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path: root/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp')
-rw-r--r--source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp155
1 files changed, 48 insertions, 107 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 486411d7e35..82a60e756d7 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -37,7 +37,6 @@ subject to the following restrictions:
#include "PHY_IMotionState.h"
-#include "PHY_ICharacter.h"
#include "KX_GameObject.h"
#include "RAS_MeshObject.h"
#include "RAS_Polygon.h"
@@ -267,36 +266,6 @@ public:
};
#endif //NEW_BULLET_VEHICLE_SUPPORT
-class CharacterWrapper : public PHY_ICharacter
-{
-private:
- btKinematicCharacterController* m_controller;
-
-public:
- CharacterWrapper(btKinematicCharacterController* cont)
- : m_controller(cont)
- {}
-
- virtual void Jump()
- {
- m_controller->jump();
- }
-
- virtual bool OnGround()
- {
- return m_controller->onGround();
- }
-
- virtual float GetGravity()
- {
- return m_controller->getGravity();
- }
- virtual void SetGravity(float gravity)
- {
- m_controller->setGravity(gravity);
- }
-};
-
class CcdOverlapFilterCallBack : public btOverlapFilterCallback
{
private:
@@ -1109,7 +1078,7 @@ static bool GetHitTriangle(btCollisionShape* shape, CcdShapeConstructionInfo* sh
const btVector3& meshScaling = shape->getLocalScaling();
for (int j=2;j>=0;j--)
{
- int graphicsindex = (indicestype == PHY_SHORT) ? ((unsigned short *)gfxbase)[j] : gfxbase[j];
+ int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
@@ -1548,8 +1517,8 @@ struct OcclusionBuffer
return(true);
}
}
- }
- else if (width == 1) {
+ } else if (width == 1)
+ {
// Degenerated in at least 2 vertical lines
// The algorithm below doesn't work when face has a single pixel width
// We cannot use general formulas because the plane is degenerated.
@@ -1560,16 +1529,16 @@ struct OcclusionBuffer
if (y[0] > y[1]) { ytmp=y[1];y[1]=y[0];y[0]=ytmp;ztmp=z[1];z[1]=z[0];z[0]=ztmp; }
if (y[0] > y[2]) { ytmp=y[2];y[2]=y[0];y[0]=ytmp;ztmp=z[2];z[2]=z[0];z[0]=ztmp; }
if (y[1] > y[2]) { ytmp=y[2];y[2]=y[1];y[1]=ytmp;ztmp=z[2];z[2]=z[1];z[1]=ztmp; }
- int dy[] = {y[0] - y[1],
- y[1] - y[2],
- y[2] - y[0]};
+ int dy[]={ y[0]-y[1],
+ y[1]-y[2],
+ y[2]-y[0]};
btScalar dzy[3];
- dzy[0] = (dy[0]) ? (z[0] - z[1]) / dy[0] : btScalar(0.f);
- dzy[1] = (dy[1]) ? (z[1] - z[2]) / dy[1] : btScalar(0.f);
- dzy[2] = (dy[2]) ? (z[2] - z[0]) / dy[2] : btScalar(0.f);
- btScalar v[3] = {dzy[0] * (miy - y[0]) + z[0],
- dzy[1] * (miy - y[1]) + z[1],
- dzy[2] * (miy - y[2]) + z[2]};
+ dzy[0] = (dy[0]) ? (z[0]-z[1])/dy[0] : btScalar(0.f);
+ dzy[1] = (dy[1]) ? (z[1]-z[2])/dy[1] : btScalar(0.f);
+ dzy[2] = (dy[2]) ? (z[2]-z[0])/dy[2] : btScalar(0.f);
+ btScalar v[3] = { dzy[0]*(miy-y[0])+z[0],
