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Diffstat (limited to 'source/gameengine/Physics/BlOde/OdePhysicsController.cpp')
| -rw-r--r-- | source/gameengine/Physics/BlOde/OdePhysicsController.cpp | 625 |
1 files changed, 0 insertions, 625 deletions
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsController.cpp b/source/gameengine/Physics/BlOde/OdePhysicsController.cpp deleted file mode 100644 index 5efd0994311..00000000000 --- a/source/gameengine/Physics/BlOde/OdePhysicsController.cpp +++ /dev/null @@ -1,625 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * The contents of this file may be used under the terms of either the GNU - * General Public License Version 2 or later (the "GPL", see - * http://www.gnu.org/licenses/gpl.html ), or the Blender License 1.0 or - * later (the "BL", see http://www.blender.org/BL/ ) which has to be - * bought from the Blender Foundation to become active, in which case the - * above mentioned GPL option does not apply. - * - * The Original Code is Copyright (C) 2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#define USE_ODE -#ifdef USE_ODE - -#include "OdePhysicsController.h" -#include "PHY_IMotionState.h" - -#include <ode/ode.h> - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -/////////////////////////////////////////////////////////////////////////// -// -// general to-do list for ODE physics. This is maintained in doxygen format. -// -/// \todo determine assignment time for bounding spheres. -/// -/// it appears you have to select "sphere" for bounding volume AND "draw bounds" -/// in order for a bounding sphere to be generated. otherwise a box is generated. -/// determine exactly when and how the bounding volumes are generated and make -/// this consistent. -/// } -/// -/// \todo bounding sphere size incorrect -/// -/// it appears NOT to use the size of the shown bounding sphere (button "draw bounds"). -/// it appears instead to use the size of the "size" dynamic parameter in the -/// gamebuttons but this "size" draws an incorrectly-sized circle on screen for the -/// bounding sphere (leftover skewed size calculation from sumo?) so figure out WHERE -/// its getting the radius from. -/// -/// \todo ODE collisions must fire collision actuator -/// -/// See OdePhysicsEnvironment::OdeNearCallback. If a sensor was created to check -/// for the presence of this collision, then in the NearCallback you need to -/// take appropriate action regarding the sensor - something like checking its -/// controller and if needed firing its actuator. Need to find similar code in -/// Fuzzics which fires collision controllers/actuators. -/// -/// \todo Are ghost collisions possible? -/// -/// How do ghost collisions work? Do they require collision detection through ODE -/// and NON-CREATION of contact-joint in OdeNearCallback? Currently OdeNearCallback -/// creates joints ALWAYS for collisions. -/// -/// \todo Why is KX_GameObject::addLinearVelocity commented out? -/// -/// Try putting this code back in. -/// -/// \todo Too many non-dynamic actors bogs down ODE physics -/// -/// Lots of "geoms" (ODE static geometry) probably slows down ode. Try a test file -/// with lots of static geometry - the game performance in Blender says it is -/// spending all its time in physics, and I bet all that time is in collision -/// detection. It's ode's non-hierarchical collision detection. -/// try making a separate ode test program (not within blender) with 1000 geoms and -/// see how fast it is. if it is really slow, there is the culprit. -/// isnt someone working on an improved ODE collision detector? check -/// ode mailing list. -/// -/// -/// \todo support collision of dynas with non-dynamic triangle meshes -/// -/// ODE has trimesh-collision support but only for trimeshes without a transform -/// matrix. update ODE tricollider to support a transform matrix. this will allow -/// moving trimeshes non-dynamically (e.g. through Ipos). then collide trimeshes -/// with dynas. this allows dynamic primitives (spheres, boxes) to collide with -/// non-dynamic or kinematically controlled tri-meshes. full