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BGE: Optimize Soft body conversion: don't create BVH structure.

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A btBvhTriangleMeshShape object is created when converting
a mesh to physics, also in case of Soft body although the
soft body will not use it (it only uses the mesh interface).

This patch keeps this system for compatibility with the
KX converter but avoids the creation of the BVH structure,
which consumes a lots of CPU. This should speed up
significantly the conversion of large mesh to softbody.

A secondary optimization is that the sharing of shapeInfo
is extended to rigid body using gImpact. Before it was
only active between static body and soft body.
This commit is contained in:
Benoit Bolsee 2010-02-03 21:41:03 +00:00
parent 02d9da1d5d
commit 0020de72e4
4 changed files with 40 additions and 35 deletions
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6
source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
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@ -279,13 +279,15 @@ void KX_BulletPhysicsController::AddCompoundChild(KX_IPhysicsController* chil
// we will need this to make sure that we remove the right proxy later when unparenting
proxyShapeInfo->m_userData = childCtrl;
proxyShapeInfo->SetProxy(childCtrl->GetShapeInfo()->AddRef());
// add to parent compound shapeinfo
// add to parent compound shapeinfo (increments ref count)
GetShapeInfo()->AddShape(proxyShapeInfo);
// create new bullet collision shape from the object shapeinfo and set scaling
btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(childCtrl->GetMargin());
btCollisionShape* newChildShape = proxyShapeInfo->CreateBulletShape(childCtrl->GetMargin(), childCtrl->getConstructionInfo().m_bGimpact, true);
newChildShape->setLocalScaling(relativeScale);
// add bullet collision shape to parent compound collision shape
compoundShape->addChildShape(proxyShapeInfo->m_childTrans,newChildShape);
// proxyShapeInfo is not needed anymore, release it
proxyShapeInfo->Release();
// remember we created this shape
childCtrl->m_bulletChildShape = newChildShape;
// recompute inertia of parent

24
source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
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@ -97,6 +97,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
bool isbulletdyna = false;
bool isbulletsensor = false;
bool useGimpact = false;
CcdConstructionInfo ci;
class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo();
@ -121,7 +122,8 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
shapeInfo->m_radius = objprop->m_radius;
isbulletdyna = objprop->m_dyna;
isbulletsensor = objprop->m_sensor;
useGimpact = ((isbulletdyna || isbulletsensor) && !objprop->m_softbody);
ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
btCollisionShape* bm = 0;
@ -178,24 +180,22 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
}
case KX_BOUNDPOLYTOPE:
{
shapeInfo->SetMesh(meshobj, dm,true,false);
shapeInfo->SetMesh(meshobj, dm,true);
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case KX_BOUNDMESH:
{
bool useGimpact = ((ci.m_mass || isbulletsensor) && !objprop->m_softbody);
// mesh shapes can be shared, check first if we already have a shape on that mesh
class CcdShapeConstructionInfo *sharedShapeInfo = CcdShapeConstructionInfo::FindMesh(meshobj, dm, false,useGimpact);
class CcdShapeConstructionInfo *sharedShapeInfo = CcdShapeConstructionInfo::FindMesh(meshobj, dm, false);
if (sharedShapeInfo != NULL)
{
delete shapeInfo;
shapeInfo->Release();
shapeInfo = sharedShapeInfo;
shapeInfo->AddRef();
} else
{
shapeInfo->SetMesh(meshobj, dm, false,useGimpact);
shapeInfo->SetMesh(meshobj, dm, false);
}
// Soft bodies require welding. Only avoid remove doubles for non-soft bodies!
@ -204,7 +204,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
shapeInfo->setVertexWeldingThreshold1(objprop->m_soft_welding); //todo: expose this to the UI
}
bm = shapeInfo->CreateBulletShape(ci.m_margin);
bm = shapeInfo->CreateBulletShape(ci.m_margin, useGimpact, !objprop->m_softbody);
//should we compute inertia for dynamic shape?
//bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
@ -218,7 +218,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
if (!bm)
{
delete motionstate;
delete shapeInfo;
shapeInfo->Release();
return;
}
@ -268,6 +268,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
compoundShape->calculateLocalInertia(mass,localInertia);
rigidbody->setMassProps(mass,localInertia);
}
shapeInfo->Release();
// delete motionstate as it's not used
delete motionstate;
return;
@ -284,6 +285,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
// now replace the shape
bm = compoundShape;
shapeInfo->Release();
shapeInfo = compoundShapeInfo;
}
@ -395,6 +397,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
ci.m_contactProcessingThreshold = objprop->m_contactProcessingThreshold;//todo: expose this in advanced settings, just like margin, default to 10000 or so
ci.m_bSoft = objprop->m_softbody;
ci.m_bSensor = isbulletsensor;
ci.m_bGimpact = useGimpact;
MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]);
KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna,isbulletsensor,objprop->m_hasCompoundChildren);
@ -544,7 +547,8 @@ bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *fro
shapeInfo->UpdateMesh(from_gameobj, from_meshobj);
/* create the new bullet mesh */
btCollisionShape* bm= shapeInfo->CreateBulletShape(spc->getConstructionInfo().m_margin);
CcdConstructionInfo& cci = spc->getConstructionInfo();
btCollisionShape* bm= shapeInfo->CreateBulletShape(cci.m_margin, cci.m_bGimpact, !cci.m_bSoft);
spc->ReplaceControllerShape(bm);
return true;

