forked from bartvdbraak/blender
preparation for bullet physics
This commit is contained in:
parent
3166974a67
commit
2d73b31aff
@ -394,6 +394,7 @@ void BLI_adddirstrings()
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else sprintf(files[num].size, "0");
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strftime(datum, 32, "%d-%b-%y %R", tm);
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//for visual studio 8, strftime(datum, 32, "%d-%b-%y ", tm);
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if (st_size < 1000) {
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sprintf(size, "%10d", (int) st_size);
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@ -1,48 +1,96 @@
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/*
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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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* ***** END GPL/BL DUAL LICENSE BLOCK *****
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*/
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#ifndef ZBLUR_H
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#define ZBLUR_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*-----------------------------------------------------------*/
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/* Includes */
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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/* Function */
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/* Includes */
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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/* Function */
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/*-----------------------------------------------------------*/
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void add_zblur(void);
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#ifdef __cplusplus
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}
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#endif
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#endif
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#endif
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@ -1858,7 +1858,7 @@ static void world_panel_mistaph(World *wrld)
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#if GAMEBLENDER == 1
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uiDefButI(block, MENU, 1,
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"Physics %t|None %x0|Sumo %x2|Ode %x4",
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"Physics %t|None %x0|Sumo %x2|Ode %x4 |Bullet %x5",
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10,180,140,19, &wrld->physicsEngine, 0, 0, 0, 0,
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"Physics Engine");
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@ -3112,7 +3112,6 @@ static void material_panel_material(Object *ob, Material *ma)
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uiDefIconBut(block, BUT, B_MATCOPY, ICON_COPYUP, 262,200,XIC,YIC, 0, 0, 0, 0, 0, "Copies Material to the buffer");
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uiSetButLock(id && id->lib, "Can't edit library data");
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uiDefIconBut(block, BUT, B_MATPASTE, ICON_PASTEUP, 283,200,XIC,YIC, 0, 0, 0, 0, 0, "Pastes Material from the buffer");
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uiClearButLock();
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if(ob->actcol==0) ob->actcol= 1; /* because of TOG|BIT button */
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@ -3144,10 +3143,10 @@ static void material_panel_material(Object *ob, Material *ma)
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uiBlockEndAlign(block);
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if(ob->totcol==0) return;
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uiSetButLock(id->lib!=0, "Can't edit library data");
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ma= give_current_material(ob, ob->actcol);
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if(ma==NULL) return;
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uiSetButLock(ma->id.lib!=NULL, "Can't edit library data");
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if(ma==0) return;
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if(ma->dynamode & MA_DRAW_DYNABUTS) {
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uiBlockBeginAlign(block);
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@ -3265,8 +3264,6 @@ void material_panels()
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material_panel_material(ob, ma);
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if(ma) {
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uiSetButLock(ma->id.lib!=NULL, "Can't edit library data");
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material_panel_ramps(ma);
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material_panel_shading(ma);
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if (G.scene->r.renderer==R_INTERN)
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@ -816,6 +816,12 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
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switch (physics_engine)
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{
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#ifdef USE_BULLET
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case UseBullet:
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KX_ConvertBulletObject(gameobj, meshobj, kxscene, shapeprops, smmaterial, &objprop);
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break;
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#endif
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#ifdef USE_SUMO_SOLID
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case UseSumo:
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KX_ConvertSumoObject(gameobj, meshobj, kxscene, shapeprops, smmaterial, &objprop);
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@ -1331,6 +1337,8 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
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converter->RegisterWorldInfo(worldinfo);
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kxscene->SetWorldInfo(worldinfo);
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#define CONVERT_LOGIC
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#ifdef CONVERT_LOGIC
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// convert logic bricks, sensors, controllers and actuators
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for (i=0;i<logicbrick_conversionlist->GetCount();i++)
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{
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@ -1353,6 +1361,8 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
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bool isInActiveLayer = (blenderobj->lay & activeLayerBitInfo)!=0;
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BL_ConvertSensors(blenderobj,gameobj,logicmgr,kxscene,keydev,executePriority,activeLayerBitInfo,isInActiveLayer,canvas,converter);
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}
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#endif //CONVERT_LOGIC
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logicbrick_conversionlist->Release();
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// Calculate the scene btree -
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@ -45,6 +45,10 @@
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//to decide to use sumo/ode or dummy physics - defines USE_ODE
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#include "KX_ConvertPhysicsObject.h"
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#ifdef USE_BULLET
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#include "CcdPhysicsEnvironment.h"
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#endif
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#ifdef USE_ODE
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#include "OdePhysicsEnvironment.h"
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#endif //USE_ODE
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@ -117,6 +121,11 @@ KX_BlenderSceneConverter::~KX_BlenderSceneConverter()
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#ifdef USE_SUMO_SOLID
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KX_ClearSumoSharedShapes();
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#endif
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#ifdef USE_BULLET
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KX_ClearBulletSharedShapes();
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#endif
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}
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@ -182,6 +191,11 @@ void KX_BlenderSceneConverter::ConvertScene(const STR_String& scenename,
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{
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switch (blenderscene->world->physicsEngine)
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{
