diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet')
3 files changed, 347 insertions, 14 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index b872fae6138..a28af5f9635 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -18,6 +18,7 @@ subject to the following restrictions: #include "PHY_IMotionState.h" #include "CcdPhysicsEnvironment.h" +#include "RAS_MeshObject.h" class BP_Proxy; @@ -44,7 +45,14 @@ CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) m_newClientInfo = 0; m_registerCount = 0; + // copy pointers locally to allow smart release m_MotionState = ci.m_MotionState; + m_collisionShape = ci.m_collisionShape; + // shape info is shared, increment ref count + m_shapeInfo = ci.m_shapeInfo; + if (m_shapeInfo) + m_shapeInfo->AddRef(); + m_bulletMotionState = 0; @@ -116,7 +124,7 @@ void CcdPhysicsController::CreateRigidbody() m_body = new btRigidBody(m_cci.m_mass, m_bulletMotionState, - m_cci.m_collisionShape, + m_collisionShape, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor, m_cci.m_linearDamping,m_cci.m_angularDamping, m_cci.m_friction,m_cci.m_restitution); @@ -144,6 +152,19 @@ void CcdPhysicsController::CreateRigidbody() } } +static void DeleteBulletShape(btCollisionShape* shape) +{ + 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; + } + delete shape; +} + CcdPhysicsController::~CcdPhysicsController() { //will be reference counted, due to sharing @@ -155,6 +176,27 @@ CcdPhysicsController::~CcdPhysicsController() if (m_bulletMotionState) delete m_bulletMotionState; delete m_body; + + if (m_collisionShape) + { + // collision shape is always unique to the controller, can delete it here + if (m_collisionShape->isCompound()) + { + // bullet does not delete the child shape, must do it here + btCompoundShape* compoundShape = (btCompoundShape*)m_collisionShape; + int numChild = compoundShape->getNumChildShapes(); + for (int i=numChild-1 ; i >= 0; i--) + { + btCollisionShape* childShape = compoundShape->getChildShape(i); + DeleteBulletShape(childShape); + } + } + DeleteBulletShape(m_collisionShape); + } + if (m_shapeInfo) + { + m_shapeInfo->Release(); + } } @@ -219,11 +261,33 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta { m_MotionState = motionstate; m_registerCount = 0; - + m_collisionShape = NULL; + + // always create a new shape to avoid scaling bug + if (m_shapeInfo) + { + m_shapeInfo->AddRef(); + m_collisionShape = m_shapeInfo->CreateBulletShape(); + + if (m_collisionShape) + { + // new shape has no scaling, apply initial scaling + m_collisionShape->setLocalScaling(m_cci.m_scaling); + if (m_cci.m_mass) + m_collisionShape->calculateLocalInertia(m_cci.m_mass, m_cci.m_localInertiaTensor); + } + } m_body = 0; CreateRigidbody(); - + + if (m_body) + { + if (m_cci.m_mass) + { + m_body->setMassProps(m_cci.m_mass, m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); + } + } m_cci.m_physicsEnv->addCcdPhysicsController(this); @@ -597,29 +661,32 @@ bool CcdPhysicsController::wantsSleeping() PHY_IPhysicsController* CcdPhysicsController::GetReplica() { - //very experimental, shape sharing is not implemented yet. - //just support btSphereShape/ConeShape for now - + // This is used only to replicate Near and Radar sensor controllers + // The replication of object physics controller is done in KX_BulletPhysicsController::GetReplica() CcdConstructionInfo cinfo = m_cci; - if (cinfo.m_collisionShape) + if (m_shapeInfo) + { + // This situation does not normally happen + cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(); + } + else if (m_collisionShape) { - switch (cinfo.m_collisionShape->getShapeType()) + switch (m_collisionShape->getShapeType()) { case SPHERE_SHAPE_PROXYTYPE: { - btSphereShape* orgShape = (btSphereShape*)cinfo.m_collisionShape; + btSphereShape* orgShape = (btSphereShape*)m_collisionShape; cinfo.m_collisionShape = new btSphereShape(*orgShape); break; } - case CONE_SHAPE_PROXYTYPE: + case CONE_SHAPE_PROXYTYPE: { - btConeShape* orgShape = (btConeShape*)cinfo.m_collisionShape; + btConeShape* orgShape = (btConeShape*)m_collisionShape; cinfo.m_collisionShape = new btConeShape(*orgShape); break; } - default: { return 0; @@ -628,6 +695,7 @@ PHY_IPhysicsController* CcdPhysicsController::GetReplica() } cinfo.m_MotionState = new DefaultMotionState(); + cinfo.m_shapeInfo = m_shapeInfo; CcdPhysicsController* replica = new CcdPhysicsController(cinfo); return replica; @@ -689,3 +757,198 @@ void DefaultMotionState::calculateWorldTransformations() } +// Shape constructor +bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) +{ + // assume no shape information + m_shapeType = PHY_SHAPE_NONE; + m_vertexArray.clear(); + + if (!meshobj) + return false; + + // Mesh has no polygons! + int numpolys = meshobj->NumPolygons(); + if (!numpolys) + { + return false; + } + + // check that we have at least one colliding polygon + int numvalidpolys = 0; + + for (int p=0; p<numpolys; p++) + { + RAS_Polygon* poly = meshobj->GetPolygon(p); + + // only add polygons that have the collisionflag set + if (poly->IsCollider()) + { + numvalidpolys++; + break; + } + } + + // No collision polygons + if (numvalidpolys < 1) + return false; + + m_shapeType = (polytope) ? PHY_SHAPE_POLYTOPE : PHY_SHAPE_MESH; + + numvalidpolys = 0; + + 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) + { + for (int i=0;i<poly->VertexCount();i++) + { + const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[i], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 point(vtx[0],vtx[1],vtx[2]); + m_vertexArray.push_back(point); + numvalidpolys++; + } + } else + { + { + const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[2], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 vertex0(vtx[0],vtx[1],vtx[2]); + vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[1], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 vertex1(vtx[0],vtx[1],vtx[2]); + vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[0], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 vertex2(vtx[0],vtx[1],vtx[2]); + m_vertexArray.push_back(vertex0); + m_vertexArray.push_back(vertex1); + m_vertexArray.push_back(vertex2); + numvalidpolys++; + } + if (poly->VertexCount() == 4) + { + const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[3], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 vertex0(vtx[0],vtx[1],vtx[2]); + vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[2], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 vertex1(vtx[0],vtx[1],vtx[2]); + vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray, + poly->GetVertexIndexBase().m_indexarray[0], + poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ(); + btPoint3 vertex2(vtx[0],vtx[1],vtx[2]); + m_vertexArray.push_back(vertex0); + m_vertexArray.push_back(vertex1); + m_vertexArray.push_back(vertex2); + numvalidpolys++; + } + } + } + } + + if (!numvalidpolys) + { + // should not happen + m_shapeType = PHY_SHAPE_NONE; + return false; + } + return true; +} + +btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() +{ + btCollisionShape* collisionShape = 0; + btTriangleMeshShape* concaveShape = 0; + btTriangleMesh* collisionMeshData = 0; + btCompoundShape* compoundShape = 0; + CcdShapeConstructionInfo* nextShapeInfo; + + switch (m_shapeType) + { + case PHY_SHAPE_BOX: + collisionShape = new btBoxShape(m_halfExtend); + break; + + case PHY_SHAPE_SPHERE: + collisionShape = new btSphereShape(m_radius); + break; + + case PHY_SHAPE_CYLINDER: + collisionShape = new btCylinderShapeZ(m_halfExtend); + break; + + case PHY_SHAPE_CONE: + collisionShape = new btConeShapeZ(m_radius, m_height); + break; + + case PHY_SHAPE_POLYTOPE: + collisionShape = new btConvexHullShape(&m_vertexArray.begin()->getX(), m_vertexArray.size()); + break; + + case PHY_SHAPE_MESH: + collisionMeshData = new btTriangleMesh(); + // m_vertexArray is necessarily a multiple of 3 + for (std::vector<btPoint3>::iterator it=m_vertexArray.begin(); it != m_vertexArray.end(); ) + { + collisionMeshData->addTriangle(*it++,*it++,*it++); + } + concaveShape = new btBvhTriangleMeshShape( collisionMeshData, true ); + concaveShape->recalcLocalAabb(); + collisionShape = concaveShape; + break; + + case PHY_SHAPE_COMPOUND: + if (m_nextShape) + { + compoundShape = new btCompoundShape(); + for (nextShapeInfo=m_nextShape; nextShapeInfo; nextShapeInfo = nextShapeInfo->m_nextShape) + { + collisionShape = nextShapeInfo->CreateBulletShape(); + if (collisionShape) + { + compoundShape->addChildShape(nextShapeInfo->m_childTrans, collisionShape); + } + } + collisionShape = compoundShape; + } + } + return collisionShape; +} + +void CcdShapeConstructionInfo::AddShape(CcdShapeConstructionInfo* shapeInfo) +{ + CcdShapeConstructionInfo* nextShape = this; + while (nextShape->m_nextShape != NULL) + nextShape = nextShape->m_nextShape; + nextShape->m_nextShape = shapeInfo; +} + +CcdShapeConstructionInfo::~CcdShapeConstructionInfo() +{ + CcdShapeConstructionInfo* childShape = m_nextShape; + + while (childShape) + { + CcdShapeConstructionInfo* nextShape = childShape->m_nextShape; + childShape->m_nextShape = NULL; + childShape->Release(); + childShape = nextShape; + } + + m_vertexArray.clear(); +} + + diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 448e5622eff..1e1a38aa2a6 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -17,11 +17,14 @@ subject to the following restrictions: #ifndef BULLET2_PHYSICSCONTROLLER_H #define BULLET2_PHYSICSCONTROLLER_H +#include <vector> + #include "PHY_IPhysicsController.h" /// PHY_IPhysicsController is the abstract simplified Interface to a physical object. /// It contains the IMotionState and IDeformableMesh Interfaces. #include "btBulletDynamicsCommon.h" +#include "LinearMath/btTransform.h" #include "PHY_IMotionState.h" @@ -31,8 +34,66 @@ extern float gAngularSleepingTreshold; extern bool gDisableDeactivation; class CcdPhysicsEnvironment; class btMotionState; +class RAS_MeshObject; +class btCollisionShape; + +// Shape contructor +// It contains all the information needed to create a simple bullet shape at runtime +class CcdShapeConstructionInfo +{ +public: + CcdShapeConstructionInfo() : + m_shapeType(PHY_SHAPE_NONE), + m_radius(1.0), + m_height(1.0), + m_halfExtend(0.f,0.f,0.f), + m_nextShape(NULL), + m_refCount(1) + { + m_childTrans.setIdentity(); + } + ~CcdShapeConstructionInfo(); + CcdShapeConstructionInfo* AddRef() + { + m_refCount++; + return this; + } + + int Release() + { + if (--m_refCount > 0) + return m_refCount; + delete this; + return 0; + } + + void AddShape(CcdShapeConstructionInfo* shapeInfo); + + CcdShapeConstructionInfo* GetNextShape() + { + return m_nextShape; + } + + bool SetMesh(RAS_MeshObject* mesh, bool polytope); + + btCollisionShape* CreateBulletShape(); + + // member variables + PHY_ShapeType m_shapeType; + btScalar m_radius; + btScalar m_height; + btVector3 m_halfExtend; + btTransform m_childTrans; + std::vector<btPoint3> m_vertexArray; // Contains both vertex array for polytope shape and + // triangle array for concave mesh shape. + // In this case a triangle is made of 3 consecutive points +protected: + CcdShapeConstructionInfo* m_nextShape; // for compound shape + int m_refCount; // this class is shared between replicas + // keep track of users so that we can release it +}; struct CcdConstructionInfo { @@ -65,6 +126,7 @@ struct CcdConstructionInfo m_collisionFilterMask(AllFilter), m_collisionShape(0), m_MotionState(0), + m_shapeInfo(0), m_physicsEnv(0), m_inertiaFactor(1.f) { @@ -89,8 +151,11 @@ struct CcdConstructionInfo short int m_collisionFilterGroup; short int m_collisionFilterMask; + ///these pointers are used as argument passing for the CcdPhysicsController constructor + ///and not anymore after that class btCollisionShape* m_collisionShape; class PHY_IMotionState* m_MotionState; + class CcdShapeConstructionInfo* m_shapeInfo; CcdPhysicsEnvironment* m_physicsEnv; //needed for self-replication float m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor' @@ -106,6 +171,9 @@ class CcdPhysicsController : public PHY_IPhysicsController btRigidBody* m_body; class PHY_IMotionState* m_MotionState; btMotionState* m_bulletMotionState; + class btCollisionShape* m_collisionShape; + class CcdShapeConstructionInfo* m_shapeInfo; + friend class CcdPhysicsEnvironment; // needed when updating the controller @@ -137,6 +205,7 @@ class CcdPhysicsController : public PHY_IPhysicsController btRigidBody* GetRigidBody() { return m_body;} + CcdShapeConstructionInfo* GetShapeInfo() { return m_shapeInfo; } btCollisionShape* GetCollisionShape() { return m_body->getCollisionShape(); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index dfbcf115fd7..d8e05fab839 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -1370,8 +1370,9 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight) { CcdConstructionInfo cinfo; - //This is a memory leak: Bullet does not delete the shape and it cannot be added to - //the KX_Scene.m_shapes list -- too bad but that's not a lot of data + + // we don't need a CcdShapeConstructionInfo for this shape: + // it is simple enough for the standard copy constructor (see CcdPhysicsController::GetReplica) cinfo.m_collisionShape = new btConeShape(coneradius,coneheight); cinfo.m_MotionState = 0; cinfo.m_physicsEnv = this; |