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BGE Cleanup: Physics conversion is now handled by PHY_IPhysicsEnvironment

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The current physics conversion code was moved from
KX_ConvertPhysicsObjects to CcdPhysicsEnvironment.
This commit is contained in:
Mitchell Stokes 2014-04-23 18:39:33 -07:00
parent 89c61b20f0
commit 8cee587bcb
7 changed files with 546 additions and 552 deletions
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40
source/gameengine/Converter/BL_BlenderDataConversion.cpp
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@ -80,6 +80,7 @@
#include "SCA_TimeEventManager.h"
#include "KX_Light.h"
#include "KX_Camera.h"
#include "KX_ClientObjectInfo.h"
#include "KX_EmptyObject.h"
#include "KX_FontObject.h"
#include "MT_Point3.h"
@ -1359,7 +1360,6 @@ static void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
RAS_MeshObject* meshobj,
KX_Scene* kxscene,
int activeLayerBitInfo,
e_PhysicsEngine physics_engine,
KX_BlenderSceneConverter *converter,
bool processCompoundChildren
)
@ -1413,19 +1413,31 @@ static void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
DerivedMesh* dm = NULL;
if (gameobj->GetDeformer())
dm = gameobj->GetDeformer()->GetPhysicsMesh();
switch (physics_engine)
{
#ifdef WITH_BULLET
case UseBullet:
KX_ConvertBulletObject(gameobj, meshobj, dm, kxscene, shapeprops, smmaterial, activeLayerBitInfo, isCompoundChild, hasCompoundChildren);
break;
#endif
case UseNone:
default:
break;
class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
kxscene->GetPhysicsEnvironment()->ConvertObject(gameobj, meshobj, dm, kxscene, shapeprops, smmaterial, motionstate, activeLayerBitInfo, isCompoundChild, hasCompoundChildren);
bool isActor = (blenderobject->gameflag & OB_ACTOR)!=0;
bool isSensor = (blenderobject->gameflag & OB_SENSOR) != 0;
gameobj->getClientInfo()->m_type =
(isSensor) ? ((isActor) ? KX_ClientObjectInfo::OBACTORSENSOR : KX_ClientObjectInfo::OBSENSOR) :
(isActor) ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC;
// should we record animation for this object?
if ((blenderobject->gameflag & OB_RECORD_ANIMATION) != 0)
gameobj->SetRecordAnimation(true);
// store materialname in auxinfo, needed for touchsensors
if (meshobj)
{
const STR_String& matname=meshobj->GetMaterialName(0);
gameobj->getClientInfo()->m_auxilary_info = (matname.Length() ? (void*)(matname.ReadPtr()+2) : NULL);
} else
{
gameobj->getClientInfo()->m_auxilary_info = 0;
}
delete shapeprops;
delete smmaterial;
if (dm) {
@ -2342,7 +2354,7 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
meshobj = gameobj->GetMesh(0);
}
int layerMask = (groupobj.find(blenderobject) == groupobj.end()) ? activeLayerBitInfo : 0;
BL_CreatePhysicsObjectNew(gameobj,blenderobject,meshobj,kxscene,layerMask,physics_engine,converter,processCompoundChildren);
BL_CreatePhysicsObjectNew(gameobj,blenderobject,meshobj,kxscene,layerMask,converter,processCompoundChildren);
}
processCompoundChildren = true;
@ -2358,7 +2370,7 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
meshobj = gameobj->GetMesh(0);
}
int layerMask = (groupobj.find(blenderobject) == groupobj.end()) ? activeLayerBitInfo : 0;
BL_CreatePhysicsObjectNew(gameobj,blenderobject,meshobj,kxscene,layerMask,physics_engine,converter,processCompoundChildren);
BL_CreatePhysicsObjectNew(gameobj,blenderobject,meshobj,kxscene,layerMask,converter,processCompoundChildren);
}
//set ini linearVel and int angularVel //rcruiz

13
source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
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@ -32,22 +32,11 @@
#ifndef __KX_CONVERTPHYSICSOBJECT_H__
#define __KX_CONVERTPHYSICSOBJECT_H__
class KX_GameObject;
class RAS_MeshObject;
class KX_Scene;
struct DerivedMesh;
#ifdef WITH_BULLET
void KX_ConvertBulletObject(class KX_GameObject* gameobj,
class RAS_MeshObject* meshobj,
struct DerivedMesh* dm,
class KX_Scene* kxscene,
struct PHY_ShapeProps* shapeprops,
struct PHY_MaterialProps* smmaterial,
int activeLayerBitInfo,
bool isCompoundChild,
bool hasCompoundChildren);
bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj);
#endif

528
source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
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@ -33,539 +33,15 @@
# pragma warning (disable:4786)
#endif
#include "MT_assert.h"
#include "KX_SoftBodyDeformer.h"
#include "KX_ConvertPhysicsObject.h"
#include "BL_DeformableGameObject.h"
#include "KX_GameObject.h"
#include "RAS_MeshObject.h"
#include "KX_Scene.h"
#include "BL_System.h"
#include "PHY_Pro.h" //todo cleanup
#include "KX_ClientObjectInfo.h"
#include "CTR_Map.h"
#include "CTR_HashedPtr.h"
#include "MT_MinMax.h"
#include "KX_PhysicsEngineEnums.h"
#include "KX_MotionState.h" // bridge between motionstate and scenegraph node
