diff options
Diffstat (limited to 'source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp')
-rw-r--r-- | source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp | 528 |
1 files changed, 2 insertions, 526 deletions
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp index 5791c9f3a7a..111d62ba83e 100644 --- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp +++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp @@ -33,539 +33,15 @@ # pragma warning (disable:4786) #endif -#include "MT_assert.h" - -#include "KX_SoftBodyDeformer.h" #include "KX_ConvertPhysicsObject.h" -#include "BL_DeformableGameObject.h" -#include "RAS_MeshObject.h" -#include "KX_Scene.h" -#include "BL_System.h" - -#include "PHY_Pro.h" //todo cleanup -#include "KX_ClientObjectInfo.h" - -#include "CTR_Map.h" -#include "CTR_HashedPtr.h" - -#include "MT_MinMax.h" - -#include "KX_PhysicsEngineEnums.h" -#include "KX_MotionState.h" // bridge between motionstate and scenegraph node - -extern "C"{ - #include "BLI_utildefines.h" - #include "BKE_object.h" -} - -#include "DNA_object_force.h" +#include "KX_GameObject.h" +#include "RAS_MeshObject.h" #ifdef WITH_BULLET -#include "BulletSoftBody/btSoftBody.h" #include "CcdPhysicsEnvironment.h" #include "CcdPhysicsController.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" - -#include "btBulletDynamicsCommon.h" - -#ifdef WIN32 -#if defined(_MSC_VER) && (_MSC_VER >= 1310) -//only use SIMD Hull code under Win32 -//#define TEST_HULL 1 -#ifdef TEST_HULL -#define USE_HULL 1 -//#define TEST_SIMD_HULL 1 - -#include "NarrowPhaseCollision/Hull.h" -#endif //#ifdef TEST_HULL - -#endif //_MSC_VER -#endif //WIN32 - - -// forward declarations - -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, - int activeLayerBitInfo, - bool isCompoundChild, - bool hasCompoundChildren) -{ - Object* blenderobject = gameobj->GetBlenderObject(); - CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment(); - assert(env); - - - bool isbulletdyna = (blenderobject->gameflag & OB_DYNAMIC) != 0;; - bool isbulletsensor = (blenderobject->gameflag & OB_SENSOR) != 0; - bool isbulletchar = (blenderobject->gameflag & OB_CHARACTER) != 0; - bool isbulletsoftbody = (blenderobject->gameflag & OB_SOFT_BODY) != 0; - bool isbulletrigidbody = (blenderobject->gameflag & OB_RIGID_BODY) != 0; - bool useGimpact = false; - CcdConstructionInfo ci; - class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode()); - class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo(); - - KX_GameObject *parent = gameobj->GetParent(); - if (parent) - { - isbulletdyna = false; - isbulletsoftbody = false; - shapeprops->m_mass = 0.f; - } - - if (!isbulletdyna) - { - ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT; - } - if ((blenderobject->gameflag & (OB_GHOST | OB_SENSOR | OB_CHARACTER)) != 0) - { - ci.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE; - } - - ci.m_MotionState = motionstate; - ci.m_gravity = btVector3(0,0,0); - ci.m_linearFactor = btVector3(((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_X_AXIS) !=0)? 0 : 1, - ((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Y_AXIS) !=0)? 0 : 1, - ((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Z_AXIS) !=0)? 0 : 1); - ci.m_angularFactor = btVector3(((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_X_ROT_AXIS) !=0)? 0 : 1, - ((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Y_ROT_AXIS) !=0)? 0 : 1, - ((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Z_ROT_AXIS) !=0)? 