dynamic trimesh to -/// dynamic trimesh support is hard because it requires (a) collision and penetration -/// depth for trimesh to trimesh and (hard to compute) (b) an intertia tensor -/// (easy to compute). -/// -/// a triangle mesh collision geometry should be created when the blender -/// bounding volume (F9, EDITBUTTONS) is set to "polyheder", since this is -/// currently the place where sphere/box selection is made -/// -/// \todo specify ODE ERP+CFM in blender interface -/// -/// when ODE physics selected, have to be able to set global cfm and erp. -/// per-joint erp/cfm could be handled in constraint window. -/// -/// \todo moving infinite mass objects should impart extra impulse to objects they collide with -/// -/// currently ODE's ERP pushes them apart but doesn't account for their motion. -/// you have to detect if one body in a collision is a non-dyna. This -/// requires adding a new accessor method to -/// KX_IPhysicsInterfaceController to access the hidden m_isDyna variable, -/// currently it can only be written, not read). If one of the bodies in a -/// collision is a non-dyna, then impart an extra impulse based on the -/// motion of the static object (using its last 2 frames as an approximation -/// of its linear and angular velocity). Linear velocity is easy to -/// approximate, but angular? you have orientation at this frame and -/// orientation at previous frame. The question is what is the angular -/// velocity which would have taken you from the previous frame's orientation -/// to this frame's orientation? -/// -/// \todo allow tweaking bounding volume size -/// -/// the scene converter currently uses the blender bounding volume of the selected -/// object as the geometry for ODE collision purposes. this is good and automatic -/// intuitive - lets you choose between cube, sphere, mesh. but you need to be able -/// to tweak this size for physics. -/// -/// \todo off center meshes totally wrong for ode -/// -/// ode uses x, y, z extents regradless of center. then places geom at center of object. -/// but visual geom is not necessarily at center. need to detect off-center situations. -/// then do what? treat it as an encapsulated off-center mass, or recenter it? -/// -/// i.o.w. recalculate center, or recalculate mass distribution (using encapsulation)? -/// -/// \todo allow off-center mass -/// -/// using ode geometry encapsulators -/// -/// \todo allow entering compound geoms for complex collision shapes specified as a union of simpler shapes -/// -/// The collision shape for arbitrary triangle meshes can probably in general be -///well approximated by a compound ODE geometry object, which is merely a combination -///of many primitives (capsule, sphere, box). I eventually want to add the ability -///to associate compound geometry objects with Blender gameobjects. I think one -///way of doing this would be to add a new button in the GameButtons, "RigidBodyCompound". -///If the object is "Dynamic" + "RigidBody", then the object's bounding volume (sphere, -///box) is created. If an object is "Dynamic" + "RigidBodyCompound", then the object itself -///will merely create a "wrapper" compound object, with the actual geometry objects -///being created from the object's children in Blender. E.g. if I wanted to make a -///compound collision object consisting of a sphere and 2 boxes, I would create a -///parent gameobject with the actual triangle mesh, and set its GameButtons to -///"RigidBodyCompound". I would then create 3 children of this object, 1 sphere and -///2 boxes, and set the GameButtons for the children to be "RigidBody". Then at -///scene conversion time, the scene converter sees "RigidBodyCompound" for the -///top-level object, then appropriately traverses the children and creates the compound -///collision geometry consisting of 2 boxes and a sphere. In this way, arbitrary -///mesh-mesh collision becomes much less necessary - the artist can (or must, -///depending on your point of view!) approximate the collision shape for arbitrary -///meshes with a combination of one or more primitive shapes. I