diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp | 174 |
1 files changed, 87 insertions, 87 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 78d2d88cc65..910b3a7dc84 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.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. @@ -347,7 +347,7 @@ class CcdOverlapFilterCallBack : public btOverlapFilterCallback private: class CcdPhysicsEnvironment* m_physEnv; public: - CcdOverlapFilterCallBack(CcdPhysicsEnvironment* env) : + CcdOverlapFilterCallBack(CcdPhysicsEnvironment* env) : m_physEnv(env) { } @@ -769,7 +769,7 @@ public: m_owner(owner), m_parent(parent) { - + } virtual bool needsCollision(btBroadphaseProxy* proxy0) const @@ -791,7 +791,7 @@ void CcdPhysicsEnvironment::ProcessFhSprings(double curTime,float interval) std::set<CcdPhysicsController*>::iterator it; // Add epsilon to the tick rate for numerical stability int numIter = (int)(interval*(KX_KetsjiEngine::GetTicRate() + 0.001f)); - + for (it=m_controllers.begin(); it!=m_controllers.end(); it++) { CcdPhysicsController* ctrl = (*it); @@ -817,7 +817,7 @@ void CcdPhysicsEnvironment::ProcessFhSprings(double curTime,float interval) //btVector3 rayToWorld = rayFromWorld + body->getCenterOfMassTransform().getBasis() * rayDirLocal; //ray always points down the z axis in world space... btVector3 rayToWorld = rayFromWorld + rayDirLocal; - + ClosestRayResultCallbackNotMe resultCallback(rayFromWorld,rayToWorld,body,parentBody); m_dynamicsWorld->rayTest(rayFromWorld,rayToWorld,resultCallback); @@ -840,8 +840,8 @@ void CcdPhysicsEnvironment::ProcessFhSprings(double curTime,float interval) float distance = resultCallback.m_closestHitFraction*rayDirLocal.length()-ctrl->GetConstructionInfo().m_radius; if (distance >= hitObjShapeProps.m_fh_distance) continue; - - + + //btVector3 ray_dir = cl_object->getCenterOfMassTransform().getBasis()* rayDirLocal.normalized(); btVector3 ray_dir = rayDirLocal.normalized(); @@ -856,7 +856,7 @@ void CcdPhysicsEnvironment::ProcessFhSprings(double curTime,float interval) rayDirLocal * resultCallback.m_closestHitFraction; - + lspot -= hit_object->getCenterOfMassPosition(); btVector3 rel_vel = cl_object->getLinearVelocity() - hit_object->getVelocityInLocalPoint(lspot); @@ -865,16 +865,16 @@ void CcdPhysicsEnvironment::ProcessFhSprings(double curTime,float interval) btScalar i_spring = spring_extent * hitObjShapeProps.m_fh_spring; btScalar i_damp = rel_vel_ray * hitObjShapeProps.m_fh_damping; - - cl_object->setLinearVelocity(cl_object->getLinearVelocity() + (-(i_spring + i_damp) * ray_dir)); - if (hitObjShapeProps.m_fh_normal) + + cl_object->setLinearVelocity(cl_object->getLinearVelocity() + (-(i_spring + i_damp) * ray_dir)); + if (hitObjShapeProps.m_fh_normal) { cl_object->setLinearVelocity(cl_object->getLinearVelocity()+(i_spring + i_damp) *(normal - normal.dot(ray_dir) * ray_dir)); } - + btVector3 lateral = rel_vel - rel_vel_ray * ray_dir; - - + + if (ctrl->GetConstructionInfo().m_do_anisotropic) { //Bullet basis contains no scaling/shear etc. const btMatrix3x3& lcs = cl_object->getCenterOfMassTransform().getBasis(); @@ -885,34 +885,34 @@ void CcdPhysicsEnvironment::ProcessFhSprings(double curTime,float interval) } btScalar rel_vel_lateral = lateral.length(); - + if (rel_vel_lateral > SIMD_EPSILON) { btScalar friction_factor = hit_object->getFriction();//cl_object->getFriction(); btScalar max_friction = friction_factor * btMax(btScalar(0.0f), i_spring); - + btScalar rel_mom_lateral = rel_vel_lateral / cl_object->getInvMass(); - + btVector3 friction = (rel_mom_lateral > max_friction) ? -lateral * (max_friction / rel_vel_lateral) : -lateral; - + cl_object->applyCentralImpulse(friction); } } - + if (ctrl->GetConstructionInfo().m_do_rot_fh) { btVector3 up2 = cl_object->getWorldTransform().getBasis().getColumn(2); btVector3 t_spring = up2.cross(normal) * hitObjShapeProps.m_fh_spring; btVector3 ang_vel = cl_object->getAngularVelocity(); - + // only rotations that tilt relative to the normal are damped ang_vel -= ang_vel.dot(normal) * normal; - - btVector3 t_damp = ang_vel * hitObjShapeProps.m_fh_damping; - + + btVector3 t_damp = ang_vel * hitObjShapeProps.m_fh_damping; + cl_object->setAngularVelocity(cl_object->getAngularVelocity() + (t_spring - t_damp)); } } @@ -1014,8 +1014,8 @@ void CcdPhysicsEnvironment::SetSolverType(int solverType) { m_solver = new btSequentialImpulseConstraintSolver(); - - + + break; } } @@ -1073,18 +1073,18 @@ int CcdPhysicsEnvironment::CreateUniversalD6Constraint( //we could either add some logic to recognize ball-socket and hinge, or let that up to the user //perhaps some warning or hint that hinge/ball-socket is more efficient? - - + + btGeneric6DofConstraint* genericConstraint = 0; CcdPhysicsController* ctrl0 = (CcdPhysicsController*) ctrlRef; CcdPhysicsController* ctrl1 = (CcdPhysicsController*) ctrlOther; - + btRigidBody* rb0 = ctrl0->GetRigidBody(); btRigidBody* rb1 = ctrl1->GetRigidBody(); if (rb1) { - + bool useReferenceFrameA = true; genericConstraint = new btGeneric6DofSpringConstraint( @@ -1100,7 +1100,7 @@ int CcdPhysicsEnvironment::CreateUniversalD6Constraint( //No, we can use a fixed rigidbody in above code, rather than unnecessary duplation of code } - + if (genericConstraint) { // m_constraints.push_back(genericConstraint); @@ -1182,7 +1182,7 @@ struct FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResul { m_hitTriangleShape = rayResult.m_collisionObject->getCollisionShape(); m_hitTriangleIndex = rayResult.m_localShapeInfo->m_triangleIndex; - } else + } else { m_hitTriangleShape = NULL; m_hitTriangleIndex = 0; @@ -1194,7 +1194,7 @@ struct FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResul static bool GetHitTriangle(btCollisionShape* shape, CcdShapeConstructionInfo* shapeInfo, int hitTriangleIndex, btVector3 triangle[]) { - // this code is copied from Bullet + // this code is copied from Bullet const unsigned char *vertexbase; int numverts; PHY_ScalarType type; @@ -1284,7 +1284,7 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::RayTest(PHY_IRayCastFilterCallbac break; } } - if (shape == rayCallback.m_hitTriangleShape && + if (shape == rayCallback.m_hitTriangleShape && rayCallback.m_hitTriangleIndex < shapeInfo->m_polygonIndexArray.size()) { // save original collision shape triangle for soft body @@ -1319,7 +1319,7 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::RayTest(PHY_IRayCastFilterCallbac v1 = softBody->m_faces[hitTriangleIndex].m_n[0]->m_x; v2 = softBody->m_faces[hitTriangleIndex].m_n[1]->m_x; v3 = softBody->m_faces[hitTriangleIndex].m_n[2]->m_x; - } else + } else { // for rigid body we must apply the world transform triangleOK = GetHitTriangle(shape, shapeInfo, hitTriangleIndex, triangle); @@ -1355,12 +1355,12 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::RayTest(PHY_IRayCastFilterCallbac result.m_hitUV[1] = baryCo.getX()*uvCo[0].uv[1] + baryCo.getY()*uvCo[1].uv[1] + baryCo.getZ()*uvCo[2].uv[1]; result.m_hitUVOK = 1; } - + // Bullet returns the normal from "outside". // If the user requests the real normal, compute it now if (filterCallback.m_faceNormal) { - if (shape->isSoftBody()) + if (shape->isSoftBody()) { // we can get the real normal directly from the body const btSoftBody* softBody = static_cast<const btSoftBody*>(rayCallback.m_collisionObject); @@ -1371,7 +1371,7 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::RayTest(PHY_IRayCastFilterCallbac