0 : 1); - ci.m_localInertiaTensor =btVector3(0,0,0); - ci.m_mass = isbulletdyna ? shapeprops->m_mass : 0.f; - ci.m_clamp_vel_min = shapeprops->m_clamp_vel_min; - ci.m_clamp_vel_max = shapeprops->m_clamp_vel_max; - ci.m_stepHeight = isbulletchar ? shapeprops->m_step_height : 0.f; - ci.m_jumpSpeed = isbulletchar ? shapeprops->m_jump_speed : 0.f; - ci.m_fallSpeed = isbulletchar ? shapeprops->m_fall_speed : 0.f; - - //mmm, for now, take this for the size of the dynamicobject - // Blender uses inertia for radius of dynamic object - shapeInfo->m_radius = ci.m_radius = blenderobject->inertia; - useGimpact = ((isbulletdyna || isbulletsensor) && !isbulletsoftbody); - - if (isbulletsoftbody) - { - if (blenderobject->bsoft) - { - ci.m_margin = blenderobject->bsoft->margin; - } - else - { - ci.m_margin = 0.f; - } - } - else - { - ci.m_margin = blenderobject->margin; - } - - ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f); - - btCollisionShape* bm = 0; - - char bounds; - if (blenderobject->gameflag & OB_BOUNDS) - { - bounds = blenderobject->collision_boundtype; - } - else - { - if (blenderobject->gameflag & OB_SOFT_BODY) - bounds = OB_BOUND_TRIANGLE_MESH; - else if (blenderobject->gameflag & OB_CHARACTER) - bounds = OB_BOUND_SPHERE; - else if (isbulletdyna) - bounds = OB_BOUND_SPHERE; - else - bounds = OB_BOUND_TRIANGLE_MESH; - } - - // Can't use triangle mesh or convex hull on a non-mesh object, fall-back to sphere - if (ELEM(bounds, OB_BOUND_TRIANGLE_MESH, OB_BOUND_CONVEX_HULL) && blenderobject->type != OB_MESH) - bounds = OB_BOUND_SPHERE; - - // Get bounds information - float bounds_center[3], bounds_extends[3]; - BoundBox *bb= BKE_object_boundbox_get(blenderobject); - if (bb==NULL) - { - bounds_center[0] = bounds_center[1] = bounds_center[2] = 0.0; - bounds_extends[0] = bounds_extends[1] = bounds_extends[2] = 1.0; - } - else - { - bounds_extends[0] = 0.5f * fabsf(bb->vec[0][0] - bb->vec[4][0]); - bounds_extends[1] = 0.5f * fabsf(bb->vec[0][1] - bb->vec[2][1]); - bounds_extends[2] = 0.5f * fabsf(bb->vec[0][2] - bb->vec[1][2]); - - bounds_center[0] = 0.5f * (bb->vec[0][0] + bb->vec[4][0]); - bounds_center[1] = 0.5f * (bb->vec[0][1] + bb->vec[2][1]); - bounds_center[2] = 0.5f * (bb->vec[0][2] + bb->vec[1][2]); - } - - switch (bounds) - { - case OB_BOUND_SPHERE: - { - //float radius = objprop->m_radius; - //btVector3 inertiaHalfExtents ( - // radius, - // radius, - // radius); - - //blender doesn't support multisphere, but for testing: - - //bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1); - shapeInfo->m_shapeType = PHY_SHAPE_SPHERE; - // XXX We calculated the radius but didn't use it? - // objprop.m_boundobject.c.m_radius = MT_max(bb.m_extends[0], MT_max(bb.m_extends[1], bb.m_extends[2])); - bm = shapeInfo->CreateBulletShape(ci.m_margin); - break; - }; - case OB_BOUND_BOX: - { - shapeInfo->m_halfExtend.setValue( - 2.f * bounds_extends[0], - 2.f * bounds_extends[1], - 2.f * bounds_extends[2]); - - shapeInfo->m_halfExtend /= 2.0; - shapeInfo->m_halfExtend = shapeInfo->m_halfExtend.absolute(); - shapeInfo->m_shapeType = PHY_SHAPE_BOX; - bm = shapeInfo->CreateBulletShape(ci.m_margin); - break; - }; - case OB_BOUND_CYLINDER: - { - float radius = MT_max(bounds_extends[0], bounds_extends[1]); - shapeInfo->m_halfExtend.setValue( - radius, - radius, - bounds_extends[2] - ); - shapeInfo->m_shapeType = PHY_SHAPE_CYLINDER; - bm = shapeInfo->CreateBulletShape(ci.m_margin); - break; - } - - case OB_BOUND_CONE: - { - shapeInfo->m_radius = MT_max(bounds_extends[0], bounds_extends[1]); - shapeInfo->m_height = 2.f * bounds_extends[2]; - shapeInfo->m_shapeType = PHY_SHAPE_CONE; - bm = shapeInfo->CreateBulletShape(ci.m_margin); - break; - } - case OB_BOUND_CONVEX_HULL: - { - shapeInfo->SetMesh(meshobj, dm,true); - bm = shapeInfo->CreateBulletShape(ci.m_margin); - break; - } - case OB_BOUND_CAPSULE: - { - shapeInfo->m_radius = MT_max(bounds_extends[0], bounds_extends[1]); - shapeInfo->m_height = 2.f * (bounds_extends[2] - shapeInfo->m_radius); - if (shapeInfo->m_height < 0.f) - shapeInfo->m_height = 0.f; - shapeInfo->m_shapeType = PHY_SHAPE_CAPSULE; - bm = shapeInfo->CreateBulletShape(ci.m_margin); - break; - } - case OB_BOUND_TRIANGLE_MESH: - { - // mesh shapes can be shared, check first if we already have a shape on that mesh - class CcdShapeConstructionInfo *sharedShapeInfo = CcdShapeConstructionInfo::FindMesh(meshobj, dm, false); - if (sharedShapeInfo != NULL) - { - shapeInfo->Release(); - shapeInfo = sharedShapeInfo; - shapeInfo->AddRef(); - } else - { - shapeInfo->SetMesh(meshobj, dm, false); - } - - // Soft bodies can benefit from welding, don't do it on non-soft bodies - if (isbulletsoftbody) - { - // disable welding: it doesn't bring any additional stability and it breaks the relation between soft body collision shape and graphic mesh - // shapeInfo->setVertexWeldingThreshold1((blenderobject->bsoft) ? blenderobject->bsoft->welding ? 