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blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
Erwin Coumans cef5c4b765 Add Fh/Rot Fh to Bullet.
2008-09-29 06:58:49 +00:00

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/**
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#ifdef WIN32
#pragma warning (disable : 4786)
#endif
#include "MT_assert.h"
// defines USE_ODE to choose physics engine
#include "KX_ConvertPhysicsObject.h"
#include "KX_GameObject.h"
#include "RAS_MeshObject.h"
#include "KX_Scene.h"
#include "SYS_System.h"
#include "BL_SkinMeshObject.h"
#include "BulletSoftBody/btSoftBody.h"
#include "PHY_Pro.h" //todo cleanup
#include "KX_ClientObjectInfo.h"
#include "GEN_Map.h"
#include "GEN_HashedPtr.h"
#include "KX_PhysicsEngineEnums.h"
#include "PHY_Pro.h"
#include "KX_MotionState.h" // bridge between motionstate and scenegraph node
#ifdef USE_ODE
#include "KX_OdePhysicsController.h"
#include "OdePhysicsEnvironment.h"
#endif //USE_ODE
// USE_SUMO_SOLID is defined in headerfile KX_ConvertPhysicsObject.h
#ifdef USE_SUMO_SOLID
#include "SumoPhysicsEnvironment.h"
#include "KX_SumoPhysicsController.h"
// sumo physics specific
#include "SM_Object.h"
#include "SM_FhObject.h"
#include "SM_Scene.h"
#include "SM_ClientObjectInfo.h"
#include "KX_SumoPhysicsController.h"
struct KX_PhysicsInstance
{
DT_VertexBaseHandle m_vertexbase;
RAS_DisplayArray* m_darray;
RAS_IPolyMaterial* m_material;
KX_PhysicsInstance(DT_VertexBaseHandle vertex_base, RAS_DisplayArray *darray, RAS_IPolyMaterial* mat)
: m_vertexbase(vertex_base),
m_darray(darray),
m_material(mat)
{
}
~KX_PhysicsInstance()
{
DT_DeleteVertexBase(m_vertexbase);
}
};
static GEN_Map<GEN_HashedPtr,DT_ShapeHandle> map_gamemesh_to_sumoshape;
static GEN_Map<GEN_HashedPtr, KX_PhysicsInstance*> map_gamemesh_to_instance;
// forward declarations
static void BL_RegisterSumoObject(KX_GameObject* gameobj,class SM_Scene* sumoScene,class SM_Object* sumoObj,const STR_String& matname,bool isDynamic,bool isActor);
static DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj, bool polytope);
void KX_ConvertSumoObject( KX_GameObject* gameobj,
RAS_MeshObject* meshobj,
KX_Scene* kxscene,
PHY_ShapeProps* kxshapeprops,
PHY_MaterialProps* kxmaterial,
struct KX_ObjectProperties* objprop)
{
SM_ShapeProps* smprop = new SM_ShapeProps;
smprop->m_ang_drag = kxshapeprops->m_ang_drag;
smprop->m_do_anisotropic = kxshapeprops->m_do_anisotropic;
smprop->m_do_fh = kxshapeprops->m_do_fh;
smprop->m_do_rot_fh = kxshapeprops->m_do_rot_fh ;
smprop->m_friction_scaling[0] = kxshapeprops->m_friction_scaling[0];
smprop->m_friction_scaling[1] = kxshapeprops->m_friction_scaling[1];
smprop->m_friction_scaling[2] = kxshapeprops->m_friction_scaling[2];
smprop->m_inertia = MT_Vector3(1., 1., 1.) * kxshapeprops->m_inertia;
smprop->m_lin_drag = kxshapeprops->m_lin_drag;
smprop->m_mass = kxshapeprops->m_mass;
smprop->m_radius = objprop->m_radius;
SM_MaterialProps* smmaterial = new SM_MaterialProps;
smmaterial->m_fh_damping = kxmaterial->m_fh_damping;
smmaterial->m_fh_distance = kxmaterial->m_fh_distance;
smmaterial->m_fh_normal = kxmaterial->m_fh_normal;
smmaterial->m_fh_spring = kxmaterial->m_fh_spring;
smmaterial->m_friction = kxmaterial->m_friction;
