diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.cpp')
-rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 200 |
1 files changed, 80 insertions, 120 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index 48f85410cf0..efa90657efc 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -39,7 +39,6 @@ subject to the following restrictions: #include "LinearMath/btConvexHull.h" #include "BulletCollision/Gimpact/btGImpactShape.h" - #include "BulletSoftBody/btSoftRigidDynamicsWorld.h" #include "DNA_mesh_types.h" @@ -599,20 +598,13 @@ void CcdPhysicsController::CreateRigidbody() static void DeleteBulletShape(btCollisionShape* shape, bool free) { - if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) - { - // shapes based on meshes use an interface that contains the vertices. - btTriangleMeshShape* meshShape = static_cast<btTriangleMeshShape*>(shape); - btStridingMeshInterface* meshInterface = meshShape->getMeshInterface(); - if (meshInterface) - delete meshInterface; - } - else if (shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) - { - btGImpactMeshShape* meshShape = static_cast<btGImpactMeshShape*>(shape); - btStridingMeshInterface* meshInterface = meshShape->getMeshInterface(); - if (meshInterface) - delete meshInterface; + if (shape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) { + /* If we use Bullet scaled shape (btScaledBvhTriangleMeshShape) we have to + * free the child of the unscaled shape (btTriangleMeshShape) here. + */ + btTriangleMeshShape *meshShape = ((btScaledBvhTriangleMeshShape *)shape)->getChildShape(); + if (meshShape) + delete meshShape; } if (free) { delete shape; @@ -645,48 +637,41 @@ bool CcdPhysicsController::DeleteControllerShape( ) bool CcdPhysicsController::ReplaceControllerShape(btCollisionShape *newShape) { - - /* Note, deleting the previous collision shape must be done already */ - /* if (m_collisionShape) DeleteControllerShape(); */ + if (m_collisionShape) + DeleteControllerShape(); + + // If newShape is NULL it means to create a new Bullet shape. + if (!newShape) + newShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin, m_cci.m_bGimpact, !m_cci.m_bSoft); m_object->setCollisionShape(newShape); - m_collisionShape= newShape; - m_cci.m_collisionShape= newShape; - - if (GetSoftBody()) { + m_collisionShape = newShape; + m_cci.m_collisionShape = newShape; + + btSoftBody *softBody = GetSoftBody(); + if (softBody) { + btSoftRigidDynamicsWorld *world = GetPhysicsEnvironment()->GetDynamicsWorld(); + // remove the old softBody + world->removeSoftBody(softBody); + // soft body must be recreated - m_cci.m_physicsEnv->RemoveCcdPhysicsController(this); delete m_object; m_object = NULL; // force complete reinitialization m_softbodyMappingDone = false; m_prototypeTransformInitialized = false; m_softBodyTransformInitialized = false; + CreateSoftbody(); assert(m_object); - // reinsert the new body - m_cci.m_physicsEnv->AddCcdPhysicsController(this); - } - - /* 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 = ob->getBroadphaseHandle(); - - if (proxy) - dw->getPairCache()->cleanProxyFromPairs(proxy,dw->getDispatcher()); - } + + btSoftBody *newSoftBody = GetSoftBody(); + // set the user + newSoftBody->setUserPointer(this); + // add the new softbody + world->addSoftBody(newSoftBody); } - + return true; } @@ -1742,30 +1727,22 @@ PHY_IPhysicsController* CcdPhysicsController::GetReplicaForSensors() * 2) from_gameobj - creates the phys mesh from the DerivedMesh where possible, else the RAS_MeshObject * 3) this - update the phys mesh from DerivedMesh or RAS_MeshObject * - * Most of the logic behind this is in shapeInfo->UpdateMesh(...) + * Most of the logic behind this is in m_shapeInfo->UpdateMesh(...) */ bool CcdPhysicsController::ReinstancePhysicsShape(KX_GameObject *from_gameobj, RAS_MeshObject *from_meshobj) { - CcdShapeConstructionInfo *shapeInfo; - - shapeInfo = this->GetShapeInfo(); - - if (shapeInfo->m_shapeType != PHY_SHAPE_MESH/* || spc->GetSoftBody()*/) + if (m_shapeInfo->m_shapeType != PHY_SHAPE_MESH) return false; - this->DeleteControllerShape(); - - if (from_gameobj==NULL && from_meshobj==NULL) - from_gameobj = KX_GameObject::GetClientObject((KX_ClientObjectInfo*)this->GetNewClientInfo()); + if (!from_gameobj && !from_meshobj) + from_gameobj = KX_GameObject::GetClientObject((KX_ClientObjectInfo*)GetNewClientInfo()); /* updates the arrays used for making the new bullet mesh */ - shapeInfo->UpdateMesh(from_gameobj, from_meshobj); + m_shapeInfo->UpdateMesh(from_gameobj, from_meshobj); /* create