diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.cpp')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 89 |
1 files changed, 52 insertions, 37 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index d6a32dfd9c0..8ba138df437 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -15,7 +15,7 @@ subject to the following restrictions: #include "CcdPhysicsController.h" #include "btBulletDynamicsCommon.h" - +#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" #include "PHY_IMotionState.h" #include "CcdPhysicsEnvironment.h" #include "RAS_MeshObject.h" @@ -126,13 +126,14 @@ void CcdPhysicsController::CreateRigidbody() m_bulletMotionState = new BlenderBulletMotionState(m_MotionState); - m_body = new btRigidBody(m_cci.m_mass, - m_bulletMotionState, - m_collisionShape, - m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor, - m_cci.m_linearDamping,m_cci.m_angularDamping, - m_cci.m_friction,m_cci.m_restitution); - + btRigidBody::btRigidBodyConstructionInfo rbci(m_cci.m_mass,m_bulletMotionState,m_collisionShape,m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); + rbci.m_linearDamping = m_cci.m_linearDamping; + rbci.m_angularDamping = m_cci.m_angularDamping; + rbci.m_friction = m_cci.m_friction; + rbci.m_restitution = m_cci.m_restitution; + + m_body = new btRigidBody(rbci); + // // init the rigidbody properly // @@ -276,7 +277,9 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta if (m_collisionShape) { // new shape has no scaling, apply initial scaling + m_collisionShape->setMargin(m_cci.m_margin); m_collisionShape->setLocalScaling(m_cci.m_scaling); + if (m_cci.m_mass) m_collisionShape->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor); } @@ -767,6 +770,8 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) // assume no shape information m_shapeType = PHY_SHAPE_NONE; m_vertexArray.clear(); + m_polygonIndexArray.clear(); + m_meshObject = NULL; if (!meshobj) return false; @@ -813,9 +818,7 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) { for (int i=0;i<poly->VertexCount();i++) { - const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[i], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + const float* vtx = poly->GetVertex(i)->getXYZ(); btPoint3 point(vtx[0],vtx[1],vtx[2]); m_vertexArray.push_back(point); numvalidpolys++; @@ -823,40 +826,36 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) } else { { - const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[2], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + const float* vtx = poly->GetVertex(2)->getXYZ(); btPoint3 vertex0(vtx[0],vtx[1],vtx[2]); - vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[1], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + + vtx = poly->GetVertex(1)->getXYZ(); btPoint3 vertex1(vtx[0],vtx[1],vtx[2]); - vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[0], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + + vtx = poly->GetVertex(0)->getXYZ(); btPoint3 vertex2(vtx[0],vtx[1],vtx[2]); + m_vertexArray.push_back(vertex0); m_vertexArray.push_back(vertex1); m_vertexArray.push_back(vertex2); + m_polygonIndexArray.push_back(p2); numvalidpolys++; } if (poly->VertexCount() == 4) { - const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[3], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + const float* vtx = poly->GetVertex(3)->getXYZ(); btPoint3 vertex0(vtx[0],vtx[1],vtx[2]); - vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[2], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + + vtx = poly->GetVertex(2)->getXYZ(); btPoint3 vertex1(vtx[0],vtx[1],vtx[2]); - vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, - poly->GetVertexIndexBase().m_indexarray[0], - poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + + vtx = poly->GetVertex(0)->getXYZ(); btPoint3 vertex2(vtx[0],vtx[1],vtx[2]); + m_vertexArray.push_back(vertex0); m_vertexArray.push_back(vertex1); m_vertexArray.push_back(vertex2); + m_polygonIndexArray.push_back(p2); numvalidpolys++; } } @@ -869,6 +868,7 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) m_shapeType = PHY_SHAPE_NONE; return false; } + m_meshObject = meshobj; return true; } @@ -906,15 +906,26 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() break; case PHY_SHAPE_MESH: - collisionMeshData = new btTriangleMesh(); - // m_vertexArray is necessarily a multiple of 3 - for (std::vector<btPoint3>::iterator it=m_vertexArray.begin(); it != m_vertexArray.end(); ) + // Let's use the latest btScaledBvhTriangleMeshShape: it allows true sharing of + // triangle mesh information between duplicates => drastic performance increase when + // duplicating complex mesh objects. + // BUT it causes a small performance decrease when sharing is not required: + // 9 multiplications/additions and one function call for each triangle that passes the mid phase filtering + // One possible optimization is to use directly the btBvhTriangleMeshShape when the scale is 1,1,1 + // and btScaledBvhTriangleMeshShape otherwise. + if (!m_unscaledShape) { - collisionMeshData->addTriangle(*it++,*it++,*it++); + collisionMeshData = new btTriangleMesh(); + // m_vertexArray is necessarily a multiple of 3 + for (std::vector<btPoint3>::iterator it=m_vertexArray.begin(); it != m_vertexArray.end(); ) + { + collisionMeshData->addTriangle(*it++,*it++,*it++); + } + // this shape will be shared and not deleted until shapeInfo is deleted + m_unscaledShape = new btBvhTriangleMeshShape( collisionMeshData, true ); + m_unscaledShape->recalcLocalAabb(); } - concaveShape = new btBvhTriangleMeshShape( collisionMeshData, true ); - concaveShape->recalcLocalAabb(); - collisionShape = concaveShape; + collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f)); break; case PHY_SHAPE_COMPOUND: @@ -926,6 +937,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() collisionShape = nextShapeInfo->CreateBulletShape(); if (collisionShape) { + collisionShape->setLocalScaling(nextShapeInfo->m_childScale); compoundShape->addChildShape(nextShapeInfo->m_childTrans, collisionShape); } } @@ -954,7 +966,10 @@ CcdShapeConstructionInfo::~CcdShapeConstructionInfo() childShape->Release(); childShape = nextShape; } - + if (m_unscaledShape) + { + DeleteBulletShape(m_unscaledShape); + } m_vertexArray.clear(); } |