forked from bartvdbraak/blender
Improved rigid body handling for non spherical bounds type.
Polyheder dynamic objects are now converted properly.
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98b8c5102d
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@ -496,7 +496,7 @@ static PHY_ShapeProps *CreateShapePropsFromBlenderObject(struct Object* blendero
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// in Blender, inertia stands for the size value which is equivalent to
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// the sphere radius
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shapeProps->m_inertia = blenderobject->formfactor * blenderobject->mass * blenderobject->inertia * blenderobject->inertia;
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shapeProps->m_inertia = blenderobject->formfactor;
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assert(0.0f <= blenderobject->damping && blenderobject->damping <= 1.0f);
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assert(0.0f <= blenderobject->rdamping && blenderobject->rdamping <= 1.0f);
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@ -734,6 +734,11 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
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objprop.m_boundobject.c.m_height = 2.f*bb.m_extends[2];
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break;
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}
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case OB_BOUND_POLYH:
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{
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objprop.m_boundclass = KX_BOUNDMESH;
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break;
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}
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}
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}
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@ -130,27 +130,42 @@ void KX_ConvertSumoObject( KX_GameObject* gameobj,
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switch (objprop->m_boundclass)
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{
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case KX_BOUNDBOX:
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shape = DT_NewBox(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]);
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smprop->m_inertia.scale(objprop->m_boundobject.box.m_extends[0], objprop->m_boundobject.box.m_extends[1], objprop->m_boundobject.box.m_extends[2]);
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smprop->m_inertia /= (objprop->m_boundobject.box.m_extends[0] + objprop->m_boundobject.box.m_extends[1] + objprop->m_boundobject.box.m_extends[2]) / 3.;
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shape = DT_NewBox(objprop->m_boundobject.box.m_extends[0],
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objprop->m_boundobject.box.m_extends[1],
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objprop->m_boundobject.box.m_extends[2]);
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smprop->m_inertia.scale(objprop->m_boundobject.box.m_extends[0]*objprop->m_boundobject.box.m_extends[0],
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objprop->m_boundobject.box.m_extends[1]*objprop->m_boundobject.box.m_extends[1],
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objprop->m_boundobject.box.m_extends[2]*objprop->m_boundobject.box.m_extends[2]);
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smprop->m_inertia *= smprop->m_mass/MT_Vector3(objprop->m_boundobject.box.m_extends).length();
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break;
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case KX_BOUNDCYLINDER:
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shape = DT_NewCylinder(objprop->m_radius, objprop->m_boundobject.c.m_height);
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shape = DT_NewCylinder(smprop->m_radius, objprop->m_boundobject.c.m_height);
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smprop->m_inertia.scale(smprop->m_mass*smprop->m_radius*smprop->m_radius,
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smprop->m_mass*smprop->m_radius*smprop->m_radius,
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smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
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break;
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case KX_BOUNDCONE:
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shape = DT_NewCone(objprop->m_radius, objprop->m_boundobject.c.m_height);
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smprop->m_inertia.scale(smprop->m_mass*smprop->m_radius*smprop->m_radius,
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smprop->m_mass*smprop->m_radius*smprop->m_radius,
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smprop->m_mass*objprop->m_boundobject.c.m_height*objprop->m_boundobject.c.m_height);
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break;
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/* Enabling this allows you to use dynamic mesh objects. It's disabled 'cause it's really slow. */
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/* Dynamic mesh objects. WARNING! slow. */
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case KX_BOUNDMESH:
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if (meshobj && meshobj->NumPolygons() > 0)
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{
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if ((shape = CreateShapeFromMesh(meshobj)))
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{
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// TODO: calculate proper inertia
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smprop->m_inertia *= smprop->m_mass*smprop->m_radius*smprop->m_radius;
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break;
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}
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}
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/* If CreateShapeFromMesh fails, fall through and use sphere */
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default:
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case KX_BOUNDSPHERE:
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shape = DT_NewSphere(objprop->m_radius);
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smprop->m_inertia *= smprop->m_mass*smprop->m_radius*smprop->m_radius;
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break;
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}
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@ -14,14 +14,14 @@ public:
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void setPosition(const MT_Point3& pos) { m_pos = pos; }
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void setOrientation(const MT_Quaternion& orn) { m_orn = orn; }