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case WOPHY_BULLET:
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{
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physics_engine = UseBullet;
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break;
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}
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case WOPHY_ODE:
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{
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@ -209,6 +223,13 @@ void KX_BlenderSceneConverter::ConvertScene(const STR_String& scenename,
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switch (physics_engine)
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{
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#ifdef USE_BULLET
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case UseBullet:
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{
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destinationscene->SetPhysicsEnvironment(new CcdPhysicsEnvironment());
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break;
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}
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#endif
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#ifdef USE_SUMO_SOLID
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case UseSumo:
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138
source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
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138
source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
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@ -0,0 +1,138 @@
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#include "KX_BulletPhysicsController.h"
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#include "Dynamics/RigidBody.h"
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KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna)
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: KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
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CcdPhysicsController(ci)
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{
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}
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KX_BulletPhysicsController::~KX_BulletPhysicsController ()
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{
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}
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void KX_BulletPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
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{
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CcdPhysicsController::resolveCombinedVelocities(linvelX,linvelY,linvelZ,angVelX,angVelY,angVelZ);
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}
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///////////////////////////////////
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// KX_IPhysicsController interface
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////////////////////////////////////
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void KX_BulletPhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
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{
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}
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void KX_BulletPhysicsController::SetObject (SG_IObject* object)
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{
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}
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void KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
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{
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CcdPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
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}
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void KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
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{
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}
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void KX_BulletPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
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{
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}
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void KX_BulletPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
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{
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}
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MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity()
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{
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assert(0);
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return MT_Vector3(0.f,0.f,0.f);
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}
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MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
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{
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assert(0);
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return MT_Vector3(0.f,0.f,0.f);
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}
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void KX_BulletPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
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{
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CcdPhysicsController::SetAngularVelocity(ang_vel.x(),ang_vel.y(),ang_vel.z(),local);
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}
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void KX_BulletPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
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{
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CcdPhysicsController::SetLinearVelocity(lin_vel.x(),lin_vel.y(),lin_vel.z(),local);
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}
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void KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn)
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{
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}
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void KX_BulletPhysicsController::setOrientation(const MT_Quaternion& orn)
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{
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}
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void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
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{
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}
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void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling)
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{
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}
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MT_Scalar KX_BulletPhysicsController::GetMass()
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{
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MT_Scalar invmass = GetRigidBody()->getInvMass();
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if (invmass)
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return 1.f/invmass;
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return 0.f;
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}
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MT_Vector3 KX_BulletPhysicsController::getReactionForce()
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{
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assert(0);
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return MT_Vector3(0.f,0.f,0.f);
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}
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void KX_BulletPhysicsController::setRigidBody(bool rigid)
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{
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}
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void KX_BulletPhysicsController::SuspendDynamics()
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{
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}
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void KX_BulletPhysicsController::RestoreDynamics()
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{
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}
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SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
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{
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assert(0);
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return 0;
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}
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void KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly)
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{
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}
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// todo: remove next line !