smmaterial->m_restitution = kxmaterial->m_restitution;
SumoPhysicsEnvironment* sumoEnv =
(SumoPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
SM_Scene* sceneptr = sumoEnv->GetSumoScene();
SM_Object* sumoObj=NULL;
if (objprop->m_dyna && objprop->m_isactor)
{
DT_ShapeHandle shape = NULL;
bool polytope = false;
switch (objprop->m_boundclass)
{
case KX_BOUNDBOX:
shape = DT_NewBox(objprop->m_boundobject.box.m_extends[0],
objprop->m_boundobject.box.m_extends[1],
objprop->m_boundobject.box.m_extends[2]);
smprop->m_inertia.scale(objprop->m_boundobject.box.m_extends[0]*objprop->m_boundobject.box.m_extends[0],
objprop->m_boundobject.box.m_extends[1]*objprop->m_boundobject.box.m_extends[1],
objprop->m_boundobject.box.m_extends[2]*objprop->m_boundobject.box.m_extends[2]);
smprop->m_inertia *= smprop->m_mass/MT_Vector3(objprop->m_boundobject.box.m_extends).length();
break;
case KX_BOUNDCYLINDER:
shape = DT_NewCylinder(smprop->m_radius, objprop->m_boundobject.c.m_height);
smprop->m_inertia.scale(smprop->m_mass*smprop->m_radius*smprop->m_radius,
smprop->m_mass*smprop->m_radius*smprop->m_radius,
smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
break;
case KX_BOUNDCONE:
shape = DT_NewCone(objprop->m_radius, objprop->m_boundobject.c.m_height);
smprop->m_inertia.scale(smprop->m_mass*smprop->m_radius*smprop->m_radius,
smprop->m_mass*smprop->m_radius*smprop->m_radius,
smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
break;
/* Dynamic mesh objects. WARNING! slow. */
case KX_BOUNDPOLYTOPE:
polytope = true;
// fall through
case KX_BOUNDMESH:
if (meshobj && meshobj->NumPolygons() > 0)
{
if ((shape = CreateShapeFromMesh(meshobj, polytope)))
{
// TODO: calculate proper inertia
smprop->m_inertia *= smprop->m_mass*smprop->m_radius*smprop->m_radius;
break;
}
}
/* If CreateShapeFromMesh fails, fall through and use sphere */
default:
case KX_BOUNDSPHERE:
shape = DT_NewSphere(objprop->m_radius);
smprop->m_inertia *= smprop->m_mass*smprop->m_radius*smprop->m_radius;
break;
}
sumoObj = new SM_Object(shape, !objprop->m_ghost?smmaterial:NULL,smprop,NULL);
sumoObj->setRigidBody(objprop->m_angular_rigidbody?true:false);
BL_RegisterSumoObject(gameobj,sceneptr,sumoObj,"",true, true);
}
else {
// non physics object
if (meshobj)
{
int numpolys = meshobj->NumPolygons();
{
DT_ShapeHandle complexshape=0;
bool polytope = false;
switch (objprop->m_boundclass)
{
case KX_BOUNDBOX:
complexshape = DT_NewBox(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]);
break;
case KX_BOUNDSPHERE:
complexshape = DT_NewSphere(objprop->m_boundobject.c.m_radius);
break;
case KX_BOUNDCYLINDER:
complexshape = DT_NewCylinder(objprop->m_boundobject.c.m_radius, objprop->m_boundobject.c.m_height);
break;
case KX_BOUNDCONE:
complexshape = DT_NewCone(objprop->m_boundobject.c.m_radius, objprop->m_boundobject.c.m_height);
break;
case KX_BOUNDPOLYTOPE:
polytope = true;
// fall through
default:
case KX_BOUNDMESH:
if (numpolys>0)
{
complexshape = CreateShapeFromMesh(meshobj, polytope);
//std::cout << "Convert Physics Mesh: " << meshobj->GetName() << std::endl;
/* if (!complexshape)
{
// Something has to be done here - if the object has no polygons, it will not be able to have
// sensors attached to it.
