434 lines
10 KiB
C++
434 lines
10 KiB
C++
/**
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* $Id$
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*
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* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL/BL DUAL LICENSE BLOCK *****
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*/
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#pragma warning (disable : 4786)
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// defines USE_ODE to choose physics engine
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#include "KX_ConvertPhysicsObject.h"
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#include "KX_GameObject.h"
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#include "RAS_MeshObject.h"
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#include "KX_Scene.h"
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#include "SYS_System.h"
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#include "PHY_Pro.h" //todo cleanup
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#include "KX_ClientObjectInfo.h"
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#include "GEN_Map.h"
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#include "GEN_HashedPtr.h"
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#include "KX_PhysicsEngineEnums.h"
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#include "PHY_Pro.h"
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#include "KX_MotionState.h" // bridge between motionstate and scenegraph node
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#ifdef HAVE_CONFIG_H
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#include <config.h>
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#endif
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#ifdef USE_ODE
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#include "KX_OdePhysicsController.h"
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#include "OdePhysicsEnvironment.h"
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#endif //USE_ODE
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// USE_SUMO_SOLID is defined in headerfile KX_ConvertPhysicsObject.h
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#ifdef USE_SUMO_SOLID
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#include "SumoPhysicsEnvironment.h"
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#include "KX_SumoPhysicsController.h"
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// sumo physics specific
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#include "SM_Object.h"
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#include "SM_FhObject.h"
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#include "SM_Scene.h"
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#include "SM_ClientObjectInfo.h"
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#include "KX_SumoPhysicsController.h"
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GEN_Map<GEN_HashedPtr,DT_ShapeHandle> map_gamemesh_to_sumoshape;
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// forward declarations
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void BL_RegisterSumoObject(KX_GameObject* gameobj,class SM_Scene* sumoScene,DT_SceneHandle solidscene,class SM_Object* sumoObj,const char* matname,bool isDynamic,bool isActor);
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DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj);
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void KX_ConvertSumoObject( class KX_GameObject* gameobj,
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class RAS_MeshObject* meshobj,
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class KX_Scene* kxscene,
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PHY_ShapeProps* kxshapeprops,
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PHY_MaterialProps* kxmaterial,
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struct KX_ObjectProperties* objprop)
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{
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SM_ShapeProps* smprop = new SM_ShapeProps;
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smprop->m_ang_drag = kxshapeprops->m_ang_drag;
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smprop->m_do_anisotropic = kxshapeprops->m_do_anisotropic;
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smprop->m_do_fh = kxshapeprops->m_do_fh;
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smprop->m_do_rot_fh = kxshapeprops->m_do_rot_fh ;
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smprop->m_friction_scaling[0] = kxshapeprops->m_friction_scaling[0];
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smprop->m_friction_scaling[1] = kxshapeprops->m_friction_scaling[1];
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smprop->m_friction_scaling[2] = kxshapeprops->m_friction_scaling[2];
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smprop->m_inertia = kxshapeprops->m_inertia;
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smprop->m_lin_drag = kxshapeprops->m_lin_drag;
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smprop->m_mass = kxshapeprops->m_mass;
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SM_MaterialProps* smmaterial = new SM_MaterialProps;
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smmaterial->m_fh_damping = kxmaterial->m_fh_damping;
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smmaterial->m_fh_distance = kxmaterial->m_fh_distance;
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smmaterial->m_fh_normal = kxmaterial->m_fh_normal;
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smmaterial->m_fh_spring = kxmaterial->m_fh_spring;
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smmaterial->m_friction = kxmaterial->m_friction;
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smmaterial->m_restitution = kxmaterial->m_restitution;
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class SumoPhysicsEnvironment* sumoEnv =
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(SumoPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
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SM_Scene* sceneptr = sumoEnv->GetSumoScene();
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SM_Object* sumoObj=NULL;
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if (objprop->m_dyna)
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{
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DT_ShapeHandle shape = DT_Sphere(0.0);
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if (objprop->m_ghost)
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{
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sumoObj = new SM_Object(shape,NULL,smprop,NULL);
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} else
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{
