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blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
Campbell Barton 081c1205a3 correct fsf address
2010-02-12 13:34:04 +00:00

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/**
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#ifdef WIN32
#pragma warning (disable : 4786)
#endif
#include "MT_assert.h"
#include "KX_SoftBodyDeformer.h"
#include "KX_ConvertPhysicsObject.h"
#include "BL_DeformableGameObject.h"
#include "RAS_MeshObject.h"
#include "KX_Scene.h"
#include "SYS_System.h"
#include "BulletSoftBody/btSoftBody.h"
#include "PHY_Pro.h" //todo cleanup
#include "KX_ClientObjectInfo.h"
#include "GEN_Map.h"
#include "GEN_HashedPtr.h"
#include "KX_PhysicsEngineEnums.h"
#include "PHY_Pro.h"
#include "KX_MotionState.h" // bridge between motionstate and scenegraph node
extern "C"{
#include "BKE_DerivedMesh.h"
}
#ifdef USE_BULLET
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "KX_BulletPhysicsController.h"
#include "btBulletDynamicsCommon.h"
#ifdef WIN32
#if _MSC_VER >= 1310
//only use SIMD Hull code under Win32
//#define TEST_HULL 1
#ifdef TEST_HULL
#define USE_HULL 1
//#define TEST_SIMD_HULL 1
#include "NarrowPhaseCollision/Hull.h"
#endif //#ifdef TEST_HULL
#endif //_MSC_VER
#endif //WIN32
// forward declarations
void KX_ConvertBulletObject( class KX_GameObject* gameobj,
class RAS_MeshObject* meshobj,
struct DerivedMesh* dm,
class KX_Scene* kxscene,
struct PHY_ShapeProps* shapeprops,
struct PHY_MaterialProps* smmaterial,
struct KX_ObjectProperties* objprop)
{
CcdPhysicsEnvironment* env = (CcdPhysicsEnvironment*)kxscene->GetPhysicsEnvironment();
assert(env);
bool isbulletdyna = false;
bool isbulletsensor = false;
bool useGimpact = false;
CcdConstructionInfo ci;
class PHY_IMotionState* motionstate = new KX_MotionState(gameobj->GetSGNode());
class CcdShapeConstructionInfo *shapeInfo = new CcdShapeConstructionInfo();
if (!objprop->m_dyna)
{
ci.m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT;
}
if (objprop->m_ghost)
{
ci.m_collisionFlags |= btCollisionObject::CF_NO_CONTACT_RESPONSE;
}
ci.m_MotionState = motionstate;
ci.m_gravity = btVector3(0,0,0);
ci.m_localInertiaTensor =btVector3(0,0,0);
ci.m_mass = objprop->m_dyna ? shapeprops->m_mass : 0.f;
ci.m_clamp_vel_min = shapeprops->m_clamp_vel_min;
ci.m_clamp_vel_max = shapeprops->m_clamp_vel_max;
ci.m_margin = objprop->m_margin;
shapeInfo->m_radius = objprop->m_radius;
isbulletdyna = objprop->m_dyna;
isbulletsensor = objprop->m_sensor;
useGimpact = ((isbulletdyna || isbulletsensor) && !objprop->m_softbody);
ci.m_localInertiaTensor = btVector3(ci.m_mass/3.f,ci.m_mass/3.f,ci.m_mass/3.f);
btCollisionShape* bm = 0;
switch (objprop->m_boundclass)
{
case KX_BOUNDSPHERE:
{
//float radius = objprop->m_radius;
//btVector3 inertiaHalfExtents (
// radius,
// radius,
// radius);
//blender doesn't support multisphere, but for testing:
//bm = new MultiSphereShape(inertiaHalfExtents,,&trans.getOrigin(),&radius,1);
shapeInfo->m_shapeType = PHY_SHAPE_SPHERE;
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
};
case KX_BOUNDBOX:
{
shapeInfo->m_halfExtend.setValue(
objprop->m_boundobject.box.m_extends[0],
objprop->m_boundobject.box.m_extends[1],
objprop->m_boundobject.box.m_extends[2]);
shapeInfo->m_halfExtend /= 2.0;
shapeInfo->m_halfExtend = shapeInfo->m_halfExtend.absolute();