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void KX_BulletPhysicsController::SetSimulatedTime(double time)
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{
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}
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// call from scene graph to update
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bool KX_BulletPhysicsController::Update(double time)
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{
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return false;
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// todo: check this code
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//if (GetMass())
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//{
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// return false;//true;
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// }
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// return false;
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}
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69
source/gameengine/Ketsji/KX_BulletPhysicsController.h
Normal file
69
source/gameengine/Ketsji/KX_BulletPhysicsController.h
Normal file
@ -0,0 +1,69 @@
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#ifndef KX_BULLET2PHYSICS_CONTROLLER
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#define KX_BULLET2PHYSICS_CONTROLLER
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#include "KX_IPhysicsController.h"
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#include "CcdPhysicsController.h"
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class KX_BulletPhysicsController : public KX_IPhysicsController ,public CcdPhysicsController
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{
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public:
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KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna);
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virtual ~KX_BulletPhysicsController ();
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///////////////////////////////////
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// KX_IPhysicsController interface
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////////////////////////////////////
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virtual void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
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virtual void SetObject (SG_IObject* object);
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virtual void RelativeTranslate(const MT_Vector3& dloc,bool local);
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virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local);
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virtual void ApplyTorque(const MT_Vector3& torque,bool local);
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virtual void ApplyForce(const MT_Vector3& force,bool local);
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virtual MT_Vector3 GetLinearVelocity();
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virtual MT_Vector3 GetVelocity(const MT_Point3& pos);
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virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
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virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
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virtual void getOrientation(MT_Quaternion& orn);
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virtual void setOrientation(const MT_Quaternion& orn);
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virtual void setPosition(const MT_Point3& pos);
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virtual void setScaling(const MT_Vector3& scaling);
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virtual MT_Scalar GetMass();
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virtual MT_Vector3 getReactionForce();
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virtual void setRigidBody(bool rigid);
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virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
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virtual void SuspendDynamics();
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virtual void RestoreDynamics();
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virtual SG_Controller* GetReplica(class SG_Node* destnode);
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void SetDyna(bool isDynamic) {
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m_bDyna = isDynamic;
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}
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virtual void SetSumoTransform(bool nondynaonly);
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// todo: remove next line !
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virtual void SetSimulatedTime(double time);
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// call from scene graph to update
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virtual bool Update(double time);
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void* GetUserData() { return m_userdata;}
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void
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SetOption(
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int option,
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int value
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){
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// intentionally empty
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};
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};
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#endif //KX_BULLET2PHYSICS_CONTROLLER
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@ -35,6 +35,7 @@
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/* These are defined by the build system... */
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//#define USE_SUMO_SOLID
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//#define USE_ODE
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//#define USE_BULLET
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class RAS_MeshObject;
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class KX_Scene;
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@ -115,5 +116,18 @@ bool KX_ReInstanceShapeFromMesh(RAS_MeshObject* meshobj);
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#endif
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#ifdef USE_BULLET
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void KX_ConvertBulletObject( class KX_GameObject* gameobj,
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class RAS_MeshObject* meshobj,
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class 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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void KX_ClearBulletSharedShapes();
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//bool KX_ReInstanceShapeFromMesh(RAS_MeshObject* meshobj);
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#endif
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#endif //KX_CONVERTPHYSICSOBJECTS
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|
@ -63,6 +63,7 @@
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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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@ -577,6 +578,10 @@ void KX_ClearSumoSharedShapes()
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map_gamemesh_to_instance.clear();
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}
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#endif //USE_SUMO_SOLID
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@ -651,3 +656,390 @@ void KX_ConvertODEEngineObject(KX_GameObject* gameobj,
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#endif // USE_ODE
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#ifdef USE_BULLET
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#include "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include "KX_BulletPhysicsController.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/SphereShape.h"
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#include "CollisionShapes/TriangleMeshInterface.h"
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#include "CollisionShapes/ConeShape.h"
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#include "CollisionShapes/ConvexShape.h"
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#include "CollisionShapes/CylinderShape.h"
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#include "CollisionShapes/MultiSphereShape.h"
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#include "CollisionShapes/ConvexHullShape.h"
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#include "CollisionShapes/TriangleMesh.h"
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#include "CollisionShapes/TriangleMeshShape.h"
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|
||||
static GEN_Map<GEN_HashedPtr,CollisionShape*> map_gamemesh_to_bulletshape;
|
||||
|
||||
// forward declarations
|
||||
static CollisionShape* CreateBulletShapeFromMesh(RAS_MeshObject* meshobj, bool polytope)
|
||||
{
|
||||
if (!meshobj)
|
||||
return 0;
|
||||
|
||||
CollisionShape* collisionMeshShape = 0;
|
||||
ConvexHullShape* convexHullShape = 0;
|
||||
TriangleMeshShape* concaveShape = 0;
|
||||
|
||||
TriangleMesh* collisionMeshData = 0;
|
||||
|
||||
//see if there is any polygons, if not, bail out.