DT_Vector3 pt = {0., 0., 0.};
complexshape = DT_NewSphere(1.0);
objprop->m_ghost = evilObject = true;
} */
}
break;
}
if (complexshape)
{
SM_Object *dynamicParent = NULL;
if (objprop->m_dynamic_parent)
{
// problem is how to find the dynamic parent
// in the scenegraph
KX_SumoPhysicsController* sumoctrl =
(KX_SumoPhysicsController*)
objprop->m_dynamic_parent->GetPhysicsController();
if (sumoctrl)
{
dynamicParent = sumoctrl->GetSumoObject();
}
MT_assert(dynamicParent);
}
sumoObj = new SM_Object(complexshape,!objprop->m_ghost?smmaterial:NULL,NULL, dynamicParent);
const STR_String& matname=meshobj->GetMaterialName(0);
BL_RegisterSumoObject(gameobj,sceneptr,
sumoObj,
matname,
objprop->m_dyna,
objprop->m_isactor);
}
}
}
}
// physics object get updated here !
// lazy evaluation because we might not support scaling !gameobj->UpdateTransform();
if (objprop->m_in_active_layer && sumoObj)
{
sceneptr->add(*sumoObj);
}
}
static void BL_RegisterSumoObject(
KX_GameObject* gameobj,
class SM_Scene* sumoScene,
class SM_Object* sumoObj,
const STR_String& matname,
bool isDynamic,
bool isActor)
{
PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
// need easy access, not via 'node' etc.
KX_SumoPhysicsController* physicscontroller = new KX_SumoPhysicsController(sumoScene,sumoObj,motionstate,isDynamic);
gameobj->SetPhysicsController(physicscontroller,isDynamic);
if (!gameobj->getClientInfo())
std::cout << "BL_RegisterSumoObject: WARNING: Object " << gameobj->GetName() << " has no client info" << std::endl;
physicscontroller->setNewClientInfo(gameobj->getClientInfo());
gameobj->GetSGNode()->AddSGController(physicscontroller);
gameobj->getClientInfo()->m_type = (isActor ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC);
// store materialname in auxinfo, needed for touchsensors
gameobj->getClientInfo()->m_auxilary_info = (matname.Length() ? (void*)(matname.ReadPtr()+2) : NULL);
physicscontroller->SetObject(gameobj->GetSGNode());
}
static DT_ShapeHandle InstancePhysicsComplex(RAS_MeshObject* meshobj, RAS_DisplayArray *darray, RAS_IPolyMaterial *mat)
{
// instance a mesh from a single vertex array & material
const RAS_TexVert *vertex_array = &darray->m_vertex[0];
DT_VertexBaseHandle vertex_base = DT_NewVertexBase(vertex_array[0].getXYZ(), sizeof(RAS_TexVert));
DT_ShapeHandle shape = DT_NewComplexShape(vertex_base);
std::vector<DT_Index> indices;
for (int p = 0; p < meshobj->NumPolygons(); p++)
{
RAS_Polygon* poly = meshobj->GetPolygon(p);
// only add polygons that have the collisionflag set
if (poly->IsCollider())
{
DT_Begin();
DT_VertexIndex(poly->GetVertexOffset(0));
DT_VertexIndex(poly->GetVertexOffset(1));
DT_VertexIndex(poly->GetVertexOffset(2));
DT_End();
// tesselate
if (poly->VertexCount() == 4)
{
DT_Begin();
DT_VertexIndex(poly->GetVertexOffset(0));
DT_VertexIndex(poly->GetVertexOffset(2));
DT_VertexIndex(poly->GetVertexOffset(3));
DT_End();
}
}
}