35
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
View File

@ -236,7 +236,7 @@ bool CcdPhysicsController::CreateSoftbody()
}
} else
{
btBvhTriangleMeshShape* trimeshshape = (btBvhTriangleMeshShape*) m_cci.m_collisionShape;
btTriangleMeshShape* trimeshshape = (btTriangleMeshShape*) m_cci.m_collisionShape;
///only deal with meshes that have 1 sub part/component, for now
if (trimeshshape->getMeshInterface()->getNumSubParts()==1)
{
@ -682,7 +682,7 @@ void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionsta
if (m_shapeInfo)
{
m_shapeInfo->AddRef();
m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin);
m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin, m_cci.m_bGimpact, !m_cci.m_bSoft);
if (m_collisionShape)
{
@ -1276,7 +1276,7 @@ PHY_IPhysicsController* CcdPhysicsController::GetReplica()
if (m_shapeInfo)
{
// This situation does not normally happen
cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin);
cinfo.m_collisionShape = m_shapeInfo->CreateBulletShape(m_cci.m_margin, m_cci.m_bGimpact, !m_cci.m_bSoft);
}
else if (m_collisionShape)
{
@ -1379,9 +1379,9 @@ void DefaultMotionState::calculateWorldTransformations()
// Shape constructor
std::map<RAS_MeshObject*, CcdShapeConstructionInfo*> CcdShapeConstructionInfo::m_meshShapeMap;
CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope, bool gimpact)
CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope)
{
if (polytope || dm || gimpact)
if (polytope || dm)
// not yet supported
return NULL;
@ -1391,12 +1391,10 @@ CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mes
return NULL;
}
bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, DerivedMesh* dm, bool polytope,bool useGimpact)
bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, DerivedMesh* dm, bool polytope)
{
int numpolys, numverts;
m_useGimpact = useGimpact;
// assume no shape information
// no support for dynamic change of shape yet
assert(IsUnused());
@ -1656,7 +1654,7 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, DerivedMesh* dm,
}
// sharing only on static mesh at present, if you change that, you must also change in FindMesh
if (!polytope && !dm && !useGimpact)
if (!polytope && !dm)
{
// triangle shape can be shared, store the mesh object in the map
m_meshShapeMap.insert(std::pair<RAS_MeshObject*,CcdShapeConstructionInfo*>(meshobj,this));
@ -1991,13 +1989,13 @@ bool CcdShapeConstructionInfo::SetProxy(CcdShapeConstructionInfo* shapeInfo)
return true;
}
btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin, bool useGimpact, bool useBvh)
{
btCollisionShape* collisionShape = 0;
btCompoundShape* compoundShape = 0;
if (m_shapeType == PHY_SHAPE_PROXY && m_shapeProxy != NULL)
return m_shapeProxy->CreateBulletShape(margin);
return m_shapeProxy->CreateBulletShape(margin, useGimpact, useBvh);
switch (m_shapeType)
{
@ -2037,7 +2035,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
// 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.
if (m_useGimpact)
if (useGimpact)
{
btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(
m_polygonIndexArray.size(),
@ -2095,14 +2093,14 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
if(m_unscaledShape) {
DeleteBulletShape(m_unscaledShape, false);
m_unscaledShape->~btBvhTriangleMeshShape();
m_unscaledShape = new(m_unscaledShape) btBvhTriangleMeshShape( indexVertexArrays, true );
m_unscaledShape = new(m_unscaledShape) btBvhTriangleMeshShape( indexVertexArrays, true, useBvh );
} else {
m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true );
m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true, useBvh );
}
m_forceReInstance= false;
m_unscaledShape->recalcLocalAabb();
} else if (useBvh && m_unscaledShape->getOptimizedBvh() == NULL) {
// the existing unscaledShape was not build with Bvh, do it now
m_unscaledShape->buildOptimizedBvh();
}
collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f));
collisionShape->setMargin(margin);
@ -2117,7 +2115,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
sit != m_shapeArray.end();
sit++)
{
collisionShape = (*sit)->CreateBulletShape(margin);
collisionShape = (*sit)->CreateBulletShape(margin, useGimpact, useBvh);
if (collisionShape)
{
collisionShape->setLocalScaling((*sit)->m_childScale);
@ -2133,6 +2131,7 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape(btScalar margin)
void CcdShapeConstructionInfo::AddShape(CcdShapeConstructionInfo* shapeInfo)
{
m_shapeArray.push_back(shapeInfo);
shapeInfo->AddRef();
}
CcdShapeConstructionInfo::~CcdShapeConstructionInfo()

