diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.cpp')
-rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 401 |
1 files changed, 382 insertions, 19 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index 3c41a856660..20e830c9dc3 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -22,6 +22,8 @@ subject to the following restrictions: #include "PHY_IMotionState.h" #include "CcdPhysicsEnvironment.h" #include "RAS_MeshObject.h" +#include "KX_GameObject.h" + #include "BulletSoftBody/btSoftBody.h" #include "BulletSoftBody//btSoftBodyInternals.h" #include "BulletSoftBody/btSoftBodyHelpers.h" @@ -529,7 +531,7 @@ void CcdPhysicsController::CreateRigidbody() } -static void DeleteBulletShape(btCollisionShape* shape) +static void DeleteBulletShape(btCollisionShape* shape, bool free) { if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) { @@ -539,21 +541,13 @@ static void DeleteBulletShape(btCollisionShape* shape) if (meshInterface) delete meshInterface; } - delete shape; + if(free) { + delete shape; + } } -CcdPhysicsController::~CcdPhysicsController() +bool CcdPhysicsController::DeleteControllerShape( ) { - //will be reference counted, due to sharing - if (m_cci.m_physicsEnv) - m_cci.m_physicsEnv->removeCcdPhysicsController(this); - - if (m_MotionState) - delete m_MotionState; - if (m_bulletMotionState) - delete m_bulletMotionState; - delete m_object; - if (m_collisionShape) { // collision shape is always unique to the controller, can delete it here @@ -565,11 +559,64 @@ CcdPhysicsController::~CcdPhysicsController() for (int i=numChild-1 ; i >= 0; i--) { btCollisionShape* childShape = compoundShape->getChildShape(i); - DeleteBulletShape(childShape); + DeleteBulletShape(childShape, true); } } - DeleteBulletShape(m_collisionShape); + DeleteBulletShape(m_collisionShape, true); + + return true; } + + return false; +} + +bool CcdPhysicsController::ReplaceControllerShape(btCollisionShape *newShape) +{ + + /* Note, deleting the previous collision shape must be done alredy */ + /* if (m_collisionShape) DeleteControllerShape(); */ + + m_object->setCollisionShape(newShape); + m_collisionShape= newShape; + m_cci.m_collisionShape= newShape; + + + /* Copied from CcdPhysicsEnvironment::addCcdPhysicsController() */ + + /* without this, an object can rest on the old physics mesh + * and not move to account for the physics mesh, even with 'nosleep' */ + btSoftRigidDynamicsWorld* dw= GetPhysicsEnvironment()->getDynamicsWorld(); + btCollisionObjectArray &obarr= dw->getCollisionObjectArray(); + btCollisionObject *ob; + btBroadphaseProxy* proxy; + + for(int i= 0; i < obarr.size(); i++) { + ob= obarr[i]; + if (ob->getCollisionShape() == newShape); { + proxy = obarr[i]->getBroadphaseHandle(); + + if(proxy) + dw->getPairCache()->cleanProxyFromPairs(proxy,dw->getDispatcher()); + } + } + + return true; +} + +CcdPhysicsController::~CcdPhysicsController() +{ + //will be reference counted, due to sharing + if (m_cci.m_physicsEnv) + m_cci.m_physicsEnv->removeCcdPhysicsController(this); + + if (m_MotionState) + delete m_MotionState; + if (m_bulletMotionState) + delete m_bulletMotionState; + delete m_object; + + DeleteControllerShape(); + if (m_shapeInfo) { m_shapeInfo->Release(); @@ -1264,7 +1311,7 @@ PHY_IPhysicsController* CcdPhysicsController::GetReplica() if (m_shapeInfo) { // This situation does not normally happen - cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(0.01); + cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin); } else if (m_collisionShape) { @@ -1621,6 +1668,311 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, DerivedMesh* dm, return true; } +#include <cstdio> + +/* Updates the arrays used by CreateBulletShape(), + * take care that recalcLocalAabb() runs after CreateBulletShape is called. + * */ +bool CcdShapeConstructionInfo::UpdateMesh(class KX_GameObject* gameobj, class RAS_MeshObject* meshobj) +{ + int numpolys; + int numverts; + + unsigned int tot_bt_tris= 0; + unsigned int tot_bt_verts= 