+ dzy[1]*(miy-y[1])+z[1],
+ dzy[2]*(miy-y[2])+z[2] };
dy[0] = y[1]-y[0];
dy[1] = y[0]-y[1];
dy[2] = y[2]-y[0];
@@ -1597,16 +1566,16 @@ struct OcclusionBuffer
if (x[0] > x[1]) { xtmp=x[1];x[1]=x[0];x[0]=xtmp;ztmp=z[1];z[1]=z[0];z[0]=ztmp; }
if (x[0] > x[2]) { xtmp=x[2];x[2]=x[0];x[0]=xtmp;ztmp=z[2];z[2]=z[0];z[0]=ztmp; }
if (x[1] > x[2]) { xtmp=x[2];x[2]=x[1];x[1]=xtmp;ztmp=z[2];z[2]=z[1];z[1]=ztmp; }
- int dx[] = {x[0] - x[1],
- x[1] - x[2],
- x[2] - x[0]};
+ int dx[]={ x[0]-x[1],
+ x[1]-x[2],
+ x[2]-x[0]};
btScalar dzx[3];
dzx[0] = (dx[0]) ? (z[0]-z[1])/dx[0] : btScalar(0.f);
dzx[1] = (dx[1]) ? (z[1]-z[2])/dx[1] : btScalar(0.f);
dzx[2] = (dx[2]) ? (z[2]-z[0])/dx[2] : btScalar(0.f);
- btScalar v[3] = {dzx[0] * (mix - x[0]) + z[0],
- dzx[1] * (mix - x[1]) + z[1],
- dzx[2] * (mix - x[2]) + z[2]};
+ btScalar v[3] = { dzx[0]*(mix-x[0])+z[0],
+ dzx[1]*(mix-x[1])+z[1],
+ dzx[2]*(mix-x[2])+z[2] };
dx[0] = x[1]-x[0];
dx[1] = x[0]-x[1];
dx[2] = x[2]-x[0];
@@ -1623,24 +1592,24 @@ struct OcclusionBuffer
v[0] += dzx[0]; v[1] += dzx[1]; v[2] += dzx[2];
dx[0]--; dx[1]++, dx[2]--;
}
- }
- else {
+ } else
+ {
// general case
- const int dx[] = {y[0] - y[1],
- y[1] - y[2],
- y[2] - y[0]};
- const int dy[] = {x[1] - x[0] - dx[0] * width,
- x[2] - x[1] - dx[1] * width,
- x[0] - x[2] - dx[2] * width};
- const int a = x[2] * y[0] + x[0] * y[1] - x[2] * y[1] - x[0] * y[2] + x[1] * y[2] - x[1] * y[0];
- const btScalar ia = 1 / (btScalar)a;
- const btScalar dzx = ia*(y[2]*(z[1]-z[0])+y[1]*(z[0]-z[2])+y[0]*(z[2]-z[1]));
- const btScalar dzy = ia*(x[2]*(z[0]-z[1])+x[0]*(z[1]-z[2])+x[1]*(z[2]-z[0]))-(dzx*width);
- int c[] = {miy*x[1]+mix*y[0]-x[1]*y[0]-mix*y[1]+x[0]*y[1]-miy*x[0],
- miy*x[2]+mix*y[1]-x[2]*y[1]-mix*y[2]+x[1]*y[2]-miy*x[1],
- miy*x[0]+mix*y[2]-x[0]*y[2]-mix*y[0]+x[2]*y[0]-miy*x[2]};
- btScalar v = ia*((z[2]*c[0])+(z[0]*c[1])+(z[1]*c[2]));
- btScalar *scan = &m_buffer[miy*m_sizes[0]];
+ const int dx[]={ y[0]-y[1],
+ y[1]-y[2],
+ y[2]-y[0]};
+ const int dy[]={ x[1]-x[0]-dx[0]*width,
+ x[2]-x[1]-dx[1]*width,
+ x[0]-x[2]-dx[2]*width};
+ const int a=x[2]*y[0]+x[0]*y[1]-x[2]*y[1]-x[0]*y[2]+x[1]*y[2]-x[1]*y[0];
+ const btScalar ia=1/(btScalar)a;
+ const btScalar dzx=ia*(y[2]*(z[1]-z[0])+y[1]*(z[0]-z[2])+y[0]*(z[2]-z[1]));
+ const btScalar dzy=ia*(x[2]*(z[0]-z[1])+x[0]*(z[1]-z[2])+x[1]*(z[2]-z[0]))-(dzx*width);
+ int c[]={ miy*x[1]+mix*y[0]-x[1]*y[0]-mix*y[1]+x[0]*y[1]-miy*x[0],
+ miy*x[2]+mix*y[1]-x[2]*y[1]-mix*y[2]+x[1]*y[2]-miy*x[1],
+ miy*x[0]+mix*y[2]-x[0]*y[2]-mix*y[0]+x[2]*y[0]-miy*x[2]};
+ btScalar v=ia*((z[2]*c[0])+(z[0]*c[1])+(z[1]*c[2]));
+ btScalar* scan=&m_buffer[miy*m_sizes[0]];
for (int iy=miy;iy<mxy;++iy)
{
for (int ix=mix;ix<mxx;++ix)
@@ -1727,18 +1696,18 @@ struct OcclusionBuffer