extern "C"{
#include "BLI_utildefines.h"
#include "BKE_object.h"
}
#include "DNA_object_force.h"
#ifdef WITH_BULLET
#include "BulletSoftBody/btSoftBody.h"
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "btBulletDynamicsCommon.h"
#ifdef WIN32
#if defined(_MSC_VER) && (_MSC_VER >= 1310)
//only use SIMD Hull code under Win32
//#define TEST_HULL 1
#ifdef TEST_HULL
#define USE_HULL 1
//#define TEST_SIMD_HULL 1
#include "NarrowPhaseCollision/Hull.h"
#endif //#ifdef TEST_HULL
#endif //_MSC_VER
#endif //WIN32
// forward declarations
void KX_ConvertBulletObject( class KX_GameObject* gameobj,
class RAS_MeshObject* meshobj,
struct DerivedMesh* dm,
class KX_Scene* kxscene,
struct PHY_ShapeProps* shapeprops,
struct PHY_MaterialProps* smmaterial,
int activeLayerBitInfo,
bool isCompoundChild,
bool hasCompoundChildren)
{
Object* blenderobject = gameobj->GetBlenderObject();
CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
assert(env);
bool isbulletdyna = (blenderobject->gameflag & OB_DYNAMIC) != 0;;
bool isbulletsensor = (blenderobject->gameflag & OB_SENSOR) != 0;
bool isbulletchar = (blenderobject->gameflag & OB_CHARACTER) != 0;
bool isbulletsoftbody = (blenderobject->gameflag & OB_SOFT_BODY) != 0;
bool isbulletrigidbody = (blenderobject->gameflag & OB_RIGID_BODY) != 0;
bool useGimpact = false;
CcdConstructionInfo ci;
class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo();
KX_GameObject *parent = gameobj->GetParent();
if (parent)
{
isbulletdyna = false;
isbulletsoftbody = false;
shapeprops->m_mass = 0.f;
}
if (!isbulletdyna)
{
ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
}
if ((blenderobject->gameflag & (OB_GHOST | OB_SENSOR | OB_CHARACTER)) != 0)
{
ci.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
}
ci.m_MotionState = motionstate;
ci.m_gravity = btVector3(0,0,0);
ci.m_linearFactor = btVector3(((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_X_AXIS) !=0)? 0 : 1,
((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Y_AXIS) !=0)? 0 : 1,
((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Z_AXIS) !=0)? 0 : 1);
ci.m_angularFactor = btVector3(((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_X_ROT_AXIS) !=0)? 0 : 1,
((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Y_ROT_AXIS) !=0)? 0 : 1,
((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Z_ROT_AXIS) !=0)? 0 : 1);
ci.m_localInertiaTensor =btVector3(0,0,0);
ci.m_mass = isbulletdyna ? shapeprops->m_mass : 0.f;
ci.m_clamp_vel_min = shapeprops->m_clamp_vel_min;
ci.m_clamp_vel_max = shapeprops->m_clamp_vel_max;
ci.m_stepHeight = isbulletchar ? shapeprops->m_step_height : 0.f;
ci.m_jumpSpeed = isbulletchar ? shapeprops->m_jump_speed : 0.f;
ci.m_fallSpeed = isbulletchar ? shapeprops->m_fall_speed : 0.f;
//mmm, for now, take this for the size of the dynamicobject
// Blender uses inertia for radius of dynamic object
shapeInfo->m_radius = ci.m_radius = blenderobject->inertia;
useGimpact = ((isbulletdyna || isbulletsensor) && !isbulletsoftbody);
if (isbulletsoftbody)
{
if (blenderobject->bsoft)
{
ci.m_margin = blenderobject->bsoft->margin;
}
else
{
ci.m_margin = 0.f;
}
}
else
{
ci.m_margin = blenderobject->margin;
}
ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
btCollisionShape* bm = 0;
char bounds;
if (blenderobject->gameflag & OB_BOUNDS)
{
bounds = blenderobject->collision_boundtype;
}
else
{
if (blenderobject->gameflag & OB_SOFT_BODY)
bounds = OB_BOUND_TRIANGLE_MESH;
else if (blenderobject->gameflag & OB_CHARACTER)
bounds = OB_BOUND_SPHERE;
else if (isbulletdyna)
bounds = OB_BOUND_SPHERE;
else
bounds = OB_BOUND_TRIANGLE_MESH;
}
// Can't use triangle mesh or convex hull on a non-mesh object, fall-back to sphere
if (ELEM(bounds, OB_BOUND_TRIANGLE_MESH, OB_BOUND_CONVEX_HULL) && blenderobject->type != OB_MESH)
bounds = OB_BOUND_SPHERE;
// Get bounds information
float bounds_center[3], bounds_extends[3];
BoundBox *bb= BKE_object_boundbox_get(blenderobject);
if (bb==NULL)
{
bounds_center[0] = bounds_center[1] = bounds_center[2] = 0.0;
bounds_extends[0] = bounds_extends[1] = bounds_extends[2] = 1.0;
}
else
{
bounds_extends[0] = 0.5f * fabsf(bb->vec[0][0] - bb->vec[4][0]);
bounds_extends[1] = 0.5f * fabsf(bb->vec[0][1] - bb->vec[2][1]);
bounds_extends[2] = 0.5f * fabsf(bb->vec[0][2] - bb->vec[1][2]);
bounds_center[0] = 0.5f * (bb->vec[0][0] + bb->vec[4][0]);
bounds_center[1] = 0.5f * (bb->vec[0][1] + bb->vec[2][1]);
bounds_center[2] = 0.5f * (bb->vec[0][2] + bb->vec[1][2]);
}
switch (bounds)
{
case OB_BOUND_SPHERE:
{
//float radius = objprop->m_radius;
//btVector3 inertiaHalfExtents (
// radius,
// radius,
// radius);
//blender doesn't support multisphere, but for testing:
//bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1);
shapeInfo->m_shapeType = PHY_SHAPE_SPHERE;
// XXX We calculated the radius but didn't use it?