think using the -///parent/child relationship in Blender and a new button "RigidBodyCompound" for the -///parent object of a compound is a feasible way of doing this in Blender. -/// -///See ODE demo test_boxstack and look at the code when you drop a compound object -///with the "X" key. -/// -/// \todo add visual specification of constraints -/// -/// extend the armature constraint system. by using empties and constraining one empty -/// to "copy location" of another, you can get a p2p constraint between the two empties. -/// by making the two empties each a parent of a blender object, you effectively have -/// a p2p constraint between 2 blender bodies. the scene converter can detect these -/// empties, detect the constraint, and generate an ODE constraint. -/// -/// then add a new constraint type "hinge" and "slider" to correspond to ODE joints. -/// e.g. a slider would be a constraint which restricts the axis of its object to lie -/// along the same line as another axis of a different object. e.g. you constrain x-axis -/// of one empty to lie along the same line as the z-axis of another empty; this gives -/// a slider joint. -/// -/// open questions: how to handle powered joints? to what extent should/must constraints -/// be enforced during modeling? use CCD-style algorithm in modeler to enforce constraints? -/// how about ODE powered constraints e.g. motors? -/// -/// \todo enable suspension of bodies -/// ODE offers native support for suspending dynas. but what about suspending non-dynas -/// (e.g. geoms)? suspending geoms is also necessary to ease the load of ODE's (simple?) -/// collision detector. suspending dynas and geoms is important for the activity culling, -/// which apparently works at a simple level. perhaps suspension should actually -/// remove or insert geoms/dynas into the ODE space/world? is this operation (insertion/ -/// removal) fast enough at run-time? test it. if fast enough, then suspension=remove from -/// ODE simulation, awakening=insertion into ODE simulation. -/// -/// \todo python interface for tweaking constraints via python -/// -/// \todo raytesting to support gameengine sensors that need it -/// -/// \todo investigate compatibility issues with old Blender 2.25 physics engine (sumo/fuzzics) -/// is it possible to have compatibility? how hard is it? how important is it? - - -ODEPhysicsController::ODEPhysicsController(bool dyna, bool fullRigidBody, - bool phantom, class PHY_IMotionState* motionstate, struct dxSpace* space, - struct dxWorld* world, float mass,float friction,float restitution, - bool implicitsphere,float center[3],float extents[3],float radius) - : - m_OdeDyna(dyna), - m_firstTime(true), - m_bFullRigidBody(fullRigidBody), - m_bPhantom(phantom), - m_bKinematic(false), - m_bPrevKinematic(false), - m_MotionState(motionstate), - m_OdeSuspendDynamics(false), - m_space(space), - m_world(world), - m_mass(mass), - m_friction(friction), - m_restitution(restitution), - m_bodyId(0), - m_geomId(0), - m_implicitsphere(implicitsphere), - m_radius(radius) -{ - m_center[0] = center[0]; - m_center[1] = center[1]; - m_center[2] = center[2]; - m_extends[0] = extents[0]; - m_extends[1] = extents[1]; - m_extends[2] = extents[2]; -}; - - -ODEPhysicsController::~ODEPhysicsController() -{ - if (m_geomId) - { - dGeomDestroy (m_geomId); - } -} - -float ODEPhysicsController::getMass() -{ - dMass mass; - dBodyGetMass(m_bodyId,&mass); - return mass.mass; -} - -////////////////////////////////////////////////////////////////////// -/// \todo Impart some extra impulse to dynamic objects when they collide with kinematically controlled "static" objects (ODE geoms), by using last 2 frames as 1st order approximation to the linear/angular velocity, and computing an appropriate impulse. Sumo (old physics engine) did this, see for details. -/// \todo handle scaling of static ODE geoms or fail with error message if Ipo tries to change scale of a static geom object - -bool ODEPhysicsController::SynchronizeMotionStates(float time) -{ - /** - 'Late binding' of the rigidbody, because the World Scaling is not available until