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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.cpp246
1 files changed, 143 insertions, 103 deletions
diff --git a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
index a6e7daadb2c..96716214edc 100644
--- a/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
+++ b/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
@@ -29,7 +29,9 @@
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
+#ifdef WIN32
#pragma warning (disable : 4786)
+#endif
// defines USE_ODE to choose physics engine
#include "KX_ConvertPhysicsObject.h"
@@ -63,7 +65,6 @@
// USE_SUMO_SOLID is defined in headerfile KX_ConvertPhysicsObject.h
#ifdef USE_SUMO_SOLID
-
#include "SumoPhysicsEnvironment.h"
#include "KX_SumoPhysicsController.h"
@@ -83,16 +84,15 @@ void BL_RegisterSumoObject(KX_GameObject* gameobj,class SM_Scene* sumoScene,DT_S
DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj);
-void KX_ConvertSumoObject( class KX_GameObject* gameobj,
- class RAS_MeshObject* meshobj,
- class KX_Scene* kxscene,
- PHY_ShapeProps* kxshapeprops,
- PHY_MaterialProps* kxmaterial,
- struct KX_ObjectProperties* objprop)
+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;
@@ -105,6 +105,7 @@ void KX_ConvertSumoObject( class KX_GameObject* gameobj,
smprop->m_inertia = 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;
@@ -116,55 +117,48 @@ void KX_ConvertSumoObject( class KX_GameObject* gameobj,
smmaterial->m_friction = kxmaterial->m_friction;
smmaterial->m_restitution = kxmaterial->m_restitution;
- class SumoPhysicsEnvironment* sumoEnv =
+ SumoPhysicsEnvironment* sumoEnv =
(SumoPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
SM_Scene* sceneptr = sumoEnv->GetSumoScene();
-
-
SM_Object* sumoObj=NULL;
if (objprop->m_dyna)
{
-
- DT_ShapeHandle shape = DT_Sphere(0.0);
-
- if (objprop->m_ghost)
+ DT_ShapeHandle shape = NULL;
+ switch (objprop->m_boundclass)
{
-
- sumoObj = new SM_Object(shape,NULL,smprop,NULL);
- } else
- {
- sumoObj = new SM_Object(shape,smmaterial,smprop,NULL);
+ 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]);
+ break;
+ case KX_BOUNDCYLINDER:
+ shape = DT_NewCylinder(objprop->m_radius, objprop->m_boundobject.c.m_height);
+ break;
+ case KX_BOUNDCONE:
+ shape = DT_NewCone(objprop->m_radius, objprop->m_boundobject.c.m_height);
+ break;
+/* Enabling this allows you to use dynamic mesh objects. It's disabled 'cause it's really slow. */
+ case KX_BOUNDMESH:
+ if (meshobj && meshobj->NumPolygons() > 0)
+ {
+ if ((shape = CreateShapeFromMesh(meshobj)))
+ break;
+ }
+ /* If CreateShapeFromMesh fails, fall through and use sphere */
+ default:
+ case KX_BOUNDSPHERE:
+ shape = DT_NewSphere(objprop->m_radius);
+ break;
+
}
- double radius = objprop->m_radius;
+ sumoObj = new SM_Object(shape, !objprop->m_ghost?smmaterial:NULL,smprop,NULL);
- MT_Scalar margin = radius;//0.5;
- sumoObj->setMargin(margin);
+ sumoObj->setRigidBody(objprop->m_angular_rigidbody?true:false);
- //if (bRigidBody)
- //{
- if (objprop->m_in_active_layer)
- {
- DT_AddObject(sumoEnv->GetSolidScene(),
- sumoObj->getObjectHandle());
