forked from bartvdbraak/blender
Speedup for bullet physics mesh conversion
Was adding each face with a remove doubles option that made conversion increasingly slower for larger meshes, this would often hang blender when starting with the BGE with larger meshes. Replace btTriangleMesh()->addTriangle() with btTriangleIndexVertexArray() YoFrankie level_1_home.blend starts a third faster, level_nut about twice as fast. - previous commit was also incorrect using the original meshes vert locations rather then the vert locations that came from the derived mesh. - Softbody is relying on removing doubles at 0.01 to give stable results, this no longer works but seems a bit dodgy anyway. Maybe some post-processing filter could fix up a mesh for bullet softbody.
This commit is contained in:
Campbell Barton
parent
bd13f30224
commit
4a07876562
@ -881,6 +881,9 @@ void KX_ConvertBulletObject( class KX_GameObject* gameobj,
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{
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shapeInfo->SetMesh(meshobj, false,false);
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}
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// Note! since 2.48a bullet mesh conversion has been sped up not to remove doubles
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// if softbody needs this there should be some post processing filter for softbody meshes.
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if (objprop->m_softbody)
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shapeInfo->setVertexWeldingThreshold(0.01f); //todo: expose this to the UI
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@ -16,6 +16,9 @@ subject to the following restrictions:
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#include "CcdPhysicsController.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
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#include "PHY_IMotionState.h"
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#include "CcdPhysicsEnvironment.h"
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#include "RAS_MeshObject.h"
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@ -1276,150 +1279,212 @@ CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mes
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bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bool useGimpact)
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{
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int numpolys;
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m_useGimpact = useGimpact;
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// assume no shape information
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// no support for dynamic change of shape yet
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assert(IsUnused());
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m_shapeType = PHY_SHAPE_NONE;
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m_vertexArray.clear();
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m_polygonIndexArray.clear();
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m_meshObject = NULL;
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if (!meshobj)
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return false;
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// Mesh has no polygons!
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int numpolys = meshobj->NumPolygons();
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if (!numpolys)
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{
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// No mesh object or mesh has no polys
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if (!meshobj || meshobj->HasColliderPolygon()==false) {
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m_vertexArray.clear();
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m_polygonIndexArray.clear();
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m_triFaceArray.clear();
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return false;
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}
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// check that we have at least one colliding polygon
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int numvalidpolys = 0;
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for (int p=0; p<numpolys; p++)
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{
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RAS_Polygon* poly = meshobj->GetPolygon(p);
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// only add polygons that have the collisionflag set
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if (poly->IsCollider())
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{
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numvalidpolys++;
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break;
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}
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}
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// No collision polygons
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if (numvalidpolys < 1)
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return false;
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numpolys = meshobj->NumPolygons();
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m_shapeType = (polytope) ? PHY_SHAPE_POLYTOPE : PHY_SHAPE_MESH;
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numvalidpolys = 0;
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/* Convert blender geometry into bullet mesh, need these vars for mapping */
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vector<bool> vert_tag_array(meshobj->GetMesh()->totvert, false);
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unsigned int tot_bt_verts= 0;
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unsigned int orig_index;
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int i;
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if (polytope)
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{
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Mesh *blen_mesh= meshobj->GetMesh();
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vector<bool> vuser_array(blen_mesh->totvert, false);
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unsigned int tot_bt_verts= 0;
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unsigned int orig_index;
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int i;
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// Tag verts we're using
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for (int p2=0; p2<numpolys; p2++)
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{
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RAS_Polygon* poly= meshobj->GetPolygon(p2);
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// only add polygons that have the collisionflag set
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// only add polygons that have the collision flag set
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if (poly->IsCollider())
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{
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for (i=0;i<poly->VertexCount();i++)
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{
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for(i=0; i<poly->VertexCount(); i++) {
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orig_index= poly->GetVertex(i)->getOrigIndex();
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if (vuser_array[orig_index]==false)
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if (vert_tag_array[orig_index]==false)
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{
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vuser_array[orig_index]= true;
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vert_tag_array[orig_index]= true;
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tot_bt_verts++;
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}
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}
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}
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}
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m_vertexArray.resize(tot_bt_verts);
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// Copy used verts directly from the meshes vert location to the bullet vector array
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MVert *mv= blen_mesh->mvert;
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btVector3 *bt= &m_vertexArray[0];
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for (i=0;i<vuser_array.size();i++, mv++)
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{
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if (vuser_array[i]==true)
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{
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bt->setX( mv->co[0] );
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bt->setY( mv->co[1] );
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bt->setZ( mv->co[2] );
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bt++;
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}
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}
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numvalidpolys++;
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}
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else {
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for (int p2=0; p2<numpolys; p2++)
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{
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RAS_Polygon* poly = meshobj->GetPolygon(p2);
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RAS_Polygon* poly= meshobj->GetPolygon(p2);
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// only add polygons that have the collisionflag set
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if (poly->IsCollider())
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{
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//Bullet can raycast any shape, so
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{