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void setLinearVelocity(const MT_Vector3& lin_vel) { m_lin_vel = lin_vel; }
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void setLinearVelocity(const MT_Vector3& lin_vel) { m_lin_vel = lin_vel; }
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void setAngularVelocity(const MT_Vector3& ang_vel) { m_ang_vel = ang_vel; }
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const MT_Point3& getPosition() const { return m_pos; }
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const MT_Quaternion& getOrientation() const { return m_orn; }
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const MT_Vector3& getLinearVelocity() const { return m_lin_vel; }
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const MT_Vector3& getAngularVelocity() const { return m_ang_vel; }
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const MT_Vector3& getLinearVelocity() const { return m_lin_vel; }
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const MT_Vector3& getAngularVelocity() const { return m_ang_vel; }
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virtual MT_Transform getTransform() const {
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return MT_Transform(m_pos, m_orn);
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}
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@ -51,7 +51,7 @@
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// Tweak parameters
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static const MT_Scalar ImpulseThreshold = 0.5;
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static const MT_Scalar ImpulseThreshold = -10.;
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static const MT_Scalar FixThreshold = 0.01;
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static const MT_Scalar FixVelocity = 0.01;
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SM_Object::SM_Object(
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@ -177,27 +177,22 @@ void SM_Object::dynamicCollision(const MT_Point3 &local2,
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MT_Scalar invMass
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)
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{
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// Same again but now obj1 is non-dynamic
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// Compute the point on obj1 closest to obj2 (= sphere with radius = 0)
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// local1 is th point closest to obj2
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// local2 is the local origin of obj2
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// This should look familiar....
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MT_Scalar rel_vel_normal = normal.dot(rel_vel);
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if (rel_vel_normal <= 0.0) {
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if (-rel_vel_normal < ImpulseThreshold) {
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restitution = 0.0;
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}
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if (rel_vel_normal < -MT_EPSILON) {
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restitution *= MT_min(MT_Scalar(1.0), rel_vel_normal/ImpulseThreshold);
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MT_Scalar impulse = -(1.0 + restitution) * rel_vel_normal;
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if (isRigidBody())
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{
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MT_Vector3 temp = getInvInertiaTensor() * local2.cross(normal);
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applyImpulse(local2 + m_pos, (impulse / (invMass + normal.dot(temp.cross(local2)))) * normal);
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MT_Vector3 temp = getInvInertiaTensor() * local2.cross(normal);
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impulse /= invMass + normal.dot(temp.cross(local2));
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applyImpulse(local2 + m_pos, impulse * normal);
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} else {
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applyCenterImpulse( ( impulse / invMass ) * normal );
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impulse /= invMass;
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applyCenterImpulse( impulse * normal );
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}
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// The friction part starts here!!!!!!!!
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@ -361,15 +356,8 @@ DT_Bool SM_Object::boing(
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local1 -= obj1->m_pos, local2 -= obj2->m_pos;
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// Calculate collision parameters
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MT_Vector3 rel_vel = obj1->getVelocity(local1) + obj1->m_combined_lin_vel -
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obj2->getVelocity(local2) - obj2->m_combined_lin_vel;
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MT_Vector3 rel_vel = obj1->getVelocity(local1) - obj2->getVelocity(local2);
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if (obj1->isRigidBody())
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rel_vel += obj1->actualAngVelocity().cross(local1);
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if (obj2->isRigidBody())
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rel_vel -= obj2->actualAngVelocity().cross(local2);
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MT_Scalar restitution =
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MT_min(obj1->getMaterialProps()->m_restitution,
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obj2->getMaterialProps()->m_restitution);
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@ -1013,9 +1001,9 @@ getVelocity(
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*/
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return m_prev_kinematic && !isDynamic() ?
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(m_xform(local) - m_prev_xform(local)) / m_timeStep :
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m_lin_vel + m_ang_vel.cross(local);
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actualLinVelocity() + actualAngVelocity().cross(local);
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// m_lin_vel + m_ang_vel.cross(m_xform.getBasis() * local);
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//m_lin_vel + m_ang_vel.cross(m_xform.getBasis() * local);
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// NB: m_xform.getBasis() * local == m_xform(local) - m_xform.getOrigin()
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}
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