// objprop.m_boundobject.c.m_radius = MT_max(bb.m_extends[0], MT_max(bb.m_extends[1], bb.m_extends[2]));
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
};
case OB_BOUND_BOX:
{
shapeInfo->m_halfExtend.setValue(
2.f * bounds_extends[0],
2.f * bounds_extends[1],
2.f * bounds_extends[2]);
shapeInfo->m_halfExtend /= 2.0;
shapeInfo->m_halfExtend = shapeInfo->m_halfExtend.absolute();
shapeInfo->m_shapeType = PHY_SHAPE_BOX;
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
};
case OB_BOUND_CYLINDER:
{
float radius = MT_max(bounds_extends[0], bounds_extends[1]);
shapeInfo->m_halfExtend.setValue(
radius,
radius,
bounds_extends[2]
);
shapeInfo->m_shapeType = PHY_SHAPE_CYLINDER;
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case OB_BOUND_CONE:
{
shapeInfo->m_radius = MT_max(bounds_extends[0], bounds_extends[1]);
shapeInfo->m_height = 2.f * bounds_extends[2];
shapeInfo->m_shapeType = PHY_SHAPE_CONE;
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case OB_BOUND_CONVEX_HULL:
{
shapeInfo->SetMesh(meshobj, dm,true);
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case OB_BOUND_CAPSULE:
{
shapeInfo->m_radius = MT_max(bounds_extends[0], bounds_extends[1]);
shapeInfo->m_height = 2.f * (bounds_extends[2] - shapeInfo->m_radius);
if (shapeInfo->m_height < 0.f)
shapeInfo->m_height = 0.f;
shapeInfo->m_shapeType = PHY_SHAPE_CAPSULE;
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case OB_BOUND_TRIANGLE_MESH:
{
// mesh shapes can be shared, check first if we already have a shape on that mesh
class CcdShapeConstructionInfo *sharedShapeInfo = CcdShapeConstructionInfo::FindMesh(meshobj, dm, false);
if (sharedShapeInfo != NULL)
{
shapeInfo->Release();
shapeInfo = sharedShapeInfo;
shapeInfo->AddRef();
} else
{
shapeInfo->SetMesh(meshobj, dm, false);
}
// Soft bodies can benefit from welding, don't do it on non-soft bodies
if (isbulletsoftbody)
{
// disable welding: it doesn't bring any additional stability and it breaks the relation between soft body collision shape and graphic mesh
// shapeInfo->setVertexWeldingThreshold1((blenderobject->bsoft) ? blenderobject->bsoft->welding ? 0.f);
shapeInfo->setVertexWeldingThreshold1(0.f); //todo: expose this to the UI
}
bm = shapeInfo->CreateBulletShape(ci.m_margin, useGimpact, !isbulletsoftbody);
//should we compute inertia for dynamic shape?
//bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
break;
}
}
// ci.m_localInertiaTensor.setValue(0.1f,0.1f,0.1f);
if (!bm)
{
delete motionstate;
shapeInfo->Release();
return;
}
//bm->setMargin(ci.m_margin);
if (isCompoundChild)
{
//find parent, compound shape and add to it
//take relative transform into account!
CcdPhysicsController* parentCtrl = (CcdPhysicsController*)parent->GetPhysicsController();
assert(parentCtrl);
CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo();
btRigidBody* rigidbody = parentCtrl->GetRigidBody();
btCollisionShape* colShape = rigidbody->getCollisionShape();
assert(colShape->isCompound());
btCompoundShape* compoundShape = (btCompoundShape*)colShape;
// compute the local transform from parent, this may include several node in the chain
SG_Node* gameNode = gameobj->GetSGNode();
SG_Node* parentNode = parent->GetSGNode();
// relative transform
MT_Vector3 parentScale = parentNode->GetWorldScaling();
parentScale[0] = MT_Scalar(1.0)/parentScale[0];
parentScale[1] = MT_Scalar(1.0)/parentScale[1];
parentScale[2] = MT_Scalar(1.0)/parentScale[2];
MT_Vector3 relativeScale = gameNode->GetWorldScaling() * parentScale;
MT_Matrix3x3 parentInvRot = parentNode->GetWorldOrientation().transposed();
MT_Vector3 relativePos = parentInvRot*((gameNode->GetWorldPosition()-parentNode->GetWorldPosition())*parentScale);
MT_Matrix3x3 relativeRot = parentInvRot*gameNode->GetWorldOrientation();
shapeInfo->m_childScale.setValue(relativeScale[0],relativeScale[1],relativeScale[2]);
bm->setLocalScaling(shapeInfo->m_childScale);
shapeInfo->m_childTrans.getOrigin().setValue(relativePos[0],relativePos[1],relativePos[2]);
float rot[12];
relativeRot.getValue(rot);
shapeInfo->m_childTrans.getBasis().setFromOpenGLSubMatrix(rot);
parentShapeInfo->AddShape(shapeInfo);
compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
//do some recalc?