0; + + int i, j; + int v_orig; + + /* Use for looping over verts in a face as a try or 2 tris */ + const int quad_verts[7]= {0,1,2, 0,2,3, -1}; + const int tri_verts[4]= {0,1,2, -1}; + const int *fv_pt; + + if(gameobj==NULL && meshobj==NULL) + return false; + + if(m_shapeType != PHY_SHAPE_MESH) + return false; + + RAS_Deformer *deformer= gameobj ? gameobj->GetDeformer():NULL; + + /* get the mesh from the object if not defined */ + if(meshobj==NULL) { + + /* modifier mesh */ + if(deformer && deformer->GetFinalMesh()) + meshobj= deformer->GetRasMesh(); + + /* game object first mesh */ + if(meshobj==NULL) { + if(gameobj->GetMeshCount() > 0) { + meshobj= gameobj->GetMesh(0); + } + } + } + + if(deformer && deformer->GetFinalMesh() && deformer->GetRasMesh() == meshobj) + { /* + * Derived Mesh Update + * + * */ + + DerivedMesh* dm= gameobj->GetDeformer()->GetFinalMesh(); + + MVert *mvert = dm->getVertArray(dm); + MFace *mface = dm->getFaceArray(dm); + numpolys = dm->getNumFaces(dm); + numverts = dm->getNumVerts(dm); + int* index = (int*)dm->getFaceDataArray(dm, CD_ORIGINDEX); + + MFace *mf; + MVert *mv; + + int flen; + + if(CustomData_has_layer(&dm->faceData, CD_MTFACE)) + { + MTFace *tface = (MTFace *)dm->getFaceDataArray(dm, CD_MTFACE); + MTFace *tf; + + vector<bool> vert_tag_array(numverts, false); + vector<int> vert_remap_array(numverts, 0); + + for(mf= mface, tf= tface, i=0; i < numpolys; mf++, tf++, i++) { + if(tf->mode & TF_DYNAMIC) + { + if(mf->v4) { + tot_bt_tris+= 2; + flen= 4; + } else { + tot_bt_tris++; + flen= 3; + } + + for(j=0; j<flen; j++) + { + v_orig = (*(&mf->v1 + j)); + + if(vert_tag_array[v_orig]==false) + { + vert_tag_array[v_orig]= true; + vert_remap_array[v_orig]= tot_bt_verts; + tot_bt_verts++; + } + } + } + } + + m_vertexArray.resize(tot_bt_verts*3); + btScalar *bt= &m_vertexArray[0]; + + m_triFaceArray.resize(tot_bt_tris*3); + int *tri_pt= &m_triFaceArray[0]; + + m_polygonIndexArray.resize(tot_bt_tris); + int *poly_index_pt= &m_polygonIndexArray[0]; + + + for(mf= mface, tf= tface, i=0; i < numpolys; mf++, tf++, i++) + { + if(tf->mode & TF_DYNAMIC) + { + if(mf->v4) { + fv_pt= quad_verts; + *poly_index_pt++ = *poly_index_pt++ = index[i]; + flen= 4; + } else { + fv_pt= tri_verts; + *poly_index_pt++ = index[i]; + flen= 3; + } + + for(; *fv_pt > -1; fv_pt++) + { + v_orig = (*(&mf->v1 + (*fv_pt))); + + if(vert_tag_array[v_orig]) + { + mv= mvert + v_orig; + *bt++ = mv->co[0]; + *bt++ = mv->co[1]; + *bt++ = mv->co[2]; + + vert_tag_array[v_orig]= false; + } + *tri_pt++ = vert_remap_array[v_orig]; + } + } + } + } + else { + /* no need for a vertex mapping. simple/fast */ + + tot_bt_verts= numverts; + + for(mf= mface, i=0; i < numpolys; mf++, i++) { + tot_bt_tris += (mf->v4 ? 2:1); + } + + m_vertexArray.resize(tot_bt_verts*3); + btScalar *bt= &m_vertexArray[0]; + + m_triFaceArray.resize(tot_bt_tris*3); + int *tri_pt= &m_triFaceArray[0]; + + m_polygonIndexArray.resize(tot_bt_tris); + int *poly_index_pt= &m_polygonIndexArray[0]; + + for(mv= mvert, i=0; i < numverts; mv++, i++) { + *bt++ = mv->co[0]; *bt++ = mv->co[1]; *bt++ = mv->co[2]; + } + + for(mf= mface, i=0; i < numpolys; mf++, i++) { + unsigned int *fv = &mf->v1; + + if(mf->v4) { + fv_pt= quad_verts; + *poly_index_pt++ = *poly_index_pt++ = index[i]; + } + else { + fv_pt= tri_verts; + *poly_index_pt++ = index[i]; + } + + for(; *fv_pt > -1; fv_pt++) + *tri_pt++ = (*(&mf->v1 + (*fv_pt))); + } + } + } + else { /* + * RAS Mesh Update + * + * */ + + /* Note!, gameobj can be NULL here */ + + /* transverts are only used for deformed RAS_Meshes, the RAS_TexVert data + * is too hard to get at, see below for details */ + float (*transverts)[3]= NULL; + int transverts_tot= 0; /* with deformed meshes - should always be greater then the max orginal index, or we get crashes */ + + if(deformer) { + /* map locations from the deformed array + * + * Could call deformer->Update(); but rely on redraw updating. + * */ + transverts= deformer->GetTransVerts(&transverts_tot); + } + + // Tag