shapeInfo->m_shapeType = PHY_SHAPE_BOX;
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
};
case KX_BOUNDCYLINDER:
{
shapeInfo->m_halfExtend.setValue(
objprop->m_boundobject.c.m_radius,
objprop->m_boundobject.c.m_radius,
objprop->m_boundobject.c.m_height * 0.5f
);
shapeInfo->m_shapeType = PHY_SHAPE_CYLINDER;
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case KX_BOUNDCONE:
{
shapeInfo->m_radius = objprop->m_boundobject.c.m_radius;
shapeInfo->m_height = objprop->m_boundobject.c.m_height;
shapeInfo->m_shapeType = PHY_SHAPE_CONE;
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case KX_BOUNDPOLYTOPE:
{
shapeInfo->SetMesh(meshobj, dm,true);
bm = shapeInfo->CreateBulletShape(ci.m_margin);
break;
}
case KX_BOUNDMESH:
{
// mesh shapes can be shared, check first if we already have a shape on that mesh
class CcdShapeConstructionInfo *sharedShapeInfo = CcdShapeConstructionInfo::FindMesh(meshobj, dm, false);
if (sharedShapeInfo != NULL)
{
shapeInfo->Release();
shapeInfo = sharedShapeInfo;
shapeInfo->AddRef();
} else
{
shapeInfo->SetMesh(meshobj, dm, false);
}
// Soft bodies require welding. Only avoid remove doubles for non-soft bodies!
if (objprop->m_softbody)
{
shapeInfo->setVertexWeldingThreshold1(objprop->m_soft_welding); //todo: expose this to the UI
}
bm = shapeInfo->CreateBulletShape(ci.m_margin, useGimpact, !objprop->m_softbody);
//should we compute inertia for dynamic shape?
//bm->calculateLocalInertia(ci.m_mass,ci.m_localInertiaTensor);
break;
}
}
// ci.m_localInertiaTensor.setValue(0.1f,0.1f,0.1f);
if (!bm)
{
delete motionstate;
shapeInfo->Release();
return;
}
//bm->setMargin(ci.m_margin);
if (objprop->m_isCompoundChild)
{
//find parent, compound shape and add to it
//take relative transform into account!
KX_BulletPhysicsController* parentCtrl = (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController();
assert(parentCtrl);
CcdShapeConstructionInfo* parentShapeInfo = parentCtrl->GetShapeInfo();
btRigidBody* rigidbody = parentCtrl->GetRigidBody();
btCollisionShape* colShape = rigidbody->getCollisionShape();
assert(colShape->isCompound());
btCompoundShape* compoundShape = (btCompoundShape*)colShape;
// compute the local transform from parent, this may include several node in the chain
SG_Node* gameNode = gameobj->GetSGNode();
SG_Node* parentNode = objprop->m_dynamic_parent->GetSGNode();
// relative transform
MT_Vector3 parentScale = parentNode->GetWorldScaling();
parentScale[0] = MT_Scalar(1.0)/parentScale[0];
parentScale[1] = MT_Scalar(1.0)/parentScale[1];
parentScale[2] = MT_Scalar(1.0)/parentScale[2];
MT_Vector3 relativeScale = gameNode->GetWorldScaling() * parentScale;
MT_Matrix3x3 parentInvRot = parentNode->GetWorldOrientation().transposed();
MT_Vector3 relativePos = parentInvRot*((gameNode->GetWorldPosition()-parentNode->GetWorldPosition())*parentScale);
MT_Matrix3x3 relativeRot = parentInvRot*gameNode->GetWorldOrientation();
shapeInfo->m_childScale.setValue(relativeScale[0],relativeScale[1],relativeScale[2]);
bm->setLocalScaling(shapeInfo->m_childScale);
shapeInfo->m_childTrans.getOrigin().setValue(relativePos[0],relativePos[1],relativePos[2]);
float rot[12];
relativeRot.getValue(rot);
shapeInfo->m_childTrans.getBasis().setFromOpenGLSubMatrix(rot);
parentShapeInfo->AddShape(shapeInfo);
compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
//do some recalc?