//recalc inertia for rigidbody
if (!rigidbody->isStaticOrKinematicObject())
{
btVector3 localInertia;
float mass = 1.f/rigidbody->getInvMass();
compoundShape->calculateLocalInertia(mass,localInertia);
rigidbody->setMassProps(mass,localInertia);
}
shapeInfo->Release();
// delete motionstate as it's not used
delete motionstate;
return;
}
if (hasCompoundChildren)
{
// create a compound shape info
CcdShapeConstructionInfo *compoundShapeInfo = new CcdShapeConstructionInfo();
compoundShapeInfo->m_shapeType = PHY_SHAPE_COMPOUND;
compoundShapeInfo->AddShape(shapeInfo);
// create the compound shape manually as we already have the child shape
btCompoundShape* compoundShape = new btCompoundShape();
compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
// now replace the shape
bm = compoundShape;
shapeInfo->Release();
shapeInfo = compoundShapeInfo;
}
#ifdef TEST_SIMD_HULL
if (bm->IsPolyhedral())
{
PolyhedralConvexShape* polyhedron = static_cast<PolyhedralConvexShape*>(bm);
if (!polyhedron->m_optionalHull)
{
//first convert vertices in 'Point3' format
int numPoints = polyhedron->GetNumVertices();
Point3* points = new Point3[numPoints+1];
//first 4 points should not be co-planar, so add central point to satisfy MakeHull
points[0] = Point3(0.f,0.f,0.f);
btVector3 vertex;
for (int p=0;p<numPoints;p++)
{
polyhedron->GetVertex(p,vertex);
points[p+1] = Point3(vertex.getX(),vertex.getY(),vertex.getZ());
}
Hull* hull = Hull::MakeHull(numPoints+1,points);
polyhedron->m_optionalHull = hull;
}
}
#endif //TEST_SIMD_HULL
ci.m_collisionShape = bm;
ci.m_shapeInfo = shapeInfo;
ci.m_friction = smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice
ci.m_restitution = smmaterial->m_restitution;
ci.m_physicsEnv = env;
// drag / damping is inverted
ci.m_linearDamping = 1.f - shapeprops->m_lin_drag;
ci.m_angularDamping = 1.f - shapeprops->m_ang_drag;
//need a bit of damping, else system doesn't behave well
ci.m_inertiaFactor = shapeprops->m_inertia/0.4f;//defaults to 0.4, don't want to change behavior
ci.m_do_anisotropic = shapeprops->m_do_anisotropic;
ci.m_anisotropicFriction.setValue(shapeprops->m_friction_scaling[0],shapeprops->m_friction_scaling[1],shapeprops->m_friction_scaling[2]);
//////////
//do Fh, do Rot Fh
ci.m_do_fh = shapeprops->m_do_fh;
ci.m_do_rot_fh = shapeprops->m_do_rot_fh;
ci.m_fh_damping = smmaterial->m_fh_damping;
ci.m_fh_distance = smmaterial->m_fh_distance;
ci.m_fh_normal = smmaterial->m_fh_normal;
ci.m_fh_spring = smmaterial->m_fh_spring;
ci.m_collisionFilterGroup =
(isbulletsensor) ? short(CcdConstructionInfo::SensorFilter) :
(isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) :
(isbulletchar) ? short(CcdConstructionInfo::CharacterFilter) :
short(CcdConstructionInfo::StaticFilter);
ci.m_collisionFilterMask =
(isbulletsensor) ? short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter) :
(isbulletdyna) ? short(CcdConstructionInfo::AllFilter) :
(isbulletchar) ? short(CcdConstructionInfo::AllFilter) :
short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter);
ci.m_bRigid = isbulletdyna && isbulletrigidbody;
ci.m_bSoft = isbulletsoftbody;
ci.m_bDyna = isbulletdyna;
ci.m_bSensor = isbulletsensor;
ci.m_bCharacter = isbulletchar;
ci.m_bGimpact = useGimpact;
MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]);
CcdPhysicsController* physicscontroller = new CcdPhysicsController(ci);
// shapeInfo is reference counted, decrement now as we don't use it anymore
if (shapeInfo)
shapeInfo->Release();
gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
// record animation for dynamic objects
if (isbulletdyna)
gameobj->SetRecordAnimation(true);
// don't add automatically sensor object, they are added when a collision sensor is registered
if (!isbulletsensor && (blenderobject->lay & activeLayerBitInfo) != 0)
{
env->AddCcdPhysicsController( physicscontroller);
}
physicscontroller->SetNewClientInfo(gameobj->getClientInfo());
{
btRigidBody* rbody = physicscontroller->GetRigidBody();
if (rbody)
{
if (isbulletrigidbody)
{
rbody->setLinearFactor(ci.m_linearFactor);
rbody->setAngularFactor(ci.m_angularFactor);
}
if (rbody && (blenderobject->gameflag & OB_COLLISION_RESPONSE) != 0)
{
rbody->setActivationState(DISABLE_DEACTIVATION);
}
}
}
CcdPhysicsController* parentCtrl = parent ? (CcdPhysicsController*)parent->GetPhysicsController() : 0;
physicscontroller->SetParentCtrl(parentCtrl);
//Now done directly in ci.m_collisionFlags so that it propagates to replica
//if (objprop->m_ghost)
//{
// rbody->setCollisionFlags(rbody->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
//}
if (isbulletdyna && !isbulletrigidbody)
{
#if 0
//setting the inertia could achieve similar results to constraint the up
//but it is prone to instability, so use special 'Angular' constraint
btVector3 inertia = physicscontroller->GetRigidBody()->getInvInertiaDiagLocal();
inertia.setX(0.f);
inertia.setZ(0.f);
physicscontroller->GetRigidBody()->setInvInertiaDiagLocal(inertia);
physicscontroller->GetRigidBody()->updateInertiaTensor();
#endif
//env->createConstraint(physicscontroller,0,PHY_ANGULAR_CONSTRAINT,0,0,0,0,0,1);
//Now done directly in ci.m_bRigid so that it propagates to replica
//physicscontroller->GetRigidBody()->setAngularFactor(0.f);
;
}
bool isActor = (blenderobject->gameflag & OB_ACTOR)!=0;
gameobj->getClientInfo()->m_type =
(isbulletsensor) ? ((isActor) ? KX_ClientObjectInfo::OBACTORSENSOR : KX_ClientObjectInfo::OBSENSOR) :
(isActor) ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC;
// should we record animation for this object?