triangleOK = GetHitTriangle(shape, shapeInfo, hitTriangleIndex, triangle); if (triangleOK) { - btVector3 triangleNormal; + btVector3 triangleNormal; triangleNormal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]); rayCallback.m_hitNormalWorld = rayCallback.m_collisionObject->getWorldTransform().getBasis()*triangleNormal; } @@ -1399,7 +1399,7 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::RayTest(PHY_IRayCastFilterCallbac return result.m_controller; } -// Handles occlusion culling. +// Handles occlusion culling. // The implementation is based on the CDTestFramework struct OcclusionBuffer { @@ -1438,7 +1438,7 @@ struct OcclusionBuffer btScalar m_offsets[2]; btScalar m_wtc[16]; // world to clip transform btScalar m_mtc[16]; // model to clip transform - // constructor: size=largest dimension of the buffer. + // constructor: size=largest dimension of the buffer. // Buffer size depends on aspect ratio OcclusionBuffer() { @@ -1488,7 +1488,7 @@ struct OcclusionBuffer m_offsets[0] = m_scales[0] + 0.5f; m_offsets[1] = m_scales[1] + 0.5f; // prepare matrix - // at this time of the rendering, the modelview matrix is the + // at this time of the rendering, the modelview matrix is the // world to camera transformation and the projection matrix is // camera to clip transformation. combine both so that CMmat4mul(m_wtc, projection, modelview); @@ -1508,7 +1508,7 @@ struct OcclusionBuffer if (!m_buffer) { m_buffer = (btScalar *)calloc(1, newsize); m_bufferSize = newsize; - } + } else { // buffer exists already, just clears it memset(m_buffer, 0, newsize); @@ -1687,7 +1687,7 @@ struct OcclusionBuffer 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. + // We cannot use general formulas because the plane is degenerated. // We have to interpolate along the 3 edges that overlaps and process each pixel. // sort the y coord to make formula simpler int ytmp; @@ -1752,7 +1752,7 @@ struct OcclusionBuffer else if (height == 1) { // Degenerated in at least 2 horizontal lines // The algorithm below doesn't work when face has a single pixel width - // We cannot use general formulas because the plane is degenerated. + // We cannot use general formulas because the plane is degenerated. // We have to interpolate along the 3 edges that overlaps and process each pixel. int xtmp; btScalar ztmp; @@ -1846,7 +1846,7 @@ struct OcclusionBuffer } return false; } - // clip than write or check a polygon + // clip than write or check a polygon template <const int NP, typename POLICY> inline bool clipDraw(const btVector4 *p, const float face, @@ -1864,7 +1864,7 @@ struct OcclusionBuffer return earlyexit; } // add a triangle (in model coordinate) - // face = 0.f if face is double side, + // face = 0.f if face is double side, // = 1.f if face is single sided and scale is positive // = -1.f if face is single sided and scale is negative void appendOccluderM(const float *a, @@ -2054,12 +2054,12 @@ void CcdPhysicsEnvironment::GetContactPoint(int i,float& hitX,float& hitY,float& btBroadphaseInterface* CcdPhysicsEnvironment::GetBroadphase() -{ - return m_dynamicsWorld->getBroadphase(); +{ + return m_dynamicsWorld->getBroadphase(); } btDispatcher* CcdPhysicsEnvironment::GetDispatcher() -{ +{ return m_dynamicsWorld->getDispatcher(); } @@ -2096,7 +2096,7 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment() //first delete scene, then dispatcher, because pairs have to release manifolds on the dispatcher //delete m_dispatcher; delete m_dynamicsWorld; - + if (NULL != m_ownPairCache) delete m_ownPairCache; @@ -2141,10 +2141,10 @@ float CcdPhysicsEnvironment::GetConstraintParam(int constraintId,int param) { case