//DT_VertexIndices(indices.size(), &indices[0]);
DT_EndComplexShape();
map_gamemesh_to_instance.insert(GEN_HashedPtr(meshobj), new KX_PhysicsInstance(vertex_base, darray, mat));
return shape;
}
static DT_ShapeHandle InstancePhysicsPolytope(RAS_MeshObject* meshobj, RAS_DisplayArray *darray, RAS_IPolyMaterial *mat)
{
// instance a mesh from a single vertex array & material
const RAS_TexVert *vertex_array = &darray->m_vertex[0];
DT_VertexBaseHandle vertex_base = DT_NewVertexBase(vertex_array[0].getXYZ(), sizeof(RAS_TexVert));
std::vector<DT_Index> indices;
for (int p = 0; p < meshobj->NumPolygons(); p++)
{
RAS_Polygon* poly = meshobj->GetPolygon(p);
// only add polygons that have the collisionflag set
if (poly->IsCollider())
{
indices.push_back(poly->GetVertexOffset(0));
indices.push_back(poly->GetVertexOffset(1));
indices.push_back(poly->GetVertexOffset(2));
if (poly->VertexCount() == 4)
indices.push_back(poly->GetVertexOffset(3));
}
}
DT_ShapeHandle shape = DT_NewPolytope(vertex_base);
DT_VertexIndices(indices.size(), &indices[0]);
DT_EndPolytope();
map_gamemesh_to_instance.insert(GEN_HashedPtr(meshobj), new KX_PhysicsInstance(vertex_base, darray, mat));
return shape;
}
// This will have to be a method in a class somewhere...
// Update SOLID with a changed physics mesh.
// not used... yet.
bool KX_ReInstanceShapeFromMesh(RAS_MeshObject* meshobj)
{
KX_PhysicsInstance *instance = *map_gamemesh_to_instance[GEN_HashedPtr(meshobj)];
if (instance)
{
const RAS_TexVert *vertex_array = &instance->m_darray->m_vertex[0];
DT_ChangeVertexBase(instance->m_vertexbase, vertex_array[0].getXYZ());
return true;
}
return false;
}
static DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj, bool polytope)
{
DT_ShapeHandle *shapeptr = map_gamemesh_to_sumoshape[GEN_HashedPtr(meshobj)];
// Mesh has already been converted: reuse
if (shapeptr)
{
return *shapeptr;
}
// Mesh has no polygons!
int numpolys = meshobj->NumPolygons();
if (!numpolys)
{
return NULL;
}
// Count the number of collision polygons and check they all come from the same
// vertex array
int numvalidpolys = 0;
RAS_DisplayArray *darray = NULL;
RAS_IPolyMaterial *poly_material = NULL;
bool reinstance = true;
for (int p=0; p<numpolys; p++)
{
RAS_Polygon* poly = meshobj->GetPolygon(p);
// only add polygons that have the collisionflag set
if (poly->IsCollider())
{
// check polygon is from the same vertex array
if (poly->GetDisplayArray() != darray)
{
if (darray == NULL)
darray = poly->GetDisplayArray();
else
{
reinstance = false;
darray = NULL;
}
}
// check poly is from the same material
if (poly->GetMaterial()->GetPolyMaterial() != poly_material)
{
if (poly_material)
{
reinstance = false;
poly_material = NULL;
}
else
poly_material = poly->GetMaterial()->GetPolyMaterial();
}
// count the number of collision polys
numvalidpolys++;
// We have one collision poly, and we can't reinstance, so we
// might as well break here.