if ((blenderobject->gameflag & OB_RECORD_ANIMATION) != 0)
gameobj->SetRecordAnimation(true);
// store materialname in auxinfo, needed for touchsensors
if (meshobj)
{
const STR_String& matname=meshobj->GetMaterialName(0);
gameobj->getClientInfo()->m_auxilary_info = (matname.Length() ? (void*)(matname.ReadPtr()+2) : NULL);
} else
{
gameobj->getClientInfo()->m_auxilary_info = 0;
}
STR_String materialname;
if (meshobj)
materialname = meshobj->GetMaterialName(0);
#if 0
///test for soft bodies
if (objprop->m_softbody && physicscontroller)
{
btSoftBody* softBody = physicscontroller->GetSoftBody();
if (softBody && gameobj->GetMesh(0))//only the first mesh, if any
{
//should be a mesh then, so add a soft body deformer
KX_SoftBodyDeformer* softbodyDeformer = new KX_SoftBodyDeformer( gameobj->GetMesh(0),(BL_DeformableGameObject*)gameobj);
gameobj->SetDeformer(softbodyDeformer);
}
}
#endif
}
/* Refresh the physics object from either an object or a mesh.
* gameobj must be valid

470
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
View File

@ -39,6 +39,7 @@ subject to the following restrictions:
#include "PHY_IMotionState.h"
#include "PHY_ICharacter.h"
#include "PHY_Pro.h"
#include "KX_GameObject.h"
#include "KX_PythonInit.h" // for KX_RasterizerDrawDebugLine
#include "RAS_MeshObject.h"
@ -47,6 +48,12 @@ subject to the following restrictions:
#include "DNA_scene_types.h"
#include "DNA_world_types.h"
#include "DNA_object_force.h"
extern "C" {
#include "BLI_utildefines.h"
#include "BKE_object.h"
}
#define CCD_CONSTRAINT_DISABLE_LINKED_COLLISION 0x80
@ -61,6 +68,7 @@ static btRaycastVehicle::btVehicleTuning gTuning;
#include "LinearMath/btAabbUtil2.h"
#include "MT_Matrix4x4.h"
#include "MT_Vector3.h"
#include "MT_MinMax.h"
#ifdef WIN32
void DrawRasterizerLine(const float* from,const float* to,int color);
@ -73,6 +81,21 @@ void DrawRasterizerLine(const float* from,const float* to,int color);
#include <stdio.h>
#include <string.h> // for memset
// This was copied from the old KX_ConvertPhysicsObjects
#ifdef WIN32
#if defined(_MSC_VER) && (_MSC_VER >= 1310)
//only use SIMD Hull code under Win32
//#define TEST_HULL 1
#ifdef TEST_HULL
#define USE_HULL 1
//#define TEST_SIMD_HULL 1
#include "NarrowPhaseCollision/Hull.h"
#endif //#ifdef TEST_HULL
#endif //_MSC_VER
#endif //WIN32
#ifdef NEW_BULLET_VEHICLE_SUPPORT
class WrapperVehicle : public PHY_IVehicle
{
@ -2959,3 +2982,450 @@ CcdPhysicsEnvironment *CcdPhysicsEnvironment::Create(Scene *blenderscene, bool v
return ccdPhysEnv;
}
void CcdPhysicsEnvironment::ConvertObject(KX_GameObject *gameobj, RAS_MeshObject *meshobj, DerivedMesh *dm, KX_Scene *kxscene, PHY_ShapeProps *shapeprops, PHY_MaterialProps *smmaterial, PHY_IMotionState *motionstate, int activeLayerBitInfo, bool isCompoundChild, bool hasCompoundChildren)
{
Object* blenderobject = gameobj->GetBlenderObject();
bool isbulletdyna = (blenderobject->gameflag & OB_DYNAMIC) != 0;;
bool isbulletsensor = (blenderobject->gameflag & OB_SENSOR) != 0;
bool isbulletchar = (blenderobject->gameflag & OB_CHARACTER) != 0;
bool isbulletsoftbody = (blenderobject->gameflag & OB_SOFT_BODY) != 0;
bool isbulletrigidbody = (blenderobject->gameflag & OB_RIGID_BODY) != 0;
bool useGimpact = false;
CcdConstructionInfo ci;
class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo();
KX_GameObject *parent = gameobj->GetParent();
if (parent)
{
isbulletdyna = false;
isbulletsoftbody = false;
shapeprops->m_mass = 0.f;
}
if (!isbulletdyna)
{
ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
}
if ((blenderobject->gameflag & (OB_GHOST | OB_SENSOR | OB_CHARACTER)) != 0)
{
ci.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
}
ci.m_MotionState = motionstate;
ci.m_gravity = btVector3(0,0,0);
ci.m_linearFactor = btVector3(((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_X_AXIS) !=0)? 0 : 1,
((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Y_AXIS) !=0)? 0 : 1,
((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Z_AXIS) !=0)? 0 : 1);
ci.m_angularFactor = btVector3(((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_X_ROT_AXIS) !=0)? 0 : 1,
((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Y_ROT_AXIS) !=0)? 0 : 1,
((blenderobject->gameflag2 & OB_LOCK_RIGID_BODY_Z_ROT_AXIS) !=0)? 0 : 1);
ci.m_localInertiaTensor =btVector3(0,0,0);
ci.m_mass = isbulletdyna ? shapeprops->m_mass : 0.f;
ci.m_clamp_vel_min = shapeprops->m_clamp_vel_min;
ci.m_clamp_vel_max = shapeprops->m_clamp_vel_max;
ci.m_stepHeight = isbulletchar ? shapeprops->m_step_height : 0.f;
ci.m_jumpSpeed = isbulletchar ? shapeprops->m_jump_speed : 0.f;
ci.m_fallSpeed = isbulletchar ? shapeprops->m_fall_speed : 0.f;
//mmm, for now, take this for the size of the dynamicobject