- }
- //}
-
- if (objprop->m_angular_rigidbody)
- {
- sumoObj->setRigidBody(true);
- } else
- {
- sumoObj->setRigidBody(false);
- }
-
- bool isDynamic = true;
- bool isActor = true;
-
- BL_RegisterSumoObject(gameobj,sceneptr,sumoEnv->GetSolidScene(),sumoObj,NULL,isDynamic,isActor);
+ objprop->m_isactor = objprop->m_dyna = true;
+ BL_RegisterSumoObject(gameobj,sceneptr,sumoEnv->GetSolidScene(),sumoObj,NULL,true, true);
}
else {
@@ -172,20 +166,40 @@ void KX_ConvertSumoObject( class KX_GameObject* gameobj,
if (meshobj)
{
int numpolys = meshobj->NumPolygons();
-
{
DT_ShapeHandle complexshape=0;
- if (objprop->m_implicitbox)
- {
- complexshape = DT_Box(objprop->m_boundingbox.m_extends[0],objprop->m_boundingbox.m_extends[1],objprop->m_boundingbox.m_extends[2]);
- } else
+ switch (objprop->m_boundclass)
{
- if (numpolys>0)
- {
- complexshape = CreateShapeFromMesh(meshobj);
- }
+ 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;
+ default:
+ case KX_BOUNDMESH:
+ if (numpolys>0)
+ {
+ complexshape = CreateShapeFromMesh(meshobj);
+ //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)
@@ -209,21 +223,7 @@ void KX_ConvertSumoObject( class KX_GameObject* gameobj,
}
- if (objprop->m_ghost)
- {
- sumoObj = new SM_Object(complexshape,NULL,NULL, dynamicParent);
- } else
- {
- sumoObj = new SM_Object(complexshape,smmaterial,NULL, dynamicParent);
- }
-
- if (objprop->m_in_active_layer)
- {
- DT_AddObject(sumoEnv->GetSolidScene(),
- sumoObj->getObjectHandle());
- }
-
-
+ sumoObj = new SM_Object(complexshape,!objprop->m_ghost?smmaterial:NULL,NULL, dynamicParent);
const STR_String& matname=meshobj->GetMaterialName(0);
@@ -232,7 +232,6 @@ void KX_ConvertSumoObject( class KX_GameObject* gameobj,
matname.ReadPtr(),
objprop->m_dyna,
objprop->m_isactor);
-
}
}
}
@@ -264,35 +263,34 @@ void BL_RegisterSumoObject(KX_GameObject* gameobj,class SM_Scene* sumoScene,DT_S
KX_SumoPhysicsController* physicscontroller = new KX_SumoPhysicsController(sumoScene,solidscene,sumoObj,motionstate,isDynamic);
gameobj->SetPhysicsController(physicscontroller);
physicscontroller->setClientInfo(gameobj);
+
+ if (!gameobj->getClientInfo())
+ std::cout << "BL_RegisterSumoObject: WARNING: Object " << gameobj->GetName() << " has no client info" << std::endl;
+ sumoObj->setClientObject(gameobj->getClientInfo());
gameobj->GetSGNode()->AddSGController(physicscontroller);
- //gameobj->GetClientInfo()->m_type = (isActor ? 1 : 0);
+ gameobj->getClientInfo()->m_type = (isActor ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC);
//gameobj->GetClientInfo()->m_clientobject = gameobj;
// store materialname in auxinfo, needed for touchsensors
- //gameobj->GetClientInfo()->m_auxilary_info = (matname? (void*)(matname+2) : NULL);
+ gameobj->getClientInfo()->m_auxilary_info = (matname? (void*)(matname+2) : NULL);
physicscontroller->SetObject(gameobj->GetSGNode());
-
+
//gameobj->SetDynamicsScaling(MT_Vector3(1.0, 1.0, 1.0));
};
-
-
DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj)
{
- DT_ShapeHandle* shapeptr = map_gamemesh_to_sumoshape[GEN_HashedPtr(meshobj)];