if (!reinstance)
break;
}
}
// No collision polygons
if (numvalidpolys < 1)
return NULL;
DT_ShapeHandle shape;
if (reinstance)
{
if (polytope)
shape = InstancePhysicsPolytope(meshobj, darray, poly_material);
else
shape = InstancePhysicsComplex(meshobj, darray, poly_material);
}
else
{
if (polytope)
{
std::cout << "CreateShapeFromMesh: " << meshobj->GetName() << " is not suitable for polytope." << std::endl;
if (!poly_material)
std::cout << " Check mesh materials." << std::endl;
if (darray == NULL)
std::cout << " Check number of vertices." << std::endl;
}
shape = DT_NewComplexShape(NULL);
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())
{ /* We have to tesselate here because SOLID can only raycast triangles */
DT_Begin();
/* V1, V2, V3 */
DT_Vertex(poly->GetVertex(2)->getXYZ());
DT_Vertex(poly->GetVertex(1)->getXYZ());
DT_Vertex(poly->GetVertex(0)->getXYZ());
numvalidpolys++;
DT_End();
if (poly->VertexCount() == 4)
{
DT_Begin();
/* V1, V3, V4 */
DT_Vertex(poly->GetVertex(3)->getXYZ());
DT_Vertex(poly->GetVertex(2)->getXYZ());
DT_Vertex(poly->GetVertex(0)->getXYZ());
numvalidpolys++;
DT_End();
}
}
}
DT_EndComplexShape();
}
if (numvalidpolys > 0)
{
map_gamemesh_to_sumoshape.insert(GEN_HashedPtr(meshobj),shape);
return shape;
}
delete shape;
return NULL;
}
void KX_ClearSumoSharedShapes()
{
int numshapes = map_gamemesh_to_sumoshape.size();
int i;
for (i=0;i<numshapes ;i++)
{
DT_ShapeHandle shape = *map_gamemesh_to_sumoshape.at(i);
DT_DeleteShape(shape);
}
map_gamemesh_to_sumoshape.clear();
for (i=0; i < map_gamemesh_to_instance.size(); i++)
delete *map_gamemesh_to_instance.at(i);
map_gamemesh_to_instance.clear();
}
#endif //USE_SUMO_SOLID
#ifdef USE_ODE
void KX_ConvertODEEngineObject(KX_GameObject* gameobj,
RAS_MeshObject* meshobj,
KX_Scene* kxscene,
struct PHY_ShapeProps* shapeprops,
struct PHY_MaterialProps* smmaterial,
struct KX_ObjectProperties* objprop)
{
// not yet, future extension :)
bool dyna=objprop->m_dyna;
bool fullRigidBody= ( objprop->m_dyna && objprop->m_angular_rigidbody) != 0;
bool phantom = objprop->m_ghost;
class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
class ODEPhysicsEnvironment* odeEnv =
(ODEPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
dxSpace* space = odeEnv->GetOdeSpace();
dxWorld* world = odeEnv->GetOdeWorld();
bool isSphere = false;
switch (objprop->m_boundclass)
{
case KX_BOUNDBOX:
{
KX_OdePhysicsController* physicscontroller =
new KX_OdePhysicsController(
dyna,
fullRigidBody,
phantom,
motionstate,
space,
world,
shapeprops->m_mass,
smmaterial->m_friction,
smmaterial->m_restitution,
isSphere,
objprop->m_boundobject.box.m_center,
objprop->m_boundobject.box.m_extends,
objprop->m_boundobject.c.m_radius
);
gameobj->SetPhysicsController(physicscontroller);
physicscontroller->setNewClientInfo(gameobj->getClientInfo());
gameobj->GetSGNode()->AddSGController(physicscontroller);
bool isActor = objprop->m_isactor;
STR_String materialname;
if (meshobj)
materialname = meshobj->GetMaterialName(0);
const char* matname = materialname.ReadPtr();
physicscontroller->SetObject(gameobj->GetSGNode());
break;
}
default:
{
}
};
}
#endif // USE_ODE
#ifdef USE_BULLET
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "KX_BulletPhysicsController.h"
#include "btBulletDynamicsCommon.h"
#ifdef WIN32
#if _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
class KX_SoftBodyDeformer : public RAS_Deformer
{
class RAS_MeshObject* m_pMeshObject;
class KX_GameObject* m_gameobj;
public:
KX_SoftBodyDeformer(RAS_MeshObject* pMeshObject,KX_GameObject* gameobj)
:m_pMeshObject(pMeshObject),
m_gameobj(gameobj)
{
//printf("KX_SoftBodyDeformer\n");
};
virtual ~KX_SoftBodyDeformer()
{
//printf("~KX_SoftBodyDeformer\n");
};
virtual void Relink(GEN_Map<class GEN_HashedPtr, void*>*map)
{
//printf("relink\n");
}
virtual bool Apply(class RAS_IPolyMaterial *polymat)
{
KX_BulletPhysicsController* ctrl = (KX_BulletPhysicsController*) m_gameobj->GetPhysicsController();
if (!ctrl)
return false;
btSoftBody* softBody= ctrl->GetSoftBody();
if (!softBody)
return false;
//printf("apply\n");
RAS_MeshSlot::iterator it;
RAS_MeshMaterial *mmat;
RAS_MeshSlot *slot;
size_t i;
// update the vertex in m_transverts
Update();
// The vertex cache can only be updated for this deformer:
// Duplicated objects with more than one ploymaterial (=multiple mesh slot per object)
// share the same mesh (=the same cache). As the rendering is done per polymaterial
// cycling through the objects, the entire mesh cache cannot be updated in one shot.
