diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.cpp')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 512 |
1 files changed, 304 insertions, 208 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index 0b9da8f46d3..d22c09b4d3e 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -35,6 +35,10 @@ subject to the following restrictions: #include "DNA_mesh_types.h" #include "DNA_meshdata_types.h" +extern "C"{ +#include "BKE_cdderivedmesh.h" +} + class BP_Proxy; ///todo: fill all the empty CcdPhysicsController methods, hook them up to the btRigidBody class @@ -88,16 +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; } @@ -114,18 +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(); @@ -178,12 +185,12 @@ void CcdPhysicsController::CreateRigidbody() rbci.m_restitution = m_cci.m_restitution; - int nodecount = 0; + + - int numtriangles = 1; btVector3 p(0,0,0);// = getOrigin(); - btScalar h = 1.f; + btSoftRigidDynamicsWorld* softDynaWorld = (btSoftRigidDynamicsWorld*)m_cci.m_physicsEnv->getDynamicsWorld(); @@ -289,7 +296,11 @@ void CcdPhysicsController::CreateRigidbody() } } - + if (m_cci.m_margin > 0.f) + { + psb->getCollisionShape()->setMargin(m_cci.m_margin); + psb->updateBounds(); + } m_object = psb; @@ -489,10 +500,12 @@ 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(); @@ -506,6 +519,8 @@ void CcdPhysicsController::CreateRigidbody() { body->setAngularFactor(0.f); } + body->setContactProcessingThreshold(m_cci.m_contactProcessingThreshold); + } if (m_object && m_cci.m_do_anisotropic) { @@ -572,10 +587,22 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) btSoftBody* sb = GetSoftBody(); if (sb) { - btVector3 aabbMin,aabbMax; - sb->getAabb(aabbMin,aabbMax); - btVector3 worldPos = (aabbMax+aabbMin)*0.5f; - m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); + if (sb->m_pose.m_bframe) + { + btVector3 worldPos = sb->m_pose.m_com; + btQuaternion worldquat; + btMatrix3x3 trs = sb->m_pose.m_rot*sb->m_pose.m_scl; + trs.getRotation(worldquat); + m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); + m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]); + } + else + { + btVector3 aabbMin,aabbMax; + sb->getAabb(aabbMin,aabbMax); + btVector3 worldPos = (aabbMax+aabbMin)*0.5f; + m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); + } m_MotionState->calculateWorldTransformations(); return true; } @@ -597,12 +624,13 @@ 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]; @@ -639,8 +667,10 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) void CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly) { - + btTransform& xform = CcdPhysicsController::GetTransformFromMotionState(m_MotionState); + SetCenterOfMassTransform(xform); } + void CcdPhysicsController::WriteDynamicsToMotionState() { } @@ -657,12 +687,12 @@ 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) @@ -670,19 +700,29 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta } } + // load some characterists that are not + btRigidBody* oldbody = GetRigidBody(); m_object = 0; CreateRigidbody(); - btRigidBody* body = GetRigidBody(); - if (body) { if (m_cci.m_mass) { body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); } - } - m_cci.m_physicsEnv->addCcdPhysicsController(this); + + if (oldbody) + { + body->setLinearFactor(oldbody->getLinearFactor()); + body->setAngularFactor(oldbody->getAngularFactor()); + if (oldbody->getActivationState() == DISABLE_DEACTIVATION) + body->setActivationState(DISABLE_DEACTIVATION); + } + } + // sensor object are added when needed + if (!m_cci.m_bSensor) + m_cci.m_physicsEnv->addCcdPhysicsController(this); /* SM_Object* dynaparent=0; @@ -759,10 +799,13 