From 0749bf7be70e32b8fd4dd09839bce0267dbe9b29 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 10 Oct 2008 05:12:57 +0000 Subject: Fix bug in rigid body constraint buttons drawing, and while we are at it, add 'Collision' button to disable collisions between bodies, linked between constraint. --- .../Converter/BL_BlenderDataConversion.cpp | 2 +- source/gameengine/Ketsji/KX_PyConstraintBinding.cpp | 2 +- .../Physics/Bullet/CcdPhysicsEnvironment.cpp | 21 ++++++++++++++------- .../Physics/Bullet/CcdPhysicsEnvironment.h | 4 ++-- .../Physics/Dummy/DummyPhysicsEnvironment.cpp | 3 +-- .../Physics/Dummy/DummyPhysicsEnvironment.h | 2 +- .../Physics/Sumo/SumoPhysicsEnvironment.cpp | 4 ++-- .../Physics/Sumo/SumoPhysicsEnvironment.h | 2 +- .../Physics/common/PHY_IPhysicsEnvironment.h | 2 +- 9 files changed, 24 insertions(+), 18 deletions(-) (limited to 'source/gameengine') diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp index 97ed6f4002a..9c699b67b28 100644 --- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp +++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp @@ -2478,7 +2478,7 @@ void BL_ConvertBlenderObjects(struct Main* maggie, (float)dat->pivY,(float)dat->pivZ, (float)axis0.x(),(float)axis0.y(),(float)axis0.z(), (float)axis1.x(),(float)axis1.y(),(float)axis1.z(), - (float)axis2.x(),(float)axis2.y(),(float)axis2.z()); + (float)axis2.x(),(float)axis2.y(),(float)axis2.z(),dat->flag); if (constraintId) { //if it is a generic 6DOF constraint, set all the limits accordingly diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp index dea6225edc2..fb37eded450 100644 --- a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp +++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp @@ -435,7 +435,7 @@ static PyObject* gPyCreateConstraint(PyObject* self, PHY_IPhysicsController* physctrl2 = (PHY_IPhysicsController*) physicsid2; if (physctrl) //TODO:check for existance of this pointer! { - int constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ); + int constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0); KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment()); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 91655e96101..82fa084a615 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -33,6 +33,7 @@ subject to the following restrictions: #include "PHY_IMotionState.h" +#define CCD_CONSTRAINT_DISABLE_LINKED_COLLISION 0x80 bool useIslands = true; @@ -882,13 +883,16 @@ int CcdPhysicsEnvironment::createUniversalD6Constraint( const btVector3& linearMinLimits, const btVector3& linearMaxLimits, const btVector3& angularMinLimits, - const btVector3& angularMaxLimits + const btVector3& angularMaxLimits,int flags ) { + bool disableCollisionBetweenLinkedBodies = (0==(flags & CCD_CONSTRAINT_DISABLE_LINKED_COLLISION)); + //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; @@ -918,7 +922,7 @@ int CcdPhysicsEnvironment::createUniversalD6Constraint( if (genericConstraint) { // m_constraints.push_back(genericConstraint); - m_dynamicsWorld->addConstraint(genericConstraint); + m_dynamicsWorld->addConstraint(genericConstraint,disableCollisionBetweenLinkedBodies); genericConstraint->setUserConstraintId(gConstraintUid++); genericConstraint->setUserConstraintType(PHY_GENERIC_6DOF_CONSTRAINT); @@ -1488,10 +1492,13 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl float pivotX,float pivotY,float pivotZ, float axisX,float axisY,float axisZ, float axis1X,float axis1Y,float axis1Z, - float axis2X,float axis2Y,float axis2Z + float axis2X,float axis2Y,float axis2Z,int flags ) { + bool disableCollisionBetweenLinkedBodies = (0==(flags & CCD_CONSTRAINT_DISABLE_LINKED_COLLISION)); + + CcdPhysicsController* c0 = (CcdPhysicsController*)ctrl0; CcdPhysicsController* c1 = (CcdPhysicsController*)ctrl1; @@ -1683,7 +1690,7 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl pivotInA); } - m_dynamicsWorld->addConstraint(p2p); + m_dynamicsWorld->addConstraint(p2p,disableCollisionBetweenLinkedBodies); // m_constraints.push_back(p2p); p2p->setUserConstraintId(gConstraintUid++); @@ -1753,7 +1760,7 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl if (genericConstraint) { //m_constraints.push_back(genericConstraint); - m_dynamicsWorld->addConstraint(genericConstraint); + m_dynamicsWorld->addConstraint(genericConstraint,disableCollisionBetweenLinkedBodies); genericConstraint->setUserConstraintId(gConstraintUid++); genericConstraint->setUserConstraintType(type); //64 