mmat = m_pMeshObject->GetMeshMaterial(polymat);
if(!mmat->m_slots[(void*)m_gameobj])
return true;
slot = *mmat->m_slots[(void*)m_gameobj];
// for each array
for(slot->begin(it); !slot->end(it); slot->next(it))
{
btSoftBody::tNodeArray& nodes(softBody->m_nodes);
int index = 0;
for(i=it.startvertex; i<it.endvertex; i++,index++) {
RAS_TexVert& v = it.vertex[i];
btAssert(v.getSoftBodyIndex() >= 0);
MT_Point3 pt (
nodes[v.getSoftBodyIndex()].m_x.getX(),
nodes[v.getSoftBodyIndex()].m_x.getY(),
nodes[v.getSoftBodyIndex()].m_x.getZ());
v.SetXYZ(pt);
MT_Vector3 normal (
nodes[v.getSoftBodyIndex()].m_n.getX(),
nodes[v.getSoftBodyIndex()].m_n.getY(),
nodes[v.getSoftBodyIndex()].m_n.getZ());
v.SetNormal(normal);
}
}
return true;
}
virtual bool Update(void)
{
//printf("update\n");
return true;//??
}
virtual RAS_Deformer *GetReplica(class KX_GameObject* replica)
{
KX_SoftBodyDeformer* deformer = new KX_SoftBodyDeformer(replica->GetMesh(0),replica);
return deformer;
}
virtual bool SkipVertexTransform()
{
return true;
}
protected:
//class RAS_MeshObject *m_pMesh;
};
// forward declarations
void KX_ConvertBulletObject( class KX_GameObject* gameobj,
class RAS_MeshObject* meshobj,
class KX_Scene* kxscene,
struct PHY_ShapeProps* shapeprops,
struct PHY_MaterialProps* smmaterial,
struct KX_ObjectProperties* objprop)
{
CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
assert(env);
bool isbulletdyna = false;
CcdConstructionInfo ci;
class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo();
if (!objprop->m_dyna)
{
ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
}
if (objprop->m_ghost)
{
ci.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
}
ci.m_MotionState = motionstate;
ci.m_gravity = btVector3(0,0,0);
ci.m_localInertiaTensor =btVector3(0,0,0);
ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f;
ci.m_margin = objprop->m_margin;
shapeInfo->m_radius = objprop->m_radius;
isbulletdyna = objprop->m_dyna;
ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
btCollisionShape* bm = 0;
switch (objprop->m_boundclass)
{
case KX_BOUNDSPHERE:
{
//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;
bm = shapeInfo->CreateBulletShape();
break;
};
case KX_BOUNDBOX:
{
shapeInfo->m_halfExtend.setValue(
objprop->m_boundobject.box.m_extends[0],
objprop->m_boundobject.box.m_extends[1],
objprop->m_boundobject.box.m_extends[2]);
shapeInfo->m_halfExtend /= 2.0;
shapeInfo->m_halfExtend = shapeInfo->m_halfExtend.absolute();
shapeInfo->m_shapeType = PHY_SHAPE_BOX;
bm = shapeInfo->CreateBulletShape();
break;
};
case KX_BOUNDCYLINDER:
{
shapeInfo->m_halfExtend.setValue(
objprop->m_boundobject.c.m_radius,
objprop->m_boundobject.c.m_radius,
objprop->m_boundobject.c.m_height * 0.5f
);
shapeInfo->m_shapeType = PHY_SHAPE_CYLINDER;
bm = shapeInfo->CreateBulletShape();
break;
}
case KX_BOUNDCONE:
{
shapeInfo->m_radius = objprop->m_boundobject.c.m_radius;
shapeInfo->m_height = objprop->m_boundobject.c.m_height;
shapeInfo->m_shapeType = PHY_SHAPE_CONE;
bm = shapeInfo->CreateBulletShape();
break;
}
case KX_BOUNDPOLYTOPE:
{
shapeInfo->SetMesh(meshobj, true,false);
bm = shapeInfo->CreateBulletShape();
break;
}
case KX_BOUNDMESH:
{