+ DT_ShapeHandle *shapeptr = map_gamemesh_to_sumoshape[GEN_HashedPtr(meshobj)];
if (shapeptr)
{
return *shapeptr;
}
- // todo: shared meshes
- DT_ShapeHandle shape = DT_NewComplexShape();
- int p=0;
int numpolys = meshobj->NumPolygons();
if (!numpolys)
{
@@ -300,38 +298,80 @@ DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj)
}
int numvalidpolys = 0;
-
-
- for (p=0;p<meshobj->m_triangle_indices.size();p++)
+ for (int p=0; p<numpolys; p++)
{
- RAS_TriangleIndex& idx = meshobj->m_triangle_indices[p];
-
+ RAS_Polygon* poly = meshobj->GetPolygon(p);
+
// only add polygons that have the collisionflag set
- if (idx.m_collider)
+ if (poly->IsCollider())
{
- DT_Begin();
- for (int v=0;v<3;v++)
- {
- int num = meshobj->m_xyz_index_to_vertex_index_mapping[idx.m_index[v]].size();
- if (num != 1)
- {
- int i=0;
- }
- RAS_MatArrayIndex& vertindex = meshobj->m_xyz_index_to_vertex_index_mapping[idx.m_index[v]][0];
+ numvalidpolys++;
+ break;
+ }
+ }
+
+ if (numvalidpolys < 1)
+ return NULL;
+
+ DT_ShapeHandle shape = DT_NewComplexShape(NULL);
+
+
+ numvalidpolys = 0;
- numvalidpolys++;
+ for (int p2=0; p2<numpolys; p2++)
+ {
+ RAS_Polygon* poly = meshobj->GetPolygon(p2);
- {
- const MT_Point3& pt = meshobj->GetVertex(vertindex.m_array,
- vertindex.m_index,
- (RAS_IPolyMaterial*)vertindex.m_matid)->xyz();
- DT_Vertex(pt[0],pt[1],pt[2]);
- }
+ // only add polygons that have the collisionflag set
+ if (poly->IsCollider())
+ { /* We have to tesselate here because SOLID can only raycast triangles */
+ DT_Begin();
+ DT_Vector3 pt;
+ /* V1 */
+ meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
+ poly->GetVertexIndexBase().m_indexarray[0],
+ poly->GetMaterial()->GetPolyMaterial())->xyz().getValue(pt);
+ DT_Vertex(pt);
+ /* V2 */
+ meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
+ poly->GetVertexIndexBase().m_indexarray[1],
+ poly->GetMaterial()->GetPolyMaterial())->xyz().getValue(pt);
+ DT_Vertex(pt);
+ /* V3 */
+ meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
+ poly->GetVertexIndexBase().m_indexarray[2],
+ poly->GetMaterial()->GetPolyMaterial())->xyz().getValue(pt);
+ DT_Vertex(pt);
+
+ numvalidpolys++;
+ DT_End();
+
+ if (poly->VertexCount() == 4)
+ {
+ DT_Begin();
+ /* V1 */
+ meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
+ poly->GetVertexIndexBase().m_indexarray[0],
+ poly->GetMaterial()->GetPolyMaterial())->xyz().getValue(pt);
+ DT_Vertex(pt);
+ /* V3 */
+ meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
+ poly->GetVertexIndexBase().m_indexarray[2],
+ poly->GetMaterial()->GetPolyMaterial())->xyz().getValue(pt);
+ DT_Vertex(pt);
+ /* V4 */
+ meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
+ poly->GetVertexIndexBase().m_indexarray[3],
+ poly->GetMaterial()->GetPolyMaterial())->xyz().getValue(pt);
+ DT_Vertex(pt);
+
+ numvalidpolys++;
+ DT_End();
}
- DT_End();
+
}
}
-
+
DT_EndComplexShape();
if (numvalidpolys > 0)
@@ -340,7 +380,7 @@ DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj)
return shape;
}
- // memleak... todo: delete shape
+ delete shape;
return NULL;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-08-10 18:31:50 +0300