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc 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); + // kinematic object should not set the transform, it disturbs the velocity interpolation + return; } - btRigidBody* body = GetRigidBody(); + // btRigidBody* body = GetRigidBody(); // not used anymore btVector3 dloc(dlocX,dlocY,dlocZ); btTransform xform = m_object->getWorldTransform(); @@ -785,7 +828,10 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) 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); + // kinematic object should not set the transform, it disturbs the velocity interpolation + return; } btMatrix3x3 drotmat( rotval[0],rotval[4],rotval[8], @@ -808,10 +854,9 @@ void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) void CcdPhysicsController::GetWorldOrientation(btMatrix3x3& mat) { - float orn[4]; - m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]); - btQuaternion quat(orn[0],orn[1],orn[2],orn[3]); - mat.setRotation(quat); + float ori[12]; + m_MotionState->getWorldOrientation(ori); + mat.setFromOpenGLSubMatrix(ori); } void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal) @@ -829,7 +874,10 @@ void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float 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); + // kinematic object should not set the transform, it disturbs the velocity interpolation + return; } // not required //m_MotionState->setWorldOrientation(quatImag0,quatImag1,quatImag2,quatReal); @@ -850,7 +898,7 @@ 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); } @@ -881,7 +929,10 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ) 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); + // kinematic object should not set the transform, it disturbs the velocity interpolation + return; } // not required, this function is only used to update the physic controller //m_MotionState->setWorldPosition(posX,posY,posZ); @@ -893,9 +944,19 @@ 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) { } @@ -945,14 +1006,24 @@ 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) { torque = xform.getBasis()*torque; } if (body) + { + //workaround for incompatibility between 'DYNAMIC' game object, and angular factor + //a DYNAMIC object has some inconsistency: it has no angular effect due to collisions, but still has torque + const btVector3& angFac = body->getAngularFactor(); + btVector3 tmpFac(0,0,1); + body->setAngularFactor(tmpFac); body->applyTorque(torque); + body->setAngularFactor(angFac); + } } } @@ -966,27 +1037,26 @@ 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); } } } @@ -998,19 +1068,18 @@ 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); } } @@ -1023,7 +1092,8 @@ 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; } @@ -1057,7 +1127,9 @@ 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); @@ -1184,7 +1256,7 @@ 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) { @@ -1251,28 +1323,22 @@ 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); @@ -1293,9 +1359,9 @@ void DefaultMotionState::calculateWorldTransformations() // Shape constructor std::map<RAS_MeshObject*, CcdShapeConstructionInfo*> CcdShapeConstructionInfo::m_meshShapeMap; -CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mesh, bool polytope) +CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope, bool gimpact) { - if (polytope) + if (polytope || dm || gimpact) // not yet supported return NULL; @@ -1305,9 +1371,9 @@ CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mes return NULL; } -bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bool useGimpact) +bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, DerivedMesh* dm, bool polytope,bool useGimpact) { - int numpolys; + int