diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.cpp')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 97 |
1 files changed, 74 insertions, 23 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index 29ee0310c58..d552cb3dc9e 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -23,6 +23,8 @@ subject to the following restrictions: #include "BulletSoftBody//btSoftBodyInternals.h" #include "BulletSoftBody/btSoftBodyHelpers.h" #include "LinearMath/btConvexHull.h" +#include "BulletCollision/Gimpact/btGImpactShape.h" + #include "BulletSoftBody/btSoftRigidDynamicsWorld.h" @@ -46,10 +48,13 @@ btVector3 startVel(0,0,0);//-10000); CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) :m_cci(ci) { + m_prototypeTransformInitialized = false; + m_softbodyMappingDone = false; m_collisionDelay = 0; m_newClientInfo = 0; m_registerCount = 0; - + m_softBodyTransformInitialized = false; + // copy pointers locally to allow smart release m_MotionState = ci.m_MotionState; m_collisionShape = ci.m_collisionShape; @@ -144,7 +149,7 @@ btSoftBody* CcdPhysicsController::GetSoftBody() void CcdPhysicsController::CreateRigidbody() { - btTransform trans = GetTransformFromMotionState(m_MotionState); + //btTransform trans = GetTransformFromMotionState(m_MotionState); m_bulletMotionState = new BlenderBulletMotionState(m_MotionState); ///either create a btCollisionObject, btRigidBody or btSoftBody @@ -189,18 +194,12 @@ void CcdPhysicsController::CreateRigidbody() if (m_cci.m_collisionShape->getShapeType() == CONVEX_HULL_SHAPE_PROXYTYPE) { btConvexHullShape* convexHull = (btConvexHullShape* )m_cci.m_collisionShape; - btAlignedObjectArray<btVector3> transformedVertices; - transformedVertices.resize(convexHull->getNumPoints()); - for (int i=0;i<convexHull->getNumPoints();i++) - { - transformedVertices[i] = trans(convexHull->getPoints()[i]); - } //psb = btSoftBodyHelpers::CreateFromConvexHull(sbi,&transformedVertices[0],convexHull->getNumPoints()); { int nvertices = convexHull->getNumPoints(); - const btVector3* vertices = &transformedVertices[0]; + const btVector3* vertices = convexHull->getPoints(); btSoftBodyWorldInfo& worldInfo = softDynaWorld->getWorldInfo(); HullDesc hdsc(QF_TRIANGLES,nvertices,vertices); @@ -226,7 +225,7 @@ void CcdPhysicsController::CreateRigidbody() { RAS_MeshObject* rasMesh= GetShapeInfo()->GetMesh(); - if (rasMesh) + if (rasMesh && !m_softbodyMappingDone) { //printf("apply\n"); @@ -251,17 +250,20 @@ void CcdPhysicsController::CreateRigidbody() for(i=it.startvertex; i<it.endvertex; i++,index++) { RAS_TexVert* vertex = &it.vertex[i]; + + //search closest index, and store it in vertex vertex->setSoftBodyIndex(0); btScalar maxDistSqr = 1e30; btSoftBody::tNodeArray& nodes(psb->m_nodes); - btVector3 xyz = trans(btVector3(vertex->getXYZ()[0],vertex->getXYZ()[1],vertex->getXYZ()[2])); + btVector3 xyz = btVector3(vertex->getXYZ()[0],vertex->getXYZ()[1],vertex->getXYZ()[2]); for (int n=0;n<nodes.size();n++) { btScalar distSqr = (nodes[n].m_x - xyz).length2(); if (distSqr<maxDistSqr) { maxDistSqr = distSqr; + vertex->setSoftBodyIndex(n); } } @@ -330,6 +332,7 @@ void CcdPhysicsController::CreateRigidbody() } + m_softbodyMappingDone = true; m_object = psb; @@ -408,6 +411,13 @@ void CcdPhysicsController::CreateRigidbody() m_MotionState->setWorldPosition(startTrans.getOrigin().getX(),startTrans.getOrigin().getY(),startTrans.getOrigin().getZ()); m_MotionState->setWorldOrientation(0,0,0,1); + if (!m_prototypeTransformInitialized) + { + m_prototypeTransformInitialized = true; + m_softBodyTransformInitialized = true; + GetSoftBody()->transform(startTrans); + } + // btVector3 wp = m_softBody->getWorldTransform().getOrigin(); // MT_Point3 center(wp.getX(),wp.getY(),wp.getZ()); // m_gameobj->NodeSetWorldPosition(center); @@ -572,6 +582,7 @@ void CcdPhysicsController::WriteDynamicsToMotionState() // controller replication void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl) { + m_softBodyTransformInitialized=false; m_MotionState = motionstate; m_registerCount = 0; m_collisionShape = NULL; @@ -652,7 +663,7 @@ void CcdPhysicsController::SetCenterOfMassTransform(btTransform& xform) //either collision object or soft body? if (GetSoftBody()) { - //not yet + } else { @@ -761,6 +772,9 @@ void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float SetCenterOfMassTransform(xform); // not required //m_bulletMotionState->setWorldTransform(xform); + + + } } @@ -781,6 +795,15 @@ void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn) SetCenterOfMassTransform(xform); // not required //m_bulletMotionState->setWorldTransform(xform); + //only once! + if (!m_softBodyTransformInitialized && GetSoftBody()) + { + m_softbodyStartTrans.setBasis(orn); + xform.setOrigin(m_softbodyStartTrans.getOrigin()); + GetSoftBody()->transform(xform); + m_softBodyTransformInitialized = true; + } + } } @@ -799,6 +822,8 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ) btTransform xform = m_object->getWorldTransform(); xform.setOrigin(btVector3(posX,posY,posZ)); SetCenterOfMassTransform(xform); + if (!m_softBodyTransformInitialized) + m_softbodyStartTrans.setOrigin(xform.getOrigin()); // not required //m_bulletMotionState->setWorldTransform(xform); } @@ -931,6 +956,15 @@ void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } + btSoftBody* soft = GetSoftBody(); + if (soft) + { + if (local) + { + linVel = m_softbodyStartTrans.getBasis()*linVel; + } + soft->setVelocity(linVel); + } else { btTransform xform = m_object->getWorldTransform(); if (local) @@ -940,7 +974,6 @@ void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa btRigidBody* body = GetRigidBody(); if (body) body->setLinearVelocity(linVel); - } } } @@ -1186,8 +1219,10 @@ CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mes return NULL; } -bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) +bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bool useGimpact) { + m_useGimpact = useGimpact; + // assume no shape information // no support for dynamic change of shape yet assert(m_meshObject == NULL); @@ -1353,19 +1388,35 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() // 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) + if (m_useGimpact) { - 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 = 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++); + } + btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(collisionMeshData); + + collisionShape = gimpactShape; + gimpactShape->updateBound(); + + } else + { + 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(); } - // this shape will be shared and not deleted until shapeInfo is deleted - m_unscaledShape = new btBvhTriangleMeshShape( collisionMeshData, true ); - m_unscaledShape->recalcLocalAabb(); + collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f)); } - collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f)); break; case PHY_SHAPE_COMPOUND: |