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path: root/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.cpp')
-rw-r--r--source/gameengine/Physics/Bullet/CcdPhysicsController.cpp199
1 files changed, 111 insertions, 88 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 01e8aa2560f..7302c47f4bf 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -92,16 +92,19 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
}
-btTransform CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
+btTransform& CcdPhysicsController::GetTransformFromMotionState(PHY_IMotionState* motionState)
{
- btTransform trans;
- float tmp[3];
- motionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
- trans.setOrigin(btVector3(tmp[0],tmp[1],tmp[2]));
-
- btQuaternion orn;
- motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
- trans.setRotation(orn);
+ static btTransform trans;
+ btVector3 tmp;
+ motionState->getWorldPosition(tmp.m_floats[0], tmp.m_floats[1], tmp.m_floats[2]);
+ trans.setOrigin(tmp);
+
+ float ori[12];
+ motionState->getWorldOrientation(ori);
+ trans.getBasis().setFromOpenGLSubMatrix(ori);
+ //btQuaternion orn;
+ //motionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
+ //trans.setRotation(orn);
return trans;
}
@@ -118,18 +121,18 @@ public:
}
- virtual void getWorldTransform(btTransform& worldTrans ) const
+ void getWorldTransform(btTransform& worldTrans ) const
{
- float pos[3];
- float quatOrn[4];
+ btVector3 pos;
+ float ori[12];
- m_blenderMotionState->getWorldPosition(pos[0],pos[1],pos[2]);
- m_blenderMotionState->getWorldOrientation(quatOrn[0],quatOrn[1],quatOrn[2],quatOrn[3]);
- worldTrans.setOrigin(btVector3(pos[0],pos[1],pos[2]));
- worldTrans.setBasis(btMatrix3x3(btQuaternion(quatOrn[0],quatOrn[1],quatOrn[2],quatOrn[3])));
+ m_blenderMotionState->getWorldPosition(pos.m_floats[0],pos.m_floats[1],pos.m_floats[2]);
+ m_blenderMotionState->getWorldOrientation(ori);
+ worldTrans.setOrigin(pos);
+ worldTrans.getBasis().setFromOpenGLSubMatrix(ori);
}
- virtual void setWorldTransform(const btTransform& worldTrans)
+ void setWorldTransform(const btTransform& worldTrans)
{
m_blenderMotionState->setWorldPosition(worldTrans.getOrigin().getX(),worldTrans.getOrigin().getY(),worldTrans.getOrigin().getZ());
btQuaternion rotQuat = worldTrans.getRotation();
@@ -493,10 +496,12 @@ void CcdPhysicsController::CreateRigidbody()
//convert collision flags!
//special case: a near/radar sensor controller should not be defined static or it will
//generate loads of static-static collision messages on the console
- if ((m_cci.m_collisionFilterGroup & CcdConstructionInfo::SensorFilter) != 0)
+ if (m_cci.m_bSensor)
{
// reset the flags that have been set so far
GetCollisionObject()->setCollisionFlags(0);
+ // sensor must never go to sleep: they need to detect continously
+ GetCollisionObject()->setActivationState(DISABLE_DEACTIVATION);
}
GetCollisionObject()->setCollisionFlags(m_object->getCollisionFlags() | m_cci.m_collisionFlags);
btRigidBody* body = GetRigidBody();
@@ -613,12 +618,13 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time)
body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_min / len));
}
- const btVector3& worldPos = body->getCenterOfMassPosition();
+ const btTransform& xform = body->getCenterOfMassTransform();
+ const btMatrix3x3& worldOri = xform.getBasis();
+ const btVector3& worldPos = xform.getOrigin();
+ float ori[12];
+ worldOri.getOpenGLSubMatrix(ori);
+ m_MotionState->setWorldOrientation(ori);
m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
-
- const btQuaternion& worldquat = body->getOrientation();
- m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
-
m_MotionState->calculateWorldTransformations();
float scale[3];
@@ -655,8 +661,10 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time)
void CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly)
{
-
+ btTransform& xform = CcdPhysicsController::GetTransformFromMotionState(m_MotionState);
+ SetCenterOfMassTransform(xform);
}
+
void CcdPhysicsController::WriteDynamicsToMotionState()
{
}
@@ -673,12 +681,12 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
if (m_shapeInfo)
{
m_shapeInfo->AddRef();
- m_collisionShape = m_shapeInfo->CreateBulletShape();
+ m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin);
if (m_collisionShape)
{
// new shape has no scaling, apply initial scaling
