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BGE real-time soft bodies, step 2 / 3: create a btSoftBody. Next step is hooking up / deform graphics mesh and choose collision shape.

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Note: feature is still disabled.
This commit is contained in:
Erwin Coumans 2008-09-21 15:17:50 +00:00
parent 92829e821f
commit 1c29d02305
13 changed files with 109 additions and 21 deletions
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5
extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp vendored
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@ -119,7 +119,7 @@ void Process(const btDbvtNode* n)
//
btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
{
m_deferedcollide = true;//false;
m_deferedcollide = false;
m_needcleanup = true;
m_releasepaircache = (paircache!=0)?false:true;
m_prediction = 1/(btScalar)2;
@ -164,7 +164,7 @@ btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin,
void* userPtr,
short int collisionFilterGroup,
short int collisionFilterMask,
btDispatcher* dispatcher,
btDispatcher* /*dispatcher*/,
void* /*multiSapProxy*/)
{
btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( userPtr,
@ -180,6 +180,7 @@ if(!m_deferedcollide)
btDbvtTreeCollider collider(this);
collider.proxy=proxy;
btDbvt::collideTV(m_sets[0].m_root,proxy->aabb,collider);
btDbvt::collideTV(m_sets[1].m_root,proxy->aabb,collider);
}
return(proxy);
}

1
extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h vendored
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@ -86,7 +86,6 @@ int m_gid; // Gen id
bool m_releasepaircache; // Release pair cache on delete
bool m_deferedcollide; // Defere dynamic/static collision to collide call
bool m_needcleanup; // Need to run cleanup?
bool m_initialize; // Initialization
#if DBVT_BP_PROFILE
btClock m_clock;
struct {

2
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h vendored
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@ -143,7 +143,7 @@ public:
virtual ~btCollisionObject();
void setCollisionShape(btCollisionShape* collisionShape)
virtual void setCollisionShape(btCollisionShape* collisionShape)
{
m_collisionShape = collisionShape;
m_rootCollisionShape = collisionShape;

2
extern/bullet2/src/BulletSoftBody/btSoftBody.cpp vendored
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@ -69,7 +69,7 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo,int node_count, const btV
pm->m_flags = fMaterial::Default;
/* Collision shape */
///for now, create a collision shape internally
setCollisionShape(new btSoftBodyCollisionShape(this));
m_collisionShape = new btSoftBodyCollisionShape(this);
m_collisionShape->setMargin(0.25);
/* Nodes */
const btScalar margin=getCollisionShape()->getMargin();

7
extern/bullet2/src/BulletSoftBody/btSoftBody.h vendored
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@ -606,6 +606,13 @@ public:
/* dtor */
virtual ~btSoftBody();
/* Check for existing link */
virtual void setCollisionShape(btCollisionShape* collisionShape)
{
//don't do anything, due to the internal shape hack: todo: fix this
}
bool checkLink( int node0,
int node1) const;
bool checkLink( const Node* node0,

1
extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h vendored
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@ -94,7 +94,6 @@ public:
virtual void setLocalScaling(const btVector3& /*scaling*/)
{
///na
btAssert(0);
}
virtual const btVector3& getLocalScaling() const
{

1
source/gameengine/Converter/BL_BlenderDataConversion.cpp
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@ -1318,6 +1318,7 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
// ACTOR is now a separate feature
objprop.m_isactor = (blenderobject->gameflag & OB_ACTOR)!=0;
objprop.m_dyna = (blenderobject->gameflag & OB_DYNAMIC) != 0;
objprop.m_softbody = (blenderobject->gameflag & OB_SOFT_BODY) != 0;
objprop.m_angular_rigidbody = (blenderobject->gameflag & OB_RIGID_BODY) != 0;
objprop.m_ghost = (blenderobject->gameflag & OB_GHOST) != 0;
objprop.m_disableSleeping = (blenderobject->gameflag & OB_COLLISION_RESPONSE) != 0;//abuse the OB_COLLISION_RESPONSE flag