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const float* vtx = poly->GetVertex(2)->getXYZ();
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btVector3 vertex0(vtx[0],vtx[1],vtx[2]);
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{
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for(i=0; i<poly->VertexCount(); i++) {
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RAS_TexVert *v= poly->GetVertex(i);
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orig_index= v->getOrigIndex();
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vtx = poly->GetVertex(1)->getXYZ();
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btVector3 vertex1(vtx[0],vtx[1],vtx[2]);
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if (vert_tag_array[orig_index]==true)
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{
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const float* vtx = v->getXYZ();
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vert_tag_array[orig_index]= false;
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vtx = poly->GetVertex(0)->getXYZ();
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btVector3 vertex2(vtx[0],vtx[1],vtx[2]);
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m_vertexArray.push_back(vertex0);
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m_vertexArray.push_back(vertex1);
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m_vertexArray.push_back(vertex2);
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m_polygonIndexArray.push_back(p2);
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numvalidpolys++;
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}
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if (poly->VertexCount() == 4)
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{
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const float* vtx = poly->GetVertex(3)->getXYZ();
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btVector3 vertex0(vtx[0],vtx[1],vtx[2]);
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vtx = poly->GetVertex(2)->getXYZ();
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btVector3 vertex1(vtx[0],vtx[1],vtx[2]);
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vtx = poly->GetVertex(0)->getXYZ();
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btVector3 vertex2(vtx[0],vtx[1],vtx[2]);
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m_vertexArray.push_back(vertex0);
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m_vertexArray.push_back(vertex1);
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m_vertexArray.push_back(vertex2);
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m_polygonIndexArray.push_back(p2);
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numvalidpolys++;
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bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]);
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bt++;
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}
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}
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}
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}
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}
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else {
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unsigned int tot_bt_tris= 0;
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vector<int> vert_remap_array(meshobj->GetMesh()->totvert, 0);
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// Tag verts we're using
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for (int p2=0; p2<numpolys; p2++)
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{
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RAS_Polygon* poly= meshobj->GetPolygon(p2);
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if (!numvalidpolys)
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// only add polygons that have the collision flag set
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if (poly->IsCollider())
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{
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for(i=0; i<poly->VertexCount(); i++) {
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orig_index= poly->GetVertex(i)->getOrigIndex();
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if (vert_tag_array[orig_index]==false)
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{
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vert_tag_array[orig_index]= true;
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vert_remap_array[orig_index]= tot_bt_verts;
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tot_bt_verts++;
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}
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}
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tot_bt_tris += (i==4 ? 2:1); /* a quad or a tri */
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}
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}
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m_vertexArray.resize(tot_bt_verts);
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m_polygonIndexArray.resize(tot_bt_tris);
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m_triFaceArray.resize(tot_bt_tris*3);
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btVector3 *bt= &m_vertexArray[0];
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int *poly_index_pt= &m_polygonIndexArray[0];
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int *tri_pt= &m_triFaceArray[0];
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for (int p2=0; p2<numpolys; p2++)
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{
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RAS_Polygon* poly= meshobj->GetPolygon(p2);
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// only add polygons that have the collisionflag set
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if (poly->IsCollider())
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{
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RAS_TexVert *v1= poly->GetVertex(0);
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RAS_TexVert *v2= poly->GetVertex(1);
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RAS_TexVert *v3= poly->GetVertex(2);
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int i1= v1->getOrigIndex();
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int i2= v2->getOrigIndex();
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int i3= v3->getOrigIndex();
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const float* vtx;
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// the face indicies
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tri_pt[0]= vert_remap_array[i1];
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tri_pt[1]= vert_remap_array[i2];
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tri_pt[2]= vert_remap_array[i3];
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tri_pt= tri_pt+3;
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// m_polygonIndexArray
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*poly_index_pt= p2;
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poly_index_pt++;
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// the vertex location
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if (vert_tag_array[i1]==true) { /* *** v1 *** */
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vert_tag_array[i1]= false;
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vtx = v1->getXYZ();
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bt->setX(vtx[0]); bt->setY( vtx[1]); bt->setZ(vtx[2]);
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bt++;
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}
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if (vert_tag_array[i2]==true) { /* *** v2 *** */
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vert_tag_array[i2]= false;
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vtx = v2->getXYZ();
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bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]);
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bt++;
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}
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if (vert_tag_array[i3]==true) { /* *** v3 *** */
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vert_tag_array[i3]= false;
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vtx = v3->getXYZ();
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bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]);
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bt++;
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}
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if (poly->VertexCount()==4)
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{
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RAS_TexVert *v4= poly->GetVertex(3);
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int i4= v4->getOrigIndex();
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tri_pt[0]= vert_remap_array[i1];
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tri_pt[1]= vert_remap_array[i3];
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tri_pt[2]= vert_remap_array[i4];
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tri_pt= tri_pt+3;
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// m_polygonIndexArray
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*poly_index_pt= p2;
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poly_index_pt++;
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// the vertex location
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if (vert_tag_array[i4]==true) { /* *** v4 *** */
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vert_tag_array[i4]= false;
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vtx = v4->getXYZ();
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bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]);
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bt++;