- m_collisionShape->setMargin(m_cci.m_margin);
+ //m_collisionShape->setMargin(m_cci.m_margin);
m_collisionShape->setLocalScaling(m_cci.m_scaling);
if (m_cci.m_mass)
@@ -697,8 +705,10 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
{
body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
}
- }
- m_cci.m_physicsEnv->addCcdPhysicsController(this);
+ }
+ // sensor object are added when needed
+ if (!m_cci.m_bSensor)
+ m_cci.m_physicsEnv->addCcdPhysicsController(this);
/* SM_Object* dynaparent=0;
@@ -773,7 +783,7 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
if (m_object)
{
m_object->activate(true);
- if (m_object->isStaticObject())
+ if (m_object->isStaticObject() && !m_cci.m_bSensor)
{
m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
@@ -799,7 +809,7 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local)
if (m_object)
{
m_object->activate(true);
- if (m_object->isStaticObject())
+ if (m_object->isStaticObject() && !m_cci.m_bSensor)
{
m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
@@ -843,7 +853,7 @@ void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float
if (m_object)
{
m_object->activate(true);
- if (m_object->isStaticObject())
+ if (m_object->isStaticObject() && !m_cci.m_bSensor)
{
m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
@@ -866,7 +876,7 @@ void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn)
if (m_object)
{
m_object->activate(true);
- if (m_object->isStaticObject())
+ if (m_object->isStaticObject() && !m_cci.m_bSensor)
{
m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
@@ -895,7 +905,7 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ)
if (m_object)
{
m_object->activate(true);
- if (m_object->isStaticObject())
+ if (m_object->isStaticObject() && !m_cci.m_bSensor)
{
m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
@@ -909,9 +919,19 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ)
// not required
//m_bulletMotionState->setWorldTransform(xform);
}
+}
-
+void CcdPhysicsController::forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos)
+{
+ if (m_object)
+ {
+ btTransform& xform = m_object->getWorldTransform();
+ xform.setBasis(mat);
+ xform.setOrigin(pos);
+ }
}
+
+
void CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
{
}
@@ -961,7 +981,9 @@ void CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torque
m_object->activate();
if (m_object->isStaticObject())
{
- m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+ if (!m_cci.m_bSensor)
+ m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+ return;
}
if (local)
{
@@ -989,27 +1011,26 @@ void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo
m_object->activate();
if (m_object->isStaticObject())
{
- m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+ if (!m_cci.m_bSensor)
+ m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+ return;
}
-
+ btTransform xform = m_object->getWorldTransform();
+
+ if (local)
+ {
+ force = xform.getBasis()*force;
+ }
+ btRigidBody* body = GetRigidBody();
+ if (body)
+ body->applyCentralForce(force);
+ btSoftBody* soft = GetSoftBody();
+ if (soft)
{
- btTransform xform = m_object->getWorldTransform();
-
- if (local)
- {
- force = xform.getBasis()*force;
- }
- btRigidBody* body = GetRigidBody();
- if (body)
- body->applyCentralForce(force);
- btSoftBody* soft = GetSoftBody();
- if (soft)
- {
- // the force is applied on each node, must reduce it in the same extend
- if (soft->m_nodes.size() > 0)
- force /= soft->m_nodes.size();
- soft->addForce(force);
- }
+ // the force is applied on each node, must reduce it in the same extend
+ if (soft->m_nodes.size() > 0)
+ force /= soft->m_nodes.size();
+ soft->addForce(force);
}
}
}
@@ -1021,19 +1042,18 @@ void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo
m_object->activate(true);
if (m_object->isStaticObject())
{
- m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
- } else
+ if (!m_cci.m_bSensor)
+ m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+ return;
+ }
+ btTransform xform = m_object->getWorldTransform();
+ if (local)
{
- btTransform xform = m_object->getWorldTransform();
- if (local)
- {
- angvel = xform.getBasis()*angvel;
- }
- btRigidBody* body = GetRigidBody();
- if (body)
- body->setAngularVelocity(angvel);
-
+ angvel = xform.getBasis()*angvel;
}
+ btRigidBody* body = GetRigidBody();
+ if (body)
+ body->setAngularVelocity(angvel);
}
}
