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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.cpp182
1 files changed, 101 insertions, 81 deletions
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index 08e2ea30414..51c41c0686d 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -34,7 +34,7 @@
// defines USE_ODE to choose physics engine
#include "KX_ConvertPhysicsObject.h"
-#include "KX_GameObject.h"
+#include "BL_DeformableGameObject.h"
#include "RAS_MeshObject.h"
#include "KX_Scene.h"
#include "SYS_System.h"
@@ -52,6 +52,10 @@
#include "KX_MotionState.h" // bridge between motionstate and scenegraph node
+extern "C"{
+ #include "BKE_DerivedMesh.h"
+}
+
#ifdef USE_ODE
#include "KX_OdePhysicsController.h"
@@ -670,11 +674,11 @@ void KX_ConvertODEEngineObject(KX_GameObject* gameobj,
class KX_SoftBodyDeformer : public RAS_Deformer
{
- class RAS_MeshObject* m_pMeshObject;
- class KX_GameObject* m_gameobj;
+ class RAS_MeshObject* m_pMeshObject;
+ class BL_DeformableGameObject* m_gameobj;
public:
- KX_SoftBodyDeformer(RAS_MeshObject* pMeshObject,KX_GameObject* gameobj)
+ KX_SoftBodyDeformer(RAS_MeshObject* pMeshObject,BL_DeformableGameObject* gameobj)
:m_pMeshObject(pMeshObject),
m_gameobj(gameobj)
{
@@ -687,7 +691,15 @@ void KX_ConvertODEEngineObject(KX_GameObject* gameobj,
};
virtual void Relink(GEN_Map<class GEN_HashedPtr, void*>*map)
{
- //printf("relink\n");
+ void **h_obj = (*map)[m_gameobj];
+
+ if (h_obj) {
+ m_gameobj = (BL_DeformableGameObject*)(*h_obj);
+ m_pMeshObject = m_gameobj->GetMesh(0);
+ } else {
+ m_gameobj = NULL;
+ m_pMeshObject = NULL;
+ }
}
virtual bool Apply(class RAS_IPolyMaterial *polymat)
{
@@ -749,14 +761,27 @@ void KX_ConvertODEEngineObject(KX_GameObject* gameobj,
virtual bool Update(void)
{
//printf("update\n");
+ m_bDynamic = true;
return true;//??
}
- virtual RAS_Deformer *GetReplica(class KX_GameObject* replica)
+ virtual bool UpdateBuckets(void)
{
- KX_SoftBodyDeformer* deformer = new KX_SoftBodyDeformer(replica->GetMesh(0),replica);
- return deformer;
+ // this is to update the mesh slots outside the rasterizer,
+ // no need to do it for this deformer, it's done in any case in Apply()
+ return false;
}
+ virtual RAS_Deformer *GetReplica()
+ {
+ KX_SoftBodyDeformer* deformer = new KX_SoftBodyDeformer(*this);
+ deformer->ProcessReplica();
+ return deformer;
+ }
+ virtual void ProcessReplica()
+ {
+ // we have two pointers to deal with but we cannot do it now, will be done in Relink
+ m_bDynamic = false;
+ }
virtual bool SkipVertexTransform()
{
return true;
@@ -771,6 +796,7 @@ void KX_ConvertODEEngineObject(KX_GameObject* gameobj,
void KX_ConvertBulletObject( class KX_GameObject* gameobj,
class RAS_MeshObject* meshobj,
+ struct DerivedMesh* dm,
class KX_Scene* kxscene,
struct PHY_ShapeProps* shapeprops,
struct PHY_MaterialProps* smmaterial,
@@ -782,12 +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;
@@ -806,6 +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);
@@ -825,7 +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:
@@ -838,7 +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:
@@ -849,7 +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;
}
@@ -858,45 +885,41 @@ 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, true,false);
- bm = shapeInfo->CreateBulletShape();
+ shapeInfo->SetMesh(meshobj, dm,true,false);
+ bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case KX_BOUNDMESH:
{
-
- if (!ci.m_mass ||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, false);
- if (sharedShapeInfo != NULL)
- {
- delete shapeInfo;
- shapeInfo = sharedShapeInfo;
- shapeInfo->AddRef();
- } else
- {
- shapeInfo->SetMesh(meshobj, false,false);
- }
-
- // Soft bodies require welding. Only avoid remove doubles for non-soft bodies!
- if (objprop->m_softbody)
- shapeInfo->setVertexWeldingThreshold1(0.01f); //todo: expose this to the UI
+ bool useGimpact = ((ci.m_mass || isbulletsensor) && !objprop->m_softbody);
- bm = shapeInfo->CreateBulletShape();
- //no moving concave meshes, so don't bother calculating inertia
- //bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
+ // 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);
+ if (sharedShapeInfo != NULL)
+ {
+ delete shapeInfo;
+ shapeInfo = sharedShapeInfo;
+ shapeInfo->AddRef();
} else
{
- shapeInfo->SetMesh(meshobj, false,true);
- bm = shapeInfo->CreateBulletShape();
+ shapeInfo->SetMesh(meshobj, dm, false,useGimpact);
+ }
+
+ // Soft bodies require welding. Only avoid remove doubles for non-soft bodies!