//recalc inertia for rigidbody
if (!rigidbody->isStaticOrKinematicObject())
{
btVector3 localInertia;
float mass = 1.f/rigidbody->getInvMass();
compoundShape->calculateLocalInertia(mass,localInertia);
rigidbody->setMassProps(mass,localInertia);
}
shapeInfo->Release();
// delete motionstate as it's not used
delete motionstate;
return;
}
if (objprop->m_hasCompoundChildren)
{
// create a compound shape info
CcdShapeConstructionInfo *compoundShapeInfo = new CcdShapeConstructionInfo();
compoundShapeInfo->m_shapeType = PHY_SHAPE_COMPOUND;
compoundShapeInfo->AddShape(shapeInfo);
// create the compound shape manually as we already have the child shape
btCompoundShape* compoundShape = new btCompoundShape();
compoundShape->addChildShape(shapeInfo->m_childTrans,bm);
// now replace the shape
bm = compoundShape;
shapeInfo->Release();
shapeInfo = compoundShapeInfo;
}
#ifdef TEST_SIMD_HULL
if (bm->IsPolyhedral())
{
PolyhedralConvexShape* polyhedron = static_cast<PolyhedralConvexShape*>(bm);
if (!polyhedron->m_optionalHull)
{
//first convert vertices in 'Point3' format
int numPoints = polyhedron->GetNumVertices();
Point3* points = new Point3[numPoints+1];
//first 4 points should not be co-planar, so add central point to satisfy MakeHull
points[0] = Point3(0.f,0.f,0.f);
btVector3 vertex;
for (int p=0;p<numPoints;p++)
{
polyhedron->GetVertex(p,vertex);
points[p+1] = Point3(vertex.getX(),vertex.getY(),vertex.getZ());
}
Hull* hull = Hull::MakeHull(numPoints+1,points);
polyhedron->m_optionalHull = hull;
}
}
#endif //TEST_SIMD_HULL
ci.m_collisionShape = bm;
ci.m_shapeInfo = shapeInfo;
ci.m_friction = smmaterial->m_friction;//tweak the friction a bit, so the default 0.5 works nice
ci.m_restitution = smmaterial->m_restitution;
ci.m_physicsEnv = env;
// drag / damping is inverted
ci.m_linearDamping = 1.f - shapeprops->m_lin_drag;
ci.m_angularDamping = 1.f - shapeprops->m_ang_drag;
//need a bit of damping, else system doesn't behave well
ci.m_inertiaFactor = shapeprops->m_inertia/0.4f;//defaults to 0.4, don't want to change behaviour
ci.m_do_anisotropic = shapeprops->m_do_anisotropic;
ci.m_anisotropicFriction.setValue(shapeprops->m_friction_scaling[0],shapeprops->m_friction_scaling[1],shapeprops->m_friction_scaling[2]);
//////////
//do Fh, do Rot Fh
ci.m_do_fh = shapeprops->m_do_fh;
ci.m_do_rot_fh = shapeprops->m_do_rot_fh ;
ci.m_fh_damping = smmaterial->m_fh_damping;
ci.m_fh_distance = smmaterial->m_fh_distance;
ci.m_fh_normal = smmaterial->m_fh_normal;
ci.m_fh_spring = smmaterial->m_fh_spring;
ci.m_radius = objprop->m_radius;
///////////////////
ci.m_gamesoftFlag = objprop->m_gamesoftFlag;
ci.m_soft_linStiff = objprop->m_soft_linStiff;
ci.m_soft_angStiff = objprop->m_soft_angStiff; /* angular stiffness 0..1 */
ci.m_soft_volume= objprop->m_soft_volume; /* volume preservation 0..1 */
ci.m_soft_viterations= objprop->m_soft_viterations; /* Velocities solver iterations */
ci.m_soft_piterations= objprop->m_soft_piterations; /* Positions solver iterations */
ci.m_soft_diterations= objprop->m_soft_diterations; /* Drift solver iterations */
ci.m_soft_citerations= objprop->m_soft_citerations; /* Cluster solver iterations */
ci.m_soft_kSRHR_CL= objprop->m_soft_kSRHR_CL; /* Soft vs rigid hardness [0,1] (cluster only) */
ci.m_soft_kSKHR_CL= objprop->m_soft_kSKHR_CL; /* Soft vs kinetic hardness [0,1] (cluster only) */
ci.m_soft_kSSHR_CL= objprop->m_soft_kSSHR_CL; /* Soft vs soft hardness [0,1] (cluster only) */
ci.m_soft_kSR_SPLT_CL= objprop->m_soft_kSR_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