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sumoObj = new SM_Object(shape,smmaterial,smprop,NULL);
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}
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double radius = objprop->m_radius;
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MT_Scalar margin = radius;//0.5;
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sumoObj->setMargin(margin);
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//if (bRigidBody)
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//{
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if (objprop->m_in_active_layer)
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{
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DT_AddObject(sumoEnv->GetSolidScene(),
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sumoObj->getObjectHandle());
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}
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//}
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if (objprop->m_angular_rigidbody)
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{
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sumoObj->setRigidBody(true);
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} else
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{
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sumoObj->setRigidBody(false);
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}
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bool isDynamic = true;
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bool isActor = true;
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BL_RegisterSumoObject(gameobj,sceneptr,sumoEnv->GetSolidScene(),sumoObj,NULL,isDynamic,isActor);
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}
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else {
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// non physics object
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if (meshobj)
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{
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int numpolys = meshobj->NumPolygons();
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{
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DT_ShapeHandle complexshape=0;
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if (objprop->m_implicitbox)
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{
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complexshape = DT_Box(objprop->m_boundingbox.m_extends[0],objprop->m_boundingbox.m_extends[1],objprop->m_boundingbox.m_extends[2]);
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} else
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{
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if (numpolys>0)
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{
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complexshape = CreateShapeFromMesh(meshobj);
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}
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}
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if (complexshape)
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{
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SM_Object *dynamicParent = NULL;
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if (objprop->m_dynamic_parent)
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{
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// problem is how to find the dynamic parent
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// in the scenegraph
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KX_SumoPhysicsController* sumoctrl =
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(KX_SumoPhysicsController*)
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objprop->m_dynamic_parent->GetPhysicsController();
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if (sumoctrl)
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{
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dynamicParent = sumoctrl->GetSumoObject();
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}
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assert(dynamicParent);
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}
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if (objprop->m_ghost)
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{
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sumoObj = new SM_Object(complexshape,NULL,NULL, dynamicParent);
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} else
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{
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sumoObj = new SM_Object(complexshape,smmaterial,NULL, dynamicParent);
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}
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if (objprop->m_in_active_layer)
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{
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DT_AddObject(sumoEnv->GetSolidScene(),
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sumoObj->getObjectHandle());
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}
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const STR_String& matname=meshobj->GetMaterialName(0);
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BL_RegisterSumoObject(gameobj,sceneptr,
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sumoEnv->GetSolidScene(),sumoObj,
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matname.ReadPtr(),
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objprop->m_dyna,
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objprop->m_isactor);
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}
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}
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}
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}
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// physics object get updated here !
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// lazy evaluation because we might not support scaling !gameobj->UpdateTransform();
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if (objprop->m_in_active_layer && sumoObj)
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{
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sceneptr->add(*sumoObj);
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}
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}
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void BL_RegisterSumoObject(KX_GameObject* gameobj,class SM_Scene* sumoScene,DT_SceneHandle solidscene,class SM_Object* sumoObj,const char* matname,bool isDynamic,bool isActor) {
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//gameobj->SetDynamic(isDynamic);
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PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
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// need easy access, not via 'node' etc.