numpolys, numverts; m_useGimpact = useGimpact; @@ -1316,6 +1382,7 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo assert(IsUnused()); m_shapeType = PHY_SHAPE_NONE; m_meshObject = NULL; + bool free_dm = false; // No mesh object or mesh has no polys if (!meshobj || meshobj->HasColliderPolygon()==false) { @@ -1325,164 +1392,182 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo return false; } - numpolys = meshobj->NumPolygons(); + if (!dm) { + free_dm = true; + dm = CDDM_from_mesh(meshobj->GetMesh(), NULL); + } + + 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); m_shapeType = (polytope) ? PHY_SHAPE_POLYTOPE : PHY_SHAPE_MESH; /* Convert blender geometry into bullet mesh, need these vars for mapping */ - vector<bool> vert_tag_array(meshobj->GetMesh()->totvert, false); + vector<bool> vert_tag_array(numverts, false); unsigned int tot_bt_verts= 0; - unsigned int orig_index; - int i; if (polytope) { // Tag verts we're using for (int p2=0; p2<numpolys; p2++) { - RAS_Polygon* poly= meshobj->GetPolygon(p2); + MFace* mf = &mface[p2]; + RAS_Polygon* poly = meshobj->GetPolygon(index[p2]); // only add polygons that have the collision flag set if (poly->IsCollider()) { - for(i=0; i<poly->VertexCount(); i++) { - orig_index= poly->GetVertex(i)->getOrigIndex(); - if (vert_tag_array[orig_index]==false) - { - vert_tag_array[orig_index]= true; - tot_bt_verts++; - } - } + if (vert_tag_array[mf->v1]==false) {vert_tag_array[mf->v1]= true;tot_bt_verts++;} + if (vert_tag_array[mf->v2]==false) {vert_tag_array[mf->v2]= true;tot_bt_verts++;} + if (vert_tag_array[mf->v3]==false) {vert_tag_array[mf->v3]= true;tot_bt_verts++;} + if (mf->v4 && vert_tag_array[mf->v4]==false) {vert_tag_array[mf->v4]= true;tot_bt_verts++;} } } - m_vertexArray.resize(tot_bt_verts); + m_vertexArray.resize(tot_bt_verts*3); - btVector3 *bt= &m_vertexArray[0]; + btScalar *bt= &m_vertexArray[0]; for (int p2=0; p2<numpolys; p2++) { - RAS_Polygon* poly= meshobj->GetPolygon(p2); + MFace* mf = &mface[p2]; + RAS_Polygon* poly= meshobj->GetPolygon(index[p2]); // only add polygons that have the collisionflag set if (poly->IsCollider()) { - for(i=0; i<poly->VertexCount(); i++) { - RAS_TexVert *v= poly->GetVertex(i); - orig_index= v->getOrigIndex(); - - if (vert_tag_array[orig_index]==true) - { - const float* vtx = v->getXYZ(); - vert_tag_array[orig_index]= false; - - bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]); - bt++; - } + if (vert_tag_array[mf->v1]==true) + { + const float* vtx = mvert[mf->v1].co; + vert_tag_array[mf->v1]= false; + *bt++ = vtx[0]; + *bt++ = vtx[1]; + *bt++ = vtx[2]; + } + if (vert_tag_array[mf->v2]==true) + { + const float* vtx = mvert[mf->v2].co; + vert_tag_array[mf->v2]= false; + *bt++ = vtx[0]; + *bt++ = vtx[1]; + *bt++ = vtx[2]; + } + if (vert_tag_array[mf->v3]==true) + { + const float* vtx = mvert[mf->v3].co; + vert_tag_array[mf->v3]= false; + *bt++ = vtx[0]; + *bt++ = vtx[1]; + *bt++ = vtx[2]; + } + if (mf->v4 && vert_tag_array[mf->v4]==true) + { + const float* vtx = mvert[mf->v4].co; + vert_tag_array[mf->v4]= false; + *bt++ = vtx[0]; + *bt++ = vtx[1]; + *bt++ = vtx[2]; } } } } else { unsigned int tot_bt_tris= 0; - vector<int> vert_remap_array(meshobj->GetMesh()->totvert, 0); + vector<int> vert_remap_array(numverts, 0); // Tag verts we're using for (int p2=0; p2<numpolys; p2++) { - RAS_Polygon* poly= meshobj->GetPolygon(p2); + MFace* mf = &mface[p2]; + RAS_Polygon* poly= meshobj->GetPolygon(index[p2]); // only add polygons that have the collision flag set if (poly->IsCollider()) { - for(i=0; i<poly->VertexCount(); i++) { - orig_index= poly->GetVertex(i)->getOrigIndex(); - if (vert_tag_array[orig_index]==false) - { - vert_tag_array[orig_index]= true; - vert_remap_array[orig_index]= tot_bt_verts; - tot_bt_verts++; - } - } - - tot_bt_tris += (i==4 ? 