ci.m_soft_kSK_SPLT_CL= objprop->m_soft_kSK_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
ci.m_soft_kSS_SPLT_CL= objprop->m_soft_kSS_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */
ci.m_soft_kVCF= objprop->m_soft_kVCF; /* Velocities correction factor (Baumgarte) */
ci.m_soft_kDP= objprop->m_soft_kDP; /* Damping coefficient [0,1] */
ci.m_soft_kDG= objprop->m_soft_kDG; /* Drag coefficient [0,+inf] */
ci.m_soft_kLF= objprop->m_soft_kLF; /* Lift coefficient [0,+inf] */
ci.m_soft_kPR= objprop->m_soft_kPR; /* Pressure coefficient [-inf,+inf] */
ci.m_soft_kVC= objprop->m_soft_kVC; /* Volume conversation coefficient [0,+inf] */
ci.m_soft_kDF= objprop->m_soft_kDF; /* Dynamic friction coefficient [0,1] */
ci.m_soft_kMT= objprop->m_soft_kMT; /* Pose matching coefficient [0,1] */
ci.m_soft_kCHR= objprop->m_soft_kCHR; /* Rigid contacts hardness [0,1] */
ci.m_soft_kKHR= objprop->m_soft_kKHR; /* Kinetic contacts hardness [0,1] */
ci.m_soft_kSHR= objprop->m_soft_kSHR; /* Soft contacts hardness [0,1] */
ci.m_soft_kAHR= objprop->m_soft_kAHR; /* Anchors hardness [0,1] */
ci.m_soft_collisionflags= objprop->m_soft_collisionflags; /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */
ci.m_soft_numclusteriterations= objprop->m_soft_numclusteriterations; /* number of iterations to refine collision clusters*/
////////////////////
ci.m_collisionFilterGroup =
(isbulletsensor) ? short(CcdConstructionInfo::SensorFilter) :
(isbulletdyna) ? short(CcdConstructionInfo::DefaultFilter) :
short(CcdConstructionInfo::StaticFilter);
ci.m_collisionFilterMask =
(isbulletsensor) ? short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter) :
(isbulletdyna) ? short(CcdConstructionInfo::AllFilter) :
short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter);
ci.m_bRigid = objprop->m_dyna && objprop->m_angular_rigidbody;
ci.m_contactProcessingThreshold = objprop->m_contactProcessingThreshold;//todo: expose this in advanced settings, just like margin, default to 10000 or so
ci.m_bSoft = objprop->m_softbody;
ci.m_bSensor = isbulletsensor;
ci.m_bGimpact = useGimpact;
MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
ci.m_scaling.setValue(scaling[0], scaling[1], scaling[2]);
KX_BulletPhysicsController* physicscontroller = new KX_BulletPhysicsController(ci,isbulletdyna,isbulletsensor,objprop->m_hasCompoundChildren);
// shapeInfo is reference counted, decrement now as we don't use it anymore
if (shapeInfo)
shapeInfo->Release();
gameobj->SetPhysicsController(physicscontroller,isbulletdyna);
// don't add automatically sensor object, they are added when a collision sensor is registered
if (!isbulletsensor && objprop->m_in_active_layer)
{
env->addCcdPhysicsController( physicscontroller);
}
physicscontroller->setNewClientInfo(gameobj->getClientInfo());
{
btRigidBody* rbody = physicscontroller->GetRigidBody();
if (rbody)
{
if (objprop->m_angular_rigidbody)
{
btVector3 linearFactor(
objprop->m_lockXaxis? 0 : 1,
objprop->m_lockYaxis? 0 : 1,
objprop->m_lockZaxis? 0 : 1);
btVector3 angularFactor(
objprop->m_lockXRotaxis? 0 : 1,
objprop->m_lockYRotaxis? 0 : 1,
objprop->m_lockZRotaxis? 0 : 1);
rbody->setLinearFactor(linearFactor);
rbody->setAngularFactor(angularFactor);
}
if (rbody && objprop->m_disableSleeping)
{
rbody->setActivationState(DISABLE_DEACTIVATION);
}
}
}
CcdPhysicsController* parentCtrl = objprop->m_dynamic_parent ? (KX_BulletPhysicsController*)objprop->m_dynamic_parent->GetPhysicsController() : 0;
physicscontroller->setParentCtrl(parentCtrl);
