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path: root/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.cpp')
-rw-r--r--source/gameengine/Physics/Bullet/CcdPhysicsController.cpp338
1 files changed, 241 insertions, 97 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index eecdea55349..0b9da8f46d3 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -16,6 +16,9 @@ subject to the following restrictions:
#include "CcdPhysicsController.h"
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
+
+#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
+
#include "PHY_IMotionState.h"
#include "CcdPhysicsEnvironment.h"
#include "RAS_MeshObject.h"
@@ -24,10 +27,14 @@ subject to the following restrictions:
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "LinearMath/btConvexHull.h"
#include "BulletCollision/Gimpact/btGImpactShape.h"
+#include "BulletCollision/Gimpact/btGImpactShape.h"
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
+#include "DNA_mesh_types.h"
+#include "DNA_meshdata_types.h"
+
class BP_Proxy;
///todo: fill all the empty CcdPhysicsController methods, hook them up to the btRigidBody class
@@ -577,7 +584,19 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time)
if (body && !body->isStaticObject())
{
-
+
+ if ((m_cci.m_clamp_vel_max>0.0) || (m_cci.m_clamp_vel_min>0.0))
+ {
+ const btVector3& linvel = body->getLinearVelocity();
+ float len= linvel.length();
+
+ if((m_cci.m_clamp_vel_max>0.0) && (len > m_cci.m_clamp_vel_max))
+ body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_max / len));
+
+ else if ((m_cci.m_clamp_vel_min>0.0) && btFuzzyZero(len)==0 && (len < m_cci.m_clamp_vel_min))
+ body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_min / len));
+ }
+
const btVector3& worldPos = body->getCenterOfMassPosition();
m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
@@ -1238,6 +1257,22 @@ void DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,flo
quatReal = m_worldTransform.getRotation()[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;
+}
+
void DefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
{
btVector3 pos(posX,posY,posZ);
@@ -1272,123 +1307,212 @@ CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mes
bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bool useGimpact)
{
+ int numpolys;
+
m_useGimpact = useGimpact;
// assume no shape information
// no support for dynamic change of shape yet
assert(IsUnused());
m_shapeType = PHY_SHAPE_NONE;
- m_vertexArray.clear();
- m_polygonIndexArray.clear();
m_meshObject = NULL;
- if (!meshobj)
- return false;
-
- // Mesh has no polygons!
- int numpolys = meshobj->NumPolygons();
- if (!numpolys)
- {
+ // No mesh object or mesh has no polys
+ if (!meshobj || meshobj->HasColliderPolygon()==false) {
+ m_vertexArray.clear();
+ m_polygonIndexArray.clear();
+ m_triFaceArray.clear();
return false;
}
- // check that we have at least one colliding polygon
- int numvalidpolys = 0;
+ numpolys = meshobj->NumPolygons();
- for (int p=0; p<numpolys; p++)
- {
- RAS_Polygon* poly = meshobj->GetPolygon(p);
+ m_shapeType = (polytope) ? PHY_SHAPE_POLYTOPE : PHY_SHAPE_MESH;
- // only add polygons that have the collisionflag set
- if (poly->IsCollider())
+ /* Convert blender geometry into bullet mesh, need these vars for mapping */
+ vector<bool> vert_tag_array(meshobj->GetMesh()->totvert, 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++)
{
- numvalidpolys++;
- break;
- }
- }
+ RAS_Polygon* poly= meshobj->GetPolygon(p2);