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}
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}
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}
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}
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/* If this ever gets confusing, print out an OBJ file for debugging */
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#if 0
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printf("# vert count %d\n", m_vertexArray.size());
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for(i=0; i<m_vertexArray.size(); i+=1) {
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printf("v %.6f %.6f %.6f\n", m_vertexArray[i].x(), m_vertexArray[i].y(), m_vertexArray[i].z());
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}
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printf("# face count %d\n", m_triFaceArray.size());
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for(i=0; i<m_triFaceArray.size(); i+=3) {
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printf("f %d %d %d\n", m_triFaceArray[i]+1, m_triFaceArray[i+1]+1, m_triFaceArray[i+2]+1);
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}
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#endif
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}
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#if 0
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if (validpolys==false)
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{
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// should not happen
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m_shapeType = PHY_SHAPE_NONE;
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return false;
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}
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#endif
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m_meshObject = meshobj;
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if (!polytope)
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{
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@ -1444,7 +1509,6 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
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{
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btCollisionShape* collisionShape = 0;
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btTriangleMeshShape* concaveShape = 0;
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btTriangleMesh* collisionMeshData = 0;
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btCompoundShape* compoundShape = 0;
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CcdShapeConstructionInfo* nextShapeInfo;
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@ -1485,18 +1549,17 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
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// One possible optimization is to use directly the btBvhTriangleMeshShape when the scale is 1,1,1
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// and btScaledBvhTriangleMeshShape otherwise.
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if (m_useGimpact)
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{
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collisionMeshData = new btTriangleMesh();
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{
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btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(
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m_polygonIndexArray.size(),
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&m_triFaceArray[0],
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3*sizeof(int),
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m_vertexArray.size(),
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(btScalar*) &m_vertexArray[0].x(),
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sizeof(btVector3)
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);
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bool removeDuplicateVertices=true;
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// m_vertexArray is necessarily a multiple of 3
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for (int i=0;i<m_vertexArray.size(); i+=3 )
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{
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collisionMeshData->addTriangle(m_vertexArray[i+2],m_vertexArray[i+1],m_vertexArray[i],removeDuplicateVertices);
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}
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btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(collisionMeshData);
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btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(indexVertexArrays);
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collisionShape = gimpactShape;
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gimpactShape->updateBound();
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@ -1505,17 +1568,18 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
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{
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if (!m_unscaledShape)
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{
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collisionMeshData = new btTriangleMesh(true,false);
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collisionMeshData->m_weldingThreshold = m_weldingThreshold;
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bool removeDuplicateVertices=true;
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// m_vertexArray is necessarily a multiple of 3
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for (int i=0;i<m_vertexArray.size(); i+=3 )
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{
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collisionMeshData->addTriangle(m_vertexArray[i+2],m_vertexArray[i+1],m_vertexArray[i],removeDuplicateVertices);
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}
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btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(
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m_polygonIndexArray.size(),
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&m_triFaceArray[0],
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3*sizeof(int),
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m_vertexArray.size(),
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(btScalar*) &m_vertexArray[0].x(),
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sizeof(btVector3)
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);
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// this shape will be shared and not deleted until shapeInfo is deleted
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m_unscaledShape = new btBvhTriangleMeshShape( collisionMeshData, true );
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m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true );
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m_unscaledShape->recalcLocalAabb();
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}
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collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f));
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@ -167,6 +167,9 @@ public:
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std::vector<int> m_polygonIndexArray; // Contains the array of polygon index in the
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// original mesh that correspond to shape triangles.
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// only set for concave mesh shape.
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std::vector<int> m_triFaceArray; // Contains an array of triplets of face indicies
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// quads turn into 2 tris
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void setVertexWeldingThreshold(float threshold)
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{
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@ -185,7 +188,7 @@ protected:
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// the actual shape is of type btScaledBvhTriangleMeshShape
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std::vector<CcdShapeConstructionInfo*> m_shapeArray; // for compound shapes
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bool m_useGimpact; //use gimpact for concave dynamic/moving collision detection
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float m_weldingThreshold; //welding closeby vertices together can improve softbody stability etc.
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float m_weldingThreshold; //welding closeby vertices together can improve softbody stability etc. // Not used at the moment, maybe remove?
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CcdShapeConstructionInfo* m_shapeProxy; // only used for PHY_SHAPE_PROXY, pointer to actual shape info
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};
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@ -147,6 +147,16 @@ public:
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/* polygon sorting by Z for alpha */
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void SortPolygons(RAS_MeshSlot& ms, const MT_Transform &transform);
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bool HasColliderPolygon() {
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int numpolys= NumPolygons();
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for (int p=0; p<numpolys; p++)
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if (m_Polygons[p]->IsCollider())
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return true;
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return false;
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}
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/* for construction to find shared vertices */
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struct SharedVertex {
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RAS_DisplayArray *m_darray;
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