//Now done directly in ci.m_collisionFlags so that it propagates to replica
//if (objprop->m_ghost)
//{
// rbody->setCollisionFlags(rbody->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
//}
if (objprop->m_dyna && !objprop->m_angular_rigidbody)
{
/*
//setting the inertia could achieve similar results to constraint the up
//but it is prone to instability, so use special 'Angular' constraint
btVector3 inertia = physicscontroller->GetRigidBody()->getInvInertiaDiagLocal();
inertia.setX(0.f);
inertia.setZ(0.f);
physicscontroller->GetRigidBody()->setInvInertiaDiagLocal(inertia);
physicscontroller->GetRigidBody()->updateInertiaTensor();
*/
//env->createConstraint(physicscontroller,0,PHY_ANGULAR_CONSTRAINT,0,0,0,0,0,1);
//Now done directly in ci.m_bRigid so that it propagates to replica
//physicscontroller->GetRigidBody()->setAngularFactor(0.f);
;
}
bool isActor = objprop->m_isactor;
gameobj->getClientInfo()->m_type =
(isbulletsensor) ? ((isActor) ? KX_ClientObjectInfo::OBACTORSENSOR : KX_ClientObjectInfo::OBSENSOR) :
(isActor) ? KX_ClientObjectInfo::ACTOR : KX_ClientObjectInfo::STATIC;
// store materialname in auxinfo, needed for touchsensors
if (meshobj)
{
const STR_String& matname=meshobj->GetMaterialName(0);
gameobj->getClientInfo()->m_auxilary_info = (matname.Length() ? (void*)(matname.ReadPtr()+2) : NULL);
} else
{
gameobj->getClientInfo()->m_auxilary_info = 0;
}
gameobj->GetSGNode()->AddSGController(physicscontroller);
STR_String materialname;
if (meshobj)
materialname = meshobj->GetMaterialName(0);
physicscontroller->SetObject(gameobj->GetSGNode());
#if 0
///test for soft bodies
if (objprop->m_softbody && physicscontroller)
{
btSoftBody* softBody = physicscontroller->GetSoftBody();
if (softBody && gameobj->GetMesh(0))//only the first mesh, if any
{
//should be a mesh then, so add a soft body deformer
KX_SoftBodyDeformer* softbodyDeformer = new KX_SoftBodyDeformer( gameobj->GetMesh(0),(BL_DeformableGameObject*)gameobj);
gameobj->SetDeformer(softbodyDeformer);
}
}
#endif
}
void KX_ClearBulletSharedShapes()
{
}
/* Refresh the physics object from either an object or a mesh.
* gameobj must be valid
* from_gameobj and from_meshobj can be NULL
*
* when setting the mesh, the following vars get priority
* 1) from_meshobj - creates the phys mesh from RAS_MeshObject
* 2) from_gameobj - creates the phys mesh from the DerivedMesh where possible, else the RAS_MeshObject
* 3) gameobj - update the phys mesh from DerivedMesh or RAS_MeshObject
*
* Most of the logic behind this is in shapeInfo->UpdateMesh(...)
*/
bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj)
{
KX_BulletPhysicsController *spc= static_cast<KX_BulletPhysicsController*>((gameobj->GetPhysicsController()));
CcdShapeConstructionInfo *shapeInfo;
/* if this is the child of a compound shape this can happen
* dont support compound shapes for now */
if(spc==NULL)
return false;
shapeInfo = spc->GetShapeInfo();
if(shapeInfo->m_shapeType != PHY_SHAPE_MESH/* || spc->GetSoftBody()*/)
return false;
spc->DeleteControllerShape();
if(from_gameobj==NULL && from_meshobj==NULL)
from_gameobj= gameobj;
/* updates the arrays used for making the new bullet mesh */
shapeInfo->UpdateMesh(from_gameobj, from_meshobj);
/* create the new bullet mesh */
CcdConstructionInfo& cci = spc->getConstructionInfo();
btCollisionShape* bm= shapeInfo->CreateBulletShape(cci.m_margin, cci.m_bGimpact, !cci.m_bSoft);
spc->ReplaceControllerShape(bm);
return true;
}
#endif
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