- // No collision polygons
- if (numvalidpolys < 1)
- return false;
+ // 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++;
+ }
+ }
+ }
+ }
- m_shapeType = (polytope) ? PHY_SHAPE_POLYTOPE : PHY_SHAPE_MESH;
+ m_vertexArray.resize(tot_bt_verts);
- numvalidpolys = 0;
+ btVector3 *bt= &m_vertexArray[0];
- for (int p2=0; p2<numpolys; p2++)
- {
- RAS_Polygon* poly = meshobj->GetPolygon(p2);
+ for (int p2=0; p2<numpolys; p2++)
+ {
+ RAS_Polygon* poly= meshobj->GetPolygon(p2);
- // only add polygons that have the collisionflag set
- if (poly->IsCollider())
- {
- //Bullet can raycast any shape, so
- if (polytope)
+ // only add polygons that have the collisionflag set
+ if (poly->IsCollider())
{
- for (int i=0;i<poly->VertexCount();i++)
- {
- const float* vtx = poly->GetVertex(i)->getXYZ();
- btVector3 point(vtx[0],vtx[1],vtx[2]);
- //avoid duplicates (could better directly use vertex offsets, rather than a vertex compare)
- bool found = false;
- for (int j=0;j<m_vertexArray.size();j++)
+ for(i=0; i<poly->VertexCount(); i++) {
+ RAS_TexVert *v= poly->GetVertex(i);
+ orig_index= v->getOrigIndex();
+
+ if (vert_tag_array[orig_index]==true)
{
- if (m_vertexArray[j]==point)
- {
- found = true;
- break;
- }
- }
- if (!found)
- m_vertexArray.push_back(point);
+ const float* vtx = v->getXYZ();
+ vert_tag_array[orig_index]= false;
- numvalidpolys++;
+ bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]);
+ bt++;
+ }
}
- } else
+ }
+ }
+ }
+ else {
+ unsigned int tot_bt_tris= 0;
+ vector<int> vert_remap_array(meshobj->GetMesh()->totvert, 0);
+
+ // Tag verts we're using
+ for (int p2=0; p2<numpolys; p2++)
+ {
+ RAS_Polygon* poly= meshobj->GetPolygon(p2);
+
+ // only add polygons that have the collision flag set
+ if (poly->IsCollider())
{
- {
- const float* vtx = poly->GetVertex(2)->getXYZ();
- btVector3 vertex0(vtx[0],vtx[1],vtx[2]);
+ 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 */
+ }
+ }
- vtx = poly->GetVertex(1)->getXYZ();
- btVector3 vertex1(vtx[0],vtx[1],vtx[2]);
+ m_vertexArray.resize(tot_bt_verts);
+ m_polygonIndexArray.resize(tot_bt_tris);
+ m_triFaceArray.resize(tot_bt_tris*3);
- vtx = poly->GetVertex(0)->getXYZ();
- btVector3 vertex2(vtx[0],vtx[1],vtx[2]);
+ btVector3 *bt= &m_vertexArray[0];
+ int *poly_index_pt= &m_polygonIndexArray[0];
+ int *tri_pt= &m_triFaceArray[0];
- m_vertexArray.push_back(vertex0);
- m_vertexArray.push_back(vertex1);
- m_vertexArray.push_back(vertex2);
- m_polygonIndexArray.push_back(p2);
- numvalidpolys++;
+
+ for (int p2=0; p2<numpolys; p2++)
+ {
+ RAS_Polygon* poly= meshobj->GetPolygon(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;
+
+ // 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= tri_pt+3;
+
+ // m_polygonIndexArray
+ *poly_index_pt= 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[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 (poly->VertexCount() == 4)
+ 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 (poly->VertexCount()==4)
{
- const float* vtx = poly->GetVertex(3)->getXYZ();
- btVector3 vertex0(vtx[0],vtx[1],vtx[2]);
+ RAS_TexVert *v4= poly->GetVertex(3);
+ int i4= v4->getOrigIndex();
+
+ tri_pt[0]= vert_remap_array[i1];
+ tri_pt[1]= vert_remap_array[i3];
+ tri_pt[2]= vert_remap_array[i4];
+ tri_pt= tri_pt+3;
+
+ // m_polygonIndexArray
+ *poly_index_pt= 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++;
+ }
+ }
+ }
+ }
- vtx = poly->GetVertex(2)->getXYZ();
- btVector3 vertex1(vtx[0],vtx[1],vtx[2]);