if (!ci.m_mass ||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, false);
if (sharedShapeInfo != NULL)
{
delete shapeInfo;
shapeInfo = sharedShapeInfo;
shapeInfo->AddRef();
} else
{
shapeInfo->SetMesh(meshobj, false,false);
}
if (objprop->m_softbody)
shapeInfo->setVertexWeldingThreshold(0.01f); //todo: expose this to the UI
bm = shapeInfo->CreateBulletShape();
//no moving concave meshes, so don't bother calculating inertia
//bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
} else
{
shapeInfo->SetMesh(meshobj, false,true);
bm = shapeInfo->CreateBulletShape();
}
break;
}
}
// ci.m_localInertiaTensor.setValue(0.1f,0.1f,0.1f);
if (!bm)
{
delete motionstate;
delete shapeInfo;
return;
}
bm->setMargin(ci.m_margin);
if (objprop->m_isCompoundChild)
{
//find parent, compound shape and add to it
//take relative transform into account!
KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_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 a parent inverse node
SG_Node* gameNode = gameobj->GetSGNode();
SG_Node* parentInverseNode = gameNode->GetSGParent();
if (parentInverseNode && parentInverseNode->GetSGClientObject() != NULL)
// this is not a parent inverse node, cancel it
parentInverseNode = NULL;
// now combine the parent inverse node and the game node
MT_Point3 childPos = gameNode->GetLocalPosition();
MT_Matrix3x3 childRot = gameNode->GetLocalOrientation();
MT_Vector3 childScale = gameNode->GetLocalScale();
if (parentInverseNode)
{
const MT_Point3& parentInversePos = parentInverseNode->GetLocalPosition();
const MT_Matrix3x3& parentInverseRot = parentInverseNode->GetLocalOrientation();
const MT_Vector3& parentInverseScale = parentInverseNode->GetLocalScale();
childRot = parentInverseRot * childRot;
childScale = parentInverseScale * childScale;
childPos = parentInversePos+parentInverseScale*(parentInverseRot*childPos);
}
shapeInfo->m_childScale.setValue(childScale.x(),childScale.y(),childScale.z());
bm->setLocalScaling(shapeInfo->m_childScale);
shapeInfo->m_childTrans.setOrigin(btVector3(childPos.x(),childPos.y(),childPos.z()));
float rotval[12];
childRot.getValue(rotval);
btMatrix3x3 newRot;
newRot.setValue(rotval[0],rotval[1],rotval[2],rotval[4],rotval[5],rotval[6],rotval[8],rotval[9],rotval[10]);
newRot = newRot.transpose();
shapeInfo->m_childTrans.setBasis(newRot);
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);
}
return;
}
if (objprop->m_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 = 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 behaviour
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_radius = objprop->m_radius;
///////////////////
ci.m_gamesoftFlag = objprop->m_gamesoftFlag;
ci.m_soft_linStiff = objprop->m_soft_linStiff;
ci.m_soft_angStiff = objprop->m_soft_angStiff; /* angular stiffness 0..1 */
ci.m_soft_volume= objprop->m_soft_volume; /* volume preservation 0..1 */
ci.m_soft_viterations= objprop->m_soft_viterations; /* Velocities solver iterations */
ci.m_soft_piterations= objprop->m_soft_piterations; /* Positions solver iterations */
ci.m_soft_diterations= objprop->m_soft_diterations; /* Drift solver iterations */
ci.m_soft_citerations= objprop->m_soft_citerations; /* Cluster solver iterations */