|
||||
|
||||
int numUsedPolygons = 0;
|
||||
int numPoints = 0;
|
||||
SimdVector3* points = 0;
|
||||
|
||||
CollisionShape** shapeptr = map_gamemesh_to_bulletshape[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;
|
||||
int vtxarray = -1;
|
||||
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->GetVertexIndexBase().m_vtxarray != vtxarray)
|
||||
{
|
||||
if (vtxarray < 0)
|
||||
vtxarray = poly->GetVertexIndexBase().m_vtxarray;
|
||||
else
|
||||
{
|
||||
reinstance = false;
|
||||
vtxarray = -1;
|
||||
}
|
||||
}
|
||||
|
||||
// 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;
|
||||
|
||||
|
||||
if (polytope)
|
||||
{
|
||||
convexHullShape = new ConvexHullShape(points,numPoints);
|
||||
collisionMeshShape = convexHullShape;
|
||||
} else
|
||||
{
|
||||
collisionMeshData = new TriangleMesh();
|
||||
concaveShape = new TriangleMeshShape(collisionMeshData);
|
||||
collisionMeshShape = concaveShape;
|
||||
|
||||
}
|
||||
|
||||
|
||||
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())
|
||||
{
|
||||
//Bullet can raycast any shape, so
|
||||
if (polytope)
|
||||
{
|
||||
for (int i=0;i<poly->VertexCount();i++)
|
||||
{
|
||||
const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
||||
poly->GetVertexIndexBase().m_indexarray[i],
|
||||
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
||||
SimdPoint3 point(vtx[0],vtx[1],vtx[2]);
|
||||
convexHullShape->AddPoint(point);
|
||||
}
|
||||
if (poly->VertexCount())
|
||||
numvalidpolys++;
|
||||
|
||||
} else
|
||||
{
|
||||
{
|
||||
const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
||||
poly->GetVertexIndexBase().m_indexarray[2],
|
||||
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
||||
SimdPoint3 vertex0(vtx[0],vtx[1],vtx[2]);
|
||||
vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
||||
poly->GetVertexIndexBase().m_indexarray[1],
|
||||
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
||||
SimdPoint3 vertex1(vtx[0],vtx[1],vtx[2]);
|
||||
vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
||||
poly->GetVertexIndexBase().m_indexarray[0],
|
||||
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
||||
SimdPoint3 vertex2(vtx[0],vtx[1],vtx[2]);
|
||||
collisionMeshData->AddTriangle(vertex0,vertex1,vertex2);
|
||||
numvalidpolys++;
|
||||
}
|
||||
if (poly->VertexCount() == 4)
|
||||
{
|
||||
const float* vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
||||
poly->GetVertexIndexBase().m_indexarray[3],
|
||||
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
||||
SimdPoint3 vertex0(vtx[0],vtx[1],vtx[2]);
|
||||
vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
||||
poly->GetVertexIndexBase().m_indexarray[2],
|
||||
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
||||
SimdPoint3 vertex1(vtx[0],vtx[1],vtx[2]);
|
||||
vtx = meshobj->GetVertex(poly->GetVertexIndexBase().m_vtxarray,
|
||||
poly->GetVertexIndexBase().m_indexarray[0],
|
||||
poly->GetMaterial()->GetPolyMaterial())->getLocalXYZ();
|
||||
SimdPoint3 vertex2(vtx[0],vtx[1],vtx[2]);
|
||||
collisionMeshData->AddTriangle(vertex0,vertex1,vertex2);
|
||||
numvalidpolys++;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (numvalidpolys > 0)
|
||||
{
|
||||
//map_gamemesh_to_bulletshape.insert(GEN_HashedPtr(meshobj),collisionMeshShape);
|
||||
return collisionMeshShape;
|
||||
}
|
||||
|
||||
delete collisionMeshShape;
|
||||
return NULL;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
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 dyna = false;
|
||||
CcdConstructionInfo ci;
|
||||