the scenegraph is traversed - */ - - - if (m_firstTime) - { - m_firstTime=false; - - m_MotionState->calculateWorldTransformations(); - - dQuaternion worldquat; - float worldpos[3]; - -#ifdef dDOUBLE - m_MotionState->getWorldOrientation((float)worldquat[1], - (float)worldquat[2],(float)worldquat[3],(float)worldquat[0]); -#else - m_MotionState->getWorldOrientation(worldquat[1], - worldquat[2],worldquat[3],worldquat[0]); -#endif - m_MotionState->getWorldPosition(worldpos[0],worldpos[1],worldpos[2]); - - float scaling[3]; - m_MotionState->getWorldScaling(scaling[0],scaling[1],scaling[2]); - - if (!m_bPhantom) - { - if (m_implicitsphere) - { - m_geomId = dCreateSphere (m_space,m_radius*scaling[0]); - } else - { - m_geomId = dCreateBox (m_space, m_extends[0]*scaling[0],m_extends[1]*scaling[1],m_extends[2]*scaling[2]); - } - } else - { - m_geomId=0; - } - - if (m_geomId) - dGeomSetData(m_geomId,this); - - if (!this->m_OdeDyna) - { - if (!m_bPhantom) - { - dGeomSetPosition (this->m_geomId,worldpos[0],worldpos[1],worldpos[2]); - dMatrix3 R; - dQtoR (worldquat, R); - dGeomSetRotation (this->m_geomId,R); - } - } else - { - //it's dynamic, so create a 'model' - m_bodyId = dBodyCreate(this->m_world); - dBodySetPosition (m_bodyId,worldpos[0],worldpos[1],worldpos[2]); - dBodySetQuaternion (this->m_bodyId,worldquat); - //this contains both scalar mass and inertia tensor - dMass m; - float length=1,width=1,height=1; - dMassSetBox (&m,1,m_extends[0]*scaling[0],m_extends[1]*scaling[1],m_extends[2]*scaling[2]); - dMassAdjust (&m,this->m_mass); - dBodySetMass (m_bodyId,&m); - - if (!m_bPhantom) - { - dGeomSetBody (m_geomId,m_bodyId); - } - - - } - - if (this->m_OdeDyna && !m_bFullRigidBody) - { - // ?? huh? what to do here? - } - } - - - - if (m_OdeDyna) - { - if (this->m_OdeSuspendDynamics) - { - return false; - } - - const float* worldPos = (float *)dBodyGetPosition(m_bodyId); - m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); - - const float* worldquat = (float *)dBodyGetQuaternion(m_bodyId); - m_MotionState->setWorldOrientation(worldquat[1],worldquat[2],worldquat[3],worldquat[0]); - } - else { - // not a dyna, so dynamics (i.e. this controller) has not updated - // anything. BUT! an Ipo or something else might have changed the - // position/orientation of this geometry. - // so update the static geom position - - /// \todo impart some extra impulse to colliding objects! - dQuaternion worldquat; - float worldpos[3]; - -#ifdef dDOUBLE - m_MotionState->getWorldOrientation((float)worldquat[1], - (float)worldquat[2],(float)worldquat[3],(float)worldquat[0]); -#else - m_MotionState->getWorldOrientation(worldquat[1], - worldquat[2],worldquat[3],worldquat[0]); -#endif - m_MotionState->getWorldPosition(worldpos[0],worldpos[1],worldpos[2]); - - float scaling[3]; - m_MotionState->getWorldScaling(scaling[0],scaling[1],scaling[2]); - - /// \todo handle scaling! what if Ipo changes scale of object? - // Must propagate to geom... is scaling geoms possible with ODE? Also - // what about scaling trimeshes, that is certainly difficult... - dGeomSetPosition (this->m_geomId,worldpos[0],worldpos[1],worldpos[2]); - dMatrix3 R; - dQtoR (worldquat, R); - dGeomSetRotation (this->m_geomId,R); - } - - return false; //it update the worldpos -} - -PHY_IMotionState* ODEPhysicsController::GetMotionState() -{ - return m_MotionState; -} - - -// kinematic methods -void ODEPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local) -{ - -} -void ODEPhysicsController::RelativeRotate(const float drot[9],bool local) -{ -} -void ODEPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal) -{ - - dQuaternion worldquat; - worldquat[0] = quatReal; - worldquat[1] = quatImag0; - worldquat[2] = quatImag1; - worldquat[3] = quatImag2; - - if (!this->m_OdeDyna) - { - dMatrix3 R; - dQtoR (worldquat, R); - dGeomSetRotation (this->m_geomId,R); - } else - { - dBodySetQuaternion (m_bodyId,worldquat); - this->m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); - } - -} - -void ODEPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal) -{ - float