// Blender uses inertia for radius of dynamic object
shapeInfo->m_radius = ci.m_radius = blenderobject->inertia;
useGimpact = ((isbulletdyna || isbulletsensor) && !isbulletsoftbody);
if (isbulletsoftbody)
{
if (blenderobject->bsoft)
{
ci.m_margin = blenderobject->bsoft->margin;
}
else
{
ci.m_margin = 0.f;
}
}
else
{
ci.m_margin = blenderobject->margin;
}
ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
btCollisionShape* bm = 0;
char bounds;
if (blenderobject->gameflag & OB_BOUNDS)
{
bounds = blenderobject->collision_boundtype;
}
else
{
if (blenderobject->gameflag & OB_SOFT_BODY)
bounds = OB_BOUND_TRIANGLE_MESH;
else if (blenderobject->gameflag & OB_CHARACTER)
bounds = OB_BOUND_SPHERE;
else if (isbulletdyna)
bounds = OB_BOUND_SPHERE;
else
bounds = OB_BOUND_TRIANGLE_MESH;
}
// Can't use triangle mesh or convex hull on a non-mesh object, fall-back to sphere
if (ELEM(bounds, OB_BOUND_TRIANGLE_MESH, OB_BOUND_CONVEX_HULL) && blenderobject->type != OB_MESH)
bounds = OB_BOUND_SPHERE;
// Get bounds information
float bounds_center[3], bounds_extends[3];
BoundBox *bb= BKE_object_boundbox_get(blenderobject);
if (bb==NULL)
{
bounds_center[0] = bounds_center[1] = bounds_center[2] = 0.0;
bounds_extends[0] = bounds_extends[1] = bounds_extends[2] = 1.0;
}
else
{
bounds_extends[0] = 0.5f * fabsf(bb->vec[0][0] - bb->vec[4][0]);
bounds_extends[1] = 0.5f * fabsf(bb->vec[0][1] - bb->vec[2][1]);
bounds_extends[2] = 0.5f * fabsf(bb->vec[0][2] - bb->vec[1][2]);
bounds_center[0] = 0.5f * (bb->vec[0][0] + bb->vec[4][0]);
bounds_center[1] = 0.5f * (bb->vec[0][1] + bb->vec[2][1]);
bounds_center[2] = 0.5f * (bb->vec[0][2] + bb->vec[1][2]);
}
switch (bounds)
{
case OB_BOUND_SPHERE:
{
//float radius = objprop->m_radius;
//btVector3 inertiaHalfExtents (
// radius,
// radius,
// radius);
//blender doesn't support multisphere, but for testing:
//bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1);
shapeInfo->m_shapeType = PHY_SHAPE_SPHERE;
// XXX We calculated the radius but didn't use it?
// objprop.m_boundobject.c.m_radius = MT_max(bb.m_extends[0], MT_max(bb.m_extends[1], bb.m_extends[2]));
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
};
case OB_BOUND_BOX:
{
shapeInfo->m_halfExtend.setValue(
2.f * bounds_extends[0],
2.f * bounds_extends[1],
2.f * bounds_extends[2]);
shapeInfo->m_halfExtend /= 2.0;
shapeInfo->m_halfExtend = shapeInfo->m_halfExtend.absolute();
shapeInfo->m_shapeType = PHY_SHAPE_BOX;
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
};
case OB_BOUND_CYLINDER:
{
float radius = MT_max(bounds_extends[0], bounds_extends[1]);
shapeInfo->m_halfExtend.setValue(
radius,
radius,
bounds_extends[2]
);
shapeInfo->m_shapeType = PHY_SHAPE_CYLINDER;
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case OB_BOUND_CONE:
{
shapeInfo->m_radius = MT_max(bounds_extends[0], bounds_extends[1]);
shapeInfo->m_height = 2.f * bounds_extends[2];
shapeInfo->m_shapeType = PHY_SHAPE_CONE;
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case OB_BOUND_CONVEX_HULL:
{
shapeInfo->SetMesh(meshobj, dm,true);
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case OB_BOUND_CAPSULE:
{
shapeInfo->m_radius = MT_max(bounds_extends[0], bounds_extends[1]);
shapeInfo->m_height = 2.f * (bounds_extends[2] - shapeInfo->m_radius);
if (shapeInfo->m_height < 0.f)
shapeInfo->m_height = 0.f;
shapeInfo->m_shapeType = PHY_SHAPE_CAPSULE;
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case OB_BOUND_TRIANGLE_MESH:
{
// mesh shapes can be shared, check first if we already have a shape on that mesh
class CcdShapeConstructionInfo *sharedShapeInfo = CcdShapeConstructionInfo::FindMesh(meshobj, dm, false);
if (sharedShapeInfo != NULL)
{
shapeInfo->Release();
shapeInfo = sharedShapeInfo;
shapeInfo->AddRef();
} else
{
shapeInfo->SetMesh(meshobj, dm, false);
}
// Soft bodies can benefit from welding, don't do it on non-soft bodies
if (isbulletsoftbody)
{
// disable welding: it doesn't bring any additional stability and it breaks the relation between soft body collision shape and graphic mesh
// shapeInfo->setVertexWeldingThreshold1((blenderobject->bsoft) ? blenderobject->bsoft->welding ? 0.f);
shapeInfo->setVertexWeldingThreshold1(0.f); //todo: expose this to the UI
}
bm = shapeInfo->CreateBulletShape(ci.m_margin, useGimpact, !isbulletsoftbody);
//should we compute inertia for dynamic shape?
//bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
break;
}
}
// ci.m_localInertiaTensor.setValue(0.1f,0.1f,0.1f);
if (!bm)
{
delete motionstate;
shapeInfo->Release();
return;
}
//bm->setMargin(ci.m_margin);
if (isCompoundChild)
{
//find parent, compound shape and add to it
//take relative transform into account!