10
source/gameengine/Physics/Bullet/CcdPhysicsController.h
View File

@ -62,7 +62,7 @@ public:
float uv[2];
};
static CcdShapeConstructionInfo* FindMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope, bool gimpact);
static CcdShapeConstructionInfo* FindMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope);
CcdShapeConstructionInfo() :
m_shapeType(PHY_SHAPE_NONE),
@ -74,7 +74,6 @@ public:
m_refCount(1),
m_meshObject(NULL),
m_unscaledShape(NULL),
m_useGimpact(false),
m_forceReInstance(false),
m_weldingThreshold1(0.f),
m_shapeProxy(NULL)
@ -143,7 +142,7 @@ public:
return true;
}
bool SetMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope,bool useGimpact);
bool SetMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope);
RAS_MeshObject* GetMesh(void)
{
return m_meshObject;
@ -158,7 +157,7 @@ public:
return m_shapeProxy;
}
btCollisionShape* CreateBulletShape(btScalar margin);
btCollisionShape* CreateBulletShape(btScalar margin, bool useGimpact=false, bool useBvh=true);
// member variables
PHY_ShapeType m_shapeType;
@ -193,7 +192,6 @@ protected:
btBvhTriangleMeshShape* m_unscaledShape;// holds the shared unscale BVH mesh shape,
// the actual shape is of type btScaledBvhTriangleMeshShape
std::vector<CcdShapeConstructionInfo*> m_shapeArray; // for compound shapes
bool m_useGimpact; //use gimpact for concave dynamic/moving collision detection
bool m_forceReInstance; //use gimpact for concave dynamic/moving collision detection
float m_weldingThreshold1; //welding closeby vertices together can improve softbody stability etc.
CcdShapeConstructionInfo* m_shapeProxy; // only used for PHY_SHAPE_PROXY, pointer to actual shape info
@ -240,6 +238,7 @@ struct CcdConstructionInfo
m_bRigid(false),
m_bSoft(false),
m_bSensor(false),
m_bGimpact(false),
m_collisionFilterGroup(DefaultFilter),
m_collisionFilterMask(AllFilter),
m_collisionShape(0),
@ -308,6 +307,7 @@ struct CcdConstructionInfo
bool m_bRigid;
bool m_bSoft;
bool m_bSensor;
bool m_bGimpact; // use Gimpact for mesh body
///optional use of collision group/mask:
///only collision with object goups that match the collision mask.