q[4]; - this->m_MotionState->getWorldOrientation(q[0],q[1],q[2],q[3]); - quatImag0=q[0]; - quatImag1=q[1]; - quatImag2=q[2]; - quatReal=q[3]; -} - -void ODEPhysicsController::getPosition(PHY__Vector3& pos) const -{ - m_MotionState->getWorldPosition(pos[0],pos[1],pos[2]); - -} - -void ODEPhysicsController::setPosition(float posX,float posY,float posZ) -{ - if (!m_bPhantom) - { - if (!this->m_OdeDyna) - { - dGeomSetPosition (m_geomId, posX, posY, posZ); - } else - { - dBodySetPosition (m_bodyId, posX, posY, posZ); - } - } -} -void ODEPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ) -{ -} - -// physics methods -void ODEPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local) -{ - if (m_OdeDyna) { - if(local) { - dBodyAddRelTorque(m_bodyId, torqueX, torqueY, torqueZ); - } else { - dBodyAddTorque (m_bodyId, torqueX, torqueY, torqueZ); - } - } -} - -void ODEPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local) -{ - if (m_OdeDyna) { - if(local) { - dBodyAddRelForce(m_bodyId, forceX, forceY, forceZ); - } else { - dBodyAddForce (m_bodyId, forceX, forceY, forceZ); - } - } -} - -void ODEPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local) -{ - if (m_OdeDyna) { - if(local) { - // TODO: translate angular vel into local frame, then apply - } else { - dBodySetAngularVel (m_bodyId, ang_velX,ang_velY,ang_velZ); - } - } -} - -void ODEPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local) -{ - if (m_OdeDyna) - { - dVector3 vel = {lin_velX,lin_velY,lin_velZ, 1.0}; - if (local) - { - dMatrix3 worldmat; - dVector3 localvel; - dQuaternion worldquat; - -#ifdef dDOUBLE - m_MotionState->getWorldOrientation((float)worldquat[1], - (float)worldquat[2], (float)worldquat[3],(float)worldquat[0]); -#else - m_MotionState->getWorldOrientation(worldquat[1],worldquat[2], - worldquat[3],worldquat[0]); -#endif - dQtoR (worldquat, worldmat); - - dMULTIPLY0_331 (localvel,worldmat,vel); - dBodySetLinearVel (m_bodyId, localvel[0],localvel[1],localvel[2]); - - } else - { - dBodySetLinearVel (m_bodyId, lin_velX,lin_velY,lin_velZ); - } - } -} - -void ODEPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ) -{ - if (m_OdeDyna) - { - //apply linear and angular effect - const dReal* linvel = dBodyGetLinearVel(m_bodyId); - float mass = getMass(); - if (mass >= 0.00001f) - { - float massinv = 1.f/mass; - float newvel[3]; - newvel[0]=linvel[0]+impulseX*massinv; - newvel[1]=linvel[1]+impulseY*massinv; - newvel[2]=linvel[2]+impulseZ*massinv; - dBodySetLinearVel(m_bodyId,newvel[0],newvel[1],newvel[2]); - - const float* worldPos = (float *)dBodyGetPosition(m_bodyId); - - const float* angvelc = (float *)dBodyGetAngularVel(m_bodyId); - float angvel[3]; - angvel[0]=angvelc[0]; - angvel[1]=angvelc[1]; - angvel[2]=angvelc[2]; - - dVector3 impulse; - impulse[0]=impulseX; - impulse[1]=impulseY; - impulse[2]=impulseZ; - - dVector3 ap; - ap[0]=attachX-worldPos[0]; - ap[1]=attachY-worldPos[1]; - ap[2]=attachZ-worldPos[2]; - - dCROSS(angvel,+=,ap,impulse); - dBodySetAngularVel(m_bodyId,angvel[0],angvel[1],angvel[2]); - - } - - } - -} - -void ODEPhysicsController::SuspendDynamics() -{ - -} - -void ODEPhysicsController::RestoreDynamics() -{ - -} - - -/** - reading out information from physics -*/ -void ODEPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ) -{ - if (m_OdeDyna) - { - const float* vel = (float *)dBodyGetLinearVel(m_bodyId); - linvX = vel[0]; - linvY = vel[1]; - linvZ = vel[2]; - } else - { - linvX = 0.f; - linvY = 0.f; - linvZ = 0.f; - - } -} -/** - GetVelocity parameters are in geometric coordinates (Origin is not center of mass!). -*/ -void ODEPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ) -{ - -} - - -void ODEPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ) -{ - -} -void ODEPhysicsController::setRigidBody(bool rigid) -{ - -} - - -void ODEPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl) -{ - m_MotionState = motionstate; - m_bKinematic = false; - m_bPrevKinematic = false; - m_firstTime = true; -} - - -void ODEPhysicsController::SetSimulatedTime(float time) -{ -} - - -void ODEPhysicsController::WriteMotionStateToDynamics(bool nondynaonly) -{ - -} -#endif |