the new bullet mesh */ - CcdConstructionInfo& cci = this->GetConstructionInfo(); - btCollisionShape* bm= shapeInfo->CreateBulletShape(cci.m_margin, cci.m_bGimpact, !cci.m_bSoft); + GetPhysicsEnvironment()->UpdateCcdPhysicsControllerShape(m_shapeInfo); - this->ReplaceControllerShape(bm); return true; } @@ -2494,11 +2471,9 @@ bool CcdShapeConstructionInfo::UpdateMesh(class KX_GameObject *gameobj, class RA } #endif - /* force recreation of the m_unscaledShape. + /* force recreation of the m_triangleIndexVertexArray. * If this has multiple users we cant delete */ - if (m_unscaledShape) { - // don't free now so it can re-allocate under the same location and not break pointers. - // DeleteBulletShape(m_unscaledShape); + if (m_triangleIndexVertexArray) { m_forceReInstance = true; } @@ -2582,74 +2557,60 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin, b // 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 (useGimpact) - { - btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray( + if (useGimpact) { + if (!m_triangleIndexVertexArray || m_forceReInstance) { + if (m_triangleIndexVertexArray) + delete m_triangleIndexVertexArray; + + m_triangleIndexVertexArray = new btTriangleIndexVertexArray( m_polygonIndexArray.size(), - &m_triFaceArray[0], - 3*sizeof(int), - m_vertexArray.size()/3, + m_triFaceArray.data(), + 3 * sizeof(int), + m_vertexArray.size() / 3, &m_vertexArray[0], - 3*sizeof(btScalar) - ); - btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(indexVertexArrays); - gimpactShape->setMargin(margin); - gimpactShape->updateBound(); - collisionShape = gimpactShape; - - - } else - { - if (!m_unscaledShape || m_forceReInstance) - { - - btTriangleIndexVertexArray* indexVertexArrays = 0; + 3 * sizeof(btScalar)); + m_forceReInstance = false; + } + btGImpactMeshShape *gimpactShape = new btGImpactMeshShape(m_triangleIndexVertexArray); + gimpactShape->setMargin(margin); + gimpactShape->updateBound(); + collisionShape = gimpactShape; + } + else { + if (!m_triangleIndexVertexArray || m_forceReInstance) { ///enable welding, only for the objects that need it (such as soft bodies) - if (0.f != m_weldingThreshold1) - { - btTriangleMesh* collisionMeshData = new btTriangleMesh(true,false); + if (0.0f != m_weldingThreshold1) { + btTriangleMesh *collisionMeshData = new btTriangleMesh(true, false); collisionMeshData->m_weldingThreshold = m_weldingThreshold1; - bool removeDuplicateVertices=true; + bool removeDuplicateVertices = true; // m_vertexArray not in multiple of 3 anymore, use m_triFaceArray - for (unsigned int i=0; i<m_triFaceArray.size(); i+=3) { - btScalar *bt = &m_vertexArray[3*m_triFaceArray[i]]; + 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]]; + bt = &m_vertexArray[3 * m_triFaceArray[i + 1]]; btVector3 v2(bt[0], bt[1], bt[2]); - bt = &m_vertexArray[3*m_triFaceArray[i+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; - - } else - { - indexVertexArrays = new btTriangleIndexVertexArray( + m_triangleIndexVertexArray = collisionMeshData; + } + else { + m_triangleIndexVertexArray = new btTriangleIndexVertexArray( m_polygonIndexArray.size(), - &m_triFaceArray[0], - 3*sizeof(int), - m_vertexArray.size()/3, + m_triFaceArray.data(), + 3 * sizeof(int), + m_vertexArray.size() / 3, &m_vertexArray[0], - 3*sizeof(btScalar)); - } - - // this shape will be shared and not deleted until shapeInfo is deleted - - // 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, useBvh ); - } else { - m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true, useBvh ); + 3 * sizeof(btScalar)); } - m_forceReInstance= false; - } else if (useBvh && m_unscaledShape->getOptimizedBvh() == NULL) { - // the existing unscaledShape was not build with Bvh, do it now - m_unscaledShape->buildOptimizedBvh(); + + m_forceReInstance = false; } - collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f)); + + btBvhTriangleMeshShape *unscaledShape = new btBvhTriangleMeshShape(m_triangleIndexVertexArray, true, useBvh); + collisionShape = new btScaledBvhTriangleMeshShape(unscaledShape, btVector3(1.0f, 1.0f, 1.0f)); collisionShape->setMargin(margin); } break; @@ -2691,10 +2652,9 @@ CcdShapeConstructionInfo::~CcdShapeConstructionInfo() (*sit)->Release(); } m_shapeArray.clear(); - if (m_unscaledShape) - { - DeleteBulletShape(m_unscaledShape, true); - } + + if (m_triangleIndexVertexArray) + delete m_triangleIndexVertexArray; m_vertexArray.clear(); if (m_shapeType == PHY_SHAPE_MESH && m_meshObject != NULL) { |