// the box is clipped, it's probably a large box, don't waste our time to check
if ((x[i][2]+x[i][3])<=0) return(true);
}
- static const int d[] = {1,0,3,2,
- 4,5,6,7,
- 4,7,3,0,
- 6,5,1,2,
- 7,6,2,3,
- 5,4,0,1};
+ static const int d[]={ 1,0,3,2,
+ 4,5,6,7,
+ 4,7,3,0,
+ 6,5,1,2,
+ 7,6,2,3,
+ 5,4,0,1};
for (unsigned int i=0;i<(sizeof(d)/sizeof(d[0]));)
{
- const btVector4 p[] = {x[d[i++]],
- x[d[i++]],
- x[d[i++]],
- x[d[i++]]};
+ const btVector4 p[]={ x[d[i++]],
+ x[d[i++]],
+ x[d[i++]],
+ x[d[i++]]};
if (clipDraw<4,QueryOCL>(p,1.f,0.f))
return(true);
}
@@ -1997,8 +1966,8 @@ void CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
int transMotorIndex = param-6;
btTranslationalLimitMotor* transMotor = genCons->getTranslationalLimitMotor();
- transMotor->m_targetVelocity[transMotorIndex] = value0;
- transMotor->m_maxMotorForce[transMotorIndex] = value1;
+ transMotor->m_targetVelocity[transMotorIndex]= value0;
+ transMotor->m_maxMotorForce[transMotorIndex]=value1;
transMotor->m_enableMotor[transMotorIndex] = (value1>0.f);
break;
}
@@ -2239,29 +2208,10 @@ bool CcdOverlapFilterCallBack::needBroadphaseCollision(btBroadphaseProxy* proxy0
{
btCollisionObject *colObj0, *colObj1;
CcdPhysicsController *sensorCtrl, *objCtrl;
-
- KX_GameObject *kxObj0 = KX_GameObject::GetClientObject(
- (KX_ClientObjectInfo*)
- ((CcdPhysicsController*)
- (((btCollisionObject*)proxy0->m_clientObject)->getUserPointer()))
- ->getNewClientInfo());
- KX_GameObject *kxObj1 = KX_GameObject::GetClientObject(
- (KX_ClientObjectInfo*)
- ((CcdPhysicsController*)
- (((btCollisionObject*)proxy1->m_clientObject)->getUserPointer()))
- ->getNewClientInfo());
-
- // First check the filters. Note that this is called during scene
- // conversion, so we can't assume the KX_GameObject instances exist. This
- // may make some objects erroneously collide on the first frame, but the
- // alternative is to have them erroneously miss.
bool collides;
+ // first check the filters
collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
- if (kxObj0 && kxObj1) {
- collides = collides && kxObj0->CheckCollision(kxObj1);
- collides = collides && kxObj1->CheckCollision(kxObj0);
- }
if (!collides)
return false;
@@ -2316,15 +2266,6 @@ PHY_IVehicle* CcdPhysicsEnvironment::getVehicleConstraint(int constraintId)
#endif //NEW_BULLET_VEHICLE_SUPPORT
-PHY_ICharacter* CcdPhysicsEnvironment::getCharacterController(KX_GameObject *ob)
-{
- CcdPhysicsController* controller = (CcdPhysicsController*)ob->GetPhysicsController()->GetUserData();
- if (controller->GetCharacterController())
- return new CharacterWrapper(controller->GetCharacterController());
-
- return NULL;
-}
-
int currentController = 0;
int numController = 0;
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-16 08:07:09 +0300