- vtx = poly->GetVertex(0)->getXYZ();
- btVector3 vertex2(vtx[0],vtx[1],vtx[2]);
+ /* If this ever gets confusing, print out an OBJ file for debugging */
+#if 0
+ printf("# vert count %d\n", m_vertexArray.size());
+ for(i=0; i<m_vertexArray.size(); i+=1) {
+ printf("v %.6f %.6f %.6f\n", m_vertexArray[i].x(), m_vertexArray[i].y(), m_vertexArray[i].z());
+ }
- m_vertexArray.push_back(vertex0);
- m_vertexArray.push_back(vertex1);
- m_vertexArray.push_back(vertex2);
- m_polygonIndexArray.push_back(p2);
- numvalidpolys++;
- }
- }
+ printf("# face count %d\n", m_triFaceArray.size());
+ for(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
+
}
- if (!numvalidpolys)
+#if 0
+ if (validpolys==false)
{
// should not happen
m_shapeType = PHY_SHAPE_NONE;
return false;
}
+#endif
+
m_meshObject = meshobj;
if (!polytope)
{
@@ -1413,7 +1537,6 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
{
btCollisionShape* collisionShape = 0;
btTriangleMeshShape* concaveShape = 0;
- btTriangleMesh* collisionMeshData = 0;
btCompoundShape* compoundShape = 0;
CcdShapeConstructionInfo* nextShapeInfo;
@@ -1454,18 +1577,17 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
// One possible optimization is to use directly the btBvhTriangleMeshShape when the scale is 1,1,1
// and btScaledBvhTriangleMeshShape otherwise.
if (m_useGimpact)
- {
- collisionMeshData = new btTriangleMesh();
-
- bool removeDuplicateVertices=true;
-
- // m_vertexArray is necessarily a multiple of 3
- for (int i=0;i<m_vertexArray.size(); i+=3 )
- {
- collisionMeshData->addTriangle(m_vertexArray[i+2],m_vertexArray[i+1],m_vertexArray[i],removeDuplicateVertices);
- }
+ {
+ btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(
+ m_polygonIndexArray.size(),
+ &m_triFaceArray[0],
+ 3*sizeof(int),
+ m_vertexArray.size(),
+ (btScalar*) &m_vertexArray[0].x(),
+ sizeof(btVector3)
+ );
- btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(collisionMeshData);
+ btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(indexVertexArrays);
collisionShape = gimpactShape;
gimpactShape->updateBound();
@@ -1474,17 +1596,39 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
{
if (!m_unscaledShape)
{
- collisionMeshData = new btTriangleMesh(true,false);
- collisionMeshData->m_weldingThreshold = m_weldingThreshold;
+
+ btTriangleIndexVertexArray* indexVertexArrays = 0;
- bool removeDuplicateVertices=true;
- // m_vertexArray is necessarily a multiple of 3
- for (int i=0;i<m_vertexArray.size(); i+=3 )
+ ///enable welding, only for the objects that need it (such as soft bodies)
+ if (0.f != m_weldingThreshold1)
{
- collisionMeshData->addTriangle(m_vertexArray[i+2],m_vertexArray[i+1],m_vertexArray[i],removeDuplicateVertices);
+ btTriangleMesh* collisionMeshData = new btTriangleMesh(true,false);
+ 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
+ );
+ }
+ indexVertexArrays = collisionMeshData;
+
+ } else
+ {
+ indexVertexArrays = new btTriangleIndexVertexArray(
+ m_polygonIndexArray.size(),
+ &m_triFaceArray[0],
+ 3*sizeof(int),
+ m_vertexArray.size(),
+ (btScalar*) &m_vertexArray[0].x(),
+ sizeof(btVector3));
}
+
// this shape will be shared and not deleted until shapeInfo is deleted
- m_unscaledShape = new btBvhTriangleMeshShape( collisionMeshData, true );
+ m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true );
m_unscaledShape->recalcLocalAabb();
}
collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f));
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-12 06:10:01 +0300