diff options
Diffstat (limited to 'source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp')
-rw-r--r-- | source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp | 592 |
1 files changed, 0 insertions, 592 deletions
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index 51c41c0686d..64b5760de28 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -32,7 +32,6 @@ #include "MT_assert.h" -// defines USE_ODE to choose physics engine #include "KX_ConvertPhysicsObject.h" #include "BL_DeformableGameObject.h" #include "RAS_MeshObject.h" @@ -56,597 +55,6 @@ extern "C"{ #include "BKE_DerivedMesh.h" } -#ifdef USE_ODE - -#include "KX_OdePhysicsController.h" -#include "OdePhysicsEnvironment.h" -#endif //USE_ODE - - -// USE_SUMO_SOLID is defined in headerfile KX_ConvertPhysicsObject.h -#ifdef USE_SUMO_SOLID - - -#include "SumoPhysicsEnvironment.h" -#include "KX_SumoPhysicsController.h" - - -// sumo physics specific -#include "SM_Object.h" -#include "SM_FhObject.h" -#include "SM_Scene.h" -#include "SM_ClientObjectInfo.h" - -#include "KX_SumoPhysicsController.h" - -struct KX_PhysicsInstance -{ - DT_VertexBaseHandle m_vertexbase; - RAS_DisplayArray* m_darray; - RAS_IPolyMaterial* m_material; - - KX_PhysicsInstance(DT_VertexBaseHandle vertex_base, RAS_DisplayArray *darray, RAS_IPolyMaterial* mat) - : m_vertexbase(vertex_base), - m_darray(darray), - m_material(mat) - { - } - - ~KX_PhysicsInstance() - { - DT_DeleteVertexBase(m_vertexbase); - } -}; - -static GEN_Map<GEN_HashedPtr,DT_ShapeHandle> map_gamemesh_to_sumoshape; -static GEN_Map<GEN_HashedPtr, KX_PhysicsInstance*> map_gamemesh_to_instance; - -// forward declarations -static void BL_RegisterSumoObject(KX_GameObject* gameobj,class SM_Scene* sumoScene,class SM_Object* sumoObj,const STR_String& matname,bool isDynamic,bool isActor); -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) - - -{ - SM_ShapeProps* smprop = new SM_ShapeProps; - - smprop->m_ang_drag = kxshapeprops->m_ang_drag; - smprop->m_do_anisotropic = kxshapeprops->m_do_anisotropic; - smprop->m_do_fh = kxshapeprops->m_do_fh; - smprop->m_do_rot_fh = kxshapeprops->m_do_rot_fh ; - smprop->m_friction_scaling[0] = kxshapeprops->m_friction_scaling[0]; - smprop->m_friction_scaling[1] = kxshapeprops->m_friction_scaling[1]; - smprop->m_friction_scaling[2] = kxshapeprops->m_friction_scaling[2]; - smprop->m_inertia = MT_Vector3(1., 1., 1.) * kxshapeprops->m_inertia; - smprop->m_lin_drag = kxshapeprops->m_lin_drag; - smprop->m_mass = kxshapeprops->m_mass; - smprop->m_radius = objprop->m_radius; - - - SM_MaterialProps* smmaterial = new SM_MaterialProps; - - smmaterial->m_fh_damping = kxmaterial->m_fh_damping; - smmaterial->m_fh_distance = kxmaterial->m_fh_distance; - smmaterial->m_fh_normal = kxmaterial->m_fh_normal; - smmaterial->m_fh_spring = kxmaterial->m_fh_spring; - smmaterial->m_friction = kxmaterial->m_friction; - smmaterial->m_restitution = kxmaterial->m_restitution; - - SumoPhysicsEnvironment* sumoEnv = - (SumoPhysicsEnvironment*)kxscene->GetPhysicsEnvironment(); - - SM_Scene* sceneptr = sumoEnv->GetSumoScene(); - - SM_Object* sumoObj=NULL; - - if (objprop->m_dyna && objprop->m_isactor) - { - DT_ShapeHandle shape = NULL; - bool polytope = false; - switch (objprop->m_boundclass) - { - case KX_BOUNDBOX: - shape = DT_NewBox(objprop->m_boundobject.box.m_extends[0], - 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]); - 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); - 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); - break; - /* Dynamic mesh