verts we're using + numpolys= meshobj->NumPolygons(); + numverts= meshobj->m_sharedvertex_map.size(); + const float *xyz; + + + vector<bool> vert_tag_array(numverts, false); + vector<int> vert_remap_array(numverts, 0); + + for(int p=0; p<numpolys; p++) + { + RAS_Polygon* poly= meshobj->GetPolygon(p); + if (poly->IsCollider()) + { + for(i=0; i < poly->VertexCount(); i++) + { + v_orig= poly->GetVertex(i)->getOrigIndex(); + if(vert_tag_array[v_orig]==false) + { + vert_tag_array[v_orig]= true; + vert_remap_array[v_orig]= tot_bt_verts; + tot_bt_verts++; + } + } + tot_bt_tris += (poly->VertexCount()==4 ? 2:1); + } + } + + m_vertexArray.resize(tot_bt_verts*3); + btScalar *bt= &m_vertexArray[0]; + + m_triFaceArray.resize(tot_bt_tris*3); + int *tri_pt= &m_triFaceArray[0]; + + /* cant be used for anything useful in this case, since we dont rely on the original mesh + * will just be an array like pythons range(tot_bt_tris) */ + m_polygonIndexArray.resize(tot_bt_tris); + + + for(int p=0; p<numpolys; p++) + { + RAS_Polygon* poly= meshobj->GetPolygon(p); + + if (poly->IsCollider()) + { + /* quad or tri loop */ + fv_pt= (poly->VertexCount()==3 ? tri_verts:quad_verts); + + for(; *fv_pt > -1; fv_pt++) + { + v_orig= poly->GetVertex(*fv_pt)->getOrigIndex(); + + if(vert_tag_array[v_orig]) + { + if(transverts) { + /* deformed mesh, using RAS_TexVert locations would be too troublesome + * because they are use the gameob as a hash in the material slot */ + *bt++ = transverts[v_orig][0]; + *bt++ = transverts[v_orig][1]; + *bt++ = transverts[v_orig][2]; + } + else { + /* static mesh python may have modified */ + xyz= meshobj->GetVertexLocation( v_orig ); + *bt++ = xyz[0]; + *bt++ = xyz[1]; + *bt++ = xyz[2]; + } + + vert_tag_array[v_orig]= false; + } + + *tri_pt++ = vert_remap_array[v_orig]; + } + } + + m_polygonIndexArray[p]= p; /* dumb counting */ + } + } + +#if 0 + /* needs #include <cstdio> */ + printf("# vert count %d\n", m_vertexArray.size()); + for(int i=0; i<m_vertexArray.size(); i+=3) { + printf("v %.6f %.6f %.6f\n", m_vertexArray[i], m_vertexArray[i+1], m_vertexArray[i+2]); + } + + printf("# face count %d\n", m_triFaceArray.size()); + for(int i=0; i<m_triFaceArray.size(); i+=3) { + printf("f %d %d %d\n", m_triFaceArray[i]+1, m_triFaceArray[i+1]+1, m_triFaceArray[i+2]+1); + } +#endif + + /* force recreation of the m_unscaledShape. + * If this has multiple users we cant delete */ + if(m_unscaledShape) { + // dont free now so it can re-allocate under the same location and not break pointers. + // DeleteBulletShape(m_unscaledShape); + m_forceReInstance= true; + } + + m_meshObject= meshobj; + + return true; +} + + + bool CcdShapeConstructionInfo::SetProxy(CcdShapeConstructionInfo* shapeInfo) { if (shapeInfo == NULL) @@ -1696,7 +2048,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin) } else { - if (!m_unscaledShape) + if (!m_unscaledShape || m_forceReInstance) { btTriangleIndexVertexArray* indexVertexArrays = 0; @@ -1731,7 +2083,18 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin) } // this shape will be shared and not deleted until shapeInfo is deleted - m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true ); + + // for UpdateMesh, reuse the last memory location so instancing wont crash. + if(m_unscaledShape) { + DeleteBulletShape(m_unscaledShape, false); + m_unscaledShape->~btBvhTriangleMeshShape(); + + m_unscaledShape = new(m_unscaledShape) btBvhTriangleMeshShape( indexVertexArrays, true ); + } else { + m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true ); + } + + m_forceReInstance= false; m_unscaledShape->recalcLocalAabb(); } collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f)); @@ -1776,7 +2139,7 @@ CcdShapeConstructionInfo::~CcdShapeConstructionInfo() m_shapeArray.clear(); if (m_unscaledShape) { - DeleteBulletShape(m_unscaledShape); + DeleteBulletShape(m_unscaledShape, true); } m_vertexArray.clear(); if (m_shapeType == PHY_SHAPE_MESH && m_meshObject != NULL) |