_PhysicsInstance(vertex_base, darray, mat));
return shape;
}
-static DT_ShapeHandle InstancePhysicsPolytope(RAS_MeshObject* meshobj, int vtxarray, RAS_IPolyMaterial *mat)
+static DT_ShapeHandle InstancePhysicsPolytope(RAS_MeshObject* meshobj, RAS_DisplayArray *darray, RAS_IPolyMaterial *mat)
{
// instance a mesh from a single vertex array & material
- const RAS_TexVert *vertex_array = &((*meshobj->GetVertexCache(mat)[vtxarray])[0]);
- //const KX_IndexArray &index_array = *meshobj->GetIndexCache(mat)[vtxarray];
- DT_VertexBaseHandle vertex_base = DT_NewVertexBase(vertex_array[0].getLocalXYZ(), sizeof(RAS_TexVert));
+ const RAS_TexVert *vertex_array = &darray->m_vertex[0];
+ DT_VertexBaseHandle vertex_base = DT_NewVertexBase(vertex_array[0].getXYZ(), sizeof(RAS_TexVert));
std::vector<DT_Index> indices;
for (int p = 0; p < meshobj->NumPolygons(); p++)
@@ -373,12 +375,12 @@ static DT_ShapeHandle InstancePhysicsPolytope(RAS_MeshObject* meshobj, int vtxar
// only add polygons that have the collisionflag set
if (poly->IsCollider())
{
- indices.push_back(poly->GetVertexIndexBase().m_indexarray[0]);
- indices.push_back(poly->GetVertexIndexBase().m_indexarray[1]);
- indices.push_back(poly->GetVertexIndexBase().m_indexarray[2]);
+ indices.push_back(poly->GetVertexOffset(0));
+ indices.push_back(poly->GetVertexOffset(1));
+ indices.push_back(poly->GetVertexOffset(2));
if (poly->VertexCount() == 4)
- indices.push_back(poly->GetVertexIndexBase().m_indexarray[3]);
+ indices.push_back(poly->GetVertexOffset(3));
}
}
@@ -386,7 +388,7 @@ static DT_ShapeHandle InstancePhysicsPolytope(RAS_MeshObject* meshobj, int vtxar
DT_VertexIndices(indices.size(), &indices[0]);
DT_EndPolytope();
- map_gamemesh_to_instance.insert(GEN_HashedPtr(meshobj), new KX_PhysicsInstance(vertex_base, vtxarray, mat));
+ map_gamemesh_to_instance.insert(GEN_HashedPtr(meshobj), new KX_PhysicsInstance(vertex_base, darray, mat));
return shape;
}
@@ -398,8 +400,8 @@ bool KX_ReInstanceShapeFromMesh(RAS_MeshObject* meshobj)
KX_PhysicsInstance *instance = *map_gamemesh_to_instance[GEN_HashedPtr(meshobj)];
if (instance)
{
- const RAS_TexVert *vertex_array = &((*meshobj->GetVertexCache(instance->m_material)[instance->m_vtxarray])[0]);
- DT_ChangeVertexBase(instance->m_vertexbase, vertex_array[0].getLocalXYZ());
+ const RAS_TexVert *vertex_array = &instance->m_darray->m_vertex[0];
+ DT_ChangeVertexBase(instance->m_vertexbase, vertex_array[0].getXYZ());
return true;
}
return false;
@@ -425,7 +427,7 @@ static DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj, bool polytope
// Count the number of collision polygons and check they all come from the same
// vertex array
int numvalidpolys = 0;
- int vtxarray = -1;
+ RAS_DisplayArray *darray = NULL;
RAS_IPolyMaterial *poly_material = NULL;
bool reinstance = true;
@@ -437,14 +439,14 @@ static DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj, bool polytope
if (poly->IsCollider())
{
// check polygon is from the same vertex array
- if (poly->GetVertexIndexBase().m_vtxarray != vtxarray)
+ if (poly->GetDisplayArray() != darray)
{
- if (vtxarray < 0)
- vtxarray = poly->GetVertexIndexBase().m_vtxarray;
+ if (darray == NULL)
+ darray = poly->GetDisplayArray();
else
{
reinstance = false;
- vtxarray = -1;
+ darray = NULL;
}
}
@@ -478,9 +480,9 @@ static DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj, bool polytope
if (reinstance)
{
if (polytope)
- shape = InstancePhysicsPolytope(meshobj, vtxarray, poly_material);
+ shape = InstancePhysicsPolytope(meshobj, darray, poly_material);
else
- shape = InstancePhysicsComplex(meshobj, vtxarray, poly_material);
+ shape = InstancePhysicsComplex(meshobj, darray, poly_material);
}
else
{
@@ -489,7 +491,7 @@ static DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj, bool polytope
std::cout << "CreateShapeFromMesh: " << meshobj->GetName() << " is not suitable for polytope." << std::endl;
if (!poly_material)
std::cout << " Check mesh materials." << std::endl;
- if (vtxarray < 0)
+ if (darray == NULL)
std::cout << " Check number of vertices." << std::endl;
}