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KX_SumoPhysicsController* physicscontroller = new KX_SumoPhysicsController(sumoScene,solidscene,sumoObj,motionstate,isDynamic);
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gameobj->SetPhysicsController(physicscontroller);
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physicscontroller->setClientInfo(gameobj);
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gameobj->GetSGNode()->AddSGController(physicscontroller);
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//gameobj->GetClientInfo()->m_type = (isActor ? 1 : 0);
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//gameobj->GetClientInfo()->m_clientobject = gameobj;
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// store materialname in auxinfo, needed for touchsensors
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//gameobj->GetClientInfo()->m_auxilary_info = (matname? (void*)(matname+2) : NULL);
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physicscontroller->SetObject(gameobj->GetSGNode());
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//gameobj->SetDynamicsScaling(MT_Vector3(1.0, 1.0, 1.0));
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};
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DT_ShapeHandle CreateShapeFromMesh(RAS_MeshObject* meshobj)
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{
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DT_ShapeHandle* shapeptr = map_gamemesh_to_sumoshape[GEN_HashedPtr(meshobj)];
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if (shapeptr)
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{
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return *shapeptr;
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}
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// todo: shared meshes
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DT_ShapeHandle shape = DT_NewComplexShape();
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int p=0;
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int numpolys = meshobj->NumPolygons();
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if (!numpolys)
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{
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return NULL;
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}
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int numvalidpolys = 0;
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for (p=0;p<meshobj->m_triangle_indices.size();p++)
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{
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RAS_TriangleIndex& idx = meshobj->m_triangle_indices[p];
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// only add polygons that have the collisionflag set
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if (idx.m_collider)
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{
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DT_Begin();
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for (int v=0;v<3;v++)
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{
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int num = meshobj->m_xyz_index_to_vertex_index_mapping[idx.m_index[v]].size();
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if (num != 1)
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{
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int i=0;
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}
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RAS_MatArrayIndex& vertindex = meshobj->m_xyz_index_to_vertex_index_mapping[idx.m_index[v]][0];
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numvalidpolys++;
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{
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const MT_Point3& pt = meshobj->GetVertex(vertindex.m_array,
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vertindex.m_index,
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(RAS_IPolyMaterial*)vertindex.m_matid)->xyz();
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DT_Vertex(pt[0],pt[1],pt[2]);
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}
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}
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DT_End();
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}
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}
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DT_EndComplexShape();
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if (numvalidpolys > 0)
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{
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map_gamemesh_to_sumoshape.insert(GEN_HashedPtr(meshobj),shape);
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return shape;
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}
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// memleak... todo: delete shape
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return NULL;
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}
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void KX_ClearSumoSharedShapes()
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{
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int numshapes = map_gamemesh_to_sumoshape.size();
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for (int i=0;i<numshapes ;i++)
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{
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DT_ShapeHandle shape = *map_gamemesh_to_sumoshape.at(i);
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DT_DeleteShape(shape);
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}
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map_gamemesh_to_sumoshape.clear();
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}
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#endif //USE_SUMO_SOLID
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#ifdef USE_ODE
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void KX_ConvertODEEngineObject(KX_GameObject* gameobj,
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RAS_MeshObject* meshobj,
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KX_Scene* kxscene,
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struct PHY_ShapeProps* shapeprops,
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struct PHY_MaterialProps* smmaterial,
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struct KX_ObjectProperties* objprop)
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{
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// not yet, future extension :)
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bool dyna=objprop->m_dyna;
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bool fullRigidBody= ( objprop->m_dyna && objprop->m_angular_rigidbody) != 0;
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bool phantom = objprop->m_ghost;
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class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
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class ODEPhysicsEnvironment* odeEnv =
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(ODEPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
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dxSpace* space = odeEnv->GetOdeSpace();
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dxWorld* world = odeEnv->GetOdeWorld();
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if (!objprop->m_implicitsphere &&
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MT_fuzzyZero(objprop->m_boundingbox.m_extends[0]) ||
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MT_fuzzyZero(objprop->m_boundingbox.m_extends[1]) ||
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MT_fuzzyZero(objprop->m_boundingbox.m_extends[2])
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)
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{
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} else
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{
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KX_OdePhysicsController* physicscontroller =
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new KX_OdePhysicsController(
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dyna,
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fullRigidBody,
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phantom,
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motionstate,
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space,
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world,
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shapeprops->m_mass,
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smmaterial->m_friction,
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smmaterial->m_restitution,
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objprop->m_implicitsphere,
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objprop->m_boundingbox.m_center,
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objprop->m_boundingbox.m_extends,
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objprop->m_radius
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);
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gameobj->SetPhysicsController(physicscontroller);
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physicscontroller->setClientInfo(gameobj);
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gameobj->GetSGNode()->AddSGController(physicscontroller);
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bool isActor = objprop->m_isactor;
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STR_String materialname;
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if (meshobj)
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materialname = meshobj->GetMaterialName(0);
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const char* matname = materialname.ReadPtr();
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physicscontroller->SetObject(gameobj->GetSGNode());
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}
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}
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#endif // USE_ODE
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