0.f); - shapeInfo->setVertexWeldingThreshold1(0.f); //todo: expose this to the UI - } - - bm = shapeInfo->CreateBulletShape(ci.m_margin, useGimpact, !isbulletsoftbody); - //should we compute inertia for dynamic shape? - //bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor); - - break; - } - } - - -// ci.m_localInertiaTensor.setValue(0.1f,0.1f,0.1f); - - if (!bm) - { - delete motionstate; - shapeInfo->Release(); - return; - } - - //bm->setMargin(ci.m_margin); - - - if (isCompoundChild) - { - //find parent, compound shape and add to it - //take relative transform into account! - CcdPhysicsController* parentCtrl = (CcdPhysicsController*)parent->GetPhysicsController(); - assert(parentCtrl); - CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo(); - btRigidBody* rigidbody = parentCtrl->GetRigidBody(); - btCollisionShape* colShape = rigidbody->getCollisionShape(); - assert(colShape->isCompound()); - btCompoundShape* compoundShape = (btCompoundShape*)colShape; - - // compute the local transform from parent, this may include several node in the chain - SG_Node* gameNode = gameobj->GetSGNode(); - SG_Node* parentNode = 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.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 - if (!rigidbody->isStaticOrKinematicObject()) - { - btVector3 localInertia; - float mass = 1.f/rigidbody->getInvMass(); - compoundShape->calculateLocalInertia(mass,localInertia); - rigidbody->setMassProps(mass,localInertia); - } - shapeInfo->Release(); - // delete motionstate as it's not used - delete motionstate; - return; - } - - if (hasCompoundChildren) - { - // create a compound shape info - CcdShapeConstructionInfo *compoundShapeInfo = new CcdShapeConstructionInfo(); - compoundShapeInfo->m_shapeType = PHY_SHAPE_COMPOUND; - compoundShapeInfo->AddShape(shapeInfo); - // create the compound shape manually as we already have the child shape - btCompoundShape* compoundShape = new btCompoundShape(); - compoundShape->addChildShape(shapeInfo->m_childTrans,bm); - // now replace the shape - bm = compoundShape; - shapeInfo->Release(); - shapeInfo = compoundShapeInfo; - } - - - - - - -#ifdef TEST_SIMD_HULL - if (bm->IsPolyhedral()) - { - PolyhedralConvexShape* polyhedron = static_cast<PolyhedralConvexShape*>(bm); - if (!polyhedron->m_optionalHull) - { - //first convert vertices in 'Point3' format - int numPoints = polyhedron->GetNumVertices(); - Point3* points = new Point3[numPoints+1]; - //first 4 points should not be co-planar, so add central point to satisfy MakeHull - points[0] = Point3(0.f,0.f,0.f); - - btVector3 vertex; - for (int p=0;p<numPoints;p++) - { - polyhedron->GetVertex(p,vertex); - points[p+1] = Point3(vertex.getX(),vertex.getY(),vertex.getZ()); - } - - Hull* hull = Hull::MakeHull(numPoints+1,points); - polyhedron->m_optionalHull = hull; - } - - } -#endif //TEST_SIMD_HULL - - - ci.m_collisionShape = bm; - ci.m_shapeInfo = shapeInfo; - ci.m_friction = smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice - ci.m_restitution = smmaterial->m_restitution; - ci.m_physicsEnv = env; - // drag / damping is inverted - ci.m_linearDamping = 1.f - shapeprops->m_lin_drag; - ci.m_angularDamping = 1.f - shapeprops->m_ang_drag; - //need a bit of damping, else system doesn't behave well - ci.m_inertiaFactor = shapeprops->m_inertia/0.4f;//defaults to 0.4, don't want to change behavior - - ci.m_do_anisotropic = shapeprops->m_do_anisotropic; - ci.m_anisotropicFriction.setValue(shapeprops->m_friction_scaling[0],shapeprops->m_friction_scaling[1],shapeprops->m_friction_scaling[2]); - - -////////// - //do Fh, do Rot Fh - ci.m_do_fh = shapeprops->m_do_fh; - ci.m_do_rot_fh = shapeprops->m_do_rot_fh; - ci.m_fh_damping = smmaterial->m_fh_damping; - ci.m_fh_distance = smmaterial->m_fh_distance; - ci.m_fh_normal = smmaterial->m_fh_normal; - ci.m_fh_spring = smmaterial->m_fh_spring; - - ci.m_collisionFilterGroup = - (isbulletsensor) ? short(CcdConstructionInfo::SensorFilter) : - (isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) : - (isbulletchar) ? short(CcdConstructionInfo::CharacterFilter) : - short(CcdConstructionInfo::StaticFilter); - ci.m_collisionFilterMask = - (isbulletsensor) ? short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter) : - (isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : - (isbulletchar) ? short(CcdConstructionInfo::AllFilter) : - short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter); - ci.m_bRigid = isbulletdyna && isbulletrigidbody; - ci.m_bSoft = isbulletsoftbody; - ci.m_bDyna = isbulletdyna; - ci.m_bSensor = isbulletsensor; - ci.m_bCharacter = isbulletchar; - ci.m_bGimpact = useGimpact; - MT_Vector3 scaling = gameobj->NodeGetWorldScaling(); - ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]); - CcdPhysicsController* physicscontroller = new CcdPhysicsController(ci); - // shapeInfo is reference counted, decrement now as we don't use it anymore - if (shapeInfo) - shapeInfo->Release(); - - gameobj->SetPhysicsController(physicscontroller,isbulletdyna); - - // record animation for dynamic objects - if (isbulletdyna) - gameobj->SetRecordAnimation(true); - - // don't add automatically sensor object, they are added when a collision sensor is registered - if (!isbulletsensor && (blenderobject->lay & activeLayerBitInfo) != 0) - { - env->AddCcdPhysicsController( physicscontroller); - } - physicscontroller->SetNewClientInfo(gameobj->getClientInfo()); - { - btRigidBody* rbody = physicscontroller->GetRigidBody(); - - if (rbody) - { - if (isbulletrigidbody) - { - rbody->setLinearFactor(ci.m_linearFactor); - rbody->setAngularFactor(ci.m_angularFactor); - } - - if (rbody && (blenderobject->gameflag & OB_COLLISION_RESPONSE) != 0) - { - rbody->setActivationState(DISABLE_DEACTIVATION); - } - } - } - - CcdPhysicsController* parentCtrl = parent ? (CcdPhysicsController*)parent->GetPhysicsController() : 0; - physicscontroller->SetParentCtrl(parentCtrl); - - - //Now done directly in ci.m_collisionFlags so that it propagates to replica - //if (objprop->m_ghost) - //{ - // rbody->setCollisionFlags(rbody->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE); - //} - - if (isbulletdyna && !isbulletrigidbody) - { -#if 0 - //setting the inertia could achieve similar results to constraint the up - //but it is prone to instability, so use special 'Angular' constraint - btVector3 inertia = physicscontroller->GetRigidBody()->getInvInertiaDiagLocal(); - inertia.setX(0.f); - inertia.setZ(0.f); - - physicscontroller->GetRigidBody()->setInvInertiaDiagLocal(inertia); - physicscontroller->GetRigidBody()->updateInertiaTensor(); -#endif - - //env->createConstraint(physicscontroller,0,PHY_ANGULAR_CONSTRAINT,0,0,0,0,0,1); - - //Now done directly in ci.m_bRigid so that it propagates to replica - //physicscontroller->GetRigidBody()->setAngularFactor(0.f); - ; - } - - bool isActor = (blenderobject->gameflag & OB_ACTOR)!=0; - gameobj->getClientInfo()->m_type = - (isbulletsensor) ? ((isActor) ? KX_ClientObjectInfo::OBACTORSENSOR : KX_ClientObjectInfo::OBSENSOR) : - (isActor) ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC; - - // should we record animation for this object? - if ((blenderobject->gameflag & OB_RECORD_ANIMATION) != 0) - gameobj->SetRecordAnimation(true); - - // store materialname in auxinfo, needed for touchsensors - if (meshobj) - { - const STR_String& matname=meshobj->GetMaterialName(0); - gameobj->getClientInfo()->m_auxilary_info = (matname.Length() ? (void*)(matname.ReadPtr()+2) : NULL); - } else - { - gameobj->getClientInfo()->m_auxilary_info = 0; - } - - - - STR_String materialname; - if (meshobj) - materialname = meshobj->GetMaterialName(0); - - -#if 0 - ///test for soft bodies - if (objprop->m_softbody && physicscontroller) - { - btSoftBody* softBody = physicscontroller->GetSoftBody(); - 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),(BL_DeformableGameObject*)gameobj); - gameobj->SetDeformer(softbodyDeformer); - } - } -#endif - -} /* Refresh the physics object from either an object or a mesh. * gameobj must be valid |