@@ -1046,7 +1066,8 @@ void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa
m_object->activate(true);
if (m_object->isStaticObject())
{
- m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+ if (!m_cci.m_bSensor)
+ m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
return;
}
@@ -1080,7 +1101,9 @@ void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac
m_object->activate();
if (m_object->isStaticObject())
{
- m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+ if (!m_cci.m_bSensor)
+ m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+ return;
}
btVector3 pos(attachX,attachY,attachZ);
@@ -1207,7 +1230,7 @@ PHY_IPhysicsController* CcdPhysicsController::GetReplica()
if (m_shapeInfo)
{
// This situation does not normally happen
- cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape();
+ cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(0.01);
}
else if (m_collisionShape)
{
@@ -1274,28 +1297,22 @@ void DefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scal
void DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
{
- quatIma0 = m_worldTransform.getRotation().x();
- quatIma1 = m_worldTransform.getRotation().y();
- quatIma2 = m_worldTransform.getRotation().z();
- quatReal = m_worldTransform.getRotation()[3];
+ btQuaternion quat = m_worldTransform.getRotation();
+ quatIma0 = quat.x();
+ quatIma1 = quat.y();
+ quatIma2 = quat.z();
+ quatReal = quat[3];
}
void DefaultMotionState::getWorldOrientation(float* ori)
{
- *ori++ = m_worldTransform.getBasis()[0].x();
- *ori++ = m_worldTransform.getBasis()[1].x();
- *ori++ = m_worldTransform.getBasis()[1].x();
- *ori++ = 0.f;
- *ori++ = m_worldTransform.getBasis()[0].y();
- *ori++ = m_worldTransform.getBasis()[1].y();
- *ori++ = m_worldTransform.getBasis()[1].y();
- *ori++ = 0.f;
- *ori++ = m_worldTransform.getBasis()[0].z();
- *ori++ = m_worldTransform.getBasis()[1].z();
- *ori++ = m_worldTransform.getBasis()[1].z();
- *ori++ = 0.f;
+ m_worldTransform.getBasis().getOpenGLSubMatrix(ori);
}
+void DefaultMotionState::setWorldOrientation(const float* ori)
+{
+ m_worldTransform.getBasis().setFromOpenGLSubMatrix(ori);
+}
void DefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
{
btVector3 pos(posX,posY,posZ);
@@ -1583,7 +1600,7 @@ bool CcdShapeConstructionInfo::SetProxy(CcdShapeConstructionInfo* shapeInfo)
return true;
}
-btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
+btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
{
btCollisionShape* collisionShape = 0;
btTriangleMeshShape* concaveShape = 0;
@@ -1591,7 +1608,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
CcdShapeConstructionInfo* nextShapeInfo;
if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL)
- return m_shapeProxy->CreateBulletShape();
+ return m_shapeProxy->CreateBulletShape(margin);
switch (m_shapeType)
{
@@ -1600,22 +1617,27 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
case PHY_SHAPE_BOX:
collisionShape = new btBoxShape(m_halfExtend);
+ collisionShape->setMargin(margin);
break;
case PHY_SHAPE_SPHERE:
collisionShape = new btSphereShape(m_radius);
+ collisionShape->setMargin(margin);
break;
case PHY_SHAPE_CYLINDER:
collisionShape = new btCylinderShapeZ(m_halfExtend);
+ collisionShape->setMargin(margin);
break;
case PHY_SHAPE_CONE:
collisionShape = new btConeShapeZ(m_radius, m_height);
+ collisionShape->setMargin(margin);
break;
case PHY_SHAPE_POLYTOPE:
collisionShape = new btConvexHullShape(&m_vertexArray[0], m_vertexArray.size()/3, 3*sizeof(btScalar));
+ collisionShape->setMargin(margin);
break;
case PHY_SHAPE_MESH:
@@ -1638,7 +1660,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
);
btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(indexVertexArrays);
-
+ gimpactShape->setMargin(margin);
collisionShape = gimpactShape;
gimpactShape->updateBound();
@@ -1683,6 +1705,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
m_unscaledShape->recalcLocalAabb();
}
collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f));
+ collisionShape->setMargin(margin);
}
break;
@@ -1694,7 +1717,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
sit != m_shapeArray.end();
sit++)
{
- collisionShape = (*sit)->CreateBulletShape();
+ collisionShape = (*sit)->CreateBulletShape(margin);
if (collisionShape)
{
collisionShape->setLocalScaling((*sit)->m_childScale);
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-30 16:17:12 +0300