PHY_GENERIC_6DOF_CONSTRAINT: { - + switch (param) { - case 0: case 1: case 2: + case 0: case 1: case 2: { //param = 0..2 are linear constraint values btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint; @@ -2183,7 +2183,7 @@ void CcdPhysicsEnvironment::SetConstraintParam(int constraintId,int param,float { case PHY_GENERIC_6DOF_CONSTRAINT: { - + switch (param) { case 0: case 1: case 2: case 3: case 4: case 5: @@ -2473,7 +2473,7 @@ bool CcdOverlapFilterCallBack::needBroadphaseCollision(btBroadphaseProxy* proxy0 // additional check for sensor object if (proxy0->m_collisionFilterGroup & btBroadphaseProxy::SensorTrigger) { - // this is a sensor object, the other one can't be a sensor object because + // this is a sensor object, the other one can't be a sensor object because // they exclude each other in the above test assert(!(proxy1->m_collisionFilterGroup & btBroadphaseProxy::SensorTrigger)); colObj0 = (btCollisionObject*)proxy0->m_clientObject; @@ -2530,7 +2530,7 @@ PHY_ICharacter* CcdPhysicsEnvironment::GetCharacterController(KX_GameObject *ob) PHY_IPhysicsController* CcdPhysicsEnvironment::CreateSphereController(float radius,const MT_Vector3& position) { - + CcdConstructionInfo cinfo; memset(&cinfo, 0, sizeof(cinfo)); /* avoid uninitialized values */ cinfo.m_collisionShape = new btSphereShape(radius); // memory leak! The shape is not deleted by Bullet and we cannot add it to the KX_Scene.m_shapes list @@ -2550,7 +2550,7 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::CreateSphereController(float radi motionState->m_worldTransform.setOrigin(btVector3(position[0],position[1],position[2])); CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo); - + return sphereController; } @@ -2592,7 +2592,7 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl btRigidBody* rb0 = c0 ? c0->GetRigidBody() : 0; btRigidBody* rb1 = c1 ? c1->GetRigidBody() : 0; - + bool rb0static = rb0 ? rb0->isStaticOrKinematicObject() : true; @@ -2606,7 +2606,7 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl btVector3 pivotInA(pivotX,pivotY,pivotZ); - + //it might be a soft body, let's try btSoftBody* sb0 = c0 ? c0->GetSoftBody() : 0; @@ -2658,7 +2658,7 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl } default: { - + } }; */ @@ -2674,7 +2674,7 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl } } - + } return 0;//can't remove soft body anchors yet } @@ -2719,7 +2719,7 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl } default: { - + } };*/ @@ -2735,7 +2735,7 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl sb1->setMass(node,0.f); } } - + } return 0;//can't remove soft body anchors yet @@ -2743,15 +2743,15 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl if (rb0static && rb1static) { - + return 0; } - + if (!rb0) return 0; - btVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : + btVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : rb0->getCenterOfMassTransform() * pivotInA; btVector3 axisInA(axisX,axisY,axisZ); @@ -2801,13 +2801,13 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl { btTransform frameInA; btTransform frameInB; - + btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z); if (axis1.length() == 0.0f) { btPlaneSpace1( axisInA, axis1, axis2 ); } - + frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(), axisInA.y(), axis1.y(), axis2.y(), axisInA.z(), axis1.z(), axis2.z() ); @@ -2816,7 +2816,7 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl btTransform inv = rb1->getCenterOfMassTransform().inverse(); btTransform globalFrameA = rb0->getCenterOfMassTransform() * frameInA; - + frameInB = inv * globalFrameA; bool useReferenceFrameA = true; @@ -2830,7 +2830,7 