CcdPhysicsController* parentCtrl = (CcdPhysicsController*)parent->GetPhysicsController();
assert(parentCtrl);
CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo();
btRigidBody* rigidbody = parentCtrl->GetRigidBody();
btCollisionShape* colShape = rigidbody->getCollisionShape();
assert(colShape->isCompound());
btCompoundShape* compoundShape = (btCompoundShape*)colShape;
// compute the local transform from parent, this may include several node in the chain
SG_Node* gameNode = gameobj->GetSGNode();
SG_Node* parentNode = parent->GetSGNode();
// relative transform
MT_Vector3 parentScale = parentNode->GetWorldScaling();
parentScale[0] = MT_Scalar(1.0)/parentScale[0];
parentScale[1] = MT_Scalar(1.0)/parentScale[1];
parentScale[2] = MT_Scalar(1.0)/parentScale[2];
MT_Vector3 relativeScale = gameNode->GetWorldScaling() * parentScale;
MT_Matrix3x3 parentInvRot = parentNode->GetWorldOrientation().transposed();
MT_Vector3 relativePos = parentInvRot*((gameNode->GetWorldPosition()-parentNode->GetWorldPosition())*parentScale);
MT_Matrix3x3 relativeRot = parentInvRot*gameNode->GetWorldOrientation();
shapeInfo->m_childScale.setValue(relativeScale[0],relativeScale[1],relativeScale[2]);
bm->setLocalScaling(shapeInfo->m_childScale);
shapeInfo->m_childTrans.getOrigin().setValue(relativePos[0],relativePos[1],relativePos[2]);
float rot[12];
relativeRot.getValue(rot);
shapeInfo->m_childTrans.getBasis().setFromOpenGLSubMatrix(rot);
parentShapeInfo->AddShape(shapeInfo);
compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
//do some recalc?
//recalc inertia for rigidbody
if (!rigidbody->isStaticOrKinematicObject())
{
btVector3 localInertia;
float mass = 1.f/rigidbody->getInvMass();
compoundShape->calculateLocalInertia(mass,localInertia);
rigidbody->setMassProps(mass,localInertia);
}
shapeInfo->Release();
// delete motionstate as it's not used
delete motionstate;
return;
}
if (hasCompoundChildren)
{
// create a compound shape info
CcdShapeConstructionInfo *compoundShapeInfo = new CcdShapeConstructionInfo();
compoundShapeInfo->m_shapeType = PHY_SHAPE_COMPOUND;
compoundShapeInfo->AddShape(shapeInfo);
// create the compound shape manually as we already have the child shape
btCompoundShape* compoundShape = new btCompoundShape();
compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
// now replace the shape
bm = compoundShape;
shapeInfo->Release();
shapeInfo = compoundShapeInfo;
}
#ifdef TEST_SIMD_HULL
if (bm->IsPolyhedral())
{
PolyhedralConvexShape* polyhedron = static_cast<PolyhedralConvexShape*>(bm);
if (!polyhedron->m_optionalHull)
{
//first convert vertices in 'Point3' format
int numPoints = polyhedron->GetNumVertices();
Point3* points = new Point3[numPoints+1];
//first 4 points should not be co-planar, so add central point to satisfy MakeHull
points[0] = Point3(0.f,0.f,0.f);
btVector3 vertex;
for (int p=0;p<numPoints;p++)
{
polyhedron->GetVertex(p,vertex);
points[p+1] = Point3(vertex.getX(),vertex.getY(),vertex.getZ());
}
Hull* hull = Hull::MakeHull(numPoints+1,points);
polyhedron->m_optionalHull = hull;
}
}
#endif //TEST_SIMD_HULL
ci.m_collisionShape = bm;
ci.m_shapeInfo = shapeInfo;
ci.m_friction = smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice
ci.m_restitution = smmaterial->m_restitution;
ci.m_physicsEnv = this;
// drag / damping is inverted
ci.m_linearDamping = 1.f - shapeprops->m_lin_drag;
ci.m_angularDamping = 1.f - shapeprops->m_ang_drag;
//need a bit of damping, else system doesn't behave well
ci.m_inertiaFactor = shapeprops->m_inertia/0.4f;//defaults to 0.4, don't want to change behavior
ci.m_do_anisotropic = shapeprops->m_do_anisotropic;
ci.m_anisotropicFriction.setValue(shapeprops->m_friction_scaling[0],shapeprops->m_friction_scaling[1],shapeprops->m_friction_scaling[2]);
//////////
//do Fh, do Rot Fh
ci.m_do_fh = shapeprops->m_do_fh;
ci.m_do_rot_fh = shapeprops->m_do_rot_fh;
ci.m_fh_damping = smmaterial->m_fh_damping;
ci.m_fh_distance = smmaterial->m_fh_distance;
ci.m_fh_normal = smmaterial->m_fh_normal;
ci.m_fh_spring = smmaterial->m_fh_spring;
ci.m_collisionFilterGroup =
(isbulletsensor) ? short(CcdConstructionInfo::SensorFilter) :
(isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) :
(isbulletchar) ? short(CcdConstructionInfo::CharacterFilter) :
short(CcdConstructionInfo::StaticFilter);
ci.m_collisionFilterMask =
(isbulletsensor) ? short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter) :
(isbulletdyna) ? short(CcdConstructionInfo::AllFilter) :
(isbulletchar) ? short(CcdConstructionInfo::AllFilter) :
short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter);
ci.m_bRigid = isbulletdyna && isbulletrigidbody;
ci.m_bSoft = isbulletsoftbody;
ci.m_bDyna = isbulletdyna;