@@ -505,18 +507,10 @@ static DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj, bool polytope
if (poly->IsCollider())
{ /* We have to tesselate here because SOLID can only raycast triangles */
DT_Begin();
- /* V1 */
- DT_Vertex(meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
- poly->GetVertexIndexBase().m_indexarray[2],
- poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ());
- /* V2 */
- DT_Vertex(meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
- poly->GetVertexIndexBase().m_indexarray[1],
- poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ());
- /* V3 */
- DT_Vertex(meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
- poly->GetVertexIndexBase().m_indexarray[0],
- poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ());
+ /* V1, V2, V3 */
+ DT_Vertex(poly->GetVertex(2)->getXYZ());
+ DT_Vertex(poly->GetVertex(1)->getXYZ());
+ DT_Vertex(poly->GetVertex(0)->getXYZ());
numvalidpolys++;
DT_End();
@@ -524,18 +518,10 @@ static DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj, bool polytope
if (poly->VertexCount() == 4)
{
DT_Begin();
- /* V1 */
- DT_Vertex(meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
- poly->GetVertexIndexBase().m_indexarray[3],
- poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ());
- /* V3 */
- DT_Vertex(meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
- poly->GetVertexIndexBase().m_indexarray[2],
- poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ());
- /* V4 */
- DT_Vertex(meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
- poly->GetVertexIndexBase().m_indexarray[0],
- poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ());
+ /* V1, V3, V4 */
+ DT_Vertex(poly->GetVertex(3)->getXYZ());
+ DT_Vertex(poly->GetVertex(2)->getXYZ());
+ DT_Vertex(poly->GetVertex(0)->getXYZ());
numvalidpolys++;
DT_End();
@@ -713,6 +699,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
ci.m_gravity = btVector3(0,0,0);
ci.m_localInertiaTensor =btVector3(0,0,0);
ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f;
+ ci.m_margin = objprop->m_margin;
shapeInfo->m_radius = objprop->m_radius;
isbulletdyna = objprop->m_dyna;
@@ -800,7 +787,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
return;
}
- bm->setMargin(0.06);
+ bm->setMargin(ci.m_margin);
if (objprop->m_isCompoundChild)
@@ -815,11 +802,29 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
assert(colShape->isCompound());
btCompoundShape* compoundShape = (btCompoundShape*)colShape;
- MT_Point3 childPos = gameobj->GetSGNode()->GetLocalPosition();
- MT_Matrix3x3 childRot = gameobj->GetSGNode()->GetLocalOrientation();
- MT_Vector3 childScale = gameobj->GetSGNode()->GetLocalScale();
+ // compute the local transform from parent, this may include a parent inverse node
+ SG_Node* gameNode = gameobj->GetSGNode();
+ SG_Node* parentInverseNode = gameNode->GetSGParent();
+ if (parentInverseNode && parentInverseNode->GetSGClientObject() != NULL)
+ // this is not a parent inverse node, cancel it
+ parentInverseNode = NULL;
+ // now combine the parent inverse node and the game node
+ MT_Point3 childPos = gameNode->GetLocalPosition();
+ MT_Matrix3x3 childRot = gameNode->GetLocalOrientation();
+ MT_Vector3 childScale = gameNode->GetLocalScale();
+ if (parentInverseNode)
+ {
+ const MT_Point3& parentInversePos = parentInverseNode->GetLocalPosition();
+ const MT_Matrix3x3& parentInverseRot = parentInverseNode->GetLocalOrientation();
+ const MT_Vector3& parentInverseScale = parentInverseNode->GetLocalScale();
+ childRot = parentInverseRot * childRot;
+ childScale = parentInverseScale * childScale;
+ childPos = parentInversePos+parentInverseScale*(parentInverseRot*childPos);
+ }
- bm->setLocalScaling(btVector3(childScale.x(),childScale.y(),childScale.z()));
+ shapeInfo->m_childScale.setValue(childScale.x(),childScale.y(),childScale.z());
+ bm->setLocalScaling(shapeInfo->m_childScale);
+
shapeInfo->m_childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
float rotval[12];
childRot.getValue(rotval);
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-15 21:45:24 +0300