objects. WARNING! slow. */ - case KX_BOUNDPOLYTOPE: - polytope = true; - // fall through - case KX_BOUNDMESH: - if (meshobj && meshobj->NumPolygons() > 0) - { - if ((shape = CreateShapeFromMesh(meshobj, polytope))) - { - // TODO: calculate proper inertia - smprop->m_inertia *= smprop->m_mass*smprop->m_radius*smprop->m_radius; - break; - } - } - /* If CreateShapeFromMesh fails, fall through and use sphere */ - default: - case KX_BOUNDSPHERE: - 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 - if (meshobj) - { - int numpolys = meshobj->NumPolygons(); - { - - DT_ShapeHandle complexshape=0; - bool polytope = false; - - switch (objprop->m_boundclass) - { - case KX_BOUNDBOX: - complexshape = DT_NewBox(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]); - break; - case KX_BOUNDSPHERE: - complexshape = DT_NewSphere(objprop->m_boundobject.c.m_radius); - break; - case KX_BOUNDCYLINDER: - complexshape = DT_NewCylinder(objprop->m_boundobject.c.m_radius, objprop->m_boundobject.c.m_height); - break; - case KX_BOUNDCONE: - complexshape = DT_NewCone(objprop->m_boundobject.c.m_radius, objprop->m_boundobject.c.m_height); - break; - case KX_BOUNDPOLYTOPE: - polytope = true; - // fall through - default: - case KX_BOUNDMESH: - if (numpolys>0) - { - complexshape = CreateShapeFromMesh(meshobj, polytope); - //std::cout << "Convert Physics Mesh: " << meshobj->GetName() << std::endl; -/* if (!complexshape) - { - // Something has to be done here - if the object has no polygons, it will not be able to have - // sensors attached to it. - DT_Vector3 pt = {0., 0., 0.}; - complexshape = DT_NewSphere(1.0); - objprop->m_ghost = evilObject = true; - } */ - } - break; - } - - if (complexshape) - { - SM_Object *dynamicParent = NULL; - - if (objprop->m_dynamic_parent) - { - // problem is how to find the dynamic parent - // in the scenegraph - KX_SumoPhysicsController* sumoctrl = - (KX_SumoPhysicsController*) - objprop->m_dynamic_parent->GetPhysicsController(); - - if (sumoctrl) - { - dynamicParent = sumoctrl->GetSumoObject(); - } - - MT_assert(dynamicParent); - } - - - sumoObj = new SM_Object(complexshape,!objprop->m_ghost?smmaterial:NULL,NULL, dynamicParent); - const STR_String& matname=meshobj->GetMaterialName(0); - - - BL_RegisterSumoObject(gameobj,sceneptr, - sumoObj, - matname, - objprop->m_dyna, - objprop->m_isactor); - } - } - } - } - - // physics object get updated here ! - - - // lazy evaluation because we might not support scaling !gameobj->UpdateTransform(); - - if (objprop->m_in_active_layer && sumoObj) - { - sceneptr->add(*sumoObj); - } - -} - - - -static void BL_RegisterSumoObject( - KX_GameObject* gameobj, - class SM_Scene* sumoScene, - class SM_Object* sumoObj, - const STR_String& matname, - bool isDynamic, - bool isActor) -{ - PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode()); - - // need easy access, not via 'node' etc. - KX_SumoPhysicsController* physicscontroller = new KX_SumoPhysicsController(sumoScene,sumoObj,motionstate,isDynamic); - gameobj->SetPhysicsController(physicscontroller,isDynamic); - - - if (!gameobj->getClientInfo()) - std::cout << "BL_RegisterSumoObject: WARNING: Object " << gameobj->GetName() << " has no client info" << std::endl; - physicscontroller->setNewClientInfo(gameobj->getClientInfo()); - - - gameobj->GetSGNode()->AddSGController(physicscontroller); - - gameobj->getClientInfo()->m_type = (isActor ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC); - - // store materialname in auxinfo, needed for touchsensors - gameobj->getClientInfo()->m_auxilary_info = (matname.Length() ? (void*)(matname.ReadPtr()+2) : NULL); - - physicscontroller->SetObject(gameobj->GetSGNode()); -} - -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 = &darray->m_vertex[0]; - DT_VertexBaseHandle vertex_base = DT_NewVertexBase(vertex_array[0].getXYZ(), sizeof(RAS_TexVert)); - - DT_ShapeHandle shape = DT_NewComplexShape(vertex_base); - - std::vector<DT_Index> indices; - for (int p = 0; p < meshobj->NumPolygons(); p++) - { - RAS_Polygon* poly = meshobj->GetPolygon(p); - - // only add polygons that have the collisionflag set - if (poly->IsCollider()) - { - 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->GetVertexOffset(0)); - DT_VertexIndex(poly->GetVertexOffset(2)); - DT_VertexIndex(poly->GetVertexOffset(3)); - DT_End(); - } - } - } - - //DT_VertexIndices(indices.size(), &indices[0]); - DT_EndComplexShape(); - - map_gamemesh_to_instance.insert(GEN_HashedPtr(meshobj), new KX_PhysicsInstance(vertex_base, darray, mat)); - return shape; -} - -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 = &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++) - { - RAS_Polygon* poly = meshobj->GetPolygon(p); - - // only add polygons that have the collisionflag set - if (poly->IsCollider()) - { - 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->GetVertexOffset(3)); - } - } - - DT_ShapeHandle shape = DT_NewPolytope(vertex_base); - DT_VertexIndices(indices.size(), &indices[0]); - DT_EndPolytope(); - - map_gamemesh_to_instance.insert(GEN_HashedPtr(meshobj), new KX_PhysicsInstance(vertex_base, darray, mat)); - return shape; -} - -// This will have to be a method in a class somewhere... -// Update SOLID with a changed physics mesh. -// not used... yet. -bool KX_ReInstanceShapeFromMesh(RAS_MeshObject* meshobj) -{ - KX_PhysicsInstance *instance = *map_gamemesh_to_instance[GEN_HashedPtr(meshobj)]; - if (instance) - { - const RAS_TexVert *vertex_array = &instance->m_darray->m_vertex[0]; - DT_ChangeVertexBase(instance->m_vertexbase, vertex_array[0].getXYZ()); - return true; - } - return false; -} - -static DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj, bool polytope) -{ - - DT_ShapeHandle *shapeptr = map_gamemesh_to_sumoshape[GEN_HashedPtr(meshobj)]; - // Mesh has already been converted: reuse - if (shapeptr) - { - return *shapeptr; - } - - // Mesh has no polygons! - int numpolys = meshobj->NumPolygons(); - if (!numpolys) - { - return NULL; - } - - // Count the number of collision polygons and check they all come from the same - // vertex array - int numvalidpolys = 0; - RAS_DisplayArray *darray = NULL; - RAS_IPolyMaterial *poly_material = NULL; - bool reinstance = true; - - for (int p=0; p<numpolys; p++) - { - RAS_Polygon* poly = meshobj->GetPolygon(p); - - // only add polygons that have the collisionflag set - if (poly->IsCollider()) - { - // check polygon is from the same vertex array - if (poly->GetDisplayArray() != darray) - { - if (darray == NULL) - darray = poly->GetDisplayArray(); - else - { - reinstance = false; - darray = NULL; - } - } - - // check poly is from the same material - if (poly->GetMaterial()->GetPolyMaterial() != poly_material) - { - if (poly_material) - { - reinstance = false; - poly_material = NULL; - } - else - poly_material = poly->GetMaterial()->GetPolyMaterial(); - } - - // count the number of collision polys - numvalidpolys++; - - // We have one collision poly, and we can't reinstance, so we - // might as well break here. - if (!reinstance) - break; - } - } - - // No collision polygons - if (numvalidpolys < 1) - return