ci.m_bSensor = isbulletsensor;
ci.m_bCharacter = isbulletchar;
ci.m_bGimpact = useGimpact;
MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]);
CcdPhysicsController* physicscontroller = new CcdPhysicsController(ci);
// shapeInfo is reference counted, decrement now as we don't use it anymore
if (shapeInfo)
shapeInfo->Release();
gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
// record animation for dynamic objects
if (isbulletdyna)
gameobj->SetRecordAnimation(true);
// don't add automatically sensor object, they are added when a collision sensor is registered
if (!isbulletsensor && (blenderobject->lay & activeLayerBitInfo) != 0)
{
this->AddCcdPhysicsController( physicscontroller);
}
physicscontroller->SetNewClientInfo(gameobj->getClientInfo());
{
btRigidBody* rbody = physicscontroller->GetRigidBody();
if (rbody)
{
if (isbulletrigidbody)
{
rbody->setLinearFactor(ci.m_linearFactor);
rbody->setAngularFactor(ci.m_angularFactor);
}
if (rbody && (blenderobject->gameflag & OB_COLLISION_RESPONSE) != 0)
{
rbody->setActivationState(DISABLE_DEACTIVATION);
}
}
}
CcdPhysicsController* parentCtrl = parent ? (CcdPhysicsController*)parent->GetPhysicsController() : 0;
physicscontroller->SetParentCtrl(parentCtrl);
//Now done directly in ci.m_collisionFlags so that it propagates to replica
//if (objprop->m_ghost)
//{
// rbody->setCollisionFlags(rbody->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
//}
if (isbulletdyna && !isbulletrigidbody)
{
#if 0
//setting the inertia could achieve similar results to constraint the up
//but it is prone to instability, so use special 'Angular' constraint
btVector3 inertia = physicscontroller->GetRigidBody()->getInvInertiaDiagLocal();
inertia.setX(0.f);
inertia.setZ(0.f);
physicscontroller->GetRigidBody()->setInvInertiaDiagLocal(inertia);
physicscontroller->GetRigidBody()->updateInertiaTensor();
#endif
//this->createConstraint(physicscontroller,0,PHY_ANGULAR_CONSTRAINT,0,0,0,0,0,1);
//Now done directly in ci.m_bRigid so that it propagates to replica
//physicscontroller->GetRigidBody()->setAngularFactor(0.f);
;
}
STR_String materialname;
if (meshobj)
materialname = meshobj->GetMaterialName(0);
#if 0
///test for soft bodies
if (objprop->m_softbody && physicscontroller)
{
btSoftBody* softBody = physicscontroller->GetSoftBody();
if (softBody && gameobj->GetMesh(0))//only the first mesh, if any
{
//should be a mesh then, so add a soft body deformer
KX_SoftBodyDeformer* softbodyDeformer = new KX_SoftBodyDeformer( gameobj->GetMesh(0),(BL_DeformableGameObject*)gameobj);
gameobj->SetDeformer(softbodyDeformer);
}
}
#endif
}

11
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
View File

@ -262,6 +262,17 @@ protected:
static CcdPhysicsEnvironment *Create(struct Scene *blenderscene, bool visualizePhysics);
virtual void ConvertObject(KX_GameObject* gameobj,
RAS_MeshObject* meshobj,
DerivedMesh* dm,
KX_Scene* kxscene,
PHY_ShapeProps* shapeprops,
PHY_MaterialProps* smmaterial,
PHY_IMotionState *motionstate,
int activeLayerBitInfo,
bool isCompoundChild,
bool hasCompoundChildren);
protected:

15
source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h
View File

@ -33,6 +33,7 @@
#define __DUMMYPHYSICSENVIRONMENT_H__
#include "PHY_IPhysicsEnvironment.h"
#include "PHY_IMotionState.h"
/**
* DummyPhysicsEnvironment is an empty placeholder
@ -108,6 +109,20 @@ public:
// Dummy, nothing to do here
}
virtual void ConvertObject(KX_GameObject* gameobj,
RAS_MeshObject* meshobj,
DerivedMesh* dm,
KX_Scene* kxscene,
PHY_ShapeProps* shapeprops,
PHY_MaterialProps* smmaterial,
PHY_IMotionState *motionstate,
int activeLayerBitInfo,
bool isCompoundChild,
bool hasCompoundChildren)
{
// All we need to do is handle the motionstate (we're supposed to own it)
delete motionstate;
}
#ifdef WITH_CXX_GUARDEDALLOC
MEM_CXX_CLASS_ALLOC_FUNCS("GE:DummyPhysicsEnvironment")

21
source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
View File

@ -46,6 +46,16 @@ class PHY_ICharacter;
class RAS_MeshObject;
class PHY_IPhysicsController;
class RAS_MeshObject;
struct DerivedMesh;
class KX_GameObject;
class KX_Scene;
struct PHY_ShapeProps;
struct PHY_MaterialProps;
class PHY_IMotionState;
/**
* pass back information from rayTest
*/
@ -190,6 +200,17 @@ class PHY_IPhysicsEnvironment
virtual void MergeEnvironment(PHY_IPhysicsEnvironment *other_env) = 0;
virtual void ConvertObject(KX_GameObject* gameobj,
RAS_MeshObject* meshobj,
DerivedMesh* dm,
KX_Scene* kxscene,
PHY_ShapeProps* shapeprops,
PHY_MaterialProps* smmaterial,
PHY_IMotionState *motionstate,
int activeLayerBitInfo,
bool isCompoundChild,
bool hasCompoundChildren) = 0;
#ifdef WITH_CXX_GUARDEDALLOC
MEM_CXX_CLASS_ALLOC_FUNCS("GE:PHY_IPhysicsEnvironment")