bit systems can't cast pointer to int. could use size_t instead. @@ -1819,7 +1826,7 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl if (coneTwistContraint) { //m_constraints.push_back(genericConstraint); - m_dynamicsWorld->addConstraint(coneTwistContraint); + m_dynamicsWorld->addConstraint(coneTwistContraint,disableCollisionBetweenLinkedBodies); coneTwistContraint->setUserConstraintId(gConstraintUid++); coneTwistContraint->setUserConstraintType(type); //64 bit systems can't cast pointer to int. could use size_t instead. @@ -1858,7 +1865,7 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl hinge->setAngularOnly(angularOnly); //m_constraints.push_back(hinge); - m_dynamicsWorld->addConstraint(hinge); + m_dynamicsWorld->addConstraint(hinge,disableCollisionBetweenLinkedBodies); hinge->setUserConstraintId(gConstraintUid++); hinge->setUserConstraintType(type); //64 bit systems can't cast pointer to int. could use size_t instead. diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index 3d9d5442b8f..74384dd8cf2 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -127,7 +127,7 @@ protected: float pivotX,float pivotY,float pivotZ, float axisX,float axisY,float axisZ, float axis1X=0,float axis1Y=0,float axis1Z=0, - float axis2X=0,float axis2Y=0,float axis2Z=0 + float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0 ); @@ -139,7 +139,7 @@ protected: const btVector3& linearMinLimits, const btVector3& linearMaxLimits, const btVector3& angularMinLimits, - const btVector3& angularMaxLimits + const btVector3& angularMaxLimits,int flags ); virtual void setConstraintParam(int constraintId,int param,float value,float value1); diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp index d78958b746c..ba196b5cf55 100644 --- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp @@ -92,8 +92,7 @@ void DummyPhysicsEnvironment::setGravity(float x,float y,float z) int DummyPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, float pivotX,float pivotY,float pivotZ,float axisX,float axisY,float axisZ, float axis1X,float axis1Y,float axis1Z, - float axis2X,float axis2Y,float axis2Z - + float axis2X,float axis2Y,float axis2Z,int flag ) { diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h index 975be84f2a7..a92b1e7f4a6 100644 --- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h +++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h @@ -58,7 +58,7 @@ public: float pivotX,float pivotY,float pivotZ, float axisX,float axisY,float axisZ, float axis1X=0,float axis1Y=0,float axis1Z=0, - float axis2X=0,float axis2Y=0,float axis2Z=0 + float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0 ); virtual void removeConstraint(int constraintid); diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp index 80e4dc4044e..3be5e027345 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp @@ -111,8 +111,8 @@ int SumoPhysicsEnvironment::createConstraint( float pivotX,float pivotY,float pivotZ, float axisX,float axisY,float axisZ, float axis1X,float axis1Y,float axis1Z, - float axis2X,float axis2Y,float axis2Z - + float axis2X,float axis2Y,float axis2Z, + int flag ) { int constraintid = 0; diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h index 100adf969d5..65b07a7a0be 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h +++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h @@ -63,7 +63,7 @@ public: float pivotX,float pivotY,float pivotZ, float axisX,float axisY,float axisZ, float axis1X=0,float axis1Y=0,float axis1Z=0, - float axis2X=0,float axis2Y=0,float axis2Z=0 + float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0 ); diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h index 98496fb7f9e..0e9c571924c 100644 --- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h +++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h @@ -129,7 +129,7 @@ class PHY_IPhysicsEnvironment float pivotX,float pivotY,float pivotZ, float axis0X,float axis0Y,float axis0Z, float axis1X=0,float axis1Y=0,float axis1Z=0, - float axis2X=0,float axis2Y=0,float axis2Z=0 + float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0 )=0; virtual void removeConstraint(int constraintid)=0; virtual float getAppliedImpulse(int constraintid){ return 0.f;} -- cgit v1.2.3