1
source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
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@ -75,6 +75,7 @@ struct KX_CBounds
struct KX_ObjectProperties
{
bool m_dyna;
bool m_softbody;
double m_radius;
bool m_angular_rigidbody;
bool m_in_active_layer;

9
source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
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@ -917,6 +917,7 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
ci.m_collisionFilterGroup = (isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) : short(CcdConstructionInfo::StaticFilter);
ci.m_collisionFilterMask = (isbulletdyna) ? short(CcdConstructionInfo::AllFilter) : short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter);
ci.m_bRigid = objprop->m_dyna && objprop->m_angular_rigidbody;
ci.m_bSoft = objprop->m_softbody;
MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]);
KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna);
@ -933,10 +934,12 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
physicscontroller->setNewClientInfo(gameobj->getClientInfo());
btRigidBody* rbody = physicscontroller->GetRigidBody();
{
btRigidBody* rbody = physicscontroller->GetRigidBody();
if (objprop->m_disableSleeping)
rbody->setActivationState(DISABLE_DEACTIVATION);
if (rbody && objprop->m_disableSleeping)
rbody->setActivationState(DISABLE_DEACTIVATION);
}
//Now done directly in ci.m_collisionFlags so that it propagates to replica
//if (objprop->m_ghost)

61
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@ -133,6 +133,13 @@ btSoftBody* CcdPhysicsController::GetSoftBody()
return btSoftBody::upcast(m_object);
}
#include "BulletSoftBody/btSoftBodyHelpers.h"
btVector3 pts[3] = {btVector3(0,0,0),
btVector3(0,1,0),
btVector3(1,1,0)};
int triangles[3] = {0,1,2};
btSoftBodyWorldInfo sbi;
void CcdPhysicsController::CreateRigidbody()
{
@ -143,14 +150,64 @@ void CcdPhysicsController::CreateRigidbody()
///either create a btCollisionObject, btRigidBody or btSoftBody
//create a collision object
if (0)//m_cci.m_mass==0.f)
//disable soft body until first sneak preview is ready
if (0)//m_cci.m_bSoft)
{
btRigidBody::btRigidBodyConstructionInfo rbci(m_cci.m_mass,m_bulletMotionState,m_collisionShape,m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor);
rbci.m_linearDamping = m_cci.m_linearDamping;
rbci.m_angularDamping = m_cci.m_angularDamping;
rbci.m_friction = m_cci.m_friction;
rbci.m_restitution = m_cci.m_restitution;
m_object = new btCollisionObject();
sbi.m_broadphase = this->m_cci.m_physicsEnv->getBroadphase();
sbi.m_dispatcher = (btCollisionDispatcher*) m_cci.m_physicsEnv->getDispatcher();
int nodecount = 0;
int numtriangles = 1;
btVector3 p = trans.getOrigin();
btScalar h = 1.f;
PHY__Vector3 grav;
m_cci.m_physicsEnv->getGravity(grav);
sbi.m_gravity.setValue(grav[0],grav[1],grav[2]);
const btVector3 c[]={ p+h*btVector3(-1,-1,-1),
p+h*btVector3(+1,-1,-1),
p+h*btVector3(-1,+1,-1),
p+h*btVector3(+1,+1,-1),
p+h*btVector3(-1,-1,+1),
p+h*btVector3(+1,-1,+1),
p+h*btVector3(-1,+1,+1),
p+h*btVector3(+1,+1,+1)};
int i=0;
const int n=15;
//btSoftBody* psb=btSoftBodyHelpers::CreateRope(sbi, btVector3(-10,0,i*0.25),btVector3(10,0,i*0.25), 16,1+2);
btSoftBody* psb = btSoftBodyHelpers::CreateFromConvexHull(sbi,c,8);
m_object = psb;//btSoftBodyHelpers::CreateFromTriMesh(sbi,&pts[0].getX(),triangles,numtriangles);
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS;//btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS;
sbi.m_sparsesdf.Reset();
sbi.m_sparsesdf.Initialize();
psb->generateBendingConstraints(2);
psb->m_cfg.kDF=1;
psb->activate();
psb->setActivationState(1);
psb->setDeactivationTime(1.f);
psb->m_cfg.piterations = 4;
//psb->m_materials[0]->m_kLST = 0.1+(i/(btScalar)(n-1))*0.9;
psb->setTotalMass(20);
psb->setCollisionFlags(0);
m_object->setCollisionShape(rbci.m_collisionShape);
btTransform startTrans;