class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
|
||||
|
||||
ci.m_MotionState = motionstate;
|
||||
ci.m_gravity = SimdVector3(0,0,0);
|
||||
ci.m_localInertiaTensor =SimdVector3(0,0,0);
|
||||
ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f;
|
||||
|
||||
ci.m_localInertiaTensor = SimdVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
|
||||
|
||||
SimdTransform trans;
|
||||
trans.setIdentity();
|
||||
|
||||
CollisionShape* bm = 0;
|
||||
|
||||
switch (objprop->m_boundclass)
|
||||
{
|
||||
case KX_BOUNDSPHERE:
|
||||
{
|
||||
float radius = objprop->m_radius;
|
||||
SimdVector3 inertiaHalfExtents (
|
||||
radius,
|
||||
radius,
|
||||
radius);
|
||||
|
||||
//blender doesn't support multisphere, but for testing:
|
||||
|
||||
//bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1);
|
||||
bm = new SphereShape(objprop->m_radius);
|
||||
bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
|
||||
break;
|
||||
};
|
||||
case KX_BOUNDBOX:
|
||||
{
|
||||
MT_Vector3 halfExtents (
|
||||
objprop->m_boundobject.box.m_extends[0],
|
||||
objprop->m_boundobject.box.m_extends[1],
|
||||
objprop->m_boundobject.box.m_extends[2]);
|
||||
|
||||
halfExtents /= 2.f;
|
||||
|
||||
SimdVector3 he (halfExtents[0]-CONVEX_DISTANCE_MARGIN ,halfExtents[1]-CONVEX_DISTANCE_MARGIN ,halfExtents[2]-CONVEX_DISTANCE_MARGIN );
|
||||
he = he.absolute();
|
||||
|
||||
|
||||
bm = new BoxShape(he);
|
||||
bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
|
||||
|
||||
break;
|
||||
};
|
||||
case KX_BOUNDCYLINDER:
|
||||
{
|
||||
SimdVector3 halfExtents (
|
||||
objprop->m_boundobject.c.m_radius,
|
||||
objprop->m_boundobject.c.m_radius,
|
||||
objprop->m_boundobject.c.m_height * 0.5f
|
||||
);
|
||||
bm = new CylinderShapeZ(halfExtents);
|
||||
bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case KX_BOUNDCONE:
|
||||
{
|
||||
SimdVector3 halfExtents (objprop->m_boundobject.box.m_extends[0],
|
||||
objprop->m_boundobject.box.m_extends[1],
|
||||
objprop->m_boundobject.box.m_extends[2]);
|
||||
|
||||
|
||||
halfExtents /= 2.f;
|
||||
SimdVector3& he = halfExtents;
|
||||
SimdTransform& tr = trans;
|
||||
|
||||
bm = new ConeShape(objprop->m_boundobject.c.m_radius,objprop->m_boundobject.c.m_height);
|
||||
bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
|
||||
|
||||
|
||||
|
||||
break;
|
||||
}
|
||||
case KX_BOUNDPOLYTOPE:
|
||||
{
|
||||
bm = CreateBulletShapeFromMesh(meshobj,true);
|
||||
if (bm)
|
||||
{
|
||||
bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
|
||||
}
|
||||
break;
|
||||
}
|
||||
case KX_BOUNDMESH:
|
||||
{
|
||||
if (!ci.m_mass)
|
||||
{
|
||||
bm = CreateBulletShapeFromMesh(meshobj,false);
|
||||
ci.m_localInertiaTensor.setValue(0.f,0.f,0.f);
|
||||
//no moving concave meshes, so don't bother calculating inertia
|
||||
//bm->CalculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
//interpret the shape as a concave triangle-mesh
|
||||
{
|
||||
if (meshobj)
|
||||
{
|
||||
// assert(0);
|
||||
|
||||
/*
|
||||
meshobj->ScheduleCollisionPolygons();
|
||||
|
||||
KX_DeformableMesh* gfxmesh = new KX_DeformableMesh(meshobj);
|
||||
gfxmesh->sendFixedMapping();
|
||||
//trianglemesh
|
||||
bm = new TriangleMeshInterface(gfxmesh,trans);
|
||||
*/
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// ci.m_localInertiaTensor.setValue(0.1f,0.1f,0.1f);
|
||||
|
||||
if (!bm)
|
||||
return;
|
||||
|
||||
ci.m_collisionShape = bm;
|
||||
ci.m_broadphaseHandle = 0;
|
||||
ci.m_friction = smmaterial->m_friction;
|
||||
ci.m_restitution = smmaterial->m_restitution;
|
||||
|
||||
|
||||