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl static btRigidBody s_fixedObject2( 0,0,0); btTransform frameInA; btTransform frameInB; - + btVector3 axis1, axis2; btPlaneSpace1( axisInA, axis1, axis2 ); @@ -2859,7 +2859,7 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl genericConstraint->setUserConstraintType(type); //64 bit systems can't cast pointer to int. could use size_t instead. return genericConstraint->getUserConstraintId(); - } + } break; } @@ -2870,18 +2870,18 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl btConeTwistConstraint* coneTwistContraint = 0; - + if (rb1) { btTransform frameInA; btTransform frameInB; - + btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z); if (axis1.length() == 0.0f) { btPlaneSpace1( axisInA, axis1, axis2 ); } - + frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(), axisInA.y(), axis1.y(), axis2.y(), axisInA.z(), axis1.z(), axis2.z() ); @@ -2890,9 +2890,9 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl btTransform inv = rb1->getCenterOfMassTransform().inverse(); btTransform globalFrameA = rb0->getCenterOfMassTransform() * frameInA; - + frameInB = inv * globalFrameA; - + coneTwistContraint = new btConeTwistConstraint( *rb0,*rb1, frameInA,frameInB); @@ -2902,7 +2902,7 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl static btRigidBody s_fixedObject2( 0,0,0); btTransform frameInA; btTransform frameInB; - + btVector3 axis1, axis2; btPlaneSpace1( axisInA, axis1, axis2 ); @@ -2930,7 +2930,7 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl coneTwistContraint->setUserConstraintType(type); //64 bit systems can't cast pointer to int. could use size_t instead. return coneTwistContraint->getUserConstraintId(); - } + } @@ -2953,26 +2953,26 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl // having btHingeConstraint fill in the blanks any way it wants to. btTransform frameInA; btTransform frameInB; - + btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z); if (axis1.length() == 0.0f) { btPlaneSpace1( axisInA, axis1, axis2 ); } - + // Internally btHingeConstraint's hinge-axis is z frameInA.getBasis().setValue( axis1.x(), axis2.x(), axisInA.x(), axis1.y(), axis2.y(), axisInA.y(), axis1.z(), axis2.z(), axisInA.z() ); - + frameInA.setOrigin( pivotInA ); btTransform inv = rb1->getCenterOfMassTransform().inverse(); btTransform globalFrameA = rb0->getCenterOfMassTransform() * frameInA; - + frameInB = inv * globalFrameA; - + hinge = new btHingeConstraint(*rb0,*rb1,frameInA,frameInB); @@ -2982,7 +2982,7 @@ int CcdPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ctrl btTransform frameInA; btTransform frameInB; - + btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z); if (axis1.length() == 0.0f) { @@ -3055,7 +3055,7 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float conera cinfo.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE | btCollisionObject::CF_STATIC_OBJECT; DefaultMotionState* motionState = new DefaultMotionState(); cinfo.m_MotionState = motionState; - + // we will add later the possibility to select the filter from option cinfo.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter; cinfo.m_collisionFilterGroup = CcdConstructionInfo::SensorFilter; @@ -3068,7 +3068,7 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float conera return sphereController; } - + float CcdPhysicsEnvironment::getAppliedImpulse(int constraintid) { // For soft body constraints @@ -3092,8 +3092,8 @@ float CcdPhysicsEnvironment::getAppliedImpulse(int constraintid) void CcdPhysicsEnvironment::ExportFile(const char* filename) { btDefaultSerializer* serializer = new btDefaultSerializer(); - - + + for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++) { |