ci.m_soft_kSRHR_CL= objprop->m_soft_kSRHR_CL; /* Soft vs rigid hardness [0,1] (cluster only) */
ci.m_soft_kSKHR_CL= objprop->m_soft_kSKHR_CL; /* Soft vs kinetic hardness [0,1] (cluster only) */
ci.m_soft_kSSHR_CL= objprop->m_soft_kSSHR_CL; /* Soft vs soft hardness [0,1] (cluster only) */
ci.m_soft_kSR_SPLT_CL= objprop->m_soft_kSR_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
ci.m_soft_kSK_SPLT_CL= objprop->m_soft_kSK_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
ci.m_soft_kSS_SPLT_CL= objprop->m_soft_kSS_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
ci.m_soft_kVCF= objprop->m_soft_kVCF; /* Velocities correction factor (Baumgarte) */
ci.m_soft_kDP= objprop->m_soft_kDP; /* Damping coefficient [0,1] */
ci.m_soft_kDG= objprop->m_soft_kDG; /* Drag coefficient [0,+inf] */
ci.m_soft_kLF= objprop->m_soft_kLF; /* Lift coefficient [0,+inf] */
ci.m_soft_kPR= objprop->m_soft_kPR; /* Pressure coefficient [-inf,+inf] */
ci.m_soft_kVC= objprop->m_soft_kVC; /* Volume conversation coefficient [0,+inf] */
ci.m_soft_kDF= objprop->m_soft_kDF; /* Dynamic friction coefficient [0,1] */
ci.m_soft_kMT= objprop->m_soft_kMT; /* Pose matching coefficient [0,1] */
ci.m_soft_kCHR= objprop->m_soft_kCHR; /* Rigid contacts hardness [0,1] */
ci.m_soft_kKHR= objprop->m_soft_kKHR; /* Kinetic contacts hardness [0,1] */
ci.m_soft_kSHR= objprop->m_soft_kSHR; /* Soft contacts hardness [0,1] */
ci.m_soft_kAHR= objprop->m_soft_kAHR; /* Anchors hardness [0,1] */
ci.m_soft_collisionflags= objprop->m_soft_collisionflags; /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */
ci.m_soft_numclusteriterations= objprop->m_soft_numclusteriterations; /* number of iterations to refine collision clusters*/
////////////////////
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);
// shapeInfo is reference counted, decrement now as we don't use it anymore
if (shapeInfo)
shapeInfo->Release();
if (objprop->m_in_active_layer)
{
env->addCcdPhysicsController( physicscontroller);
}
gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
physicscontroller->setNewClientInfo(gameobj->getClientInfo());
{
btRigidBody* rbody = physicscontroller->GetRigidBody();
if (rbody && objprop->m_disableSleeping)
rbody->setActivationState(DISABLE_DEACTIVATION);
}
CcdPhysicsController* parentCtrl = objprop->m_dynamic_parent ? (KX_BulletPhysicsController*)objprop->m_dynamic_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 (objprop->m_dyna && !objprop->m_angular_rigidbody)
{
/*
//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();
*/
//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 = objprop->m_isactor;
gameobj->getClientInfo()->m_type = (isActor ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC);
// 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;
}
gameobj->GetSGNode()->AddSGController(physicscontroller);
STR_String materialname;
if (meshobj)
materialname = meshobj->GetMaterialName(0);
physicscontroller->SetObject(gameobj->GetSGNode());
///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),gameobj);
gameobj->SetDeformer(softbodyDeformer);
}
}
}
void KX_ClearBulletSharedShapes()
{
}
#endif
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