diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.cpp')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 104 |
1 files changed, 52 insertions, 52 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index c79e1c23ef6..74a99b3c668 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -7,8 +7,8 @@ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. @@ -105,7 +105,7 @@ void BlenderBulletCharacterController::jump() { if (!canJump()) return; - + m_verticalVelocity = m_jumpSpeed; m_wasJumping = true; m_jumps++; @@ -151,7 +151,7 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) m_shapeInfo->AddRef(); m_bulletChildShape = NULL; - + m_bulletMotionState = 0; m_characterController = 0; m_savedCollisionFlags = 0; @@ -160,7 +160,7 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) m_savedMass = 0.0f; m_savedDyna = false; m_suspended = false; - + CreateRigidbody(); } @@ -279,7 +279,7 @@ bool CcdPhysicsController::CreateSoftbody() rbci.m_angularDamping = m_cci.m_angularDamping; rbci.m_friction = m_cci.m_friction; rbci.m_restitution = m_cci.m_restitution; - + btVector3 p(0.0f,0.0f,0.0f);// = getOrigin(); //btSoftBody* psb=btSoftBodyHelpers::CreateRope(worldInfo, btVector3(-10,0,i*0.25),btVector3(10,0,i*0.25), 16,1+2); btSoftBody* psb = 0; @@ -296,7 +296,7 @@ bool CcdPhysicsController::CreateSoftbody() HullLibrary hlib; /*??*/ hdsc.mMaxVertices=nvertices; hlib.CreateConvexHull(hdsc,hres); - + psb = new btSoftBody(&worldInfo, (int)hres.mNumOutputVertices, &hres.m_OutputVertices[0], 0); for (int i = 0; i < (int)hres.mNumFaces; ++i) { @@ -356,7 +356,7 @@ bool CcdPhysicsController::CreateSoftbody() int indexstride; PHY_ScalarType indexType; trimeshshape->getMeshInterface()->getLockedVertexIndexBase(&vertexBase,numverts,vertexType,vertexstride,&indexbase,indexstride,numtris,indexType); - + psb = btSoftBodyHelpers::CreateFromTriMesh(worldInfo,(const btScalar*)vertexBase,(const int*)indexbase,numtris,false); } } @@ -376,7 +376,7 @@ bool CcdPhysicsController::CreateSoftbody() psb->updateBounds(); } m_object = psb; - + //btSoftBody::Material* pm=psb->appendMaterial(); btSoftBody::Material* pm=psb->m_materials[0]; pm->m_kLST = m_cci.m_soft_linStiff; @@ -440,7 +440,7 @@ bool CcdPhysicsController::CreateSoftbody() { psb->setPose(true,false); } - + psb->randomizeConstraints(); if (m_cci.m_soft_collisionflags & (CCD_BSB_COL_CL_RS+CCD_BSB_COL_CL_SS)) @@ -449,7 +449,7 @@ bool CcdPhysicsController::CreateSoftbody() } psb->setTotalMass(m_cci.m_mass); - + psb->setCollisionFlags(0); ///create a mapping between graphics mesh vertices and soft body vertices @@ -473,7 +473,7 @@ bool CcdPhysicsController::CreateSoftbody() for (slot->begin(it); !slot->end(it); slot->next(it)) { int index = 0; - for (i=it.startvertex; i<it.endvertex; i++,index++) + for (i=it.startvertex; i<it.endvertex; i++,index++) { RAS_TexVert* vertex = &it.vertex[i]; //search closest index, and store it in vertex @@ -487,7 +487,7 @@ bool CcdPhysicsController::CreateSoftbody() if (distSqr<maxDistSqr) { maxDistSqr = distSqr; - + vertex->setSoftBodyIndex(n); } } @@ -520,7 +520,7 @@ bool CcdPhysicsController::CreateCharacterController() { if (!m_cci.m_bCharacter) return false; - + m_object = new btPairCachingGhostObject(); m_object->setCollisionShape(m_collisionShape); m_object->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT); @@ -556,11 +556,11 @@ void CcdPhysicsController::CreateRigidbody() rbci.m_friction = m_cci.m_friction; rbci.m_restitution = m_cci.m_restitution; m_object = new btRigidBody(rbci); - + // // init the rigidbody properly // - + //setMassProps this also sets collisionFlags //convert collision flags! //special case: a near/radar sensor controller should not be defined static or it will @@ -594,7 +594,7 @@ void CcdPhysicsController::CreateRigidbody() { m_object->setAnisotropicFriction(m_cci.m_anisotropicFriction); } - + } static void DeleteBulletShape(btCollisionShape* shape, bool free) @@ -738,7 +738,7 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) btSoftBody* sb = GetSoftBody(); if (sb) { - if (sb->m_pose.m_bframe) + if (sb->m_pose.m_bframe) { btVector3 worldPos = sb->m_pose.m_com; btQuaternion worldquat; @@ -747,7 +747,7 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) m_MotionState->SetWorldPosition(worldPos[0],worldPos[1],worldPos[2]); m_MotionState->SetWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]); } - else + else { btVector3 aabbMin,aabbMax; sb->getAabb(aabbMin,aabbMax); @@ -784,10 +784,10 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) m_MotionState->getWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]); btTransform oldTrans = m_body->getCenterOfMassTransform(); btTransform newTrans(worldquat,worldPos); - + SetCenterOfMassTransform(newTrans); //need to keep track of previous position for friction effects... - + m_MotionState->calculateWorldTransformations(); */ float scale[3]; @@ -802,7 +802,7 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) /** * WriteMotionStateToDynamics synchronizes dynas, kinematic and deformable entities (and do 'late binding') */ - + void CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly) { btTransform& xform = CcdPhysicsController::GetTransformFromMotionState(m_MotionState); @@ -835,13 +835,13 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta // new shape has no scaling, apply initial scaling //m_collisionShape->setMargin(m_cci.m_margin); m_collisionShape->setLocalScaling(m_cci.m_scaling); - + if (m_cci.m_mass) m_collisionShape->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor); } } - // load some characterists that are not + // load some characterists that are not btRigidBody* oldbody = GetRigidBody(); m_object = 0; CreateRigidbody(); @@ -873,7 +873,7 @@ void CcdPhysicsController::SetPhysicsEnvironment(class PHY_IPhysicsEnvironment * // can safely assume CCD environment CcdPhysicsEnvironment *physicsEnv = static_cast<CcdPhysicsEnvironment*>(env); - if (m_cci.m_physicsEnv != physicsEnv) + if (m_cci.m_physicsEnv != physicsEnv) { // since the environment is changing, we must also move the controler to the // new environment. Note that we don't handle sensor explicitly: this @@ -934,7 +934,7 @@ void CcdPhysicsController::RelativeTranslate(const MT_Vector3& dlocin,bool loca btVector3 dloc(dlocin.x(), dlocin.y(), dlocin.z()); btTransform xform = m_object->getWorldTransform(); - + if (local) dloc = xform.getBasis()*dloc; @@ -966,8 +966,8 @@ void CcdPhysicsController::RelativeRotate(const MT_Matrix3x3& rotval,bool local GetWorldOrientation(currentOrn); btTransform xform = m_object->getWorldTransform(); - - xform.setBasis(xform.getBasis()*(local ? + + xform.setBasis(xform.getBasis()*(local ? drotmat : (currentOrn.inverse() * drotmat * currentOrn))); SetCenterOfMassTransform(xform); @@ -1141,15 +1141,15 @@ void CcdPhysicsController::SetScaling(const MT_Vector3& scale) { m_object->activate(true); // without this, sleeping objects scale wont be applied in bullet if python changes the scale - Campbell. m_object->getCollisionShape()->setLocalScaling(m_cci.m_scaling); - + //printf("no inertia recalc for fixed objects with mass=0\n"); btRigidBody* body = GetRigidBody(); if (body && m_cci.m_mass) { body->getCollisionShape()->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor); body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); - } - + } + } } } @@ -1202,13 +1202,13 @@ void CcdPhysicsController::SetMass(MT_Scalar newmass) handle->m_collisionFilterMask); } } - + // physics methods void CcdPhysicsController::ApplyTorque(const MT_Vector3& torquein,bool local) { btVector3 torque(torquein.x(),torquein.y(),torquein.z()); btTransform xform = m_object->getWorldTransform(); - + if (m_object && torque.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { @@ -1239,15 +1239,15 @@ void CcdPhysicsController::ApplyTorque(const MT_Vector3& torquein,bool local) body->setAngularFactor(tmpFac); body->applyTorque(torque); body->setAngularFactor(angFac); - } - } + } + } } } void CcdPhysicsController::ApplyForce(const MT_Vector3& forcein,bool local) { btVector3 force(forcein.x(),forcein.y(),forcein.z()); - + if (m_object && force.