+ if (objprop->m_softbody)
+ {
+ shapeInfo->setVertexWeldingThreshold1(objprop->m_soft_welding); //todo: expose this to the UI
}
+ bm = shapeInfo->CreateBulletShape(ci.m_margin);
+ //should we compute inertia for dynamic shape?
+ //bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
+
break;
}
}
@@ -911,7 +934,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
return;
}
- bm->setMargin(ci.m_margin);
+ //bm->setMargin(ci.m_margin);
if (objprop->m_isCompoundChild)
@@ -926,39 +949,27 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
assert(colShape->isCompound());
btCompoundShape* compoundShape = (btCompoundShape*)colShape;
- // compute the local transform from parent, this may include a parent inverse node
+ // compute the local transform from parent, this may include several node in the chain
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);
- }
-
- shapeInfo->m_childScale.setValue(childScale.x(),childScale.y(),childScale.z());
+ SG_Node* parentNode = objprop->m_dynamic_parent->GetSGNode();
+ // relative transform
+ MT_Vector3 parentScale = parentNode->GetWorldScaling();
+ parentScale[0] = MT_Scalar(1.0)/parentScale[0];
+ parentScale[1] = MT_Scalar(1.0)/parentScale[1];
+ parentScale[2] = MT_Scalar(1.0)/parentScale[2];
+ MT_Vector3 relativeScale = gameNode->GetWorldScaling() * parentScale;
+ MT_Matrix3x3 parentInvRot = parentNode->GetWorldOrientation().transposed();
+ MT_Vector3 relativePos = parentInvRot*((gameNode->GetWorldPosition()-parentNode->GetWorldPosition())*parentScale);
+ MT_Matrix3x3 relativeRot = parentInvRot*gameNode->GetWorldOrientation();
+
+ shapeInfo->m_childScale.setValue(relativeScale[0],relativeScale[1],relativeScale[2]);
bm->setLocalScaling(shapeInfo->m_childScale);
-
- shapeInfo->m_childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
- float rotval[12];
- childRot.getValue(rotval);
- btMatrix3x3 newRot;
- newRot.setValue(rotval[0],rotval[1],rotval[2],rotval[4],rotval[5],rotval[6],rotval[8],rotval[9],rotval[10]);
- newRot = newRot.transpose();
-
- shapeInfo->m_childTrans.setBasis(newRot);
+ shapeInfo->m_childTrans.getOrigin().setValue(relativePos[0],relativePos[1],relativePos[2]);
+ float rot[12];
+ relativeRot.getValue(rot);
+ shapeInfo->m_childTrans.getBasis().setFromOpenGLSubMatrix(rot);
+
parentShapeInfo->AddShape(shapeInfo);
-
compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
//do some recalc?
//recalc inertia for rigidbody
@@ -969,6 +980,8 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
compoundShape->calculateLocalInertia(mass,localInertia);
rigidbody->setMassProps(mass,localInertia);
}
+ // delete motionstate as it's not used
+ delete motionstate;
return;
}
@@ -1081,26 +1094,32 @@ 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_contactProcessingThreshold = objprop->m_contactProcessingThreshold;//todo: expose this in advanced settings, just like margin, default to 10000 or so
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);
+ // don't add automatically sensor object, they are added when a collision sensor is registered
+ if (!isbulletsensor && objprop->m_in_active_layer)
{
env->addCcdPhysicsController( physicscontroller);
}
-
-
-
- gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
physicscontroller->setNewClientInfo(gameobj->getClientInfo());
{
btRigidBody* rbody = physicscontroller->GetRigidBody();
@@ -1159,7 +1178,9 @@ 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) ? ((isActor) ? KX_ClientObjectInfo::OBACTORSENSOR : KX_ClientObjectInfo::OBSENSOR) :
+ (isActor) ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC;
// store materialname in auxinfo, needed for touchsensors
if (meshobj)
{
@@ -1187,9 +1208,8 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
if (softBody && gameobj->GetMesh(0))//only the first mesh, if any
{
//should be a mesh then, so add a soft body deformer
- KX_SoftBodyDeformer* softbodyDeformer = new KX_SoftBodyDeformer( gameobj->GetMesh(0),gameobj);
+ KX_SoftBodyDeformer* softbodyDeformer = new KX_SoftBodyDeformer( gameobj->GetMesh(0),(BL_DeformableGameObject*)gameobj);
gameobj->SetDeformer(softbodyDeformer);
-
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-12 09:18:55 +0300