ci.m_linearDamping = shapeprops->m_lin_drag;
|
||||
ci.m_angularDamping = shapeprops->m_ang_drag;
|
||||
|
||||
KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,dyna);
|
||||
env->addCcdPhysicsController( physicscontroller);
|
||||
|
||||
|
||||
gameobj->SetPhysicsController(physicscontroller);
|
||||
physicscontroller->setNewClientInfo(gameobj);
|
||||
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());
|
||||
|
||||
|
||||
}
|
||||
|
||||
void KX_ClearBulletSharedShapes()
|
||||
{
|
||||
int numshapes = map_gamemesh_to_bulletshape.size();
|
||||
int i;
|
||||
CollisionShape*shape=0;
|
||||
for (i=0;i<numshapes ;i++)
|
||||
{
|
||||
shape = *map_gamemesh_to_bulletshape.at(i);
|
||||
//delete shape;
|
||||
}
|
||||
|
||||
map_gamemesh_to_bulletshape.clear();
|
||||
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
|
@ -321,7 +321,7 @@ void KX_KetsjiEngine::NextFrame()
|
||||
m_deltatime += curtime - m_previoustime;
|
||||
float realDeltaTime = curtime - m_previoustime;
|
||||
|
||||
m_previoustime = curtime;
|
||||
|
||||
double localtime = curtime - m_deltatime;
|
||||
|
||||
// Compute the number of logic frames to do each update (fixed tic bricks)
|
||||
@ -332,6 +332,7 @@ void KX_KetsjiEngine::NextFrame()
|
||||
|
||||
while (frames)
|
||||
{
|
||||
|
||||
localtime += 1.0/m_ticrate;
|
||||
for (sceneit = m_scenes.begin();sceneit != m_scenes.end(); ++sceneit)
|
||||
// for each scene, call the proceed functions
|
||||
@ -388,6 +389,7 @@ void KX_KetsjiEngine::NextFrame()
|
||||
// many iterations of the physics solver.
|
||||
m_logger->StartLog(tc_physics, m_kxsystem->GetTimeInSeconds(), true);
|
||||
scene->GetPhysicsEnvironment()->proceedDeltaTime(localtime,realDeltaTime);
|
||||
m_previoustime = curtime;
|
||||
} // suspended
|
||||
|
||||
DoSound(scene);
|
||||
|
@ -39,7 +39,8 @@ enum e_PhysicsEngine
|
||||
UseEnji = 1,
|
||||
UseSumo = 2,
|
||||
UseDynamo = 3,
|
||||
UseODE = 4
|
||||
UseODE = 4,
|
||||
UseBullet = 5,
|
||||
};
|
||||
|
||||
#endif //__KX_PHYSICSENGINEENUMS
|
||||
|
@ -207,7 +207,7 @@ KX_Scene::~KX_Scene()
|
||||
{
|
||||
delete m_bucketmanager;
|
||||
}
|
||||
Py_DECREF(m_attrlist);
|
||||
//Py_DECREF(m_attrlist);
|
||||
}
|
||||
|
||||
|
||||
|
@ -20,6 +20,7 @@
|
||||
* ***** END GPL/BL DUAL LICENSE BLOCK *****
|
||||
*/
|
||||
|
||||
#define USE_ODE
|
||||
#ifdef USE_ODE
|
||||
|
||||
#include "OdePhysicsController.h"
|
||||
|
@ -24,7 +24,7 @@
|
||||
#include "OdePhysicsController.h"
|
||||
|
||||
// Ode
|
||||
#include <ode/config.h>
|
||||
//#include <ode/config.h>
|
||||
#include <ode/ode.h>
|
||||
#include <../ode/src/joint.h>
|
||||
#include <ode/odemath.h>
|
||||
@ -105,7 +105,9 @@ bool ODEPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep1)
|
||||
int m_odeContacts = GetNumOdeContacts();
|
||||
|
||||
//physics integrator + resolver update
|
||||
dWorldStep (m_OdeWorld,deltaTime);
|
||||
//dWorldStep (m_OdeWorld,deltaTime);
|
||||
dWorldQuickStep (m_OdeWorld,deltaTime);
|
||||
//dWorldID w, dReal stepsize)
|
||||
|
||||
//clear collision points
|
||||
this->ClearOdeContactGroup();
|
||||
|
@ -32,15 +32,6 @@
|
||||
#ifndef __PHY_DYNAMIC_TYPES
|
||||
#define __PHY_DYNAMIC_TYPES
|
||||
|
||||
/// PHY_ScalarType enumerates possible scalar types.
|
||||
/// See the PHY_IMeshInterface for its use
|
||||
typedef enum PHY_ScalarType {
|
||||
PHY_FLOAT,
|
||||
PHY_DOUBLE,
|
||||
PHY_INTEGER,
|
||||
PHY_SHORT,
|
||||
PHY_FIXEDPOINT88
|
||||
} PHY_ScalarType;
|
||||
|
||||
class PHY_ResponseTable;
|
||||
|
||||
|
Loading…
Reference in New Issue
Block a user