2:1); /* a quad or a tri */ + if (vert_tag_array[mf->v1]==false) + {vert_tag_array[mf->v1]= true;vert_remap_array[mf->v1]= tot_bt_verts;tot_bt_verts++;} + if (vert_tag_array[mf->v2]==false) + {vert_tag_array[mf->v2]= true;vert_remap_array[mf->v2]= tot_bt_verts;tot_bt_verts++;} + if (vert_tag_array[mf->v3]==false) + {vert_tag_array[mf->v3]= true;vert_remap_array[mf->v3]= tot_bt_verts;tot_bt_verts++;} + if (mf->v4 && vert_tag_array[mf->v4]==false) + {vert_tag_array[mf->v4]= true;vert_remap_array[mf->v4]= tot_bt_verts;tot_bt_verts++;} + tot_bt_tris += (mf->v4 ? 2:1); /* a quad or a tri */ } } - m_vertexArray.resize(tot_bt_verts); + m_vertexArray.resize(tot_bt_verts*3); m_polygonIndexArray.resize(tot_bt_tris); m_triFaceArray.resize(tot_bt_tris*3); - btVector3 *bt= &m_vertexArray[0]; + btScalar *bt= &m_vertexArray[0]; int *poly_index_pt= &m_polygonIndexArray[0]; int *tri_pt= &m_triFaceArray[0]; - for (int p2=0; p2<numpolys; p2++) { - RAS_Polygon* poly= meshobj->GetPolygon(p2); + MFace* mf = &mface[p2]; + RAS_Polygon* poly= meshobj->GetPolygon(index[p2]); // only add polygons that have the collisionflag set if (poly->IsCollider()) { - RAS_TexVert *v1= poly->GetVertex(0); - RAS_TexVert *v2= poly->GetVertex(1); - RAS_TexVert *v3= poly->GetVertex(2); - int i1= v1->getOrigIndex(); - int i2= v2->getOrigIndex(); - int i3= v3->getOrigIndex(); - const float* vtx; + MVert *v1= &mvert[mf->v1]; + MVert *v2= &mvert[mf->v2]; + MVert *v3= &mvert[mf->v3]; // the face indicies - tri_pt[0]= vert_remap_array[i1]; - tri_pt[1]= vert_remap_array[i2]; - tri_pt[2]= vert_remap_array[i3]; + tri_pt[0]= vert_remap_array[mf->v1]; + tri_pt[1]= vert_remap_array[mf->v2]; + tri_pt[2]= vert_remap_array[mf->v3]; tri_pt= tri_pt+3; // m_polygonIndexArray - *poly_index_pt= p2; + *poly_index_pt= index[p2]; poly_index_pt++; // the vertex location - if (vert_tag_array[i1]==true) { /* *** v1 *** */ - vert_tag_array[i1]= false; - vtx = v1->getXYZ(); - bt->setX(vtx[0]); bt->setY( vtx[1]); bt->setZ(vtx[2]); - bt++; + if (vert_tag_array[mf->v1]==true) { /* *** v1 *** */ + vert_tag_array[mf->v1]= false; + *bt++ = v1->co[0]; + *bt++ = v1->co[1]; + *bt++ = v1->co[2]; } - if (vert_tag_array[i2]==true) { /* *** v2 *** */ - vert_tag_array[i2]= false; - vtx = v2->getXYZ(); - bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]); - bt++; + if (vert_tag_array[mf->v2]==true) { /* *** v2 *** */ + vert_tag_array[mf->v2]= false; + *bt++ = v2->co[0]; + *bt++ = v2->co[1]; + *bt++ = v2->co[2]; } - if (vert_tag_array[i3]==true) { /* *** v3 *** */ - vert_tag_array[i3]= false; - vtx = v3->getXYZ(); - bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]); - bt++; + if (vert_tag_array[mf->v3]==true) { /* *** v3 *** */ + vert_tag_array[mf->v3]= false; + *bt++ = v3->co[0]; + *bt++ = v3->co[1]; + *bt++ = v3->co[2]; } - if (poly->VertexCount()==4) + if (mf->v4) { - RAS_TexVert *v4= poly->GetVertex(3); - int i4= v4->getOrigIndex(); + MVert *v4= &mvert[mf->v4]; - tri_pt[0]= vert_remap_array[i1]; - tri_pt[1]= vert_remap_array[i3]; - tri_pt[2]= vert_remap_array[i4]; + tri_pt[0]= vert_remap_array[mf->v1]; + tri_pt[1]= vert_remap_array[mf->v3]; + tri_pt[2]= vert_remap_array[mf->v4]; tri_pt= tri_pt+3; // m_polygonIndexArray - *poly_index_pt= p2; + *poly_index_pt= index[p2]; poly_index_pt++; // the vertex location - if (vert_tag_array[i4]==true) { /* *** v4 *** */ - vert_tag_array[i4]= false; - vtx = v4->getXYZ(); - bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]); - bt++; + if (vert_tag_array[mf->v4]==true) { /* *** v4 *** */ + vert_tag_array[mf->v4]= false; + *bt++ = v4->co[0]; + *bt++ = v4->co[1]; + *bt++ = v4->co[2]; } } } @@ -1514,7 +1599,13 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bo #endif m_meshObject = meshobj; - if (!polytope) + if (free_dm) { + dm->release(dm); + dm = NULL; + } + + // sharing only on static mesh at present, if you change that, you must also change in FindMesh + if (!polytope && !dm && !useGimpact) { // triangle shape can be shared, store the mesh object in the map m_meshShapeMap.insert(std::pair<RAS_MeshObject*,CcdShapeConstructionInfo*>(meshobj,this)); @@ -1533,15 +1624,13 @@ bool CcdShapeConstructionInfo::SetProxy(CcdShapeConstructionInfo* shapeInfo) return true; } -btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() +btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin) { btCollisionShape* collisionShape = 0; - btTriangleMeshShape* concaveShape = 0; - btCompoundShape* compoundShape = 0; - CcdShapeConstructionInfo* nextShapeInfo; + btCompoundShape* compoundShape = 0; if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL) - return m_shapeProxy->CreateBulletShape(); + return m_shapeProxy->CreateBulletShape(margin); switch (m_shapeType) { @@ -1550,22 +1639,27 @@ 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].getX(), m_vertexArray.size()); + collisionShape = new btConvexHullShape(&m_vertexArray[0], m_vertexArray.size()/3, 3*sizeof(btScalar)); + collisionShape->setMargin(margin); break; case PHY_SHAPE_MESH: @@ -1582,13 +1676,13 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() m_polygonIndexArray.size(), &m_triFaceArray[0], 3*sizeof(int), - m_vertexArray.size(), - (btScalar*) &m_vertexArray[0].x(), - sizeof(btVector3) + m_vertexArray.size()/3, + &m_vertexArray[0], + 3*sizeof(btScalar) ); btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(indexVertexArrays); - + gimpactShape->setMargin(margin); collisionShape = gimpactShape; gimpactShape->updateBound(); @@ -1606,13 +1700,14 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() collisionMeshData->m_weldingThreshold = m_weldingThreshold1; bool removeDuplicateVertices=true; // m_vertexArray not in multiple of 3 anymore, use m_triFaceArray - for(int i=0; i<m_triFaceArray.size(); i+=3) { - collisionMeshData->addTriangle( - m_vertexArray[m_triFaceArray[i]], - m_vertexArray[m_triFaceArray[i+1]], - m_vertexArray[m_triFaceArray[i+2]], - removeDuplicateVertices - ); + for(unsigned int i=0; i<m_triFaceArray.size(); i+=3) { + btScalar *bt = &m_vertexArray[3*m_triFaceArray[i]]; + btVector3 v1(bt[0], bt[1], bt[2]); + bt = &m_vertexArray[3*m_triFaceArray[i+1]]; + btVector3 v2(bt[0], bt[1], bt[2]); + bt = &m_vertexArray[3*m_triFaceArray[i+2]]; + btVector3 v3(bt[0], bt[1], bt[2]); + collisionMeshData->addTriangle(v1, v2, v3, removeDuplicateVertices); } indexVertexArrays = collisionMeshData; @@ -1622,9 +1717,9 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() m_polygonIndexArray.size(), &m_triFaceArray[0], 3*sizeof(int), - m_vertexArray.size(), - (btScalar*) &m_vertexArray[0].x(), - sizeof(btVector3)); + m_vertexArray.size()/3, + &m_vertexArray[0], + 3*sizeof(btScalar)); } // this shape will be shared and not deleted until shapeInfo is deleted @@ -1632,6 +1727,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() m_unscaledShape->recalcLocalAabb(); } collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f)); + collisionShape->setMargin(margin); } break; @@ -1643,7 +1739,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() sit != m_shapeArray.end(); sit++) { - collisionShape = (*sit)->CreateBulletShape(); + collisionShape = (*sit)->CreateBulletShape(margin); if (collisionShape) { collisionShape->setLocalScaling((*sit)->m_childScale); |