NULL; - - DT_ShapeHandle shape; - if (reinstance) - { - if (polytope) - shape = InstancePhysicsPolytope(meshobj, darray, poly_material); - else - shape = InstancePhysicsComplex(meshobj, darray, poly_material); - } - else - { - if (polytope) - { - std::cout << "CreateShapeFromMesh: " << meshobj->GetName() << " is not suitable for polytope." << std::endl; - if (!poly_material) - std::cout << " Check mesh materials." << std::endl; - if (darray == NULL) - std::cout << " Check number of vertices." << std::endl; - } - - shape = DT_NewComplexShape(NULL); - - numvalidpolys = 0; - - for (int p2=0; p2<numpolys; p2++) - { - RAS_Polygon* poly = meshobj->GetPolygon(p2); - - // only add polygons that have the collisionflag set - if (poly->IsCollider()) - { /* We have to tesselate here because SOLID can only raycast triangles */ - DT_Begin(); - /* V1, V2, V3 */ - DT_Vertex(poly->GetVertex(2)->getXYZ()); - DT_Vertex(poly->GetVertex(1)->getXYZ()); - DT_Vertex(poly->GetVertex(0)->getXYZ()); - - numvalidpolys++; - DT_End(); - - if (poly->VertexCount() == 4) - { - DT_Begin(); - /* V1, V3, V4 */ - DT_Vertex(poly->GetVertex(3)->getXYZ()); - DT_Vertex(poly->GetVertex(2)->getXYZ()); - DT_Vertex(poly->GetVertex(0)->getXYZ()); - - numvalidpolys++; - DT_End(); - } - - } - } - - DT_EndComplexShape(); - } - - if (numvalidpolys > 0) - { - map_gamemesh_to_sumoshape.insert(GEN_HashedPtr(meshobj),shape); - return shape; - } - - delete shape; - return NULL; -} - -void KX_ClearSumoSharedShapes() -{ - int numshapes = map_gamemesh_to_sumoshape.size(); - int i; - for (i=0;i<numshapes ;i++) - { - DT_ShapeHandle shape = *map_gamemesh_to_sumoshape.at(i); - DT_DeleteShape(shape); - } - - map_gamemesh_to_sumoshape.clear(); - - for (i=0; i < map_gamemesh_to_instance.size(); i++) - delete *map_gamemesh_to_instance.at(i); - - map_gamemesh_to_instance.clear(); -} - - - - - -#endif //USE_SUMO_SOLID - - -#ifdef USE_ODE - -void KX_ConvertODEEngineObject(KX_GameObject* gameobj, - RAS_MeshObject* meshobj, - KX_Scene* kxscene, - struct PHY_ShapeProps* shapeprops, - struct PHY_MaterialProps* smmaterial, - struct KX_ObjectProperties* objprop) -{ - - // not yet, future extension :) - bool dyna=objprop->m_dyna; - bool fullRigidBody= ( objprop->m_dyna && objprop->m_angular_rigidbody) != 0; - bool phantom = objprop->m_ghost; - class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode()); - - class ODEPhysicsEnvironment* odeEnv = - (ODEPhysicsEnvironment*)kxscene->GetPhysicsEnvironment(); - - dxSpace* space = odeEnv->GetOdeSpace(); - dxWorld* world = odeEnv->GetOdeWorld(); - - bool isSphere = false; - - switch (objprop->m_boundclass) - { - case KX_BOUNDBOX: - { - - KX_OdePhysicsController* physicscontroller = - new KX_OdePhysicsController( - dyna, - fullRigidBody, - phantom, - motionstate, - space, - world, - shapeprops->m_mass, - smmaterial->m_friction, - smmaterial->m_restitution, - isSphere, - objprop->m_boundobject.box.m_center, - objprop->m_boundobject.box.m_extends, - objprop->m_boundobject.c.m_radius - ); - - gameobj->SetPhysicsController(physicscontroller); - physicscontroller->setNewClientInfo(gameobj->getClientInfo()); - gameobj->GetSGNode()->AddSGController(physicscontroller); - - bool isActor = objprop->m_isactor; - STR_String materialname; - if (meshobj) - materialname = meshobj->GetMaterialName(0); - - const char* matname = materialname.ReadPtr(); - - - physicscontroller->SetObject(gameobj->GetSGNode()); - - break; - } - default: - { - } - }; - -} - - -#endif // USE_ODE - - #ifdef USE_BULLET #include "CcdPhysicsEnvironment.h" |