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { @@ -1259,7 +1259,7 @@ void CcdPhysicsController::ApplyForce(const MT_Vector3& forcein,bool local) return; } btTransform xform = m_object->getWorldTransform(); - + if (local) { force = xform.getBasis()*force; @@ -1324,7 +1324,7 @@ void CcdPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool loc m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); return; } - + btSoftBody* soft = GetSoftBody(); if (soft) { @@ -1360,7 +1360,7 @@ void CcdPhysicsController::ApplyImpulse(const MT_Point3& attach, const MT_Vecto m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); return; } - + btTransform xform = m_object->getWorldTransform(); if (local) @@ -1377,7 +1377,7 @@ void CcdPhysicsController::ApplyImpulse(const MT_Point3& attach, const MT_Vecto btRigidBody* body = GetRigidBody(); if (body) body->applyImpulse(impulse,pos); - + } } @@ -1479,7 +1479,7 @@ MT_Vector3 CcdPhysicsController::GetLocalInertia() return inertia; } - // dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted + // dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted void CcdPhysicsController::SetRigidBody(bool rigid) { btRigidBody* body = GetRigidBody(); @@ -1677,7 +1677,7 @@ PHY_IPhysicsController* CcdPhysicsController::GetReplicaForSensors() { // This situation does not normally happen cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin, m_cci.m_bGimpact, !m_cci.m_bSoft); - } + } else if (m_collisionShape) { switch (m_collisionShape->getShapeType()) @@ -1741,7 +1741,7 @@ void CcdPhysicsController::ReplicateConstraints(KX_GameObject *replica, std::vec { if (replica->GetConstraints().size() == 0 || !replica->GetPhysicsController()) return; - + PHY_IPhysicsEnvironment *physEnv = GetPhysicsEnvironment(); vector<bRigidBodyJointConstraint*> constraints = replica->GetConstraints(); @@ -1751,7 +1751,7 @@ void CcdPhysicsController::ReplicateConstraints(KX_GameObject *replica, std::vec for (consit = constraints.begin(); consit != constraints.end(); ++consit) { /* Try to find the constraint targets in the list of group objects. */ bRigidBodyJointConstraint *dat = (*consit); - vector<KX_GameObject*>::iterator memit; + vector<KX_GameObject*>::iterator memit; for (memit = constobj.begin(); memit != constobj.end(); ++memit) { KX_GameObject *member = (*memit); /* If the group member is the actual target for the constraint. */ @@ -1801,7 +1801,7 @@ void DefaultMotionState::GetWorldOrientation(float& quatIma0,float& quatIma1,flo quatIma2 = quat.z(); quatReal = quat[3]; } - + void DefaultMotionState::GetWorldOrientation(float* ori) { m_worldTransform.getBasis().getOpenGLSubMatrix(ori); @@ -1822,7 +1822,7 @@ void DefaultMotionState::SetWorldOrientation(float quatIma0,float quatIma1,float btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal); m_worldTransform.setRotation( orn ); } - + void DefaultMotionState::CalculateWorldTransformations() { @@ -2505,7 +2505,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin, b if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL) return m_shapeProxy->CreateBulletShape(margin, useGimpact, useBvh); - switch (m_shapeType) + switch (m_shapeType) { default: break; @@ -2541,10 +2541,10 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin, b break; case PHY_SHAPE_MESH: - // Let's use the latest btScaledBvhTriangleMeshShape: it allows true sharing of - // triangle mesh information between duplicates => drastic performance increase when - // duplicating complex mesh objects. - // BUT it causes a small performance decrease when sharing is not required: + // Let's use the latest btScaledBvhTriangleMeshShape: it allows true sharing of + // triangle mesh information between duplicates => drastic performance increase when + // duplicating complex mesh objects. + // BUT it causes a small performance decrease when sharing is not required: // 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. @@ -2648,7 +2648,7 @@ CcdShapeConstructionInfo::~CcdShapeConstructionInfo() if (m_triangleIndexVertexArray) delete m_triangleIndexVertexArray; m_vertexArray.clear(); - if (m_shapeType == PHY_SHAPE_MESH && m_meshObject != NULL) + if (m_shapeType == PHY_SHAPE_MESH && m_meshObject != NULL) { std::map<RAS_MeshObject*,CcdShapeConstructionInfo*>::iterator mit = m_meshShapeMap.find(m_meshObject); if (mit != m_meshShapeMap.end() && mit->second == this) |