2
source/gameengine/Physics/Bullet/CcdPhysicsController.h
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@ -149,6 +149,7 @@ struct CcdConstructionInfo
m_margin(0.06f),
m_collisionFlags(0),
m_bRigid(false),
m_bSoft(false),
m_collisionFilterGroup(DefaultFilter),
m_collisionFilterMask(AllFilter),
m_collisionShape(0),
@ -170,6 +171,7 @@ struct CcdConstructionInfo
btScalar m_margin;
int m_collisionFlags;
bool m_bRigid;
bool m_bSoft;
///optional use of collision group/mask:
///only collision with object goups that match the collision mask.

33
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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@ -24,6 +24,7 @@ subject to the following restrictions:
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
//profiling/timings
#include "LinearMath/btQuickprof.h"
@ -331,7 +332,9 @@ m_filterCallback(NULL)
{
m_triggerCallbacks[i] = 0;
}
m_collisionConfiguration = new btDefaultCollisionConfiguration();
// m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
if (!dispatcher)
{
@ -339,6 +342,8 @@ m_filterCallback(NULL)
m_ownDispatcher = dispatcher;
}
//m_broadphase = new btAxisSweep3(btVector3(-1000,-1000,-1000),btVector3(1000,1000,1000));
//m_broadphase = new btSimpleBroadphase();
m_broadphase = new btDbvtBroadphase();
m_filterCallback = new CcdOverlapFilterCallBack(this);
@ -375,9 +380,8 @@ void CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
{
if (ctrl->GetSoftBody())
{
//not yet
btAssert(0);
//m_dynamicsWorld->addSo
btSoftBody* softBody = ctrl->GetSoftBody();
m_dynamicsWorld->addSoftBody(softBody);
} else
{
if (obj->getCollisionShape())
@ -460,8 +464,7 @@ void CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
//if a softbody
if (ctrl->GetSoftBody())
{
//not yet
btAssert(0);
m_dynamicsWorld->removeSoftBody(ctrl->GetSoftBody());
} else
{
m_dynamicsWorld->removeCollisionObject(ctrl->GetCollisionObject());
@ -553,7 +556,8 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
float subStep = timeStep / float(m_numTimeSubSteps);
for (i=0;i<m_numTimeSubSteps;i++)
{
m_dynamicsWorld->stepSimulation(subStep,0);//perform always a full simulation step
// m_dynamicsWorld->stepSimulation(subStep,20,1./240.);//perform always a full simulation step
m_dynamicsWorld->stepSimulation(subStep,0);//perform always a full simulation step
}
for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
@ -670,7 +674,13 @@ void CcdPhysicsEnvironment::setSolverType(int solverType)
void CcdPhysicsEnvironment::getGravity(PHY__Vector3& grav)
{
const btVector3& gravity = m_dynamicsWorld->getGravity();
grav[0] = gravity.getX();
grav[1] = gravity.getY();
grav[2] = gravity.getZ();
}
void CcdPhysicsEnvironment::setGravity(float x,float y,float z)
@ -955,6 +965,13 @@ btBroadphaseInterface* CcdPhysicsEnvironment::getBroadphase()
return m_dynamicsWorld->getBroadphase();
}
btDispatcher* CcdPhysicsEnvironment::getDispatcher()
{
return m_dynamicsWorld->getDispatcher();
}

5
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
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@ -119,6 +119,8 @@ protected:
virtual void setDebugMode(int debugMode);
virtual void setGravity(float x,float y,float z);
virtual void getGravity(PHY__Vector3& grav);
virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
float pivotX,float pivotY,float pivotZ,
@ -195,8 +197,7 @@ protected:
btBroadphaseInterface* getBroadphase();
btDispatcher* getDispatcher();
bool IsSatCollisionDetectionEnabled() const